spectdens.m

jitterbug是基于matlab的工具箱

addpath('../');

s = tf('s');
G = 1/s^2;            % The process is a double integrator

h = 0.25;
delta = h/10;


Mvec = [];
delays = (1:round(h/delta))/round(h/delta);
for delay = delays;
  Ptau1 = ones(1,delay*round(h/delta)+1); % Uniform delay
  Ptau1 = Ptau1/sum(Ptau1);
  
  Q = diag([1 1]);
  R1 = 1;
  R2 = 1;
  
  Samp = tf(1,1,-1);                     % Sampler system
  C = lqgdesign(G,Q,R1,R2,h,h*delay/2);  % Design an LQG controller

  N = initjitterbug(delta,h);
  N = addtimingnode(N,1,Ptau1,2);
  N = addtimingnode(N,2);
  N = addcontsys(N,1,G,3,Q,[],1);        % Cont. sys with output noise
  N = adddiscsys(N,2,Samp,1,1);          % Sampler
  N = adddiscsys(N,3,C,2,2);             % Controller
  
  N = calcdynamics(N);
  [J,P,powspect] = calccost(N);
  H = powspect{2};
  w = logspace(-2,log10(pi/h),50);
  M = bode(H,w);
  M = squeeze(M);
  Mvec = [Mvec M];
end
surfl(log10(w),delays,10*log10(Mvec)')
title('Sensitivity power spectral density with jitter');
xlabel('Log frequency');
ylabel('Maximum delay in % of h');
zlabel('PSD of sensitibity output [dB]')