reinf3_10.m

离散控制系统设计的MATLAB 代码

%%%%%%%%%% Reinforcement Problem 3.10 %%%%%%%%%%%
%   Discrete-Time Control Problems using        %
%       MATLAB and the Control System Toolbox   %
%   by J.H. Chow, D.K. Frederick, & N.W. Chbat  %
%         Brooks/Cole Publishing Company        %
%                September 2002                 %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%   ---- Series/parallel connection ----
%
clear
disp('Reinforcement Problem 3.10')
Ts = 1;                            % unity sampling period
%----- build G1 --------------
G1 = tf([12 5 1],[24 15 6],Ts)     % G1

%----- build G2 --------------
pG2 = [-0.2; 0.8];                 % poles of G2 as column vector
G2 = zpk(-0.9,pG2,4,Ts)            % G2 in ZPK form

%----- build G3 --------------
G3 = tf(5,[1 -0.5],Ts)             % G3

%----- build G4 --------------
G4 = tf([3 2],[4 0 -3],Ts)         % G4(z)

%---- connect the 4 blocks --------------
T = G4*(G3+G2*G1)                  % overall T(z)

%----- zeros, poles & gain of T -------------
[zT,pT,kT] = zpkdata(T,'v')
[magzT,thetazT] = xy2p(zT)
[magpT,thetapT] = xy2p(pT)
[resp,k] = step(T);                % pulse resp. of T(z)
figure
plot(k,resp,'+'); grid             % plot response with stem option
title('Step response for Reinforcement Problem 3.10')
xlabel('Discrete time k')
%%%%%%%%%%