fig525.m

realize analysis and design for computer-controlled system

% Generates Fig 5.25
% Computer Controlled Systems (3rd ed)
% Author: B. Wittenmark
% Last edit: 1997-07-04
% Copyright (c) 1996 by K. J. 舠tr鰉, B. Wittenmark and
% Department of Automatic Control, Lund Institute of
% Technology, Lund, Sweden

newplot;
set(gcf,'PaperUnits','centimeters','PaperPosition',[2 2 13 10])
set(gcf,'Units','centimeters','position',get(gcf,'PaperPosition'))

block525;

lw=0.9;
J1=10/9;
J2=10;
k=1;
d=0.1;
kI=1;
om0=sqrt(k*(J1+J2)/(J1*J2));
al=J1/(J1+J2);
be1=d/(J1*om0);
be2=d/(J2*om0);
ga=kI/(J1*om0);
de=1/(J1*om0);
h=0.5;
omf=2;
r1=-2.0095251;
r2=1.6353356;
r3=-0.63529099;
r4=0.10539691;
r5=0;
s0=1.9207519;
s1=-4.7306366;
s2=4.7691955;
s3=-2.1822977;
s4=0.45055132;
s5=0;
t0=1.9207519;
t1=-4.7306366;
t2=4.7691955;
t3=-2.1822977;
t4=0.45055132;
t5=0;
clf;
%
[t,x,y]=sim('block525',[0, 80]);
subplot(3,1,1);
plot(t,y(:,3),'k--',t,y(:,1),'k','Linew',lw);
axis([0,80,0,1.5]);
set(gca,'FontSize',9,'Fontname','NewCenturySchlbk')
set(gca,'xtick',[0 40 80]);
set(gca,'ytick',[0 1]);
ylabel('Output','Fontname','NewCenturySchlbk','Fontsize',9)
%title(['Fig 5.25']);
drawnow;
%
subplot(3,1,2);
[ts,ys]=stairs(t,y(:,2));
plot(ts,ys,'m','Linew',lw);
axis([0,80,-1,2]);
set(gca,'FontSize',9,'Fontname','NewCenturySchlbk')
set(gca,'xtick',[0 40 80]);
set(gca,'ytick',[-1 0 1 2]);
ylabel('Input','Fontname','NewCenturySchlbk','Fontsize',9)
xlabel('Time','Fontname','NewCenturySchlbk','Fontsize',9)
drawnow;
%
ylblalgn;