fig112.m

realize analysis and design for computer-controlled system

% Generates Fig 11.2 (lqdoubleint)
% Computer Controlled Systems (3rd ed)
% Author: B. Wittenmark
% Last edit: 1997-07-10
% Copyright (c) 1996 by K. J. 舠tr鰉, B. Wittenmark and
% Department of Automatic Control, Lund Institute of
% Technology, Lund, Sweden

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

blockdoub;

lw=0.9;
h=1;
m=0;

A=[1 1;0 1];
B=[0.5; 1];
Q=[1 0;0 0];
%
rho=0.01563;
[L,S,E]=dlqr(A,B,Q,rho);
l1=L(1);
l2=L(2); 
[t,x,y]=sim('blockdoub',[0, 10]);
subplot(3,2,1);
[ts,ys]=stairs(t,y(:,3));
plot(t,y(:,1),'k--',t,y(:,2),'k-.',ts,ys,'m','Linew',lw);
axis([0,10,-1.5,2]);
%title(['Fig 11.2  \rau=0.016']);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'ytick',[-1 0 1]);
set(gca,'xtick',[0 10]);
text(-1.5,1.8,'(a)','Fontsize',9,'Fontname','NewCenturySchlbk');
drawnow;
%
rho=0.05;
[L,S,E]=dlqr(A,B,Q,rho);
l1=L(1);
l2=L(2);
[t,x,y]=sim('blockdoub',[0, 10]);
subplot(3,2,2);
[ts,ys]=stairs(t,y(:,3));
plot(t,y(:,1),'k--',t,y(:,2),'k-.',ts,ys,'m','Linew',lw);
axis([0,10,-1.5,2]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'ytick',[-1 0 1]);
set(gca,'xtick',[0 10]);
text(-1.5,1.8,'(b)','Fontsize',9,'Fontname','NewCenturySchlbk');
%title(['\rau=0.05']);
drawnow;
%
rho=0.5;
[L,S,E]=dlqr(A,B,Q,rho);
l1=L(1);
l2=L(2);
[t,x,y]=sim('blockdoub',[0, 10]);
subplot(3,2,3);
[ts,ys]=stairs(t,y(:,3));
plot(t,y(:,1),'k--',t,y(:,2),'k-.',ts,ys,'m','Linew',lw);
axis([0,10,-1.5,2]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'ytick',[-1 0 1]);
set(gca,'xtick',[0 10]);
%title(['\rau=0.5']);
text(-1.5,1.8,'(c)','Fontsize',9,'Fontname','NewCenturySchlbk');
xlabel('Time','Fontname','NewCenturySchlbk','Fontsize',9)
drawnow;
%
rho=10;
[L,S,E]=dlqr(A,B,Q,rho);
l1=L(1);
l2=L(2);
[t,x,y]=sim('blockdoub',[0, 10]);
subplot(3,2,4);
[ts,ys]=stairs(t,y(:,3));
plot(t,y(:,1),'k--',t,y(:,2),'k-.',ts,ys,'m','Linew',lw);
axis([0,10,-1.5,2]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'ytick',[-1 0 1]);
set(gca,'xtick',[0 10]);
xlabel('Time','Fontname','NewCenturySchlbk','Fontsize',9)
text(-1.5,1.8,'(d)','Fontsize',9,'Fontname','NewCenturySchlbk');
%title(['\rau=10']);
drawnow;