fig129.m

realize analysis and design for computer-controlled system

% Generates Fig 12.9 (lqout)
% 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;
set(gcf,'PaperUnits','centimeters','PaperPosition',[2 2 13 10])
set(gcf,'Units','centimeters','position',get(gcf,'PaperPosition'))

h=1;
blockmv;

lw=0.9;
A=[1.7 1;-0.7 0];
B=[0.9; 1];
Q=[1 0;0 0];
a1=-1.7;
a2=0.7;
b1=0.9;
b2=1;
c1=-0.7;
c2=0;
r0=1;
clf;
%
rho=1e-8;
[L,S,E]=dlqr(A,B,Q,rho);
P=poly(E);
s0=(1+P(2)+P(3))/1.9;
s1=-0.7*s0;
r1=s0-P(3);
R=[1 r1 0];
S=[s0 s1 0];
yvar=dcovar(R,P,1);
uvar=dcovar(-S,P,1);
[t,x,y]=sim('blockmv',[0, 100]);
subplot(3,1,1);
plot(t,y(:,1),'k--','Linew',lw);
axis([0,100,-4,4]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'xtick',[0 50 100]);
set(gca,'ytick',[-4 -2 0 2 4]);
ylabel('Output','Fontname','NewCenturySchlbk','Fontsize',9)
drawnow;
hold on
%
%subplot(3,1,2);
%[ts,ys]=stairs(t,y(:,2));
%plot(ts,ys,'m','Linew',lw);
%axis([0,100,-7 7]);
%set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
%set(gca,'xtick',[0 50 100]);
%set(gca,'ytick',[-5 0 5]);
%ylabel('Input','Fontname','NewCenturySchlbk','Fontsize',9)
%text(-11, 6.8,'(b)','Fontname','NewCenturySchlbk','Fontsize',9)
%drawnow;
%
rho=1;
[L,S,E]=dlqr(A,B,Q,rho);
P=poly(E);
s0=(1+P(2)+P(3))/1.9;
s1=-0.7*s0;
r1=s0-P(3);
R=[1 r1 0];
S=[s0 s1 0];
yvar=dcovar(R,P,1);
uvar=dcovar(-S,P,1);
[t,x,y]=sim('blockmv',[0, 100]);
subplot(3,1,1);
plot(t,y(:,1),'k-','Linew',lw);
%
subplot(3,1,2);
[ts,ys]=stairs(t,y(:,2));
plot(ts,ys,'m','Linew',lw);
axis([0,100,-12 12]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'xtick',[0 50 100]);
set(gca,'ytick',[-10 10]);
ylabel('Input','Fontname','NewCenturySchlbk','Fontsize',9)
xlabel('Time','Fontname','NewCenturySchlbk','Fontsize',9)
%text(-11, 6.8,'(c)','Fontname','NewCenturySchlbk','Fontsize',9)
drawnow;
%
ylblalgn