fig124.m

realize analysis and design for computer-controlled system

% Generates Fig 12.4 (dealy)
% 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'))
 
lw=0.9;
N=50;

Bpol=[1 0.5];

%m=1
Gpol=[1.3 -0.2];
Fpol=[1];
[t,x,y]=sim('blockdel',[0, N]);
subplot(3,2,1)
plot(t,y(:,1),'k','Linew',lw);
axis([0,N,-12  12]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'xtick',[0 50 100],'ytick',[-10 0 10]);
ylabel('Output','Fontsize',9,'Fontname','NewCenturySchlbk')
ry1=cumsum(Fpol.*Fpol);
%text(10,8,'r_y=1','Fontsize',9,'Fontname','NewCenturySchlbk')
text(-15,12,'(a)','Fontsize',9,'Fontname','NewCenturySchlbk')

subplot(3,2,2)
[ts,ys]=stairs(t,y(:,2));
plot(ts,ys,'k','Linew',lw);
axis([0,N,-7  7]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'xtick',[0 50 100],'ytick',[-5 0 5]);
ylabel('Input','Fontsize',9,'Fontname','NewCenturySchlbk')


%d=3
Gpol=[1.715 -1.225];
Fpol=[1 1.3 1.75];
[t,x,y]=sim('blockdel',[0, N]);
subplot(3,2,3)
plot(t,y(:,1),'k','Linew',lw);
axis([0,N,-12 12]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'xtick',[0 50 100],'ytick',[-10 0 10]);
ylabel('Output','Fontsize',9,'Fontname','NewCenturySchlbk')
ry3=cumsum(Fpol.*Fpol);
%text(10,8,'r_y=5.8','Fontsize',9,'Fontname','NewCenturySchlbk')
text(-15,12,'(b)','Fontsize',9,'Fontname','NewCenturySchlbk')

subplot(3,2,4)
[ts,ys]=stairs(t,y(:,2));
plot(ts,ys,'k','Linew',lw);
axis([0,N,-7  7]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'xtick',[0 50 100],'ytick',[-5 0 5]);
ylabel('Input','Fontsize',9,'Fontname','NewCenturySchlbk')

%d=5
Gpol=[0.8208 -0.9433];
Fpol=[1 1.3 1.75 1.715 1.3475];
[t,x,y]=sim('blockdel',[0, N]);
subplot(3,2,5)
plot(t,y(:,1),'k','Linew',lw);
axis([0,N,-12  12]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'xtick',[0 50 100],'ytick',[-10 0 10]);
ylabel('Output','Fontsize',9,'Fontname','NewCenturySchlbk')
xlabel('Time','Fontsize',9,'Fontname','NewCenturySchlbk')
ry5=cumsum(Fpol.*Fpol);
%text(10,8,'r_y=10.5','Fontsize',9,'Fontname','NewCenturySchlbk')
text(-15,12,'(c)','Fontsize',9,'Fontname','NewCenturySchlbk')

subplot(3,2,6)
[ts,ys]=stairs(t,y(:,2));
plot(ts,ys,'k','Linew',lw);
axis([0,N,-7  7]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'xtick',[0 50 100],'ytick',[-5 0 5]);
ylabel('Input','Fontsize',9,'Fontname','NewCenturySchlbk')
xlabel('Time','Fontsize',9,'Fontname','NewCenturySchlbk')