fig47.m

realize analysis and design for computer-controlled system

% Generates Fig 4.7
% Computer Controlled Systems (3rd ed)
% Author: B. Wittenmark
% Last edit: 1997-06-30
% Copyright (c) 1996 by K. J. 舠tr鰉, B. Wittenmark and
% Department of Automatic Control, Lund Institute of
% Technology, Lund, Sweden

block47;

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

lw=0.9;
Ms=7;
m=0;
t0=0;
x10=1;
x20=1;
sw=1;
zeta=0.7;
om=1;
h=0.44;
al=0.75;
pk1=-2*al;
pk2=al*al;
k1=2+pk1;
k2=(1+pk1+pk2)/h;
kl=(1-al)/h;
clf;
%
p1=-2*exp(-zeta*om*h)*cos(om*h*sqrt(1-zeta*zeta));
p2=exp(-2*zeta*om*h);
l1=(1+p1+p2)/(h*h);
l2=(3+p1-p2)/(2*h);
[t,x,y]=sim('block47',[0, 10]);
opt=simset('Outputpoints','specified');
[t2,x,y2]=sim('block47',[0:h:10],opt);

subplot(3,2,1);
hpl=plot(t,y(:,1),'k-',t2,y2(:,3),'m.','Linew',lw);
axis([0,10,-1,2.5]);
%title(['Fig 4.6']);
set(hpl,'MarkerSize',Ms)
set(gca,'xtick',[0 5 10],'ytick',[0 2]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
ylabel('Position','Fontname','NewCenturySchlbk','Fontsize',9)
text(-2.5,2.4,'(a)','fontname','NewCenturySchlbk','fontsize',9)
drawnow;
%
subplot(3,2,2);
hpl=plot(t,y(:,2),'k-',t2,y2(:,4),'m.','Linew',lw);
axis([0,10,-1,2.5]);
set(hpl,'MarkerSize',Ms)
set(gca,'xtick',[0 5 10],'ytick',[0 2]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
ylabel('Velocity','Fontname','NewCenturySchlbk','Fontsize',9)
drawnow;
%
sw=0;
[t,x,y]=sim('block47',[0, 10]);
[t2,x,y2]=sim('block47',[0:h:10],opt);

subplot(3,2,3);
hpl=plot(t,y(:,1),'k-',t2,y2(:,3),'m.','Linew',lw);
axis([0,10,-1,2.5])
set(hpl,'MarkerSize',Ms)
set(gca,'xtick',[0 5 10],'ytick',[0 2]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
ylabel('Position','Fontname','NewCenturySchlbk','Fontsize',9)
xlabel('Time','Fontname','NewCenturySchlbk','Fontsize',9)
text(-2.5,2.4,'(b)','fontname','NewCenturySchlbk','fontsize',9)
drawnow;
%
subplot(3,2,4);
hpl=plot(t,y(:,2),'k-',t2,y2(:,4),'m.','Linew',lw);
axis([0,10,-1,2.5]);
set(hpl,'MarkerSize',Ms)
set(gca,'xtick',[0 5 10],'ytick',[0 2]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
ylabel('Velocity','Fontname','NewCenturySchlbk','Fontsize',9)
xlabel('Time','Fontname','NewCenturySchlbk','Fontsize',9)
drawnow;
%