fig416.m

realize analysis and design for computer-controlled system

% Generates Fig 4.16
% Computer Controlled Systems (3rd ed)
% Author: B. Wittenmark
% Last edit: 1997-07-02
% Copyright (c) 1996 by K. J. 舠tr鰉, B. Wittenmark and
% Department of Automatic Control, Lund Institute of
% Technology, Lund, Sweden

blockoutint;

newplot;
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;
tv=5;
vstep=0.2;
tstep=30;
x10=0;
x20=0;
zeta=0.707;
zetam=1;
om=1;
omm=2;
h=0.44;
al=0.75;
clf;
%
p1=-2*exp(-zeta*om*h)*cos(om*h*sqrt(1-zeta*zeta));
p2=exp(-2*zeta*om*h);
l1=2+p1;
l2=-1+p2;
phi=[2 -1;1 0];
ga=[1;0];
C=[h*h/2 h*h/2];
A=[phi ga; 0 0 1]';
B=[C 0]';
Kf=place(A,B,[al al-0.001 al+0.001]);
k1=Kf(1);
k2=Kf(2);
Kw=Kf(3);
am1=-2*exp(-zetam*omm*h)*cos(omm*h*sqrt(1-zetam*zetam));
am2=exp(-2*zetam*omm*h);
lam=(1+am1+am2)/(h*h);
phim=[-am1 -am2;1 0];
gam=[lam;0];
Cm=C;
Cff=[-2-am1 1-am2];
[t,x,y]=sim('blockoutint',[0, 51]);
[ts,ys]=stairs(t,y(:,8));
opt=simset('Outputpoints','specified');
[t1,x1,y1]=sim('blockoutint',[0:h:51],opt);
subplot(3,1,1);
plot(t,y(:,1),'k-',t1,y1(:,8),'m.','Linew',lw,'Markersize',Ms);
axis([0,50,-0.1,1.1]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'xtick',[0 50],'ytick',[0 1]);
ylabel('Output','Fontsize',9,'Fontname','NewCenturySchlbk')
text(-7.5,1.1,'(a)','Fontsize',9,'Fontname','NewCenturySchlbk')
hold on
drawnow;
%
subplot(3,1,2);
[ts,ys]=stairs(t,y(:,6));
plot(ts,ys,'m-','Linew',lw);
axis([0,50,-1,2]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'xtick',[0 50],'ytick',[0 2]);
ylabel('Input','Fontsize',9,'Fontname','NewCenturySchlbk')
text(-7.5,2,'(b)','Fontsize',9,'Fontname','NewCenturySchlbk')
drawnow;

subplot(3,1,3);
[ts,ys]=stairs(t,y(:,5));
plot(ts,ys,'m-',t,y(:,7),'k--','Linew',lw);
axis([0,50,-0.05 0.3]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'xtick',[0 50],'ytick',[0 0.2]);
xlabel('Time','Fontname','NewCenturySchlbk','Fontsize',9)
ylabel('Disturbance','Fontsize',9,'Fontname','NewCenturySchlbk')
text(-7.5,0.29,'(c)','Fontsize',9,'Fontname','NewCenturySchlbk')
drawnow;
%
ylblalgn;