fig915.m

realize analysis and design for computer-controlled system

% Generates Fig 9.15
% Computer Controlled Systems (3rd ed)
% Author: B. Wittenmark
% Last edit: 1997-07-09
% 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'))
 
block915;

lw=0.9;
h=1;
w=0.2;
z=0.707;
d=0.02;
a=1;
%Regulator design pole placement with Am=z2+a1m*z+a2m and
%Ao=z2+a1o*z+a2m
wh=w*h;
z1=sqrt(1-z*z);
a1m=-2*exp(-z*wh)*cos(z1*wh);
a2m=exp(-2*z*wh);
ams=1+a1m+a2m;

ae=exp(-a*h);
a1o=-2*ae;
a2o=ae*ae;
aos=1+a1o+a2o;
amp=2+a1m;
aop=2+a1o;

p1=ams*aos;
pp=amp*aos+ams*aop;
p2p=2*(ams+amp*aop+aos);
h2=h*h;
s0=(p1/4-pp/2+p2p/2)/h2;
s1=(-p1+2*pp-p2p)/h2;
s2p=(7*p1/4-3*pp/2+p2p/2);
s2=s2p/h2;
r=s2p/2-a2m*a2o;
r1=r-1;
r2=-r;
t0=ams/h2;
t1=t0*a1o;
t2=t0*a2o;
clf;
%
[t,x,y]=sim('block915',[0, 150]);
subplot(3,1,1);
[ts,ys]=stairs(t,y(:,4));
plot(t,y(:,3),'k--',t,y(:,1),'k','Linew',lw);
axis([0,150,0,1.15]);
%title(['Fig 9.15']);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'xtick',[0 50 100 150]);
set(gca,'ytick',[0 1]);
ylabel('Output','Fontname','NewCenturySchlbk','Fontsize',9)
drawnow;
%
subplot(3,1,2);
plot(t,y(:,3),'k--',t,y(:,1),'k-',ts,ys,'m-','Linew',lw);
axis([0,150,0.97,1.03]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'xtick',[0 50 100 150]);
set(gca,'ytick',[0.98 1.02]);
ylabel('Output','Fontname','NewCenturySchlbk','Fontsize',9)
drawnow;
%
subplot(3,1,3);
[ts,ys]=stairs(t,y(:,2));
plot(ts,ys,'m','Linew',lw);
axis([0,150,-0.05,0.05]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'xtick',[0 50 100 150]);
set(gca,'ytick',[-0.05 0 0.05]);
xlabel('Time','Fontname','NewCenturySchlbk','Fontsize',9)
ylabel('Input','Fontname','NewCenturySchlbk','Fontsize',9)
drawnow;
%
ylblalgn