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📄 tset.m

📁 Determine the settling time of the response.
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Date: Thu, 27 Mar 2008 20:17:37 +0800
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<HTML><HEAD>
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<BODY><PRE>function [tsx,tsy,tsz,tsphi,tstheta,tsyaw] =3D =
tset(eoutd,posd,t)
%tset - SETTLING TIME OF THE TIME RESPONSE ( +/-10%)
%assume steady state value [1 0 1 0 0 1]
%[ts_x,ts_y,ts_z,ts_phi,ts_theta,ts_yaw] =3D tset(eoutd,t)
%--------output--------------------------
%ts_x-  x direction
%ts_y-  y direction
%ts_z-  z direction
%ts_phi-  phi direction
%ts_theta- theta direction
%ts_psi-  psi direction
%--------input--------------------------
%eoutd - position or velocity=20
%posd - desired position or velocity
%t     - simulation time
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%Initialization
thresx=3D0.10; % 10 percent - bigger than in Franklin
thresy=3D0.05; % 5 percent=20
thresz=3D0.10;
thresp=3D0.05;
threst=3D0.05;
thresy=3D0.10;

posd=3D[1 0 1 0 0 1]';
=20
%Calculate ts-x
n=3D0;=20
x=3Deoutd(:,1);
selx=3Dlogical(abs(x-posd(1))&gt;thresx); % +/-10%
ts_x=3Dselx.*t;
for i=3D1:length(x)
    if ts_x(i) =3D=3D0=20
         n=3Dn+1;
    else
         n=3D0;  tsx=3D0;=20
    end
    if n&gt;6                     %******* trend repeats for 6 =
times*********
         tsx=3Dt(i); =20
         break =20
    end =20
end

%Calculate ts-y
n=3D0;=20
y=3Deoutd(:,2);
sely=3Dlogical(abs(y-posd(2))&gt;thresy); % +/-10%
ts_y=3Dsely.*t;
for i=3D1:length(y)
    if ts_y(i) =3D=3D0=20
         n=3Dn+1;
    else
         n=3D0;   tsy=3D0;=20
    end
    if n&gt;6
         tsy=3Dt(i);=20
         break =20
    end =20
end


% Calculate ts-z
n=3D0;=20
z=3Deoutd(:,3);
selz=3Dlogical(abs(z-posd(3))&gt;thresz); % +/-10%
ts_z=3Dselz.*t;
for i=3D1:length(z)
    if ts_z(i) =3D=3D0=20
         n=3Dn+1;
    else
         n=3D0;   tsz=3D0;=20
    end
    if n&gt;6
         tsz=3Dt(i);
         break =20
    end =20
end

% Calculate ts-phi
n=3D0;=20
phi=3Deoutd(:,4);
selphi=3Dlogical(abs(phi-posd(4))&gt;thresp); % +/-10%
ts_phi=3Dselphi.*t;
for i=3D1:length(z)
    if ts_phi(i) =3D=3D0=20
         n=3Dn+1;
    else
         n=3D0;   tsphi=3D0;=20
    end
    if n&gt;6
         tsphi=3Dt(i);
         break =20
    end =20
end


% Calculate ts-theta
n=3D0;=20
theta=3Deoutd(:,6);
seltheta=3Dlogical(abs(theta-posd(5))&gt;threst); % +/-10%
ts_theta=3Dseltheta.*t;
for i=3D1:length(z)
    if ts_theta(i) =3D=3D0=20
         n=3Dn+1;
    else
         n=3D0;   tstheta=3D0;=20
    end
    if n&gt;6
         tstheta=3Dt(i);
         break =20
    end =20
end




% Calculate ts-yaw
n=3D0;=20
yaw=3Deoutd(:,6);
selyaw=3Dlogical(abs(yaw-posd(6))&gt;thresy); % +/-10%
ts_yaw=3Dselyaw.*t;
for i=3D1:length(z)
    if ts_yaw(i) =3D=3D0=20
         n=3Dn+1;
    else
         n=3D0;   tsyaw=3D0;=20
    end
    if n&gt;6
         tsyaw=3Dt(i);
         break =20
    end =20
end</PRE></BODY></HTML>

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