collecta_errors.m

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% collecta_errors.m

% Round #1
if MAIN_loop==1
    Emin=1e6;FT=0.8;
end;    
K=1.41e6;a1=778.5743;a2=9.9562e4;
[T X Y]=sim(MDL,[0 FT]); 
err=Y(:,3); N=length(y); err=err(N);
RR1=1000*err;
if MAIN_loop==1
    in=Y(:,1);y=Y(:,2);
    figure(2);subplot(231);plot(T,[in y]);grid;
    title('I/O step reponses,Normal plant');
end;    
% Round #2
K=1.41e6;a1=778.5743;a2=9.9562e4;
K=2.5*K; a1=0.4*a1; a2=0.4*a2;
[T X Y]=sim(MDL,[0 FT]); 
err=Y(:,3); N=length(y); err=err(N);
ERR2=1000*(err);
if MAIN_loop==1
    in=Y(:,1);y=Y(:,2);
    figure(2);subplot(232);plot(T,[in y]);grid;
    title('Plant:2.5K,0.4a1,0.4a2');
end;    
% Round #3
K=1.41e6;a1=778.5743;a2=9.9562e4;
K=0.4*K; a1=0.4*a1; a2=0.4*a2;
[T X Y]=sim(MDL,[0 FT]); 
err=Y(:,3); N=length(y); err=err(N);
ERR3=1000*err;
if MAIN_loop==1
    in=Y(:,1);y=Y(:,2);
    figure(2);subplot(233);plot(T,[in y]);grid;
    title('Plant:0.4K,0.4a1,0.4a2');
end;    
% Round #4
K=1.41e6;a1=778.5743;a2=9.9562e4;
K=0.4*K; a1=2.5*a1; a2=2.5*a2;
[T X Y]=sim(MDL,[0 FT]); 
err=Y(:,3); N=length(err);err=err(N);
ERR4=1000*err;
if MAIN_loop==1
    in=Y(:,1);y=Y(:,2);
    figure(2);subplot(234);plot(T,[in y]);grid;
    title('Plant:0.4K,2.5a1,2.5a2');
end;    
% Round #5
K=1.41e6;a1=778.5743;a2=9.9562e4;
K=2.5*K; a1=2.5*a1; a2=2.5*a2;
[T X Y]=sim(MDL,[0 FT]); 
err=Y(:,3); N=length(err);err=err(N);
ERR5=1000*err;
if MAIN_loop==1
    in=Y(:,1);y=Y(:,2);
    figure(2);subplot(235);plot(T,[in y]);grid;
    title('Plant:2.5K,2.5a1,2.5a2');
end;    
xlabel(['Time(s),P=' num2str(Kp) ';I=' num2str(Ki) ';D=' num2str(Kd)]);
K=1.41e6;a1=778.5743;a2=9.9562e4;
gtext({['L1=' num2str(L1) ',L2=' num2str(L2) ',Emin=' num2str(best_pi)]});