ex631conv.m

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% ex631conv.m
% Convert a CT motor plant to a DT one.

% PenChen Chou, Aug. 4, 2001

% Given CT system
num=5194; den=[1 (1350+66.4) 1350*66.4];
Ts=0.01; sysc=tf(num,den);
[A B C D]=tf2ss(num,den);
[A B]=c2d(A,B,Ts); 
t=0:0.0001:0.6; t=t';LEN=fix(length(t)/100);
[yc,t,x]=step(sysc,t);
[yd,x]=dstep(A,B,C,D,1,LEN);
figure(1);subplot(211);plot(t,yc,Ts*(0:LEN-1),yd)
title('ex631conv. Faster unit step velocity response(rad/s) is for the CT system, slower is DT')
xlabel('Time(s), Sampling time=0.01s');
disp('>>>DT SS are');
format long
A
B
C
D
x0=[0;0]
format short