untitledu.m

ramp response r amp response ramp response

clear;
clc;
error_1=0;  %e(k-1)=0
error_2=0;
u_1=0; %u(k-1)=0
u_2=0; %u(k-2)=0
u_3=0;
y_1=0; %y(k-1)=0
for k=1:10
    y(1)=0;
    r(k)=k;
    error(k)=r(k)-y(k);
    u(k)=0.422*u_1+0.578*u_2+3.97*error(k)-3.648*error_1+0.775*error_2;
    y(k+1)=1.333*y(k)-0.333*y_1+0.3577*u(k)+0.249*u_1;
    y_1=y(k);
    error_2=error_1;
    error_1=error(k);
   u_3=u_2;
    u_2=u_1;
    u_1=u(k);
end
plot(u);