📄 sserrors.m
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function sserrors(z,p,k)
if(k)==0
[z,p,k]=tf2zp(z,p);
else
end
p=-p;
z=-z;
systype=0;
km=1;
kn=1;
n=length(p);
m=length(z);
for i=1:m
if(z(i)) ~= 0
if(z(i)) ~=-inf
km=km*z(i);
else
end
else
end
end
for i=1:n
if(p(i))== 0
systype=systype+1;
else
if(p(i)) ~=-inf
kn=kn*p(i);
end
end
end
Kc=k*km/kn;
if(systype)==0
Kp = Kc; Kv = 0; Ka = 0;
EssStep = 1/(1+Kc); EssRamp = inf; EssParab = inf;
end
if(systype)== 1
Kp = inf; Kv = Kc; Ka = 0;
EssStep = 0; EssRamp = 1/Kv; EssParab = inf;
end
if(systype)== 2
Kp = inf; Kv = inf ; Ka = Kc;
EssStep = 0; EssRamp = 0; EssParab = 1/Ka;
end
fprintf('System type is %2.0f \n\n',systype)
disp('Error Constants:')
disp(' Kp Kv Ka ')
disp([Kp,Kv,Ka])
disp('Steady-state Errors:')
disp(' Step Ramp Parabolic')
disp([EssStep, EssRamp,EssParab])
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