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# ex12_12 - actual theta also simulate response for ideal...

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% Example 12.12 % T = 0.14 Nc = .2*[1 .1]; % analog controller Dc = [1 2]; [Nd,Dd] = bilinear(Nc,Dc,1/T); % digital controller t = 0:.5*T:10; u = ones(1,length(t)); % step input Np = 10; % plant Dp = [1 .1 0]; [thetah1,uc] = hybrid(Np,Dp,Nd,Dd,T,t,u); % actual theta % change w_s to 10w_n and redo T = 0.28 [Nd,Dd] = bilinear(Nc,Dc,1/T); % digital controller t2 = 0:.25*T:10; u = ones(1,length(t2)); % step input Np = 10; % plant Dp = [1 .1 0]; [thetah2,uc] = hybrid(Np,Dp,Nd,Dd,T,t2,u); % actual theta % change w_s to 6w_n and redo T = 0.47 [Nd,Dd] = bilinear(Nc,Dc,1/T); % digital controller t3 = 0:.1*T:10; u = ones(1,length(t3)); % step input Np = 10; % plant Dp = [1 .1 0]; [thetah3,uc] = hybrid(Np,Dp,Nd,Dd,T,t3,u);
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Unformatted text preview: % actual theta % also simulate response for ideal analog controller ta = t; [Ncl,Dcl] = cloop(conv(Nc,Np),conv(Dc,Dp),-1); thetaa = step(Ncl,Dcl,ta); % ideal analog theta(t) plot(ta,thetaa,'-',t,thetah1,'--',t2,thetah2,':',. .. t3,thetah3,'-.') xlabel('Time (sec)') ylabel('Theta(t)') title('Figure 12.26') % add legend to plot hold on plot([2 3],[.7 .7],[2 3],[.6 .6],'--',[2 3],[.5 .5],':',[2 3],[.4 .4],'-.') text(3.3,.7,'analog control') text(3.3,.6,'digital control with ws = 20wn') text(3.3,.5,'digital control with ws = 10wn') text(3.3,.4,'digital control with ws = 6wn') hold off...
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