main_3_graph - G theta = (G * Td) / (1 + G * Ga * Gc); t U...

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function [pid] = main_3_graph (Kp, Kd, Ki) f s = tf('s'); s Ga = 15 / (s + 15); G Iy = 0.2; Ix = 0.1; Iz = 0.01; n = 0.0011; delta = Iz - Ix; G = 1 / (Iy * s^2 - 3 * n^2 * delta); G Td = 0.000000011 / (s^2 + 0.00000121); T Gc = Kp + Kd * s + Ki / s;
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Unformatted text preview: G theta = (G * Td) / (1 + G * Ga * Gc); t U = (-1.0 * G * Ga * Gc * Td) / (1 + Ga * Gc * G); U figure(1) margin(theta); m time = [0, 1000]; figure(2) impulse(U, time); i pid = [Kp, Kd, Ki];...
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This note was uploaded on 09/18/2011 for the course ASE Controls taught by Professor Bishop during the Spring '10 term at University of Texas.

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