www.gusucode.com > rctobsolete 工具箱 matlab源码程序 > rctobsolete/robust/accdemo.m
function accdemo(flag,Lag,minpha)
%ACCDEMO Demo of 1990 ACC benchmark problem.
%
% ---------------------------------------------------------------
% ACCDEMO.M is a script file that demonstrates the designs of
% 1990 ACC benchmark problem.
% ---------------------------------------------------------------
%
% R. Y. Chiang & M. G. Safonov (rev 11/7/97)
% Copyright 1988-2015 The MathWorks, Inc.
% All Rights Reserved.
clc
disp(' ')
disp(' << Benchmark Problem >>')
disp(' ');
disp(' |--> x1 |--> x2 = z (measurement)');
disp(' (control) ------ k ------');
disp(' u -------> | M1 | -/\/\/\-| M2 | ------> w (disturbance)');
disp(' ------ ------');
disp(' 0 0 0 0');
disp(' ===============================================================');
disp(' [ Design Specifications ]');
disp(' ------------------------------------------------------------');
disp(' | Design | Robustness | Settling Time | Disturbance w(t) |')
disp(' ---------+--------------+---------------+-------------------');
disp(' | 1 | stable for | Ts ~= 15 sec | impulse |');
disp(' | | .5 < k < 2 | for nominal | |');
disp(' ---------+--------------+---------------+-------------------');
disp(' | 2 | maximize MSM | Ts ~= 15 sec | impulse |');
disp(' | | for nominal | for nominal | |');
disp(' ---------+--------------+---------------+-------------------');
disp(' | 3 | stable for | Ts ~= 20 sec | A sin(.5t + phi) |');
disp(' | | .5 < k < 2 | for all cases | A, phi unknown |');
disp(' ------------------------------------------------------------');
disp(' ')
disp(' ')
if nargin==0,
flag = input('Design # 1 (default), 2 or 3 : ');
if isempty(flag), flag=1; disp('Using default (Design #1)'), end
end
% Input Lag,if needed
if flag == 1
if nargin < 2,
Lag=input(' Controller type (0 = min phase (default), 1 = non-min phase): ');
if isempty(Lag),
Lag = 0;
disp('Using default (min phase)')
end
end
else
Lag = 0;
end;
spring = [0.5 1 2];
%
clc
disp(' ')
disp(' -----------------------------------------------------------')
disp(' 1. Set up the nominal system:');
disp(' ');
disp(' k = 1; m1 = 1; m2 = 1;');
disp(' ag = [0 0 1 0');
disp(' 0 0 0 1');
disp(' -k/m1 k/m1 0 0');
disp(' k/m2 -k/m2 0 0];');
disp(' bg = [0 0 1/m1 0]`; cg = [0 1 0 0]; dg = 0;');
disp(' -----------------------------------------------------------')
k = 1; m1 = 1; m2 = 1;
ag = [0 0 1 0
0 0 0 1
-k/m1 k/m1 0 0
k/m2 -k/m2 0 0];
bg = [0 0 1/m1 0]'; cg = [0 1 0 0]; dg = 0;
disp(' ');
disp(' Poles of Plant G(s) - -')
lamg = eig(ag)
disp(' ')
disp(' (strike a key to continue)')
pause
%---------------------------------------
% Augment Plant for H-Inf Design:
%
clc
if Lag == 0
if flag == 1 | flag == 3
disp(' ')
disp(' -----------------------------------------------------------');
disp(' 2. Set up the augmented plant for H-Inf design:');
disp(' ')
disp(' Change the spring to "5/4" with scaling factor "Gam"')
disp(' (the additive uncertainty is now bounded by +- 1)')
disp(' k0 = 5/4;')
disp(' A = [ 0 0 1 0')
disp(' 0 0 0 1')
disp(' -k0/m1 k0/m1 0 0')
disp(' k0/m2 -k0/m2 0 0];')
disp(' B1 = [0 0 -1/m1 1/m2]`; B2 = -[0 0 1/m1 0]`;')
disp(' C1 = Gam*[1 -1 0 0]; C2 = [0 1 0 0];')
disp(' D11 = 0; D12 = 0; D21 = 0; D22 = 0;')
disp(' where "Gam" is the robustness level of spring')
disp(' (Gam = 0.75 for 0.5 <= k <= 2).')
disp(' ----------------------------------------------------------');
disp(' ')
itcha = 4;
if itcha == 4
disp(' ')
if flag == 1
disp(' Try: Gam = 0.75, Rho = 0.02...')
Gam=0.75; Rho=0.02;
end
if flag == 2
disp(' Try: Gam = 0.75, Rho = 0...')
Gam=0.75; Rho=0.0;
end
if flag == 3
disp(' Try: Gam = 0.36, Rho = 0.009...')
Gam=0.36; Rho=0.009;
end
disp(' ')
if nargin==0,
Gam=[];
while isempty(Gam);
Gam=input('Assign the fixed robustness level "Gam" of spring constant: ');
end
Rho=[];
while isempty(Rho);
Rho=input('Assign the fixed bound "Rho" on control signal: ');
end
end
end
if itcha == 2
Gam=[];
while isempty(Gam),
Gam=input('Assign the fixed robustness level "Gam" of spring constant: ');
end
Rho = 1;
end
if itcha == 1
Rho=[];
while isempty(Rho),
Rho = input('Assign the fix bound "Rho" on control signal: ');
end
Gam = 1;
end
k0 = 1.25;
A = [ 0 0 1 0
0 0 0 1
-k0/m1 k0/m1 0 0
k0/m2 -k0/m2 0 0];
B1 = [0 0 -1/m1 1/m2]'; B2 = -[0 0 1/m1 0]';
C1 = Gam*[1 -1 0 0]; C2 = [0 1 0 0];
D11 = 0; D12 = 0; D21 = 0; D22 = 0;
if Rho ~= 0
C1 = [C1;0 0 0 0]; D11 = [D11;0]; D12 = [D12;Rho];
end
end
end
if flag == 3
clc
disp(' ')
disp(' ----------------------------------------------------------');
disp(' Augment the plant with Internal Model:')
disp(' (s+1)^2')
disp(' I(s) = -----------')
disp(' s^2 + 0.5^2')
disp(' ----------------------------------------------------------');
[aint,bint,cint,dint] = tf2ss([1 2 1],[1 0 0.25]);
if Lag == 0
[ap,bp,cp,dp] = append(aint,bint,cint,dint,A,B2,[C1;C2],[D12;D22]);
% [aa,bb,cc,dd]=series(aint,bint,cint,dint,A,B2,[C1;C2],[D12;D22]);
[r1,c1] = size(dint); [r2,c2] = size([D12;D22]);
M = [eye(c1);zeros(c2,c1)]; N = [zeros(r2,r1),eye(r2)];
F = [zeros(c1,r1) zeros(c1,r2);eye(c2,r1) zeros(c2,r2)];
[aa,bb,cc,dd] = interc(ap,bp,cp,dp,M,N,F);
A = aa; B1 = [zeros(size(aint)*[1;0],1);B1]; B2 = bb;
C1 = cc(1:2,:); C2 = cc(3,:); D12 = dd(1:2,1); D22 = dd(3,1);
else
[ag,bg,cg,dg] = series(aint,bint,cint,dint,ag,bg,cg,dg);
end
disp(' ')
disp(' ')
disp(' (strike a key to continue)')
pause
end
if flag == 2
disp(' ')
disp(' -----------------------------------------------------------');
disp(' 2. Set up the augmented plant for H-Inf design:');
disp(' ');
disp(' A = ag; ');
disp(' B1 = [0 0 0;0 0 0;-1/m1 1 0; 1/m2 0 1];')
disp(' B2 = -[0 0 1/m1 0]`; ')
disp(' C1 = [1 -1 0 0;-k k 0 0;k -k 0 0]; C2 = [0 1 0 0];')
disp(' D11 = [0 0 0;-1 0 0;1 0 0]; D12 = -[0 1 0]`;')
disp(' D21 = [0 0 0]; D22 = 0;')
disp(' ----------------------------------------------------------');
A = ag; B1 = [0 0 0;0 0 0;-1/m1 1 0; 1/m2 0 1]; B2 = -[0 0 1/m1 0]';
C1 = [1 -1 0 0;-k k 0 0;k -k 0 0]; C2 = [0 1 0 0];
D11 = [0 0 0;-1 0 0;1 0 0]; D12 = -[0 1 0]';
D21 = [0 0 0]; D22 = 0;
itcha = 1:3; % iterate on 3 robustness channels
disp(' ')
disp(' ')
disp(' (strike a key to continue)')
pause
clc
end
%
clc
disp(' ')
disp(' ------------------------------------------------------------------')
disp(' 3. Transform the plant via a ''pole-shifting'' bilinear transform:')
disp(' ')
disp(' % Select the circle point for mapping ...')
disp(' % Pack the 2-port state-space ...')
disp(' B = [B1 B2]; C = [C1;C2]; D = [D11 D12;D21 D22];')
disp(' [aa,bb,cc,dd] = bilin(A,B,C,D,1,`Sft_jw`,cirpt);')
disp(' % Split the (aa,..) back to 2-port state-space (A,B1,..);')
disp(' % The H-Inf problem is ready to go ..')
disp(' ------------------------------------------------------------------')
disp(' ');
disp(' ');
if Lag == 0
disp(' (strike a key to see an example of bilinear mapping)')
pause
bilexp
drawnow
else
disp(' (strike a key to continue..)')
pause
end
disp(' ');
disp(' ');
disp('A class of H-Inf controllers can be found by adjusting the circle point "p1":')
disp(' ')
disp(' ')
if flag == 1
if Lag == 1
disp(' (p2 = INF; Try p1 = -0.3)');
cirpt1=-0.3;
else
disp(' (Min. Phase Controller: p1 = -0.35)');
cirpt1=-0.35;
end
end
if flag == 2
cirpt1=-0.25;
if nargin<3,
% disp(' (Min. Phase Controller: p1 = -0.465)');
% disp(' (Non-Min. Phase Controller: p1 = -0.25)');
disp(' (Try p1 = -0.25)');
% else
% if minpha > 0,
% cirpt1=-0.465;
% end
end
end
if flag == 3
disp(' (Min. Phase Controller: p1 = -0.3)');
cirpt1=-0.3;
end
if nargin==0,
cirpt1=[];
while isempty(cirpt1),
cirpt1 = input(' Input< the circle point "p1": ');
end
end
cirpt = [-100 cirpt1];
%
if Lag == 1
sgm = -cirpt1; itcha = 4;
[tmp1,tmp2]=size(ag);
ag = ag + sgm*eye(tmp1,tmp2);
disp(' ')
disp('Only impose W2 weighting on control signal - -')
Rho=0.1;
if nargin==0,
Rho=[];
while isempty(Rho),
Rho = input(' Assign the fix bound on W2 weight (try 0.1): ');
end
end
w1 = []; w3 = []; w2 = [Rho;1];
[A,B1,B2,C1,C2,D11,D12,D21,D22] = augtf(ag,bg,cg,dg,w1,w2,w3);
end
no_u1 = size(B1)*[0;1]; no_u2 = size(B2)*[0;1];
no_y1 = size(C1)*[1;0]; no_y2 = size(C2)*[1;0];
if Lag == 0
B = [B1 B2]; C = [C1;C2]; D = [D11 D12;D21 D22];
[aa,bb,cc,dd] = bilin(A,B,C,D,1,'Sft_jw',cirpt);
A = aa; B1 = bb(:,1:no_u1); B2 = bb(:,no_u1+1:no_u1+no_u2);
C1 = cc(1:no_y1,:); C2 = cc(no_y1+1:no_y1+no_y2,:);
D11 = dd(1:no_y1,1:no_u1); D12 = dd(1:no_y1,no_u1+1:no_u1+no_u2);
D21 = dd(no_y1+1:no_y1+no_y2,1:no_u1);
D22 = dd(no_y1+1:no_y1+no_y2,no_u1+1:no_u1+no_u2);
end
%
clc
disp(' ')
disp(' -------------------------------------------------------------')
disp(' 4. Starting H-Inf Design: ');
disp(' ')
disp(' TSS_ = rct2lti(mksys(A,B1,B2,C1,C2,D11,D12,D21,D22,`tss`));')
if itcha == 4
disp(' % Regular H-Inf ')
disp(' [ss_cp,ss_cl,hinfo]=hinf(TSS_);')
else
disp(' % H-Inf GAMMA-Iteration for maximum MSM')
disp(' [gamopt,ss_cp,ss_cl]=hinfopt(TSS_);')
end
disp(' [acp,bcp,ccp,dcp] = ssdata(ss_cp);')
disp(' [acl,bcl,ccl,dcl] = ssdata(ss_cl);')
disp(' -------------------------------------------------------------')
disp(' ')
disp(' ')
disp(' (strike a key to continue)')
pause
%format short e
format short
clc
if itcha == 4
[acp,bcp,ccp,dcp,acl,bcl,ccl,dcl,hinfo] = hinf(...
A,B1,B2,C1,C2,D11,D12,D21,D22);
gamopt=1;
else
[gamopt,acp,bcp,ccp,dcp,acl,bcl,ccl,dcl] = hinfopt(...
A,B1,B2,C1,C2,D11,D12,D21,D22,itcha);
end
disp(' ')
disp(' (strike a key to continue)')
pause
%
%acceva
%accplt
%ACCEVA Script file for evaluation of 1990 ACC benchmark problem.
%
% ---------------------------------------------------------------
% ACCEVA.M is a script file that evaluates the performance of
% the ACC Benchmark problem.
% ---------------------------------------------------------------
%
clc
disp(' ');
disp(' << Start to Evaluate the Robust Performance >>');
%
w = logspace(-3,3,100);
%w = [w [0.1:0.1:2]];
%[w,wind] = sort(w);
disp(' ')
disp(' -------------------------------------------------------------------')
disp(' Transform the cost & controller from "s~" to "s":')
disp(' ')
disp(' [acll,bcll,ccll,dcll] = bilin(acl,bcl,ccl,dcl,-1,`Sft_jw`,cirpt);')
disp(' [af,bf,cf,df] = bilin(acp,bcp,ccp,dcp,-1,`Sft_jw`,cirpt);')
disp(' ----------------------------------------------------------------------')
if Lag == 1
acll = acl - sgm*eye(size(acl)); bcll = bcl; ccll = ccl; dcll = dcl;
af = acp - sgm*eye(size(acp)); bf = bcp; cf = ccp; df = dcp;
else
[acll,bcll,ccll,dcll] = bilin(acl,bcl,ccl,dcl,-1,'Sft_jw',cirpt);
[af,bf,cf,df] = bilin(acp,bcp,ccp,dcp,-1,'Sft_jw',cirpt);
end
if flag == 2
disp(' ')
disp(' - - Computing the cost function in s~ - - ')
perttw = ssv(acl,bcl,ccl,dcl,w); perttw = 20*log10(perttw);
disp(' ')
disp(' - - Computing the cost function - -')
pertt = ssv(acll,bcll,ccll,dcll,w); pertt = 20*log10(pertt);
end
clc
disp(' ')
disp(' Poles of Controller F(s) - -')
format compact
lamf = eig(af)
disp(' ')
disp(' Zeros of F(s) - -')
tzf = tzero(af,bf,cf,df)
disp(' ')
disp(' (strike a key to continue)')
pause
disp(' ')
disp(' Controller N(s)/D(s) - -')
[nuf,dnf] = ss2tf(af,bf,cf,df,1)
format loose
disp('')
disp(' (strike a key to continue)')
pause
clc
disp(' ')
disp(' - - Computing the gain/phase of F(s) & L(s) - -');
[gf,pf] = bode(af,bf,cf,df,1,w); gf = 20*log10(gf);
% --------------------------------------------------------------
% Evaluate the disturbance response from u,w,v ---> z
%
% disp(' ')
% disp(' - - Evaluating the disturbance response from w to z - -')
% ---------------------------------------------------------------
% Including the control energy, disturbance at M1 or M2:
%
BB1a = [0 0 0 1/m2]'; % disturbance at M2
BB1a = [BB1a,[0 0 0 0]']; % add V(s)
BB1b = [0 0 1/m1 0]'; % disturbance at M1
BB1b = [BB1b,[0 0 0 0]']; % add V(s)
CC2a = [1 0 0 0;0 1 0 0;0 0 0 0];
DD21a = [0 0;0 0;0 0]; DD22a = [0;0;1];
DD21 = [0 1]; DD22 = 0;
t = 0:0.1:30;
dist_w = sin(0.5*t)';
%disp(' ')
%disp(' - - Evaluate effect of sensor noise: v(t) = 0.001*sin(100*t) - -');
nos_v = 0.001*sin(100*t)';
[tmp1,tmp2]=size(t);
ipp = zeros(tmp1,tmp2)'; ipp(1) = 2/(t(2)-t(1));
U1 = [ipp nos_v]; % impulse + sensor noise for design # 1,2
U2 = [dist_w nos_v]; % sin disturbance + sensor noise for #3
% -----------------------------------------------------------------------
% Attach the Internal Model I(s) to the controller for
% disturbance rejection in Design # 3:
%
if flag == 3
disp(' ')
disp(' - - Attach the internal model to the controller - -')
disp(' to prepare for evaluation of the design')
disp(' ')
[af,bf,cf,df] = series(af,bf,cf,df,aint,bint,cint,dint);
end
[nuf,dnf] = ss2tf(af,bf,cf,df,1);
%
disp('')
disp(' (strike a key to continue)')
pause
clc
disp( 'Evaluate effects of spring constant variations on poles: ')
no_spr = size(spring)*[0;1];
for k0no = 1:no_spr
k0 = spring(k0no);
AA = [ 0 0 1 0
0 0 0 1
-k0/m1 k0/m1 0 0
k0/m2 -k0/m2 0 0];
BB2 = -[0 0 1/m1 0]'; CC2 = [0 1 0 0]; dimp = [4 2 1 3 1];
% dist. at M2
[aw2zu,bw2zu,cw2zu,dw2zu] = lftf(...
AA,BB1a,BB2,CC2a,CC2,DD21a,DD22a,DD21,DD22,af,bf,cf,df);
lamw2zu = eig(aw2zu);
disp(['Closed-loop Poles for spring constant k = ' num2str(k0) ':'])
disp(lamw2zu)
% dist. at M1
[aw1zu,bw1zu,cw1zu,dw1zu] = lftf(...
AA,BB1b,BB2,CC2a,CC2,DD21a,DD22a,DD21,DD22,af,bf,cf,df);
if flag ~= 3 % Impulse response for design # 1 & 2
imp_w2 = lsim(aw2zu,bw2zu,cw2zu,dw2zu,U1,t);
x1_ipw2(:,k0no) = imp_w2(:,1);
x2_ipw2(:,k0no) = imp_w2(:,2);
u_ipw2(:,k0no) = imp_w2(:,3);
imp_w1 = lsim(aw1zu,bw1zu,cw1zu,dw1zu,U1,t);
x1_ipw1(:,k0no) = imp_w1(:,1);
x2_ipw1(:,k0no) = imp_w1(:,2);
u_ipw1(:,k0no) = imp_w1(:,3);
else % Sinusodial disturbance for design # 3
sim_w2 = lsim(aw2zu,bw2zu,cw2zu,dw2zu,U2,t);
x1_w2(:,k0no) = sim_w2(:,1);
x2_w2(:,k0no) = sim_w2(:,2);
u_w2(:,k0no) = sim_w2(:,3);
sim_w1 = lsim(aw1zu,bw1zu,cw1zu,dw1zu,U2,t);
x1_w1(:,k0no) = sim_w1(:,1);
x2_w1(:,k0no) = sim_w1(:,2);
u_w1(:,k0no) = sim_w1(:,3);
end
svw2z(:,k0no) = bode(aw2zu,bw2zu,cw2zu(2,:),dw2zu(2,:),1,w);
svw2z(:,k0no) = 20*log10(svw2z(:,k0no));
disp(' ')
ag = [0 0 1 0
0 0 0 1
-k0/m1 k0/m1 0 0
k0/m2 -k0/m2 0 0];
bg = [0 0 1/m1 0]';
cg = [0 1 0 0]; dg = 0;
[al,bl,cl,dl] = series(af,bf,cf,df,ag,bg,cg,dg);
[at,bt,ct,dt] = feedbk(al,bl,cl,dl,2);
yt(:,k0no) = step(at,bt,ct,dt,1,t);
[nul(k0no,:),dnl(k0no,:)] = ss2tf(al,bl,cl,dl,1);
% [gl(:,k0no),pl(:,k0no)] = bode(al,bl,cl,dl,1,w);
[gla(:,k0no),pla(:,k0no)] = bode(af,bf,cf,df,1,w);
[glb(:,k0no),plb(:,k0no)] = bode(ag,bg,cg,dg,1,w);
gl=gla.*glb;
pl=pla+plb;
[gm(k0no,1),pm(k0no,1),wg(k0no,1),wp(k0no,1)] = ...
margin(gl(:,k0no),pl(:,k0no),w);
end % of spring constant loop
disp('')
disp(' (strike a key to continue)')
pause
clc
disp(' ')
disp(' ')
disp(' - - Examine the results of the design --- ')
disp(' ')
disp(' (strike a key to see next plot) ')
disp(' ')
gm = 20*log10(gm);
gl = 20*log10(gl);
%
gmin = min(gm); pmin = min(pm);
gmax = max(gm); pmax = max(pm);
%
% Peparing root locus plot for the nominal system:
%
%disp(' ')
%disp(' - - - Computing the root locus - - -');
%num2 = nul(2,:); den2 = dnl(2,:);
%[mnum,nnum] = size(num2);
%p = 1; % strip out leading zeros of 'NUL(2)'
%while abs(num2(1,p)) < 1.e-5
% num_l = num2(1,p+1:nnum);
% p = p+1;
%end
%pole = roots(den2);
%zero = roots(num_l);
%K = 0:0.1:30;
%RL = rlocus(num_l,den2,K);
%
% ----------- End of ACCEVA.M % RYC/MGS %
%ACCPLT Script file for plotting the results of 1990 ACC benchmark problem.
%
% ---------------------------------------------------------------
% ACCPLT.M is a script file that produces the plots for the ACC
% Benchmark problem.
% ---------------------------------------------------------------
%
clf
if flag == 2
subplot(1,1,1)
semilogx(w,[perttw;pertt]);
title('Cost Function in "s~" and "s"');
grid on;xlabel('Rad/Sec'); ylabel('PERRON SSV (db)');
msmw = max(perttw);
msmw = 1/(10^(msmw/20)/gamopt)*100;
msm = max(pertt);
msm = 1/(10^(msm/20)/gamopt)*100;
text(0.2,-5,['ADDITIVE MSM IN s~-DOMAIN: +-',num2str(msmw),' %']);
text(0.2,-10,['ADDITIVE MSM IN s-DOMAIN : +-',num2str(msm),' %']);
%prtsc
disp('')
disp(' (strike a key to see more plots)')
drawnow
pause
end
if flag ~= 3
clf
subplot(2,2,1)
plot(t,x1_ipw1);grid on;
title('x1'); xlabel('Sec')
subplot(2,2,2)
plot(t,x2_ipw1);grid on;
title('x2 (z)'); xlabel('Sec');
subplot(2,2,3)
plot(t,u_ipw1); grid on;
title('Control (u)'); xlabel('Sec');
subplot(2,2,4)
axis([0 1 0 1])
text(0.1,0.9,'Impulse Response @ M1','sc');
text(0.1,0.7,'Sensor Noise: 0.001*sin(100t)','sc')
text(0.35,0.5,' k = 0.5','sc');
text(0.35,0.4,' k = 1.0 (nominal)','sc');
text(0.35,0.3,' k = 2.0','sc');
hold on
plot([0.15,0.30],[0.5;0.4;0.3]*[1 1])
axis off
%prtsc
drawnow
pause
clf
subplot(2,2,1)
plot(t,x1_ipw2);grid on;
title('x1'); xlabel('Sec');
subplot(2,2,2)
plot(t,x2_ipw2);grid on
title('x2 (z)'); xlabel('Sec');
subplot(2,2,3)
plot(t,u_ipw2); grid on;
title('Control (u)'); xlabel('Sec');
subplot(2,2,4)
axis([0 1 0 1])
text(0.1,0.9,'Impulse Response @ M2','sc');
text(0.1,0.7,'Sensor Noise: 0.001*sin(100t)','sc')
% if flag == 1
text(0.35,0.5,' k = 0.5','sc');
text(0.35,0.4,' k = 1.0 (nominal)','sc');
text(0.35,0.3,' k = 2.0','sc');
hold on
plot([0.15,0.30],[0.5;0.4;0.3]*[1 1])
axis off
% end
%prtsc
drawnow
pause
else
clf
subplot(2,2,1)
plot(t,dist_w);grid on
title('Disturbance: sin(0.5*t) @ M2');
xlabel('Sec');
subplot(2,2,2)
plot(t,u_w2);grid on;
title('Control Energy (u)');
xlabel('Sec');
subplot(2,2,3)
plot(t,x1_w2);grid on;
title('x1');
xlabel('Sensor Noise: 0.001sin(100t)');
subplot(2,2,4)
plot(t,x2_w2);grid on;
title('x2 (z)');
xlabel('Sec (k = 0.5(- -), 1(-), 2(.))');
%prtsc
drawnow
pause
clf
subplot(2,2,1)
plot(t,dist_w);grid on
title('Disturbance: sin(0.5*t) @ M1');
xlabel('Sec');
subplot(2,2,2)
plot(t,u_w1);grid on;
title('Control Energy (u)'); xlabel('Sec');
subplot(2,2,3)
plot(t,x1_w1);grid on;
title('x1');
xlabel('Sensor Noise: 0.001sin(100t)');
subplot(2,2,4)
plot(t,x2_w1);grid on;
title('x2 (z)');
xlabel('Sec (k = 0.5(- -), 1(-), 2(.))');
%prtsc
drawnow
pause
end
%
clf
subplot(2,2,1)
semilogx(w,gf);title('Controller F(s)');
xlabel('Rad/Sec'); ylabel('Gain (db)')
subplot(2,2,3)
semilogx(w,pf);xlabel('Rad/Sec');ylabel('Phase (deg)')
subplot(2,2,2)
semilogx(w,gl); title('Loop TF G*F'); xlabel('Rad/Sec');
%if flag == 2
% text(0.002,-100,['GM: ',num2str(gmin),' db']);
%else
text(0.002,-50,[num2str(gmin),' < GM < ',num2str(gmax),' db']);
%end
subplot(2,2,4)
semilogx(w,pl);
xlabel('Rad/Sec (k = 0.5(- -), 1(-), 2(.))');ylabel('Phase (deg)')
%if flag == 2
% text(0.002,min(pl)+100,['PM: ',num2str(pmin),' deg']);
%else
text(0.002,max(min(pl))+100,[num2str(pmin),' < PM < ',num2str(pmax),' deg']);
%end
%prtsc
drawnow
% plopt the root locus
%accroot
%
clc
disp(' ');
disp(' ');
disp(' * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *')
disp(' * *')
disp(' * Your design is accomplished! *');
disp(' * *');
disp(' * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *')
%
% ----------- End of ACCPLT.M % RYC/MGS %
%
% ------------ End of ACCDEMO.M % RYC/MGS %