close all;
clear all;
clc;

s=tf('s');
F1=5/s; %h=1
F2=(s+20)/((s+1)*(s+5)^2); %h=0
K1=dcgain(s*F1);
K2=dcgain(F2);
Kr=1;
d1=0.5;
alpha2=0.1;

%% SPECIFICHE STATICHE
Kca=Kr/(0.05*K1*K2);
Kcc=0.1/(0.01*K1*K2);

Kc=5;

%% SPECIFICHE DINAMICHE
ts=1; % compreso tra 0.8 e 1.2
wBmin=3/ts;
wcd=0.63*wBmin %compreso tra 1.51 e 2.27

Mrdb=2.5;
mp_min=60-5*Mrdb

%% Inserimento reti
Ga=Kc*F1*F2;
figure,bode(F1*F2);
[m0,f0]=bode(Ga,wcd)
%bode a -188, scelgo di recuperare 10+50=circa 60 gradi

md1=4;
xd1=1;
taud1=xd1/wcd;
Rd1=(1+taud1*s)/(1+s*taud1/md1);
Ga2=Ga*Rd1^2;
[m2,f2]=bode(Ga2, wcd)

%rete attenuatrice da 8.2
mi=8.2;
mi_db=20*log10(mi)
bode((1+s/mi)/(1+s))
xi=150;
taui=xi/wcd;
Ri = (s*taui/mi+1)/(s*taui+1);
Ga3=Ga2*Ri;
[m2,f2]=bode(Ga3, wcd)

figure,margin(Ga3);
Cs=Kc*Rd1^2*Ri;
Wy=feedback(Cs*F1*F2, 1/Kr);
figure,bode(Wy);
figure,step(Wy);

Werr=feedback(Ga3,1)
Err_perm=dcgain(s*Werr*1/s^2)