cflab7

close all
s=tf('s');
T1 = 3;
T2 = 0.5;
T3=2;
k = 3;
kr=1; %4.86 crit, 2.43 for P controller
kcrit=4.86;
Td = [12.5 25 50];
Ti = [12.5 25 50];

K=(k)/((1+3*s)*(1+0.5*s)*(1+2*s)); %plant
Kcontpd1=K*(kr*(1+s*Td(1)));
Kcontpd2=K*(kr*(1+s*Td(2)));
Kcontpd3=K*(kr*(1+s*Td(3)));

Kcontpi1=K*(kr*(1+1/(s*Ti(1))));
Kcontpi2=K*(kr*(1+1/(s*Ti(2))));
Kcontpi3=K*(kr*(1+1/(s*Ti(3))));

P = bodeoptions('cstprefs');
P.FreqScale = 'linear';
P.MagUnits = 'abs';
P.MagScale = 'linear';

N = nyquistoptions('cstprefs');
N.ShowFullContour = 'off';

%rlocus(K)
%bode(K,P)%%find phase and gain margin from it

[Gm,Pm,wgm,wpm]= margin(K)
% rlocus(K)
% nyquist(K,N)

%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%% TASK 6 %%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% for i = 1:3
%     figure(i)
%     rlocus(K*Kpdcont(i))
%     title(['root locus of system with PD controller with Td =' num2str(Td(i))])
%     figure(i+3)
%     rlocus(K*Kpicont(i))
%     title(['root locus of system with PI controller with Ti =' num2str(Ti(i))])
%     figure(i+6)
%     step(K*Kpdcont(i)/(1+K*Kpdcont(i)))
%     title(['time response of system with PD controller with Td =' num2str(Td(i))])
%     figure(i+9)
%     step(K*Kpicont(i)/(1+K*Kpicont(i)))
%     title(['time response of system with PI controller with Ti =' num2str(Ti(i))])
% end

figure(1)
step(Kcontpd1/(1+Kcontpd1))
title(['step response of PD controlled system for Td = ' num2str(Td(1))])
hold on;
figure(2)
step(Kcontpd2/(1+Kcontpd2))
title(['step response of PD controlled system for Td = ' num2str(Td(2))])
hold on;
figure(3)
step(Kcontpd3/(1+Kcontpd3))
title(['step response of PD controlled system for Td = ' num2str(Td(3))])

figure(4)
step(Kcontpi1/(1+Kcontpi1))
title(['step response of PI controlled system for Ti = ' num2str(Ti(1))])
hold on;
figure(5)
step(Kcontpi2/(1+Kcontpi2))
title(['step response of PI controlled system for Ti = ' num2str(Ti(2))])
hold on;
figure(6)
step(Kcontpi3/(1+Kcontpi3))
title(['step response of PI controlled system for Ti = ' num2str(Ti(3))])

figure(7)
rlocus(Kcontpd1)
title(['root locus of PD controlled system for Td = ' num2str(Td(1))])

figure(8)
rlocus(Kcontpd2)
title(['root locus of PD controlled system for Td = ' num2str(Td(2))])
figure(9)
rlocus(Kcontpd3)
title(['root locus of PD controlled system for Td = ' num2str(Td(3))])
figure(10)
rlocus(Kcontpi1)
title(['root locus of PD controlled system for Ti = ' num2str(Ti(1))])
figure(11)
rlocus(Kcontpi2)
title(['root locus of PD controlled system for Ti = ' num2str(Ti(2))])
figure(12)
rlocus(Kcontpi3)
title(['root locus of PD controlled system for Ti = ' num2str(Ti(3))])

% sysr=minreal(Kpdcont(1)*K)
% rlocus(sysr)