20020715

clear all
close all
clc

s = tf('s');
d = 1.5;
Kr = 1;

F1 = (1 + s / 0.1)/((1 + s / 0.2)*(1 + s / 10));
F2 = 1/s;
% pole(F1)
% pole(F2)
Kf1 = dcgain(F1);
Kf2 = dcgain(s*F2);

Kc1 = 1/0.16*Kr^2/(Kf1*Kf2);
%Kc2 = 1/0.05*Kr/(Kf1); %soddisfatta perchè h=1
%Kcmin = max(Kc1,Kc2);
h=1;

% figure()
% bode(F1*F2/s)
% zpk(F1*F2) % Kc > 0
Kc = Kc1;

wcdes = 0.63*4;
wcdes = 2.2;
Mr = (1+0.25)/0.9;
Mrdb = 20*log10(Mr);
mphi = 60-5*Mrdb;

Ga1 = Kc/s^h*F1*F2/Kr;
% figure
% bode(Ga1)
deltaphi = 192-180+mphi;
deltadb = 5.61;

md0 = 3;
Rd0 = (1+s)/(1+s/md0);
% figure()
% bode(Rd0)
xd0 = sqrt(md0); %aumento modulo 3.37
taud0=xd0/wcdes;
Rdt0 = (1+s*taud0)/(1+s*taud0/md0);

md = 4;
Rd = (1+s)/(1+s/md);
% figure()
% bode(Rd)
xd = 1.35; %aumento modulo 3.37
taud=xd/wcdes;
Rdt = (1+s*taud)/(1+s*taud/md);

Ga2 = Ga1*Rdt^2;
% figure()
% bode(Ga2), title Ga2
%recuperato 66 di fase, da recuperare 12.3 di modulo
%
[mi,phii] = bode(Ga2, wcdes);
% mi = mi*1.1;
Ri = (1+s/mi)/(1+s);
% figure()
% bode(Ri)
xi = 100; %90 38
taui = xi/wcdes;
Rit= (1+s*taui/mi)/(1+s*taui);)
Ga3 = Ga2*Rit;
% figure
% bode(Ga3)
% figure
% margin(Ga3)

C = Kc/s*Rdt^2*Rit;
W = feedback(C*F1*F2, 1/Kr);

% figure()
% step(W), title overshoot %os = 23.4
% figure()
% bode(W), title wwb % wb=4.36 con wcdes modificata