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- men=conv(conv([2 1],[2 1]),[2 1])
- sys=tf([3],men);
- sysz=c2d(sys,1)
- [B,A]=tfdata(sysz,'v');
- q0=1/sum(B);
- q1=A(2)*q0;
- q2=A(3)*q0;
- q3=A(4)*q0;
- p1=B(2)*q0;
- p2=B(3)*q0;
- p3=B(4)*q0;
- regz=tf([q0 q1 q2 q3],[1 -p1 -p2 -p3],1);
- uro=feedback(regz*sysz,1);
- subplot(2,1,1);
- step(uro);
- uroz=feedback(regz,sysz);
- subplot(2,1,1);
- step(uro);
- hold on;
- subplot(2,1,2);
- step(uroz);
- -----------------------------------
- men=conv(conv([2 1],[2 1]),[2 1]);
- sys=tf([3],men);
- sysz=c2d(sys,1);
- [B,A]=tfdata(sysz,'v');
- q0=4;
- q1=q0*(A(2)-1)+1/sum(B);
- q2=q0*(A(3)-A(2))+A(2)/sum(B);
- q3=q0*(A(4)-A(3))+A(3)/sum(B);
- q4=A(4)*(-q0+1/sum(B));
- p1=B(2)*q0;
- p2=q0*(B(3)-B(2))+B(2)/sum(B);
- p3=q0*(B(4)-B(3))+B(3)/sum(B);
- p4=B(4)*(-q0+1/sum(B));
- regz=tf([q0 q1 q2 q3 q4],[1 -p1 -p2 -p3 -p4],1);
- uroz=feedback(regz*sysz,1);
- sysuz=feedback(regz,sysz);
- subplot(2,1,1);
- step(uroz);
- subplot(2,1,2);
- step(sysuz);
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