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%21/11/17 Tega Dortie, C15369761, Open vs closed loop system for  a hard drive%


J = 1; % Inertia, Nms*2/rad
D = 20; % Friction, Nms/rad
Ka = 100; % Amplifier,  -
Ra = 1; % Resistance, Ohm
Km = 5; % Motor Constant, Nm/A
L = 1; % Inductance, Mh

Gain = tf(Ka,[1 0]);
Electrical = tf(Km,[L+Ra]);
Mechanical = tf(1, [J+D]);

%This is the open loop transfer function%
Openloop = (Gain*Electrical*Mechanical);


figure ('name', 'Openloop Respone');
step (Openloop);
title('openloop');
ylabel('position');

Closedloop = feedback(Openloop, 1);


figure('name', 'Closedloop Respone');
step(Closedloop);
title('closedloop');
ylabel('position');

stepinfo(Closedloop)