%-- MATLAB HISTORY 3/7/07  9:08 AM --%
P=tf(1,[1 0])
C0=tf(1,[.01 1 0])
bode(P*C0)
186-130
bode(P*tf(1,[1 0]))
tz=tan(50*pi/180)/10
C=tf([.1192 1],[ 1 0])
CPI=tf([.1192 1],[ 1 0])
bode(P*CPI)
K=1/bode(P*CPI,10)
CPI=tf([.1192 1],[ 1 0])*K
bode(P*CPI)
[m,p]=bode(P*CPI,10)
uc=tf([-1 1],[1 1])
nyquist(P*CPI,uc)
step(feedback(P*CPI,1))
bode(feedback(P*CPI,1))
tz=tan(56/2*pi/180)/10
CPID=tf(conv([0.053 1],[.053 1]),[.01 1 0])
bode(P*CPID)
K=1/bode(P*CPID,10)
CPID=tf(conv([0.053 1],[.053 1]),[.01 1 0])*K
bode(P*CPID)
grid
step(feedback(P*CPI,1),feedback(P*CPID,1))
bode(feedback(P*CPI,1),feedback(P*CPID,1))
CPI
DPI=tf([8.30 -7.66],[1 -1],.01)
step(feedback(P*CPI,1),feedback(c2d(P,0.01)*DPI,1),feedback(c2d(P,0.01)*c2d(CPIP,0.01),1))
bode(feedback(P*CPI,1),feedback(c2d(P,0.01)*DPI,1),feedback(c2d(P,0.01)*c2d(CPIP,0.01),1))