1 files changed, 56 insertions, 0 deletions
diff --git a/3432/CH8/EX8.1/Ex8_1.sce b/3432/CH8/EX8.1/Ex8_1.sce
new file mode 100644
index 000000000..015f64896
--- /dev/null
+++ b/3432/CH8/EX8.1/Ex8_1.sce
@@ -0,0 +1,56 @@
+///Example 8.1
+// Digital Controller using tustin approximation.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//Cntroller
+s=poly(0,'s');
+numD=s/2+1;
+denD=s/10+1;
+D=10*numD/denD;
+Ds=syslin('c',D);
+//sampling freq. = 25 times bandwidth
+Wbw=10;
+Ws=25*Wbw;
+fs=Ws/2/%pi;
+T=1/fs; //sampling time
+a=1;b=-1;
+c=1;d=1;
+//Digital controller
+z=poly(0,'z');
+Dz=horner(Ds,2/T*(a*z+b)/(c*z+d));
+disp(Dz,'Digital Controller : ')
+
+//------------------------------------------------------------------
+//step response and control efforts.
+figure(0);
+importXcosDiagram(".\Ex8_1_model.xcos")
+ //The diagram data structure
+xcos_simulate(scs_m,4);
+scs_m.props.context
+plot(yt.time,yt.values(:,1),'r--')
+plot(yt.time,yt.values(:,2),2)
+
+xlabel('Time (sec.)');
+ylabel('Position, y');
+title(["Comparison between digital and continuous controller step...
+ response";"with a sample rate 25 times bandwidth";"(a) Position "],...
+ 'fontsize',3);
+exec .\fig_settings.sci; // custom script for setting figure properties
+
+//control effort
+
+figure(1);
+plot(ut.time,ut.values(:,1),'r--')
+plot2d2(ut.time,ut.values(:,2),2)
+
+xlabel('Time (sec.)');
+ylabel('Control, u');
+title(["Comparison between digital and continuous controller step...
+ response";"with a sample rate 25 times bandwidth";"(b) Control "],...
+ 'fontsize',3);
+exec .\fig_settings.sci; // custom script for setting figure properties
+//------------------------------------------------------------------
+