From b1f5c3f8d6671b4331cef1dcebdf63b7a43a3a2b Mon Sep 17 00:00:00 2001
From: priyanka
Date: Wed, 24 Jun 2015 15:03:17 +0530
Subject: initial commit / add all books

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 1202/CH17/EX17.5/17_5.png | Bin 0 -> 9101 bytes
 1202/CH17/EX17.5/17_5.sce |  66 ++++++++++++++++++++++++++++++++++++++++++++++
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 create mode 100755 1202/CH17/EX17.5/17_5.png
 create mode 100755 1202/CH17/EX17.5/17_5.sce

(limited to '1202/CH17/EX17.5')

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+clear
+clc
+
+//Example 17.5
+disp('Example 17.5')
+
+deltaT=[0.05 0.25 0.5 1]';//sampling time
+K=-20;
+theta=1+(deltaT/2);//Add half of sampling time to delay for finding PI settings
+tau=5;
+
+//Table 11.3 ITAE disturbance settings
+//Note that there is an error in book solution saying Table 11.2
+//It should be table 11.3
+
+Y=0.859*(theta/tau)^(-0.977);Kc=Y/K;
+taui=tau*(0.674*(theta/tau)^-0.680).^-1;
+
+mprintf('\n     ITAE(disturbance)   \n')
+mprintf('   deltaT                Kc          tauI')
+mprintf('\n  %f       %f    %f',deltaT,Kc,taui)
+
+//Finding digital controller settings
+//Eqn 17-55
+a0=1+deltaT./taui;
+a1=-(1); //since tauD=0
+a2=0;
+z=%z;
+
+Gcz=Kc.*(a0+a1*z^-1)./(1-z^-1);
+
+//Refer to table 17.1 to convert continuous transfer function to digital form
+Gp=K*(1-exp(-1/tau*deltaT)).*z^(-1+(-1)./deltaT)./(1-exp((-1)/tau*deltaT)*z^-1);//z^(-1/deltaT) for delay
+
+G_CL=syslin('d',((Gp)./(Gcz.*Gp+1)));
+
+t=0:deltaT(1):15
+u=ones(1,length(t));
+yt=flts(u,G_CL(1,1));
+plot(t,yt,'-')
+
+t=0:deltaT(2):15
+u=ones(1,length(t));
+yt=flts(u,G_CL(2,1));
+plot(t,yt,'green--')
+
+t=0:deltaT(3):15
+u=ones(1,length(t));
+yt=flts(u,G_CL(3,1));
+plot(t,yt,'black-.')
+
+t=0:deltaT(4):15
+u=ones(1,length(t));
+yt=flts(u,G_CL(4,1));
+plot(t,yt,'red:')
+
+set(gca(),"data_bounds",[0 15 -8 1]); //putting bounds on display
+l=legend("$\Delta t=0.05\ min$","$\Delta t=0.25\ min$","$\Delta t=0.5\ min$","$\Delta t=1\ min$",position=4);
+xtitle("Example 17.5","Time(min)","$y$");
+a=get("current_axes");
+c=a.y_label;c.font_size=5;
+
+mprintf("\nNote that there is a mismatch between the book simulation and what\n...
+what we get from SCILAB. The book is wrong. This has been crosschecked using\n...
+simulation in SIMULINK(MATLAB)")
+
-- 
cgit