From 8ac15bc5efafa2afc053c293152605b0e6ae60ff Mon Sep 17 00:00:00 2001
From: Siddharth Agarwal
Date: Tue, 3 Sep 2019 18:27:40 +0530
Subject: Xcos examples from textbooks and for blocks

---
 .../3432/CH7/EX7.34/DEPENDENCIES/acker_dk.sci      |  73 ++++++++++++++
 .../3432/CH7/EX7.34/DEPENDENCIES/fig_settings.sci  |   9 ++
 Working_Examples/3432/CH7/EX7.34/Ex7_34.sce        | 110 +++++++++++++++++++++
 Working_Examples/3432/CH7/EX7.34/Ex7_34_f0.pdf     | Bin 0 -> 20224 bytes
 Working_Examples/3432/CH7/EX7.34/Ex7_34_f4.pdf     | Bin 0 -> 23830 bytes
 Working_Examples/3432/CH7/EX7.34/Ex7_34_model.xcos |   1 +
 6 files changed, 193 insertions(+)
 create mode 100755 Working_Examples/3432/CH7/EX7.34/DEPENDENCIES/acker_dk.sci
 create mode 100755 Working_Examples/3432/CH7/EX7.34/DEPENDENCIES/fig_settings.sci
 create mode 100755 Working_Examples/3432/CH7/EX7.34/Ex7_34.sce
 create mode 100755 Working_Examples/3432/CH7/EX7.34/Ex7_34_f0.pdf
 create mode 100755 Working_Examples/3432/CH7/EX7.34/Ex7_34_f4.pdf
 create mode 100755 Working_Examples/3432/CH7/EX7.34/Ex7_34_model.xcos

(limited to 'Working_Examples/3432/CH7/EX7.34')

diff --git a/Working_Examples/3432/CH7/EX7.34/DEPENDENCIES/acker_dk.sci b/Working_Examples/3432/CH7/EX7.34/DEPENDENCIES/acker_dk.sci
new file mode 100755
index 0000000..3391d24
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.34/DEPENDENCIES/acker_dk.sci
@@ -0,0 +1,73 @@
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+//A function written by Deepti Khimani.
+//Usage:-
+//[K, lambda]=acker_dk(a, b, pl)
+//K=acker_dk(a, b, pl)
+//a:- System matrix.
+//b:- input matrix.
+//p:- Desired poles.
+//K:-State feedback gain for the control law u=-Kx.
+//lambda:- Eigen values of (a-b*k)
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+
+function [K, lambda]=acker_dk(a, b, pl)
+        [lhs,rhs]=argn(0)
+
+    if rhs == 0 then
+        disp(["K=acker_dk(a, b, pl)";"[K, lambda]=acker_dk(a, b, pl)"]);
+        disp(["a:- System matrix";"b:- input matrix";"p:- Desired poles"]);
+        disp(["K:-State feedback gain for the control law u=-Kx";...
+ "lambda:- Eigen values of (a-b*k)"]);
+        return;
+    end
+[ra ca]=size(a);
+[rb cb]=size(b);
+l=length(pl);
+
+CO=cont_mat(a,b);
+
+if ra~=l then
+    error(["Dimension error:";"number of desired poles must equal...
+ to order of the system"]);
+elseif ra~=ca then
+    error(["Dimension error:";"system matrix should be...
+ a sqaure matrix"]);
+elseif rb~=ra then
+    error (["Dimension error:","Input matrix should have...
+ as many rows as a system matrix."]);
+elseif rank(CO)<ra then
+    error("system is not controllable");
+end
+//------------------------------------------------------------------
+//controllable canonical form
+[Ac,Bc,T,ind]=canon(a,b);
+
+//CO=zeros(ra,cb);
+for i=1:ra
+    CO(:,ra+1-i)=Ac^(i-1)*Bc;
+end
+//------------------------------------------------------------------
+chr_eq=poly(pl,'s');
+des_chr_coeff=coeff(chr_eq);
+
+des_chr_coeff=des_chr_coeff(1:ra);
+alpha_c=Ac^ra;
+
+for k=1:ra
+    alpha_c=alpha_c + des_chr_coeff(k)*Ac^(k-1)
+end
+//------------------------------------------------------------------
+//State feedback gain
+temp=zeros(1,ra);
+temp(1)=1;
+K=temp*inv(CO)*alpha_c;
+K=K/T;
+lambda=spec(a-b*K);
+endfunction
+//------------------------------------------------------------------
+
+
+
+
diff --git a/Working_Examples/3432/CH7/EX7.34/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.34/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.34/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1); 
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.34/Ex7_34.sce b/Working_Examples/3432/CH7/EX7.34/Ex7_34.sce
new file mode 100755
index 0000000..2e77ebe
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.34/Ex7_34.sce
@@ -0,0 +1,110 @@
+//Example 7.34
+// Servomechanism, increasing the velocity constant through
+// zero assignment. 
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+
+// State space representation
+//Transfer function model for DC Servo
+s=poly(0,'s');
+num=1;
+den=s*(s+1);
+Gs=syslin('c',num/den);
+
+// State space representation
+F=[0 1;0 -1]
+G=[0 1]';
+H=[1 0];
+J=0;
+n=sqrt(length(F));
+//Desired poles for the DC Servo system.
+Pc=[-2 -2]
+
+// State feedback gain
+exec .\acker_dk.sci;
+K=acker_dk(F,G,Pc)//Gain computed in book is incorrect.
+disp(K,'K=',"State feedback gain")
+//------------------------------------------------------------------
+//Overall transfer function with reduced order estimator.
+Gred=8.32*(0.096+s)/(0.1 +s)/(8 + 4*s+s^2)
+Gred=syslin('c',Gred)
+disp(Gred,'Ys/Rs',"Overall transfer function with reduced...
+ order estimator")
+
+//Compensator
+D=(0.096+s)*(s+1)/(4.08 +s)/(0.0196+s)
+Ds=syslin('c',D*8.32)
+disp(Ds,'Ds=',"Compensator transfer function")
+//------------------------------------------------------------------
+//root locus 
+figure(0)
+evans(D*Gs,100) //Correct root locus
+zoom_rect([-0.2 -0.1 0.1 0.1])
+f=gca();
+f.x_location = "origin"
+f.y_location = "origin"
+xset("color",2);
+h=legend('');
+h.visible = "off"
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; // custom script for setting figure properties
+title('Root locus of lag-lead compensation','fontsize',3);
+//------------------------------------------------------------------
+//Bode plot
+figure(1)
+bode(Ds*Gs,0.01/2/%pi,100/2/%pi,"rad") //Correct root locus
+
+f=gca();
+h=legend('');
+h.visible = "off"
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script for setting figure properties
+title('Frequency response of lag-lead compensation','fontsize',3);
+//------------------------------------------------------------------
+//step response of the system with lag compensation
+t=0:0.1:5;
+ylag=csim('step',t,8.32*Gs*D/(1+8.32*Gs*D));
+figure
+plot(t,ylag,2);
+xlabel('Time (sec)');
+ylabel('y');
+title("Step response of the system with lag compensation",'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+//------------------------------------------------------------------
+//Discrete-time controller
+sysDc_ss=syslin('c',tf2ss(Ds));
+ts=0.1;
+sysDd=dscr(sysDc_ss,ts)
+Gdz=ss2tf(sysDd)
+
+disp(Gdz,"Discrete-time compensator")
+//------------------------------------------------------------------
+//step responses comparision
+importXcosDiagram(".\Ex7_34_model.xcos")
+
+xcos_simulate(scs_m,4);
+scs_m.props.context
+figure,
+plot(yt.time,yt.values(:,1),2)
+plot(yt.time,yt.values(:,2),'r--')
+xlabel('Time (sec)');
+ylabel('y');
+title("Comaprison of step responses for continuous and discrete...
+ controllers",'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+legend("continuous controller","digital controller",4)
+
+//Control inputs
+figure,
+plot(ut.time,ut.values(:,1),2)
+plot(ut.time,ut.values(:,2),'r--')
+xlabel('Time (sec)');
+ylabel('u');
+title("Comaprison of control signals for continuous and discrete...
+ controllers",'fontsize',3)
+exec .\fig_settings.sci; //custom script for setting figure properties
+legend("continuous controller","digital controller")
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH7/EX7.34/Ex7_34_f0.pdf b/Working_Examples/3432/CH7/EX7.34/Ex7_34_f0.pdf
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diff --git a/Working_Examples/3432/CH7/EX7.34/Ex7_34_f4.pdf b/Working_Examples/3432/CH7/EX7.34/Ex7_34_f4.pdf
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index 0000000..c76fc78
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diff --git a/Working_Examples/3432/CH7/EX7.34/Ex7_34_model.xcos b/Working_Examples/3432/CH7/EX7.34/Ex7_34_model.xcos
new file mode 100755
index 0000000..0f9e52f
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.34/Ex7_34_model.xcos
@@ -0,0 +1 @@
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cgit