clc

clear
close all
mp=0.5;
ts=1;
z=abs(log(mp))/sqrt(pi^2+log(mp)^2);
wn=4/(ts*z);
s=tf('s');
Ts=0.2/10;
H=wn^2/(s^2+2*z*wn*s+wn^2);
Hd=c2d(H,Ts);
%step (H,Hd)
impulse (H,Hd)
Hd_num=cell2mat(Hd.num);
Hd_den=cell2mat(Hd.den);
b1
b0
a1
a0

=
=
=
=

Hd_num(1,2)
Hd_num(1,3)
Hd_den(1,2)
Hd_den(1,3)

t = 0:Ts:2;
u = t>0.1;
figure
stem(t,u);
ylim([-0.1 1.1])
grid
u_2=0;
u_1=0;
y_2=0;
y_1=0;
u_n=0;
y_n=0;
for i=1:length(u)
u_2 = u_1;
u_1 = u_n;
u_n = u(i);
y_2 = y_1;
y_1 = y_n;
y_n = -a0*y_2 - a1*y_1 + b0*u_2 + b1*u_1;
plot(t(i),y_n,'*r')
hold on
pause (Ts)
end
figure
pzmap(H)
%%Usando funcion "filter"
[u1,t1] = gensig('square',5,30,Ts)%onda cuandrada con periodo
y=filter(Hd_num,Hd_den,u1);

figure
plot(t1,y)
hold on
plot(t1,u1,'r')