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>> gs=tf(10,[1 5 20 12])
cc
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cc
>> kp=15;Ki=0;Ti=10e12;Td=0
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>> gd=kp*tf([Td 1 Ki],[0 1 0])
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>> god=gd*gs
cc
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cc
>> gkd=feedback(god,1)
cc
*c*,3c
ccccccccccc7#cc
c
4:c6c7c45c6c8#c48c6c8;cc
cc
>> step(gkd)
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>> gs=tf(10,[1 5 20 12])
cc
c8c c
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cc
>> kp=5;Ki=0;Ti=10e12;Td=0
c
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c c
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>> gd=kp*tf([Td 1 Ki],[0 1 0])
cc
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>> god=gd*gs
cc
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c
4:c6c7c45c6c8#c48c6c8cc
>> gkd=feedback(god,1)
*c*,3c
cccccccccccc7#cc
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4:c6c7c45c6c8#c48c6c;cc
c
>> t=0:0.1:20;
c
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>> gs=tf(10,[1 5 20 12])
cc
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cc
>> kp=8.8;Ki=0;Ti=10e12;Td=0
c
c c
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>> gd=kp*tf([Td 1 Ki],[0 1 0])
cc
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>> god=gd*gs
cc
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>> gkd=feedback(god,1)
cc
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c>> t=0:0.1:6;
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>> [t1 y1]=ginput(1)
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>> [t2 y2]=ginput(1)
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>> kpmax=8.8
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>> Ti=1/Ki
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c c
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>> gd=kp*tf([Td 1 Ki],[0 1 0])
cc
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c
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cc
>> god=gd*gs
cc
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cc
>> gkdd=feedback(god,1)
cc
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ccccccc=.8>c48c6c78.<cc6c;7.>8c
c
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>> step(gkdd)
>> grid
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