plt.subplot(312), plt.grid(True)
T = np.linspace(0, 2, 100)
T, yout = step_response(CLOSED_R_to_Y, T)
plt.plot(T, yout, color='b')
plt.title('Close Loop Step Response')
plt.subplot(313), plt.grid(True)
T = np.linspace(0, 2, 100)
T, yout = step_response(CLOSED_R_to_U, T)
plt.plot(T, yout, color='b')
plt.title('Control Effort for Step Response')
if PLOT:
# Stops program from closing until the user presses button.
print('Press key to close')
plt.waitforbuttonpress()
plt.close()
##############################################
# Convert Controller to State Space Equations
##############################################
C_ss = cnt.tf2ss(C) # convert to state space
########################################################
# Convert Controller to discrete transfer functions for
# implementation
########################################################
#bilinear: Tustin's approximation ("generalized bilinear
#transformation" with alpha=0.5)
C_in_d = tf.sample(C, P.Ts, method='bilinear')
T, yout = cnt.step_response(CLOSED_R_to_U*F, T)
plt.plot(T, yout, color='r')
plt.title('Control Effort for Step Response')
if PLOT:
# Keeps the program from closing until the user presses a
# button.
print('Press key to close')
plt.waitforbuttonpress()
plt.close()
##############################################
# Convert Controller to State Space Equations
##############################################
C_ss = cnt.tf2ss(C)
F_ss = cnt.tf2ss(F)
##########################################################
# Convert Controller to discrete transfer functions for
# implementation
##########################################################
#bilinear: Tustin's approximation ("generalized bilinear
#transformation" with alpha=0.5)
C_out_d = tf.sample(C, P.Ts, method='bilinear')
#bilinear: Tustin's approximation ("generalized bilinear
#transformation" with alpha=0.5)
F_d = tf.sample(F, P.Ts, method='bilinear')
plt.title('Close Loop Bode Plot')
plt.subplot(312), plt.grid(True)
T = np.linspace(0, 2, 100)
T, yout = cnt.step_response(CLOSED_R_to_Y, T)
plt.plot(T, yout, color='b')
plt.title('Close Loop Step Response')
plt.subplot(313), plt.grid(True)
T = np.linspace(0, 2, 100)
T, yout = cnt.step_response(CLOSED_R_to_U, T)
plt.plot(T, yout, color='b')
plt.title('Control Effort for Step Response')
if PLOT:
# Keeps the program from closing until the user presses a button.
print('Press key to close')
plt.waitforbuttonpress()
plt.close()
##############################################
# Convert Controller to State Space Equations
##############################################
C_ss = cnt.tf2ss(C) # convert to state space
########################################################################
# Convert Controller to discrete transfer functions for implementation
########################################################################
C_in_d = tf.sample(C, P.Ts, method='bilinear') #bilinear: Tustin's approximation ("generalized bilinear transformation" with alpha=0.5)