[Kc, Taui, Ku, Pu] = ControllerTuning(G, method='ZN')
print 'Kc:', np.round(Ku/2.2, 3)
print 'Taui:', np.round(Pu/1.2, 3)
print 'Ku:', np.round(Ku, 3)
print 'Pu:', np.round(Pu, 3)
K1 = Kc * (1 + 1 / (Taui * s))
K = K1[0] # use this code to remove array
L = G * K
T = feedback(L, 1)
S = feedback(1, L)
u = S * K
plt.figure('Figure 2.8')
step_response_plot(T, u, 80, 0)
plt.show()
plt.figure('Figure 2.14')
bodeclosedloop(G, K, -2, 1, margin=True)
plt.show()
GM, PM, wc, wb, wbt, valid = marginsclosedloop(L)
print 'GM:' , np.round(GM, 2)
print "PM: ", np.round(PM, 1) , "deg or", np.round(PM / 180 * np.pi, 2), "rad"
print 'wb:' , np.round(wb, 2)
print 'wc:' , np.round(wc, 2)
print 'wbt:' , np.round(wbt, 2)
if valid: print "Frequency range wb < wc < wbt is valid"
else: print "Frequency range wb < wc < wbt is not valid"
print('Ku:', np.round(Ku, 3))
print('Pu:', np.round(Pu, 3))
K1 = Kc * (1 + 1 / (Taui * s))
K = K1[0] # use this code to remove array
L = G * K
T = feedback(L, 1)
S = feedback(1, L)
u = S * K
plt.figure('Figure 2.8')
step_response_plot(T, u, 80, 0)
plt.show()
plt.figure('Figure 2.14')
bodeclosedloop(G, K, -2, 1, margin=True)
plt.show()
GM, PM, wc, wb, wbt, valid = marginsclosedloop(L)
Mt = maxpeak(T)
Ms = maxpeak(S)
print('GM: ', np.round(GM, 2))
print('PM: ', np.round(PM, 1), "deg or", np.round(PM / 180 * np.pi, 2), "rad")
print('wb: ', np.round(wb, 2))
print('wc: ', np.round(wc, 2))
print('wbt:', np.round(wbt, 2))
print('Ms: ', np.round(Ms, 2))
print('Mt: ', np.round(Mt, 2))
if valid:
print("Frequency range wb < wc < wbt is valid")
import numpy as np
import matplotlib.pyplot as plt
from utils import feedback, tf, marginsclosedloop
from utilsplot import step_response_plot, bodeclosedloop
s = tf([1, 0], 1)
G = 4 /((s - 1) * (0.02 * s + 1)**2)
Kc = 1.25
Tauc = 1.5
K = Kc * (1 + 1 / (Tauc * s))
L = K * G
T = feedback(L, 1)
S = feedback(1, L)
u = S * K
plt.figure('Figure 2.9')
step_response_plot(T, u, 4, 0)
plt.show()
plt.figure('Figure 2.15')
bodeclosedloop(G, K, -1, 2, margin=True)
plt.show()
#TODO there is a descrepancy with the phase plots
GM, PM, wc, wb, wbt, valid = marginsclosedloop(L)
print 'GM:' , np.round(GM, 2)
print 'PM:', np.round(PM / 180 * np.pi, 2), "rad or", np.round(PM, 2), "deg"
print 'wb:' , np.round(wb, 2)
print 'wc:' , np.round(wc, 2)
print 'wbt:' , np.round(wbt, 4)
import matplotlib.pyplot as plt
from utils import feedback, tf, marginsclosedloop
from utilsplot import step_response_plot, bodeclosedloop
s = tf([1, 0], 1)
G = 4 / ((s - 1) * (0.02 * s + 1)**2)
Kc = 1.25
Tauc = 1.5
K = Kc * (1 + 1 / (Tauc * s))
L = K * G
T = feedback(L, 1)
S = feedback(1, L)
u = S * K
plt.figure('Figure 2.9')
step_response_plot(T, u, 4, 0)
plt.show()
plt.figure('Figure 2.15')
bodeclosedloop(G, K, -1, 2, margin=True)
plt.show()
# TODO there is a discrepancy with the phase plots
GM, PM, wc, wb, wbt, valid = marginsclosedloop(L)
print('GM:', np.round(GM, 2))
print('PM:', np.round(PM / 180 * np.pi, 2), "rad or", np.round(PM, 2), "deg")
print('wb:', np.round(wb, 2))
print('wc:', np.round(wc, 2))
print('wbt:', np.round(wbt, 4))