Esempio n. 1
0
def mycost(C):
    th, accel = step_response(C)
    ts = measurement_utils.find_settling_time(th, u, t, p=0.01)
    mp = th.max()/u[-1]
    return ts + (mp-1)
Esempio n. 2
0
    blist = Ga5.Ga5.num.coeffs.tolist()
    gain = blist[0]
    z = blist[1]/gain
    #ig = Ga5.Ga5.den.coeffs[1:].tolist() + [gain]
    ig = array([44.46407632, 258.87341724, 276.53309716, 453.43453413])
    #ig = Ga5.Ga5.den.coeffs[1:].tolist() + Ga5.Ga5.num.coeffs.tolist()
    #ig = Ga5.Ga5.den.coeffs[1:].tolist() + [0] + Ga5.Ga5.num.coeffs.tolist()
    #ig = Ga5.Ga5.den.coeffs[1:].tolist() + Ga5.Ga5.num.coeffs.tolist() + [1.01]
    ## ig = array([  1.63492735e+01,   3.10898809e+02,   9.44903871e+02,
    ##               2.48671857e+02,   3.13400963e+02,   6.62214709e-01])
    ## ig = array([  1.63492735e+01,   3.10898809e+02,   9.44903871e+02,
    ##               1.0,   240.0])


    th_Ga5, a_Ga5 = step_response(ig, calca=True)
    ts_Ga5 = measurement_utils.find_settling_time(th_Ga5, u, t, p=0.01)

    figure(1)
    clf()
    plot(t,u, label=None)
    plot(t,th_Ga5, label='$\\theta_{Ga5}$')
    plot(t,a_Ga5, label='$\\ddot{x}_{Ga5}$')



    C2 = array([  43.06911092,  317.7518689 ,  642.30362953,  250,
                     245])

    ## th2, a2 = step_response(C2, calca=True)
    ## plot(t,th2, label='$\\theta_{2}$')
    ## plot(t,a2, label='$\\ddot{x}_{2}$')