import sys
sys.path.append('..') # add parent directory
import pendulumParam as P
import matplotlib.pyplot as plt
from control import TransferFunction as tf
import control as cnt
import numpy as np
import loopshape_in as L_in
P_out = tf([P.ell/2,0,-P.g], [1, 0, 0])
# construct plant as cascade of P_out and closed inner loop
Plant = tf.minreal(P_out* \
(L_in.P_in*L_in.C/(1+L_in.P_in*L_in.C)))
PLOT = False
#PLOT = True
if PLOT: plt.figure(3), plt.clf()
mag, phase, omega = cnt.bode(Plant, dB=True,
omega=np.logspace(-3, 5),
Plot=False)
if PLOT:
plt.subplot(2, 1, 1), plt.grid(True)
plantMagPlot, = plt.semilogx(omega, mag,
label='Plant')
plt.subplot(2,1,2), plt.grid(True)
plantPhasePlot, = plt.semilogx(omega, phase,
label='Plant')
#########################################
import satelliteParam as P
sys.path.append('../hw10') # add parent directory
import satelliteParamHW10 as P10
import matplotlib.pyplot as plt
from control import TransferFunction as tf
import control as cnt
import numpy as np
import loopshape_in as L_in
P_out = tf([P.sigma * P.b, P.b + P.sigma * P.k, P.k], [
P.sigma * P.Jp, P.Jp + P.b * P10.kd_phi + P.sigma * P.b,
P.b + P.k * P10.kd_phi + P.sigma * P.k, P.k
])
# construct plant as cascade of P_out and closed inner loop
Plant = tf.minreal(P_out * (L_in.P_in * L_in.Control /
(1 + L_in.P_in * L_in.Control)))
PLOT = False
#PLOT = True
if PLOT: plt.figure(3), plt.clf()
mag, phase, omega = cnt.bode(Plant,
dB=True,
omega=np.logspace(-3, 5),
Plot=False)
if PLOT:
plt.subplot(2, 1, 1), plt.grid(True)
plantMagPlot, = plt.semilogx(omega, mag, label='Plant')
plt.subplot(2, 1, 2), plt.grid(True)
plantPhasePlot, = plt.semilogx(omega, phase, label='Plant')