Kc = 1.25
Tauc = 1.5
K = Kc * (1 + 1 / (Tauc * s))
L = K * G
T = feedback(L, 1)
S = feedback(1, L)
plt.figure('Figure 2.9')
tspan = np.linspace(0, 4, 50)
[t, y] = T.step(0, tspan)
plt.plot(t, y)
[t, y] = S.step(0, tspan)
plt.plot(t, y)
plt.plot([0, 4], np.ones(2))
plt.xlabel('Time [s]')
plt.legend(['y(t)','u(t)'])
#TODO there is a descrepancy with the u(t) plot
bodeclosedloop(G, K, -1, 2, label='Figure 2.15', margin=True)
#TODO there is a descrepancy with the phase plots
GM, PM, wc, wb, wbt, valid = marginsclosedloop(L)
print 'GM :' , GM
print "PM:", np.round(PM*180/np.pi, 1), "deg or", np.round(PM, 2), "rad"
print 'wb :' , wb
print 'wc :' , wc
print 'wbt :' , wbt
plt.show()
K = K1[0] # use this code to remove array
L = G * K
T = feedback(L, 1)
S = feedback(1, L)
plt.figure('Figure 2.8')
tspan = np.linspace(0, 80, 100)
[t, y] = T.step(0, tspan)
plt.plot(t, y)
[t, y] = S.step(0, tspan)
plt.plot(t, y)
plt.plot([0, 80], np.ones(2))
plt.xlabel('Time [s]')
plt.legend(['y(t)', 'u(t)'])
#TODO there is a descrepancy with the u(t) plot
bodeclosedloop(G, K, -2, 1, 'Figure 2.14', margin=True)
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)
#TODO there is a descrepancy with the wbt value
if valid: print "Frequency range wb < wc < wbt is valid"
else: print "Frequency range wb < wc < wbt is not valid"
plt.show()
T = feedback(L, 1)
S = feedback(1, L)
plt.figure('Figure 2.8')
tspan = np.linspace(0, 80, 100)
[t, y] = T.step(0, tspan)
plt.plot(t, y)
[t, y] = S.step(0, tspan)
plt.plot(t, y)
plt.plot([0, 80], np.ones(2))
plt.xlabel('Time [s]')
plt.legend(['y(t)','u(t)'])
#TODO there is a descrepancy with the u(t) plot
bodeclosedloop(G, K, -2, 1, 'Figure 2.14', margin=True)
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)
#TODO there is a descrepancy with the wbt value
if valid: print "Frequency range wb < wc < wbt is valid"
else: print "Frequency range wb < wc < wbt is not valid"
plt.show()
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)
plt.figure('Figure 2.9')
tspan = np.linspace(0, 4, 50)
[t, y] = T.step(0, tspan)
plt.plot(t, y)
[t, y] = S.step(0, tspan)
plt.plot(t, y)
plt.plot([0, 4], np.ones(2))
plt.xlabel('Time [s]')
plt.legend(['y(t)', 'u(t)'])
#TODO there is a descrepancy with the u(t) plot
bodeclosedloop(G, K, -1, 2, label='Figure 2.15', margin=True)
#TODO there is a descrepancy with the phase plots
GM, PM, wc, wb, wbt, valid = marginsclosedloop(L)
print 'GM :', GM
print "PM:", np.round(PM * 180 / np.pi, 1), "deg or", np.round(PM, 2), "rad"
print 'wb :', wb
print 'wc :', wc
print 'wbt :', wbt
plt.show()
