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%-- 10/6/2011 1:25 PM --% ls ex1006_1 ex1006_2 ex1006_3 grid on -0.8*1.5 ex1006_4
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s = tf('s'); G = 1/(s+1); norm(G, inf) G = 1/(s^2+0.1*s+1); norm(G, inf) bode(G) ex1013_1 ex1013_2
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%-- 10/20/2011 1:41 PM --% ex1020_1 ex1020_2 ex1020_3 mod1020 c c = 0.8
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>> freqresp >> nominal >> weight
>> cont
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if((t > 3)&&(t < 7)){ r = 10.0; }else{ r = 5; }
thetaM_rad = (double)read_theta(0) / (double)Pn212 * 2 * M_PI; speedM_rad = (thetaM_rad - thetaM_rad_before) / msg->sampling_period; thetaM_rad_before = thetaM_radsampling period should not become too small. On the other hand, sampling period should be chosen as small as possible so that desiged continuous-time controller could be closely implemented by its descretized version. Therefore, we have a dilemma to control our plant. The sampling period 0.25 msec was chosen by traial and error so that noise in measured speed is not too large. The gain in high frequency range of continuous-time controller should be small enough for discretization.
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%-- 12/8/2011 1:22 PM --% freqresp nominal weight load result_small.dat result_small plot(result_small(:,1),result_small(:,2)) plot(result_small(:,1),result_small(:,2), 'b', result_small(:,1),result_small (:,4),'r')
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%-- 12/15/2011 1:06 PM --% cont help hinfsyn K Ktf = tf(K) bode(K, 'r', Ktf, 'b') legend('ss', 'tf') help fitsys
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%-- 12/22/2011 1:20 PM --% nominal ctrlpref nominal weight cont ks cont compare_result