clear all
close all

%%%%%%%%%%%%% Contínuo %%%%%%%%%%%%%%
n = 1;
d = [10 1 0];
Gc = tf(n,d)

nd = 20*[1 0.1];
dd = [1 2];
Cc = tf(nd,dd)

MFc = feedback(Cc*Gc,1);
[yc,tc] = step(MFc,15);

%sisotool(Gc,Cc)

figure
plot(tc,yc,'b')
hold on
grid

%%%%%%%%%%%%%%  T = 0.2 s %%%%%%%%%%%%%%

T = 0.2;
Gd1 = c2d(Gc,T) %Segurador de Ordem Zero

Cd1 = c2d(Cc,T,'matched') %Mapeamento de Polos e Zeros

%sisotool(Gd1,Cd1)

MFd1 = feedback(Cd1*Gd1,1);
[yd,td] = step(MFd1,15);
stairs(td,yd,'r')

%%%%%%%%%%%%%%  T = 1 s %%%%%%%%%%%%%%

T = 1;
Gd2 = c2d(Gc,T)

Cd2 = c2d(Cc,T,'matched')

%sisotool(Gd2,Cd2)

MFd2 = feedback(Cd2*Gd2,1);
[yd2,td2] = step(MFd2,15);
stairs(td2,yd2,'g')



%%%%%%%%%%%%%%  T = 1 s - Projeto por Lugar da Raízes %%%%%%%%%%%%%%
T = 1;
Gd3 = c2d(Gc,T)

Cd3 = 10*tf([1 -0.9048],[1 0.4],T)

%sisotool(Gd3,Cd3)

MFd3 = feedback(Cd3*Gd3,1);
[yd3,td3] = step(MFd3,15);

stairs(td3,yd3,'m')
legend('Contínuo','Discreto (T0 = 0.2 s)','Discreto (T0 = 1 s)','Discreto - LR (T0 = 1 s)','Location','southeast')
xlabel('t (s)')
ylabel('y(t)')