%
% Loop Shaping
%
% SEM 5928 - Sistemas de Controle 
% Escola de Engenharia de São Carlos - USP
%
% Adriano Siqueira - 2016
%

clear all
close all

n=[200];

d=[10 1];
d=conv(d,[0.05 1]);
d=conv(d,[0.05 1]);

G=tf(n,d)

Gd = tf(100,[10 1]);

n=10*[10 1];
n=conv(n,[0.1 1]);

d=200*[1 0];
d=conv(d,[0.01 1]);

K1 = tf(n,d);

L1 = G*K1;

figure(1);bode(L1)
title('Malha Aberta - G(s)*K(s)')
hold on
grid

T1 = feedback(L1,1)
figure(2);step(T1)
title('Referência')
hold on
S1 = 1 - T1;
grid

figure(3);step(S1*Gd,3)
title('Distúrbio')
hold on
grid

pause

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
K2 = tf(0.5*[1 2],[1 0]);

L2 = G*K2;

figure(1);bode(L2)

T2 = feedback(L2,1)
figure(2);step(T2)

S2 = 1 - T2;

figure(3);step(S2*Gd,3)

pause
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
K3 = tf(0.5*conv([1 2],[0.05 1]),conv([1 0],[0.005 1]));

L3 = G*K3;

figure(1);bode(L3)

T3 = feedback(L3,1)
figure(2);step(T3)

S3 = 1 - T3;

figure(3);step(S3*Gd,3)