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

%close all
A = [ 0 1; 0 0];
B = [0;1];
C = eye(2);
D = zeros(2,1);
MA = ss(A,B,C,D);

Q = diag([1; 1]);
R = 1;

[K,P,E] = LQR(A,B,Q,R);
Ac = A-B*K;

MF = feedback(MA,K);

t = [0:0.01:10];
[Y,T,X] = lsim(MF,zeros(1,length(t)),t,[1;0]) ;

figure;
plot(T,X(:,1:2))
title('MALHA FECHADA')

figure;
plot(T,-K*X')
title('CONTROLE - u')