%
% 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]);

K0 = tf(n,d);

L0 = G*K0;

figure(1);bode(L0)
hold on
grid

T0 = feedback(L0,1)
figure(2);step(T0)
hold on
S0 = 1 - T0;
grid

figure(3);step(S0*Gd,3)
hold on
grid

% 
% 
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% K1 = 0.5;
% 
% L1 = G*K1;
% 
% figure(1);bode(L1)
% 
% T1 = feedback(L1,1)
% figure(2);step(T1)
% 
% S1 = 1 - T1;
% 
% figure(3);step(S1*Gd,3)
% 
% 
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 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)
% 
% 
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 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)