{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [],
   "source": [
    "import sympy\n",
    "import matplotlib.pyplot as plt\n",
    "import numpy\n",
    "import control \n",
    "from control.matlab import *\n",
    "sympy.init_printing()\n",
    "%matplotlib inline"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {},
   "outputs": [],
   "source": [
    "from ipywidgets import interact"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 36,
   "metadata": {},
   "outputs": [],
   "source": [
    "ts = numpy.linspace(0, 40,1000)\n",
    "\n",
    "s = tf([1,0],1)\n",
    "\n",
    "def sistema(Kc):\n",
    "    #G = Kc / (s**4 + 3*s**3 + 3*s**2 + 2*s + Kc)\n",
    "    \n",
    "    Gma = (s+2) / (s*(s+3)*(s**2+2*s+5))\n",
    "    G = feedback(Kc*Gma,1)\n",
    "    \n",
    "    \n",
    "    #G = wn_in**2*(1+Tp_in*s)/((s**2+2*zeta_in*wn_in*s + wn_in**2))\n",
    "    \n",
    "    plt.figure(figsize=(12, 6))\n",
    "    ax_impulse = plt.subplot2grid((2, 2), (0, 0))\n",
    "    ax_step = plt.subplot2grid((2, 2), (1, 0))\n",
    "    ax_complex = plt.subplot2grid((2, 2), (0, 1), rowspan=2)\n",
    "\n",
    "    y,t = impulse(G,ts)\n",
    "    ax_impulse.plot(t , y)\n",
    "    ax_impulse.set_title('Impulse response')\n",
    "    ax_impulse.set_ylim(-1, 2)\n",
    "\n",
    "    y,t = step(G,ts)\n",
    "    ax_step.set_title('Step response')\n",
    "    ax_step.plot(t ,y)\n",
    "    ax_step.set_ylim(0, 2)\n",
    "\n",
    "\n",
    "    ax_complex.set_title('Poles plot')\n",
    "    pole,zero = pzmap(G, Plot = False)\n",
    "    ax_complex.scatter(pole.real, pole.imag, marker='x', s=30)\n",
    "    ax_complex.scatter(zero.real, zero.imag, marker='o', s=30)\n",
    "    #ax_complex.axhline(0, color='black')\n",
    "    #ax_complex.axvline(0, color='black')\n",
    "    ax_complex.axis([-10,0.10, -2, 2])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": 37,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "2ed8d164ad454d4fa75c8e6a1e60b57d",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "interactive(children=(FloatSlider(value=15.049999999999999, description='Kc', max=30.0, min=0.1), Output()), _…"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "interact(sistema, Kc=(0.1, 30));"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.7.6"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 4
}