Ejemplo 9.1 pag621 OGATA

clf;

s=%s/(%pi*2);

g=4/(s*(s+2));

gc=41.7*(s+4.41)/(s+18.4);

gt=g*gc;

gs=syslin('c',10*g);

gts=syslin('c',gt);

clf;

bode([gs;gts]);

legend(['no compensado(10*G)';'compensado(G*Gc)'])

clf;

s=%s/(2*%pi);

g=4/(s*(s+2));

gc=41.7*(s+4.41)/(s+18.4);

gt=g*gc;

gs=syslin('c',10*g);

gts=syslin('c',gt);

clf;

nyquist([gs;gts],['no compensado(10*G)';'compensado(G*Gc)']);

m_circle([1.9;10]);

mtlb_axis([-5 0 -2 2]);

xgrid;

clf;

s=%s;

g=4/(s*(s+2));

gc=41.7*(s+4.41)/(s+18.4);

gt=g*gc;

gc=g /. 1;

gtc=gt /. 1;

gs=syslin('c',gc);

gts=syslin('c',gtc);

t=0:0.02:6;

y=csim('step',t,gs);

yt=csim('step',t,gts);

plot(t,y);

plot(t,yt,'g')

xgrid;

legend(['no compensado';'compensado'])

xtitle('Respuesta a un escalon','t(seg)','y(t)')

clf;

s=%s;

g=4/(s*(s+2));

gc=41.7*(s+4.41)/(s+18.4);

gt=g*gc;

gc=g /. 1;

gtc=gt /. 1;

gs=syslin('c',gc);

gts=syslin('c',gtc);

t=0:0.02:6;

y=csim(t,t,gs);

yt=csim(t,t,gts);


plot(t,y);

plot(t,yt,'g');

plot(t,t,'r');

xgrid;

legend(['no compensado';'compensado';'rampa'])

xtitle('Respuesta a un escalon','t(seg)','y(t)')