@@ -123,7 +123,7 @@ <h2 id = olr>Open-loop response</h2>
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< div class ="inner_cell ">
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< div class ="input_area ">
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< div class =" highlight hl-ipython2 "> < pre > < span class ="o "> %%</ span > < span class ="k "> capture</ span >
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- %%matlab
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+ %%matlab
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f = figure;
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t = [0:0.01:10];
@@ -137,7 +137,7 @@ <h2 id = olr>Open-loop response</h2>
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%%%%%%%%%%%%%%%%%%%
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- % PLOTLY %
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+ % PLOTLY %
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%%%%%%%%%%%%%%%%%%%
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fig2plotly(f);
@@ -240,12 +240,12 @@ <h2 id=clr>Closed-loop response</h2>
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< div class ="output_text output_subarea ">
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- < pre >
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+ < pre >
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Transfer function:
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1.151 s + 0.1774
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----------------------------------
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s^3 + 0.739 s^2 + 2.072 s + 0.1774
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-
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+
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</ pre >
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</ div >
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@@ -270,7 +270,7 @@ <h2 id=clr>Closed-loop response</h2>
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< div class ="prompt input_prompt "> In [33]:</ div >
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< div class ="inner_cell ">
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< div class ="input_area ">
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- < div class =" highlight hl-ipython2 "> < pre > < span class ="o "> %%</ span > < span class ="k "> matlab</ span >
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+ < div class =" highlight hl-ipython2 "> < pre > < span class ="o "> %%</ span > < span class ="k "> matlab</ span >
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pole(sys_cl)
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</ pre > </ div >
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@@ -291,7 +291,7 @@ <h2 id=clr>Closed-loop response</h2>
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-0.3255 + 1.3816i
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-0.3255 - 1.3816i
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- -0.0881
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+ -0.0881
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</ pre >
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</ div >
@@ -317,15 +317,15 @@ <h2 id=clr>Closed-loop response</h2>
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< div class ="prompt input_prompt "> In [34]:</ div >
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< div class ="inner_cell ">
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< div class ="input_area ">
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- < div class =" highlight hl-ipython2 "> < pre > < span class ="o "> %%</ span > < span class ="k "> capture</ span >
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+ < div class =" highlight hl-ipython2 "> < pre > < span class ="o "> %%</ span > < span class ="k "> capture</ span >
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%%matlab
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- f = figure;
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+ f = figure;
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margin(P_pitch)
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grid
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%%%%%%%%%%%%%%%%%%%
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- % PLOTLY %
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+ % PLOTLY %
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%%%%%%%%%%%%%%%%%%%
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fig2plotly(f);
@@ -380,16 +380,16 @@ <h2 id=clr>Closed-loop response</h2>
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< div class ="inner_cell ">
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< div class ="input_area ">
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< div class =" highlight hl-ipython2 "> < pre > < span class ="o "> %%</ span > < span class ="k "> capture</ span >
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- %%matlab
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+ %%matlab
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- f = figure;
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+ f = figure;
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sys_cl = feedback(P_pitch,1);
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step(0.2*sys_cl), grid
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ylabel('pitch angle (rad)');
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title('Closed-loop Step Response')
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%%%%%%%%%%%%%%%%%%%
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- % PLOTLY %
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+ % PLOTLY %
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%%%%%%%%%%%%%%%%%%%
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fig2plotly(f);
@@ -485,7 +485,7 @@ <h2 id = "lc">Lead compensator</h2>
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< div class ="inner_cell ">
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< div class ="input_area ">
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< div class =" highlight hl-ipython2 "> < pre > < span class ="o "> %%</ span > < span class ="k "> capture</ span >
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- %%matlab
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+ %%matlab
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f = figure;
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K = 10;
@@ -495,7 +495,7 @@ <h2 id = "lc">Lead compensator</h2>
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title('Closed-loop Step Response with K = 10')
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%%%%%%%%%%%%%%%%%%%
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- % PLOTLY %
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+ % PLOTLY %
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%%%%%%%%%%%%%%%%%%%
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fig2plotly(f);
@@ -675,17 +675,17 @@ <h2 id = "lc">Lead compensator</h2>
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< div class ="inner_cell ">
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< div class ="input_area ">
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< div class =" highlight hl-ipython2 "> < pre > < span class ="o "> %%</ span > < span class ="k "> capture</ span >
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- %%matlab
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+ %%matlab
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f = figure;
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K = 10;
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- alpha = 0.10;
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+ alpha = 0.10;
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T = 0.52;
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C_lead = K*(T*s + 1) / (alpha*T*s + 1);
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margin(C_lead*P_pitch), grid
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%%%%%%%%%%%%%%%%%%%
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- % PLOTLY %
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+ % PLOTLY %
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%%%%%%%%%%%%%%%%%%%
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fig2plotly(f);
@@ -740,15 +740,15 @@ <h2 id = "lc">Lead compensator</h2>
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< div class ="inner_cell ">
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< div class ="input_area ">
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< div class =" highlight hl-ipython2 "> < pre > < span class ="o "> %%</ span > < span class ="k "> capture</ span >
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- %%matlab
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+ %%matlab
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- f = figure;
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+ f = figure;
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sys_cl = feedback(C_lead*P_pitch,1);
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step(0.2*sys_cl), grid
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title('Closed-loop Step Response with K = 10, alpha = 0.10, and T = 0.52')
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%%%%%%%%%%%%%%%%%%%
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- % PLOTLY %
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+ % PLOTLY %
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%%%%%%%%%%%%%%%%%%%
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fig2plotly(f);
@@ -802,7 +802,7 @@ <h2 id = "lc">Lead compensator</h2>
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< div class ="prompt input_prompt "> In [80]:</ div >
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< div class ="inner_cell ">
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< div class ="input_area ">
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- < div class =" highlight hl-ipython2 "> < pre > < span class ="o "> %%</ span > < span class ="k "> matlab</ span >
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+ < div class =" highlight hl-ipython2 "> < pre > < span class ="o "> %%</ span > < span class ="k "> matlab</ span >
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stepinfo(0.2*sys_cl)
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</ pre > </ div >
@@ -820,7 +820,7 @@ <h2 id = "lc">Lead compensator</h2>
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< div class ="output_text output_subarea ">
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< pre >
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- ans =
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+ ans =
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RiseTime: 1.7479
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SettlingTime: 35.0902
@@ -855,10 +855,10 @@ <h2 id = "lc">Lead compensator</h2>
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< div class ="prompt input_prompt "> In [50]:</ div >
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< div class ="inner_cell ">
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< div class ="input_area ">
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- < div class =" highlight hl-ipython2 "> < pre > < span class ="o "> %%</ span > < span class ="k "> capture</ span >
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- %%matlab
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+ < div class =" highlight hl-ipython2 "> < pre > < span class ="o "> %%</ span > < span class ="k "> capture</ span >
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+ %%matlab
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- f = figure;
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+ f = figure;
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K = 10;
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alpha = 0.04;
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T = 0.55;
@@ -868,7 +868,7 @@ <h2 id = "lc">Lead compensator</h2>
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title('Closed-loop Step Response with K = 10, alpha = 0.04, and T = 0.55')
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%%%%%%%%%%%%%%%%%%%
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- % PLOTLY %
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+ % PLOTLY %
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%%%%%%%%%%%%%%%%%%%
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fig2plotly(f);
@@ -922,7 +922,7 @@ <h2 id = "lc">Lead compensator</h2>
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< div class ="prompt input_prompt "> In [72]:</ div >
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< div class ="inner_cell ">
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< div class ="input_area ">
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- < div class =" highlight hl-ipython2 "> < pre > < span class ="o "> %%</ span > < span class ="k "> matlab</ span >
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+ < div class =" highlight hl-ipython2 "> < pre > < span class ="o "> %%</ span > < span class ="k "> matlab</ span >
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stepinfo(0.2*sys_cl)
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</ pre > </ div >
@@ -940,7 +940,7 @@ <h2 id = "lc">Lead compensator</h2>
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< div class ="output_text output_subarea ">
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< pre >
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- ans =
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+ ans =
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RiseTime: 1.7479
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SettlingTime: 35.0902
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