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Commit d45c822a authored by HALITIM Kouds's avatar HALITIM Kouds
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num0_all = [0.2361 0.4722];
den0_all = [1 1.783];
G_all = tf(num0_all, den0_all);
num0_allp = [0.166 0.6087];
den0_allp = [1 3.563];
G_allp = tf(num0_allp, den0_allp);
num_raplcl = [0.5737 1.808 1.481 0.3183 1.06e-16];
den_raplcl = [1 2.499 1.761 0.3183 -2.544e-15];
raplcl = tf(num_raplcl, den_raplcl);
[num_all, den_all] = series(raplcl.num{1}, raplcl.den{1}, G_all.num{1}, G_all.den{1});
[num_allp, den_allp] = series(raplcl.num{1}, raplcl.den{1}, G_allp.num{1}, G_allp.den{1});
G_combined = tf(num_all, den_all);
[A0_all, B0_all, C0_all, D0_all] = tf2ss(num_all, den_all);
A_aug_all = [A0_all, zeros(size(A0_all, 1), 1);
-C0_all, 0];
B_aug_all = [B0_all; 0];
C_aug_all = [C0_all, 0];
D_aug_all = D0_all;
num_variation_all = [0.1355-0.0402 0.6978-0.0485 1.2034+0.1430 0.7745-0.1798 0.1503-0.0434 0.0000; 0.1355+0.0402 0.6978+0.0485 1.2034-0.1430 0.7745+0.1798 0.1503+0.0434 0.0000];
den_variation_all = [1.0000 4.2820+1.78 6.2167+4.4482 3.4582+3.1346 0.5675+0.5666 -0.0000;1.0000 4.2820-1.78 6.2167-4.4482 3.4582-3.1346 0.5675-0.5666 -0.0000];
listP_all = {};
for i = 1:size(num_variation_all, 1)
for j = 1:size(den_variation_all, 1)
Gp_all = tf([num_variation_all(i, :)], [den_variation_all(j, :)]);
[Ap_all, Bp_all, Cp_all, Dp_all] = tf2ss(Gp_all.Numerator{1}, Gp_all.Denominator{1});
A_aug_p_all = [Ap_all, zeros(size(Ap_all, 1), 1);
-Cp_all, 0];
B_aug_p_all = [Bp_all; 0];
C_aug_p_all = [Cp_all, 0];
D_aug_p_all = Dp_all;
listP_all{end+1} = ss(A_aug_p_all, B_aug_p_all, C_aug_p_all, D_aug_p_all);
end
end
nstate_all = size(A_aug_all, 1);
ncon_all = 1;
beta_all = 0.01;
solver = 'sedumi';
[F_all, X_all] = lmiHinfStateFeedbackRobust_expstab(listP_all, nstate_all, ncon_all, beta_all, solver);
Kp_all = abs(F_all(1));
Ki_all = abs(F_all(2));
disp('Computed Proportional Gain (Kp):');
disp(Kp_all);
disp('Computed Integral Gain (Ki):');
disp(Ki_all);
PI_Controller_all = tf([Kp_all Ki_all], [1 0]);
discrete_pi_all = c2d(PI_Controller_all, 1, 'tustin');
t1 = 0:0.1:5;
t2 = 5.1:0.1:10;
t3 = 10.1:0.1:15;
t4 = 15.1:0.1:20;
r1 = 26;
r2 = 26 * 0.9;
r3 = 26 * 0.9 * 0.9;
r4 = 26;
t_total = [t1, t2, t3, t4];
r_total = [r1 * ones(size(t1)), r2 * ones(size(t2)), r3 * ones(size(t3)), r4 * ones(size(t4))];
figure;
hold on;
for i = 1:size(num_variation_all, 1)
for j = 1:size(den_variation_all, 1)
Gp_all = tf([num_variation_all(i, :)], [den_variation_all(j, :)]);
Lp_all = PI_Controller_all * Gp_all;
Tp_all = feedback(Lp_all, 1);
y_total = lsim(Tp_all, r_total, t_total);
plot(t_total, y_total, 'DisplayName', sprintf('Perturbed Plant %d-%d', i, j));
end
end
hold off;
grid on;
title('Closed-Loop Response with Custom Reference Signal');
xlabel('Time (s)');
ylabel('Amplitude');
legend('show');
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