matlab wip

matlab/SCRATCH.m

@@ -1,18 +1,54 @@
 
-clear;
-clear global;
-[mot1,mot2]=identifyFxFyStage();
-[Kp,Kvfb,Ki,Kvff,Kaff,MaxInt,mot_num,mot_den,Ts,MaxDac,MaxPosErr,A,B,C,D]=simFxFyStage(mot1,1);
+raw=desPos_actPos.Data
+raw(:,2)=raw(:,1)*100
+ft=fft(raw);
+plot(log(abs(ft)));
+plot(log(abs(ft(:,1)./ft(:,2))));
 
-[Nbar,A,B,C,Ao,Bo,Co,Do,L,K]=StateSpaceControlDesign(mot1,1);
+      i=int(minFrq*tSec); j=int(maxFrq*tSec); #print(w[i],w[j])
+
+
+x=2+3j
+rho=abs(x)
+theta=angle(x)
+%-------------------
+x=rho*exp(j*theta)
+
+
+
+  figure();
+  h=pzplot(ssc.ss_cl(3),ssc.ss_o(3),ssc.ss_od(3));
+  setoptions(h,'FreqUnits','Hz','Grid','on');legend('location','sw');
 
 
 
 
 
 
+  %figure();bode(ssc.ss_o(3));
+  %figure();tf=tf(ssc.ss_o) pzplot(tf(3));
 
 
+  h=bodeplot(ssc.ss_cl(3),ssc.ss_o(3),ssc.ss_od(3));
+  setoptions(h,'FreqUnits','Hz','Grid','on');
+
+  h=pzplot(ssc.ss_cl(3),ssc.ss_o(3),ssc.ss_od(3));
+  setoptions(h,'FreqUnits','Hz','Grid','on');
+
+
+  h=bodeplot(ssc.ss_cl(3),ssc.ss_o(3),ssc.ss_od(3));
+  setoptions(h,'FreqUnits','Hz','Grid','on');
+  getoptions(h)
+
+
+
+
+continous to discrete
+web(fullfile(docroot, 'control/ref/c2d.html'))
+
+
+h = tf(10,[1 3 10],'IODelay',0.25); 
+hd = c2d(h,0.1)