clear
close all
s=tf('s');

% Definición de parametros
Ra=0.8; La=0.005; b=0.1; J=2.2; Kt=1; Kb=1;
tm=J*Ra/(b*Ra+Kt*Kb); Km=Kt/(b*Ra+Kt*Kb);
% Planta tita(s)/Va(s)
Gp=Km/(s*(tm*s + 1));

Glc0=feedback(Gp,1);
% figure; step(Glc0); legend('Rta a LC');
% figure; pzmap(Gp,Glc0); legend('Polos a LA','Polos a LC');
% figure; K=0:0.01:1; rlocus(Gp,K);

% Variación de la ganancia K del camino directo
K=0.1;
Gla=K*Gp;
Glc=feedback(Gla,1);

K=0.15;
Gla=K*Gp;
Glc1=feedback(Gla,1);

K=0.16;
Gla=K*Gp;
Glc2=feedback(Gla,1);

K=0.2;
Gla=K*Gp;
Glc3=feedback(Gla,1);

K=0.5;
Gla=K*Gp;
Glc4=feedback(Gla,1);

K=1;
Gla=K*Gp;
Glc5=feedback(Gla,1);

K=2;
Gla=K*Gp;
Glc6=feedback(Gla,1);

% Respuestas al escalón
figure; step(Glc,Glc3,Glc4,Glc6)
legend('K = 0,1','K = 0,2','K = 0,5','K = 2')

% Polos de LC en el plano-s
figure; pzmap(Gp,Glc,Glc1,Glc2,Glc3,Glc4,Glc5,Glc6)
legend('Gp','K = 0,1','K = 0,15','K = 0,16','K = 0,2','K = 0,5','K = 1','K = 2')

% Variación de un parametro de la planta
Ra=0.4; K=0.5;
tm=J*Ra/(b*Ra+Kt*Kb); Km=Kt/(b*Ra+Kt*Kb);
Gp=Km/(s*(tm*s + 1));
Gla=K*Gp;
Glc=feedback(Gla,1);

Ra=0.8; K=0.5;
tm=J*Ra/(b*Ra+Kt*Kb); Km=Kt/(b*Ra+Kt*Kb);
Gp=Km/(s*(tm*s + 1));
Gla=K*Gp;
Glc1=feedback(Gla,1);

Ra=1.2; K=0.5;
tm=J*Ra/(b*Ra+Kt*Kb); Km=Kt/(b*Ra+Kt*Kb);
Gp=Km/(s*(tm*s + 1));
Gla=K*Gp;
Glc2=feedback(Gla,1);

Ra=1.6; K=0.5;
tm=J*Ra/(b*Ra+Kt*Kb); Km=Kt/(b*Ra+Kt*Kb);
Gp=Km/(s*(tm*s + 1));
Gla=K*Gp;
Glc3=feedback(Gla,1);

Ra=2; K=0.5;
tm=J*Ra/(b*Ra+Kt*Kb); Km=Kt/(b*Ra+Kt*Kb);
Gp=Km/(s*(tm*s + 1));
Gla=K*Gp;
Glc4=feedback(Gla,1);

Ra=2.5; K=0.5;
tm=J*Ra/(b*Ra+Kt*Kb); Km=Kt/(b*Ra+Kt*Kb);
Gp=Km/(s*(tm*s + 1));
Gla=K*Gp;
Glc5=feedback(Gla,1);

% Respuestas al escalón
figure; step(Glc,Glc1,Glc2,Glc3,Glc4,Glc5)
legend('Ra = 0,4','Ra = 0,8','Ra = 1,2','Ra = 1,6','Ra = 2','Ra = 2,5')

% Polos de LC en el plano-s
figure; pzmap(Glc,Glc1,Glc2,Glc3,Glc4,Glc5)
legend('Ra = 0,4','Ra = 0,8','Ra = 1,2','Ra = 1,6','Ra = 2','Ra = 2,5')

%% El diseño resulta que K = 0,25 pero ocurre una variación paramétrica en Ra de 0,8 a 2
% close all

Ra=0.8; K=0.25;
tm=J*Ra/(b*Ra+Kt*Kb); Km=Kt/(b*Ra+Kt*Kb);
Gpn=Km/(s*(tm*s + 1));
Glac=K*Gpn;
Glccn=feedback(Glac,1);
figure; step(Glccn)

Ra=2; K=0.25;
tm=J*Ra/(b*Ra+Kt*Kb); Km=Kt/(b*Ra+Kt*Kb);
Gpv=Km/(s*(tm*s + 1));
Glac=K*Gpv;
Glccv=feedback(Glac,1);
hold on; step(Glccv,'k')
legend('Ra = 0,8 y K = 0.25','Rav = 2 y K = 0.25')

figure; pzmap(Glccn,Glccv)
legend('Ra = 0,8 y K = 0.25','Rav = 2 y K = 0.25')

% spec=stepinfo(Glc);
% RiseTime: 0.2676
% SettlingTime: 6.6365
% SettlingMin: 0.5775
% SettlingMax: 1.6503
% Overshoot: 65.0287
% Undershoot: 0
% Peak: 1.6503
% PeakTime: 0.7241