clc; clear
close all

% En dominio continuo
s=tf('s');
Gp=1/(s*(s+2));
Gplc=feedback(Gp,1);

% Se diseña un controlador de adelanto de fase para Mp aproximadamente 1% y
% tiempo de asentamiento menor a 2 segundos 
Gc=9*(s+2)/(s+5);
Gla=Gc*Gp;
Glc=minreal(feedback(Gla,1));

step(Glc,Gplc);
legend('Sistema Compensado','Sistema No Compensado')
% 
figure; margin(Gla)
figure; bode(Glc)

% Selección del periodo de muestreo
% wn=3; xita=0.5; wd=wn*sqrt(1-xita^2);
% Nd=ts/T;
Nd=2; % muestras x periodo de oscilación
ts=2;
T=ts/Nd;

% En el dominio de tiempo discreto
% T=0.001;
td=0:T:5-T;
ref1=ones(length(td),1);
z=tf('z',T);
Gpd=c2d(Gp,T);

% Primera aproximación: Residuos
Gcd=c2d(Gc,T);
sd=(z-1)/(z*T);
GcdB=minreal(9*(sd + 2)/(sd + 5));
GladB=minreal(GcdB*Gpd);
GlcdB=feedback(GladB,1);
Glad=minreal(Gcd*Gpd);
Glcd=feedback(Glad,1);

figure; pzmap(GcdB,Gcd);
legend('Polos-ceros Compensador Backward','Polos-ceros Compensador ZOH')
figure; step(Glc,GlcdB,Glcd); 
legend('LC TC','LC TD Backward','LC TD ZOH')

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