l=0.1;
m=conv(conv([1 0.1],[1 1]),[1 1]);
t=0:0.1:80;
y=step(l,m,t);
plot(t,y),grid;
dt=0.1;
for i=1:800;
yp(i)=(y(i+1)-y(i))/dt;
end
yp(801)=yp(800);
plot(t,y,t,yp),grid;
max(yp)
[t' y yp']
max(yp)
0.25*max(y)
% 25% z y wynosi 0.2499
% y dla max(yp) wyosi 0.18
%
% stosuje regulator PI
plot(t,y,t,yp),grid;
[t' y yp']
t90=25.1;
t10=2.8;
T=(t90-t10)/2.2;
tau=t10-(0.1*T);
[lp,mp]=pade(tau,8);
m2=conv([T 1],mp);
y2=step(lp,m2,t);
plot(t,y,t,y2),grid;
Kp=0.34*T/(tau*1);
Ti=T;
P=Kp;
I=Kp/Ti;