%
% TSSFP Plotting script for full-state feedback regulator simulation.
% This script creates graphs for the simulation script TSSF.
% Selection of the material displayed is menu driven.
%
% T. Flint 7/92
% Modified by R.J. Vaccaro 10/93,11/98
%__________________________________________________________________________
kf_=length(t1);
D_=length(dist(:,1));
N_=length(x(:,1));
m_=length(y(:,1));
p_=length(u(:,1));
opt_=1;
iflg_=1;
while(opt_),
fprintf('\n\n -- TSSFP -- State-Feedback Tracking System Plotting.\n\n');
fprintf(' <1> Plant State Variable (1--%g) \n',N_);
if p_==1
fprintf(' <2> Plant Input \n');
else
fprintf(' <2> Plant Input (1--%g) \n',p_);
end
if m_==1
fprintf(' <3> Plant Output \n');
else
fprintf(' <3> Plant Output (1--%g) \n',m_);
end
if m_==1
fprintf(' <4> Reference Input \n');
else
fprintf(' <4> Reference Input (1--%g) \n',m_);
end
if D_==1
fprintf(' <5> Disturbance Input \n');
else
fprintf(' <5> Disturbance Input (1--%g) \n',D_);
end
fprintf(' <6> Two Separate Graphs.\n');
fprintf(' <7> Two Overlayed Graphs.\n');
fprintf('\n <0> Return to MATLAB.\n\n');
if iflg_
[tt1_,uu_]=zoh(t1,u);
iflg_=0;
end
opt_=input(' Please enter a menu selection: ');fprintf('\n');
while isempty(opt_) | opt_ <0 | opt_>7
opt_=input(' Please enter a menu selection: ');
end
if opt_==1 | (opt_==2&p_>1) | (opt_==3&m_>1) | (opt_==4&m_>1) | (opt_==5&D_>1)
wo_=input(' Which one? ');
end
if (opt_==1),
hold off;
plot(t1,x(wo_,:));
title(sprintf('State Variable x_%g',wo_));
xlabel('Time (seconds)')
grid;
end
if (opt_==2),
hold off;
if p_==1
plot(tt1_,uu_);
title('Plant Input u(t)');
xlabel('Time (seconds)')
else
plot(tt1_,uu_(wo_,:));
title(sprintf('Plant Input #%g',wo_))
xlabel('Time (seconds)')
grid
end
end
if (opt_==3),
hold off;
if m_==1
plot(t1,y);
title('Plant Output y(t)');
xlabel('Time (seconds)')
grid;
else
plot(t1,y(wo_,:));
title(sprintf('Plant Output #%g',wo_))
xlabel('Time (seconds)')
grid;
end
end
if (opt_==4),
hold off;
if m_==1
plot(t1,ref);
title('Reference Input r(t)');
xlabel('Time (seconds)')
grid;
else
plot(t1,ref(wo_,:));
title(sprintf('Reference Input #%g',wo_))
xlabel('Time (seconds)')
grid;
end
end
if (opt_==5),
hold off;
if D_==1
plot(t1,dist);
title('Disturbance Input omega(t)');
xlabel('Time (seconds)')
grid;
else
plot(t1,dist(wo_,:));
title(sprintf('Disturbance Input #%g',wo_))
xlabel('Time (seconds)')
grid;
end
end
if opt_==6,
tg_=0;
wo1_=1;wo2_=1;
while(tg_<1)|(tg_>5),
tg_=input('From the options above what signal will be top graph ? ');
if tg_==1 | (tg_==2&p_>1) | (tg_==3&m_>1) | (tg_==4&m_>1) | (tg_==5&D_>1)
wo1_=input(' Which one? ');
end
end
bg_=0;
while(bg_<1)|(bg_>5),
bg_=input('From the options above what signal will be bottom graph ? ');
if bg_==1 | (bg_==2&p_>1) | (bg_==3&m_>1) | (bg_==4&m_>1) | (bg_==5&D_>1)
wo2_=input(' Which one? ');
end
end
clf;
hold off;
subplot(211);
flp_=0;
opt_=tg_;wo_=wo1_;
while flp_<1.5
flp_=flp_+1;
if opt_==1
plot(t1,x(wo_,:))
title(sprintf('State Variable x_%g',wo_))
xlabel('Time (seconds)')
grid
end
if opt_==2
plot(tt1_,uu_(wo_,:))
if p_==1
title('Plant Input u(t)')
else
title(sprintf('Plant Input #%g',wo_))
end
xlabel('Time (seconds)')
grid
end
if opt_==3
plot(t1,y(wo_,:))
if m_==1
title('Plant Output y(t)')
else
title(sprintf('Plant Output #%g',wo_))
end
xlabel('Time (seconds)')
grid
end
if opt_==4
plot(t1,ref(wo_,:))
if m_==1
title('Reference Input r(t)')
else
title(sprintf('Reference Input #%g',wo_))
end
xlabel('Time (seconds)')
grid
end
if opt_==5
plot(t1,dist(wo_,:))
if D_==1
title('Disturbance Input y(t)')
else
title(sprintf('Disturbance Input #%g',wo_))
end
xlabel('Time (seconds)')
grid
end
subplot(212)
opt_=bg_;
wo_=wo2_;
end
end
if opt_==7,
tg_=0;
wo1_=1;wo2_=1;
while(tg_<1)|(tg_>5),
tg_=input('From the options above what is the first signal ? ');
if tg_==1 | (tg_==2&p_>1) | (tg_==3&m_>1) | (tg_==4&m_>1) | (tg_==5&D_>1)
wo1_=input(' Which one? ');
end
end
bg_=0;
while(bg_<1)|(bg_>5),
bg_=input('From the options above what is the second signal ? ');
if bg_==1 | (bg_==2&p_>1) | (bg_==3&m_>1) | (bg_==4&m_>1) | (bg_==5&D_>1)
wo2_=input(' Which one? ');
end
end
clf;
hold off;
if tg_==1
plot(t1,x(wo1_,:));hold on
tt_=sprintf('State Variable x_%g',wo1_);
end
if tg_==2
plot(tt1_,uu_(wo1_,:));hold on
if p_==1
tt_='Plant Input u(t)';
else
tt_=sprintf('Plant Input #%g',wo1_);
end
end
if tg_==3
plot(t1,y(wo1_,:));hold on
if m_==1
tt_='Plant Output y(t)';
else
tt_=sprintf('Plant Output #%g',wo1_);
end
end
if tg_==4
plot(t1,ref(wo1_,:));hold on
if m_==1
tt_='Reference Input r(t)';
else
tt_=sprintf('Reference Input #%g',wo1_);
end
end
if tg_==5
plot(t1,dist(wo1_,:));hold on
if D_==1
tt_='Disturbance Input omega(t)';
else
tt_=sprintf('Disturbance Input #%g',wo1_);
end
end
if bg_==1
plot(t1,x(wo2_,:),'--');
bt_=sprintf('State Variable x_%g',wo2_);
end
if bg_==2
plot(tt1_,uu_(wo2_,:),'--');hold on
if p_==1
bt_='Plant Input u(t)';
else
bt_=sprintf('Plant Input #%g',wo2_);
end
end
if bg_==3
plot(t1,y(wo2_,:),'--');
if m_==1
bt_='Plant Output y(t)';
else
bt_=sprintf('Plant Output #%g',wo2_);
end
end
if bg_==4
plot(t1,ref(wo1_,:),'--');
if m_==1
bt_='Reference Input r(t)';
else
bt_=sprintf('Reference Input #%g',wo1_);
end
end
if bg_==5
plot(t1,dist(wo1_,:),'--');
if D_==1
bt='Disturbance Input omega(t)';
else
bt_=sprintf('Disturbance Input #%g',wo1_);
end
end
title([tt_ '(solid), ' bt_ '(dashed)']);
xlabel('Time (seconds)')
grid;
end
end
clear xhat1_ flp_ iflg_ kf_ N_ m_ bdat_ bg_ bt_ i_ opt_ tdat_ tg_ tt_
clear ttt_ tttt_ uu_ tt1_ wo_ wo1_ wo2_ k_ p_
% ___________________ END OF TSSFP.M ___________________________________
