% Generates Fig 3.18
% Computer Controlled Systems (3rd ed)
% Author: B. Wittenmark
% Last edit: 1997-06-29
% Copyright (c) 1996 by K. J. Åström, B. Wittenmark and
% Department of Automatic Control, Lund Institute of
% Technology, Lund, Sweden

close all; clear all;

block318;

newplot;clf;
set(gcf,'PaperUnits','centimeters','PaperPosition',[2 2 13 13.5])
set(gcf,'Units','centimeters','position',get(gcf,'PaperPosition'))

lw=2;
Ms=20;

K=0.5;
Td=1.5;
h=1;
opt=simset('Outputpoints','specified');
clf;
subplot(4,2,1);
[t,x,y]=sim('block318',[0, 10]);
[ts,us]=stairs(t,y(:,4));
[t2,x,y2]=sim('block318',[0:h:10],opt);
hpl=plot(t2,y2(:,2),'m.',t,y(:,1),'k',t,y(:,3),'k--','Linew',lw);
set(hpl,'MarkerSize',Ms)
%title('Fig 3.18 K = 0.5');
set(gca,'xtick',[0 10],'ytick',[0 1]);
axis([0 ,10,-0.5, 1.5]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
ylabel('Output','Fontname','NewCenturySchlbk','Fontsize',9)
text(-2.5,1.4,'(a)','fontname','NewCenturySchlbk','fontsize',9)
title('T_d = 1.5; K = 0.5');
drawnow;
%
subplot(4,2,3);
hpl=plot(ts,us,'m-','Linew',lw);
set(gca,'xtick',[0 10],'ytick',[-2 -1 0 1]);
axis([0 ,10,-2.5, 1.5]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
ylabel('Input','Fontname','NewCenturySchlbk','Fontsize',9)
drawnow;
%
pause
%
subplot(4,2,2);
K=0.75;
[t,x,y]=sim('block318',[0, 10]);
[ts,us]=stairs(t,y(:,4));
[t2,x,y2]=sim('block318',[0:h:10],opt);
hpl=plot(t2,y2(:,2),'m.',t,y(:,1),'k',t,y(:,3),'k--','Linew',lw);
set(hpl,'MarkerSize',Ms)
%title('K = 0.75');
axis([0,10,-0.5,1.5]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'xtick',[0 10],'ytick',[0 1]);
ylabel('Output','Fontname','NewCenturySchlbk','Fontsize',9)
text(-2.5,1.4,'(b)','fontname','NewCenturySchlbk','fontsize',9)
title('T_d = 1.5; K = 0.75');
drawnow;
%
subplot(4,2,4);
hpl=plot(ts,us,'m-','Linew',lw);
set(gca,'xtick',[0 10],'ytick',[-2 -1 0 1]);
axis([0 ,10,-2.5, 1.5]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
ylabel('Input','Fontname','NewCenturySchlbk','Fontsize',9)
drawnow;
%
pause
%
subplot(4,2,5);
K=1;
[t,x,y]=sim('block318',[0, 10]);
[ts,us]=stairs(t,y(:,4));
[t2,x,y2]=sim('block318',[0:h:10],opt);
hpl=plot(t2,y2(:,2),'m.',t,y(:,1),'k',t,y(:,3),'k--','Linew',lw);
set(hpl,'MarkerSize',Ms)
%title('K = 1');
axis([0,10,-0.5,1.5]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'xtick',[0 10],'ytick',[0 1]);
ylabel('Output','Fontname','NewCenturySchlbk','Fontsize',9)
text(-2.5,1.4,'(c)','fontname','NewCenturySchlbk','fontsize',9)
title('T_d = 1.5; K = 1');
drawnow;
%
subplot(4,2,7);
hpl=plot(ts,us,'m-','Linew',lw);
set(gca,'xtick',[0 10],'ytick',[-2 -1 0 1]);
axis([0 ,10,-2.5, 1.5]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
ylabel('Input','Fontname','NewCenturySchlbk','Fontsize',9)
xlabel('Time','Fontname','NewCenturySchlbk','Fontsize',9)
drawnow;
%
pause
%
subplot(4,2,6);
K=1.25;
[t,x,y]=sim('block318',[0, 10]);
[ts,us]=stairs(t,y(:,4));
[t2,x,y2]=sim('block318',[0:h:10],opt);
hpl=plot(t2,y2(:,2),'m.',t,y(:,1),'k',t,y(:,3),'k--','Linew',lw);
set(hpl,'MarkerSize',Ms)
%title('K = 1.25');
axis([0,10,-0.5,1.5]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'xtick',[0 10],'ytick',[0 1]);
ylabel('Output','Fontname','NewCenturySchlbk','Fontsize',9)
text(-2.5,1.4,'(d)','fontname','NewCenturySchlbk','fontsize',9)
title('T_d = 1.5; K = 1.25');
drawnow;
%
subplot(4,2,8);
hpl=plot(ts,us,'m-','Linew',lw);
set(gca,'xtick',[0 10],'ytick',[-2 -1 0 1]);
axis([0 ,10,-2.5, 1.5]);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
ylabel('Input','Fontname','NewCenturySchlbk','Fontsize',9)
xlabel('Time','Fontname','NewCenturySchlbk','Fontsize',9)
drawnow;
%
ylblalgn;