% Generates Fig 4.19
% Computer Controlled Systems (3rd ed)
% Author: B. Wittenmark
% Last edit: 1997-07-02
% Copyright (c) 1996 by K. J. Åström, B. Wittenmark and
% Department of Automatic Control, Lund Institute of
% Technology, Lund, Sweden

close all; clear all;

%block419;

newplot;
set(gcf,'PaperUnits','centimeters','PaperPosition',[2 2 13 8])
set(gcf,'Units','centimeters','position',get(gcf,'PaperPosition'))

lw=2;
J1=10/9;
J2=10;
k=1;
d=0.1;
kI=1;
om0=sqrt(k*(J1+J2)/(J1*J2));
al=J1/(J1+J2);
be1=d/(J1*om0);
be2=d/(J2*om0);
ga=kI/(J1*om0);
de=1/(J1*om0);
clf;
x0=[0 1 0];
%
[t,x,y]=sim('block419',[0, 75]);
subplot(1,1,1)
plot(t,y(:,1),'k','Linew',lw);
axis([0,75,0,0.2]);
%title(['Fig 4.19']);
set(gca,'Fontsize',9,'Fontname','NewCenturySchlbk');
set(gca,'xtick',[0 25 50 75]);
set(gca,'ytick',[0 0.1]);
xlabel('Time','Fontname','NewCenturySchlbk','Fontsize',9)
ylabel('Output','Fontname','NewCenturySchlbk','Fontsize',9)
drawnow;