Path: Common/Control
% Design a PD controller.
Design a PD controller of the form
x = x + ax + bu
y = cx + du
If no outputs are requested then Bode plots for the controller will
be drawn.
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Form:
[a, b, c, d] = PDDesign( zeta, wN, wD, inr, tSamp, sType )
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Inputs
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zeta Damping ratio
wN Undamped natural frequency
wD Derivative term cutoff
inr Axis inertia
tSamp Sampling period*
sType State equation type ('Delta' or 'Z')*
* optional - default is a continuous controller
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Outputs
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a Plant matrix
b Input matrix
c Output matrix
d Feedthrough matrix
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Common: Control/C2DZOH Common: Control/C2DelZOH Common: Control/FResp
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