Re: Problema importazione accenti da MATLAB a latex

%%%%%%%%%%% ESERCIZIO 7 %%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

clear all
close all
clc

s=tf(‘s’);
np1=2001;
tfin=200;
t=linspace(0,tfin,np1);

%%%%%%%%%%%%%% DEFINIZIONE PROCESSO %%%%%%%%%%%%%%

k=-2;
kd=5;
teta=5;
tetad=10;
tau=10;
taud=10;

[nd1,dd1]=pade(teta,3);del=tf(nd1,dd1); % ritardo con pade, n=3
[nd2,dd2]=pade(tetad,3);deld=tf(nd2,dd2); % ritardo con pade, n=3

P=del*k/(tau*s+1);
Pd=deld*kd/(taud*s+1);

rlocus(-P) % si fa rlocus di -P perchè k(P) è negativo
display(‘valori consigliati kmax=1.85 wmax=0.365’)
kmax=1.85
wmax=0.365

Pu=2*pi/wmax;

%%%%% PROGETTO REGOLATORE CASO 1) ZN %%%%

%indichiamo tutti questi termini con il segno 1
%così da capire che si riferiscono a tuning zn

%%%% regolatore PI %%%%
Kcpi1=-kmax/2.2;
tauIpi1=Pu/1.2;

Cpi1=Kcpi1*(1+1/(tauIpi1*s));

Gpi1=Cpi1*P;

Ypir1=Gpi1/(1+Gpi1);
Ypid1=Pd/(1+Gpi1);

%%%% regolatore PID %%%%

Kcpid1=-kmax/1.7;
tauIpid1=Pu/2;
tauDpid1=Pu/8;

Cpid1=Kcpid1*(1+s*tauDpid1+1/(s*tauIpid1));

Gpid1=P*Cpid1;

Ypidr1=Gpid1/(1+Gpid1);
Ypidd1=Pd/(1+Gpid1);

subplot(1,2,1);
step(Ypir1,Ypidr1,t),title(‘ step response y(r) ZN’),…
legend(‘PI’,’PID’),axis([0,100,-0.5,1.5])

subplot(1,2,2);
step(Ypid1,Ypidd1,t),title(‘ step response y(d) ZN’),…
legend(‘PI’,’PID’); axis([0,150,-0.5,2.5])

Ypitot1=Ypir1+Ypid1;
Ypidtot1=Ypidr1+Ypidd1;

%%%%%%%%%% CASO 2) TUNING CC %%%%%%%%%%

%indichiamo i parametri con 2 così da far riferimensto a CC %

%%% regolatore PI %%%

kcpi2=(1/k)*(tau/teta)*(0.9+teta/(12*tau));
tauIpi2=teta*(30+3*teta/tau)/(9+20*teta/tau);

Cpi2=kcpi2*(1+1/(s*tauIpi2));

Gpi2=Cpi2*P;

Ypir2=Gpi2/(1+Gpi2);
Ypid2=Pd/(1+Gpi2);

%%% regolatore PID %%%

kcpid2=(1/k)*(tau/teta)*(4/3+teta/(4*tau));
tauIpid2=teta*(32+6*teta/tau)/(13+8*teta/tau);
tauDpid2=teta*4/(11+2*teta/tau);

Cpid2=kcpid2*(1+1/(s*tauIpid2)+s*tauDpid2);

Gpid2=P*Cpid2;

Ypidr2=Gpid2/(1+Gpid2);
Ypidd2=Pd/(1+Gpid2);

Ypitot2=Ypir2+Ypid2;
Ypidtot2=Ypidr2+Ypidd2;

figure(2)

subplot(1,2,1),step(Ypir2,Ypidr2,t),title…
(‘ step response y(r) CC’),legend(‘PI’,’PID’)
axis([0,150,-0.5,2])
subplot(1,2,2),step(Ypid2,Ypidd2,t),…
title(‘ step response y(d) CC’),legend(‘PI’,’PID’)
axis([0,150,-1,2.5])

%%%%%%%% CASO 3) TECNICA CURVA DI RISPOSTA %%%%%%

% Indichiamo tutto con 3 %

%regolatore PI%

c1=0.8

kcpi3=(tau+teta/2)/((teta*(c1+1))*k)
tauIpi3=tau+teta/2

Cpi3=kcpi3*(1+1/(s*tauIpi3))

Gpi3=Cpi3*P;

Ypir3=Gpi3/(1+Gpi3);
Ypid3=Pd/(1+Gpi3);

%%% regolatore PID %%%

c1=0.8;
c2=0.3;

kcpid31=kcpi3;
kcpid32=(tau+teta/2)/((teta*(c2+1))*k);
tauIpid3=tauIpi3;
tauDpid3=tau*teta/(2*tau+teta);

Cpid31=kcpid31*(1+s*tauDpid3+1/(tauIpid3*s));
Cpid32=kcpid32*(1+s*tauDpid3+1/(tauIpid3*s));

Gpid31=P*Cpid31;
Gpid32=P*Cpid32;

Ypidr31=Gpid31/(1+Gpid31);
Ypidd31=Pd/(1+Gpid31);
Ypidr32=Gpid32/(1+Gpid32);
Ypidd32=Pd/(1+Gpid32);

Ypitot3=Ypir3+Ypid3;
Ypidtot31=Ypidr31+Ypidd31;
Ypidtot32=Ypidr32+Ypidd32;

figure(3)

subplot(1,2,1),step(Ypir3,Ypidr31,Ypidr32,t),title…
(‘step response y(r) BCS”90’),…
legend(‘PI’,’PID c1′,’PID c2′),axis([0,100,-0.5,1.5])
subplot(1,2,2),step(Ypid3,Ypidd31,Ypidd32,t),title…
(‘step response y(d) BCS”90’),…
legend(‘PI’,’PID c1′,’PID c2′),axis([0,150,-1,2.5])

figure(4)

subplot(2,2,1),step(Ypid1,Ypid2,Ypid3,t),…
legend(‘ZN’,’CC’,’BCS”90′),title(‘step response y(d) PI’)
axis([0,150,-1,3])
subplot(2,2,2),step(Ypidd1,Ypidd2,Ypidd31,t),…
legend(‘ZN’,’CC’,’BCS”90 c1′)…
,title(‘step response y(d) PID’)
axis([0,150,-1,3])
subplot(2,2,3),step(Ypir1,Ypir2,Ypir3,t),…
legend(‘ZN’,’CC’,’BCS”90′),…
title(‘step response y(r) PI’),axis([0,100,-0.5,2])
subplot(2,2,4),step(Ypidr1,Ypidr2,Ypidr31,t),…
legend(‘ZN’,’CC’,’BCS”90 c1′)…
,title(‘step response y(r) PID’)
axis([0,100,-0.5,2])

%%%%%%%%%%%% STUDIO PARAMETRI Se, taur, taua %%%%%%%%%%%%%%

parametri_Ypir1=stepinfo(Ypir1,t,1,…
‘SettlingTimeThreshold’,0.05,’RiseTimeLimits’,[0.0 1.0])
parametri_Ypir2=stepinfo(Ypir2,t,1,…
‘SettlingTimeThreshold’,0.05,’RiseTimeLimits’,[0.0 1.0])
parametri_Ypir3=stepinfo(Ypir3,t,1,…
‘SettlingTimeThreshold’,0.05,’RiseTimeLimits’,[0.0 1.0])

%%%%%%% STUDIO INDICI IAE ISE ITAE su regolatore PI %%%%%%%

%%% studio indici per Ypir1
y1=step(Ypir1,t);
y2=step(Ypir2,t);
y3=step(Ypir3,t);

y=y1;
IAE=0;ITAE=0;ISE=0;
for i=1:np1
iae(i)=abs(1-y(i))*tfin/np1;
itae(i)=iae(i)*t(i);
ise(i)=((1-y(i))^2)*tfin/np1;
IAE=IAE+iae(i);
ITAE=ITAE+itae(i);
ISE=ISE+ise(i);
end
IAE1=IAE;ISE1=ISE;ITAE1=ITAE;

y=y2;
IAE=0;ITAE=0;ISE=0;
for i=1:np1
iae(i)=abs(1-y(i))*tfin/np1;
itae(i)=iae(i)*t(i);
ise(i)=((1-y(i))^2)*tfin/np1;
IAE=IAE+iae(i);
ITAE=ITAE+itae(i);
ISE=ISE+ise(i);
end
IAE2=IAE;ISE2=ISE;ITAE2=ITAE;

y=y3;
IAE=0;ITAE=0;ISE=0;
for i=1:np1
iae(i)=abs(1-y(i))*tfin/np1;
itae(i)=iae(i)*t(i);
ise(i)=((1-y(i))^2)*tfin/np1;
IAE=IAE+iae(i);
ITAE=ITAE+itae(i);
ISE=ISE+ise(i);
end
IAE3=IAE;ISE3=ISE;ITAE3=ITAE;

%risposta 1
disp(‘risposta #1: IAE1, ITAE1, ISE1’)
ris1=[IAE1,ITAE1,ISE1]
% risposta 2
disp(‘risposta #2: IAE2, ITAE2, ISE2’)
ris2=[IAE2,ITAE2,ISE2]
%risposta 3

disp(‘risposta #3: IAE3, ITAE3, ISE3’)
ris3=[IAE3,ITAE3,ISE3]

%%%%%%%%% ANALISI AZIONE DI CONTROLLO %%%%%%%%%

figure (5)
Cr1=Cpi1/(1+P*Cpi1);
Cr2=Cpi2/(1+P*Cpi2);
Cr3=Cpi3/(1+P*Cpi3);
subplot(1,2,1),step(Cr1,Cr2,Cr3,t),…
title(‘step response azione di controllo y(r)’),…
legend(‘ZN’,’CC’,’BCS”90′)

Cd1=-Cpi1*Pd/(1+P*Cpi1);
Cd2=-Cpi2*Pd/(1+P*Cpi2);
Cd3=-Cpi3*Pd/(1+P*Cpi3);
subplot(1,2,2),step(Cd1,Cd2,Cd3,t),…
title(‘step response azione di controllo y(d)’),…
legend(‘ZN’,’CC’,’BCS”90′)

H=dcgain(Cd1)
H1=dcgain(Cr1)

%%%% PARTE OPZIONALE %%%

figure(6)

kc=[-0.4,-0.6,-0.7];
tauI=[9,12,15];

for i=1:3
Cpi=kc(i)*(1+1/(tauI(i)*s));
G=Cpi*P;
Ypir=G/(G+1);
step(Ypir,t);hold on
parametri_Ypir=stepinfo(Ypir,t,-1,…
‘SettlingTimeThreshold’,0.05,…
‘RiseTimeLimits’,[0.0 1.0])
end
legend…
(‘k_c=-0.4 ;\tau_I=9′,’k_c=-0.6;\tau_I=12′,’k_c=-0.7 ;\tau_I=15’)
axis([0,100,-0.2,1.2])