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#!/usr/bin/python
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# 9.9
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import os, sys
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sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]
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import scipy as sp
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from scipy import signal
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from myc2d import myc2d
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from pp_im import pp_im
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from desired import desired
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# Magnetically suspended ball problem
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# Operating conditions
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M = 0.05
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L = 0.01
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R = 1
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K = 0.0001
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g = 9.81
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#Equilibrium conditions
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hs = 0.01
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i = sqrt(M*g*hs/K)
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# State space matrices
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a21 = K*i**2/M/hs**2
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a23 = - 2*K*i/M/hs
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a33 = - R/L
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b3 = 1/L
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a = sp.array([[0, 1, 0], [a21, 0, a23], [0, 0, a33]])
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b = sp.array([[0], [0], [b3]])
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c = sp.array([1, 0, 0])
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d = 0
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# Transfer functions
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G = signal.lti(a, b, c, d)
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Ts = 0.01
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B, A, k = myc2d(G,Ts)
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# Transient specifications
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rise = 0.15
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epsilon = 0.05
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phi = desired(Ts, rise, epsilon)
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# Controller design
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Delta = sp.array([1, -1])
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Rc, Sc, Tc, gamm = pp_im(B, A, k, phi)
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# Setting up simulation parameters for basic
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st = 0.0001 # desired change in h, in m.
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t_init = 0 # simulation start time
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t_final = 0.5 # simulation end time
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# Setting up simulation parameters for c_ss_cl
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N_var = 0
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xInitial = [0 0 0]
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N = 1
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C = 0
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D = 1
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