/*
 example 4.21 Stability Versus Two Parameter Ranges
*/
 
del *;
 
"********************************************"
"**                                        **"
"**              example 4.21              **"
"**  Stability Versus Two Parameter Range  **"
"**                                        **"
"********************************************"
" "
sleep(2);
 
" "
" r--O--->[K + KI/s]--->[1/(s+1)(s+2)]--->"
"   -|                                 |  "
"    |                                 |  "
"    -----------------------------------   "
" "
sleep(2);
 
"K와 KI의 변화에 따른 step responses"
" "
"K = 10, KI = 5일 때"
K = 10; KI = 5;
num = [K KI];
den = [1 3 2+K KI];
t = 0:10:0.01;
step(num,den,t);
 
holdon;
 
"K = 1, KI = 1일 때"
K = 1; KI = 1;
num = [K KI];
den = [1 3 2+K KI];
step(num,den,t);
 
holdon;
 
"K = 1, KI = 0일 때"
K = 1; KI = 0;
num = [K KI];
den = [1 3 2+K KI];
step(num,den,t);
 
ytitle("y");
title("Transient responses");