%Transformada Z Matlab

x=0:4;
y=[1 0.1 0.01 0.001 0.0001];
figure
subplot(211);
stem(x,y,'k','filled');
axis([-1 5 0 1.2])
% LTI objects G=bz/(z-a)
a=0.1;b=1;T=1;
G=tf([b 0],[1 -a],T);
tk=0:T:4;
subplot(212)
yd=impulse(G,tk);
stem(tk,yd,'k','filled')
axis([-1 5 0 1.2])
%% Valores final Inicial
syms z
G=b*z/z-a;U=z/z-1;
F=G*U;
%valor inicial
xi=limit(F,z,inf);
%valor final
xf=limit(F*(z-1),z,1);
xf=vpa(xf,5)%1.1111
%% Grafico de Modelos
clear all;clc;close all;
y(1)=0;u(1)=1;dT=0.1;
N=50;tau=1;
for i=2:N
x(i)=1;
y(i)=(1-dT/tau)*y(i-1)+(dT/tau)*x(i);
end
i=0:N-1;
stairs(i*dT,y,'m','LineWidth',2);
y'(0) para discretizacion exacta es:
y'(0)=[y(n-1)-y(n-2)]/dt
y(0)=y(n-1) y((n-1)dt)
%%sistema en Lazo Abierto
close all;clc
T=1;
Gs=tf(1,[1 1]); %Planta
gdcs=dcgain(Gs);
% Funcion de Transferencia Total
% entrada
Gz=c2d(Gs,T,'zoh');
tk=0:T:10;
t=0:0.01:10;
subplot(211)
yd=step(Gz,tk);
stairs(tk,yd,'r')
subplot(212)
yt=step(Gs,t);
plot(t,yt,'b')

%% Simbolico
syms z
T=1;
Gz=(1-exp(-T))/(z-exp(-T));
Gz=vpa(Gz,5);
G_dc=limit(Gz,z,1)
%VI
U=z/(z-1);
Gvi=Gz*U;
VI=limit(Gvi,z,inf)
%VF
U=z/(z-1);
Gvf=(z-1)*Gz*U;
VF=limit(Gvf,z,1)
%% fUNCION AESTERISCO
% transformada z
syms s a k z
Gp=(4*s+6)/(s*(s+2));
G=Gp/s;
g=ilaplace(G);
g=subs(g,'t','k*T');
F=ztrans(g,k,z);
F=factor(F);
F=subs(F,'T',0.5);
F=((z-1)/z)*F;
[Nf,Df]=numden(F);
Nf=sym2poly(Nf);
Df=sym2poly(Df);
T=0.5;
Gf=tf(Nf,Df,T);
Gf=zpk(Gf)
% de igual forma
clear all;
Gp=tf([4 6],[1 2 0]);
Gd=c2d(Gp,0.5); %'zoh'
Gd=zpk(Gd)
%% Funcion de Transferencia Z
% P(z)=(z*(z-0.2))/((z-1)*(z-0.5))
T=1;
P=tf(conv([1 0],[1 -0.2]),conv([1 -1],[1 -0.5]),T);
P=zpk(P);
tk=0:T:20;
u=[1 zeros(1,length(tk)-1)];
y=lsim(P,u,tk);
stairs(tk,y)
%%
t=1;
Td=0.3;
Gc=tf(3,[1 3].'InputDelay',Td);
t=0:0.001:4;
uc=ones(size(t));
yc=lsim(Gc,uc,t);
P=c2d(Gc,T);

L=1;
Gzas=tf([0.8755 0.07267],[1 -0.04979],T,'InputDelay',L);
tk=0:T:4;
ud=ones(size(tk));
yd=lsim(Gzas,ud,tk);
ydd=lsim(P,ud,tk);
stairs(tk,yd);