Parte 1

%Step, para G21 e G22 é só mudar os nomes das variáveis, com L21/22s = 28, 20 e
%L21/22d = 20, 10)

%Parte 1
load Exp2_U1.mat;

plot (time, u)
plot (time, temp1)
%Entre 710 e 1510 ocorre o impulso

%SUBIDA -------------------------------------------------------------------
temp11s = temp1(711:1510);
temp12s = temp2(711:1510);

L11s = 20; %Valores da ID passada

L12s = 19;

[k11s, t11s, L11s] = Iddegrau(temp11s, u, L11s)

[k12s, t12s, L12s] = Iddegrau(temp12s, u, L12s)

%DESCIDA ------------------------------------------------------------------
temp11d = temp1(1510:2080);
temp12d = temp2(1510:2080);

L11d = 10;
L12d = 30;

[k11d, t11d, L11d] = Iddegrau(temp11d, u, L11d);

[k12d, t12d, L12d] = Iddegrau(temp12d, u, L12d);

%Média --------------------------------------------------------------------

k11m = (k11s+k11d)/2;
L11m = (10+20)/2;
t11m = (t11s + t11d)/2;

k12m = (k12s + k12d)/2;

L12m = (30+19)/2;
t12m = (t12s + t12d)/2;
Parte 2 (Mínimos Quadrados)

temp11s = temp1(711:1510);
temp12s = temp2(711:1510);
ul = u(711:1510);
%G11
[num11s, den11s] = G1param (temp11s,ul);
%Equivalentes contínuos:
G11s = tf( num11s, den11s, 1);
G11sc = d2c(G11s)
%G12
[num12s, den12s] = G1param (temp12s,ul);
%Equivalentes contínuos:
G12s = tf( num12s, den12s, 1);
G12sc = d2c(G12s)

%Descida:
u2 = u(1510:2080);
temp11d = temp1(1510:2080);
temp12d = temp2(1510:2080);
%G11
[num11d, den11d] = G1param (temp11d,u2);
%Equivalentes contínuos:
G11d = tf( num11d, den11d, 1);
G11dc = d2c(G11d)
%G12
[num12d, den12d] = G1param (temp12d,u2);
%Equivalentes contínuos:
G12d = tf( num12d, den12d, 1);
G12dc = d2c(G12d)

Parte 3 (PM e GM)

%GM e PM
[Gm,Pm] = margin(G11) %Obtido pelo modelo médio dos mínimos quadrados (sc e dc
acima)
%Para os modelos obtidos pela função do teste do Degrau:
s = tf('s')
G11 = exp(-15*s)*80.904/(145.183*s + 1)
[Gm11,Pm11] = margin(G11)
G12 = exp(-24*s)*67.764/(271.02*s + 1)
[Gm12,Pm12] = margin(G12)
G21 = exp(-24*s)*68.12/(156.99*s + 1)
[Gm21,Pm21] = margin(G21)
G22 = exp(-15*s)*80.97/(130.6541*s + 1)
[Gm22,Pm22] = margin(G22)
Parte 4 (SIMC)
%Cálculo dos Controladores:
%G11
%Controladores SIMC 1theta
K = 80.904;
L = 15;
T1 = 145.183;
Tc = L;
Tc5 = 5*Tc; %5theta
Kp = (1/K)*(T1/(Tc+L))
Ti = min(T1,4*(Tc+L))
%5theta
Kp5 =(1/K)*(T1/(Tc5+L))
Ti5 = min(T1,4*(Tc5+L))

%G12
%Controladores SIMC 1theta
K = 67.764;
L = 24.5;
T1 = 271.02;
Tc = L;
Tc5 = 5*Tc; %5theta
Kp = (1/K)*(T1/(Tc+L))
Ti = min(T1,4*(Tc+L))
%5theta
Kp5 =(1/K)*(T1/(Tc5+L))
Ti5 = min(T1,4*(Tc5+L))
%G21
%Controladores SIMC 1theta
K = 68.12;
L = 24;
T1 = 157.99;
Tc = L;
Tc5 = 5*Tc; %5theta
Kp = (1/K)*(T1/(Tc+L))
Ti = min(T1,4*(Tc+L))
%5theta
Kp5 =(1/K)*(T1/(Tc5+L))
Ti5 = min(T1,4*(Tc5+L))

%G22
%Controladores SIMC 1theta
K = 80.97;
L = 15;
T1 = 130.6541;
Tc = L;
Tc5 = 5*Tc; %5theta
Kp = (1/K)*(T1/(Tc+L))
Ti = min(T1,4*(Tc+L))
Kp5 =(1/K)*(T1/(Tc5+L))
Ti5 = min(T1,4*(Tc5+L))