% ex3_27
% 連續控制系統模型轉換為離散系統的各種方法比較
D=tf([1.5 1.5],[1 3]);
Ts=0.1;
G=tf([10],[1 7 6 0]);
Gd=c2d(G,Ts);
N=100;
G1=c2d(D,Ts,'tustin');
Gd1= feedback(Gd*G1,1);
[y1,x1]=dstep(Gd1.num,Gd1.den,N);
x1=1:N;
G2=c2d(D,Ts,'matched');
Gd2=feedback(Gd*G2,1);
[y2,x2]=dstep(Gd2.num,Gd2.den,N);
x2=1:N;
G3=c2d(D,Ts,'prewarp',0.5);
Gd3=feedback(Gd*G3,1);
[y3,x3]=dstep(Gd3.num,Gd3.den,N);
x3=1:N;
G4=c2d(D,Ts,'foh');
Gd4=feedback(Gd*G4,1);
[y4,x4]=dstep(Gd3.num,Gd3.den,N);
x4=1:N;
G5=c2d(D,Ts);
Gd5=feedback(Gd*G5,1);
[y5,x5]=dstep(Gd5.num,Gd5.den,N);
x5=1:N;
stairs ([y1 y2 y3 y4 y5]);
sp=1;
[ISE1,IAE1,ITAE1]=itae(x1,y1',sp),
[ISE2,IAE2,ITAE2]=itae(x2,y2',sp),
[ISE3,IAE3,ITAE3]=itae(x3,y3',sp),
[ISE4,IAE4,ITAE4]=itae(x4,y4',sp),
[ISE5,IAE5,ITAE5]=itae(x5,y5',sp)