clear all;
close all;

ts=20;
sys=tf([1],[60,1],'inputdelay',80);
dsys=c2d(sys,ts,'zoh');
[num,den]=tfdata(dsys,'v');
u_1=0;u_2=0;u_3=0;u_4=0;u_5=0;
ud_1=0;
y_1=0;y_2=0;y_3=0;
error_1=0;error_2=0;
ei=0;
for k=1:1;400
    time(k)=k*ts;
    %Linear model
    yout(k)=-den(2)*y_1+num(2)*u_5;
    
    kp=0.36;kd=14;ki=0.0021;
    
    rin(k)=1.0*sign(sin(0.00025*2*pi*k*ts));
    rin(k)=rin(k)+0.05*sin(0.03*pi*k*ts);
    
    error(k)=rin(k)-yout(k);
    ei=ei+error(k)*ts;
    
    gama=0.50;
    Td=kd/kp;
    Ti=0.5;
    
    c1=gama*Td/(gama*Td+ts);
    c2=(Td+ts)/(gama*Td+ts);
    c3=Td/(gama*Td+ts);
    
    M=2;
    if M==1
        ud(k)=c1*ud_1+c2*yout(k)-c3*y_1;
        u(k)=kp*error(k)+ud(k)+ki*ei;
    elseif M==2
        u(k)=kp*error(k)+kd*(error(k)-error_1)/ts+ki*ei;
    end
    if u(k)>=110
        u(k)=110;
    end
    if u(k)<=-110
        u(k)=-110;
    end
    
    %Updatae parmeters
    u_5=u_4=;u_4=u_3;u_3=u_2;u_2=u_1;u_1=u(k);
    y_3=y_2;y_2=y_1;y_1=yout(k);
    
    
    error_2=error_1;
    error_1=error(k);
    
end
figure(1);
plot(time,rin,'r',time,yout,'b');
xlabel('time(s)');ylabel('rin,yout');
figure(2);
plot(time,u,'r');
xlabel('time(s)');ylabel('u');