%exm080652_1.m 		用于ITAE標(biāo)準(zhǔn)型系數(shù)的尋優(yōu)
clc
disp('按任意鍵，開始運(yùn)行。')
disp('(1) 計(jì)算 6 階 ITAE 傳遞函數(shù)分母多項(xiàng)式系數(shù)。')
pause
disp(' ')
disp('    正在計(jì)算中，請(qǐng)稍等 ！ ')
clear
global a ss
a0=[3.3 6.6 8.6 7.5 3.9];	
Tspan=(0:500)/10;			
options=optimset('LargeScale','off');
a=fminunc(@itae,a0,options);		
coeff=[1,a,1]					
ss							


disp(' ')
disp('按任意鍵，繼續(xù)運(yùn)行。')
disp('(2) 新老 6 階標(biāo)準(zhǔn)型的單位階躍響應(yīng)比較。')
pause
old=tf(1,[1 3.25  6.60  8.60  7.45  3.95  1]);
new=tf(1,coeff);
[yold,told]=step(old,50);
[ynew,tnew]=step(new,50);
plot(told,yold,'b','LineWidth',1)
axis([3,18,0.95,1.05])
hold on,plot(tnew,ynew,'r','LineWidth',3),hold off
legend('Old','New',4),grid on
shg