www.pudn.com > chap1.rar > chap1_19f.m

clear all; 
close all; 
 
ts=0.001; 
%Low Filter 
Q=tf([1],[0.04,1]); 
Qz=c2d(Q,ts,'tustin'); 
[numQ,denQ]=tfdata(Qz,'v'); 
 
%Plant 
sys=tf(5.235e005,[1,87.35,1.047e004,0]); 
dsys=c2d(sys,ts,'z'); 
[num,den]=tfdata(dsys,'v'); 
 
kp=0.20; 
ki=0.05;