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%Series System Control 
clear all; 
close all; 
 
ts=2; 
sys1=tf(1,[10,1]); 
dsys1=c2d(sys1,ts,'z'); 
[num1,den1]=tfdata(dsys1,'v'); 
 
sys2=tf(1,[10,1]); 
dsys2=c2d(sys2,ts,'z'); 
[num2,den2]=tfdata(dsys2,'v'); 
 
dph=1/zpk('z',ts); 
Gc2=dph/(dsys2*(1-dph)); 
[nump,denp]=tfdata(Gc2,'v'); 
 
u1_1=0.0;u2_1=0.0; 
y1_1=0;y2_1=0; 
e2_1=0;ei=0; 
 
for k=1:1:2000 
time(k)=k*ts; 
 
r1(k)=1;                             
%Linear model 
y1(k)=-den1(2)*y1_1+num1(2)*y2_1;  %Main plant 
 
y2(k)=-den2(2)*y2_1+num2(2)*u2_1;  %Assistant plant 
 
error(k)=r1(k)-y1(k); 
ei=ei+error(k); 
u1(k)=1.2*error(k)+0.02*ei;   %Main Controller 
 
e2(k)=u1(k)-y2(k);            %Assistant Controller 
u2(k)=-denp(2)*u2_1+nump(1)*e2(k)+nump(2)*e2_1; 
 
d2(k)=0.01*rands(1); 
u2(k)=u2(k)+d2(k); 
 
%----------Return of PID parameters------------ 
u1_1=u1(k); 
u2_1=u2(k); 
 
e2_1=e2(k); 
 
y1_1=y1(k); 
y2_1=y2(k); 
end 
figure(1);     %Assistant Control 
plot(time,u1,'b',time,y2,'r');  
xlabel('time(s)');ylabel('u1,y2'); 
 
figure(2);     %Main Control 
plot(time,r1,'b',time,y1,'r'); 
xlabel('time(s)');ylabel('r1,y1'); 
 
figure(3); 
plot(time,d2,'r'); 
xlabel('time(s)');ylabel('disturbance');