%
%  This routine plots the response from state variable
%  feedback and the corresponding response with transfer functions
%
%  final_time is the final time on the plot
%  tf_filename is the name of the file with the transfer function response
%  sv_filename is the name of the file with the corresponding state
%    variable feedback response

%  Both of these should be entered within single quotes, i.e. 'tf_data.dat',
%  'sv_data.dat'
function compare_tf_sv(tf_filename,sv_filename,final_time)
%
%
  data1 = importdata(tf_filename);
  data2 = importdata(sv_filename);
%
%  Now extract the data we want
%
  encoder = 1;
  scale = 1/2196; % convert to cm
  tstep1 = data1(:,encoder+1);
  ystep1 = data1(:,encoder+3)*scale;
  tstep2 = data2(:,encoder+1);
  ystep2 = data2(:,encoder+3)*scale;
%
%  Now plot the two
%
  plot(tstep1,ystep1,'-',tstep2,ystep2,':'); grid; 
  legend('TF Controller','State Variable Controller');
  title('Comparison of TF and State Variable Controllers');
  ymin = min(min(ystep1),min(ystep2));
  ymax = max(max(ystep1),max(ystep2));
  axis([0 final_time ymin ymax]);
  xlabel('Time (sec)');
  ylabel('cm');
%
return;