% P. Cunningham
% 4 May 2008
% ES 205 - Lesson 27 - Intro to Controls
% P & PD Control of Simplified DC Motor Model

clear all
close all
clc

% Plant Parameters
J = 0.025;  % (kg-m^2)
B = 0.05;   % (N-s/rad)
% Set Performance Specifications
POS = 10;   % (%)
Ts = 2;     % (s)

% Proportional Controller
% Only Percent Overshoot Constraint is Used
% Cannot Change Settling Time with P-Controller
z1 = -log(POS/100)/sqrt(log(POS/100)^2+pi^2);
Kp_1 = B^2/4/z1^2/J;
wn1 = sqrt(Kp_1/J);
Ts_a = 4/z1/wn1;


sim('le27_Pcontroller_example_sim',[0 10])

figure

plot(time,theta_p)
grid on
xlabel('Time (sec)')
ylabel('\theta (rad)')
title('ES 205 - Proportional Controller, C(s)=Kp')