моделирование / лаба3 модел

clc, clear, close all;

T1 = 5;

T2 = 1;

k = 5;

uy = 3;

tp = 0.05;

phik = 34.3;

A = [-T1, 0; 1 -T2];

B = [k; 0];

%Check uprovlaumost`

if det([B, A*B]) ~= 0

disp('System upravluaima');

else

disp('System uncontrolable');

end

syms x

ak = -3/tp

bk = tan(phik * pi / 180)*ak

S1 = ak + 1i*bk;

S2 = ak - 1i*bk;

phis1 = -180 - angle(S1)*180/pi;

phis2 = 180 - angle(S2)*180/pi;

fprintf('Ugol 1-go polisa = %d \n', round(phis1));

fprintf('Ugol 2-go polisa = %d \n', round(phis2));

syms S

Dzamk = expand((S - S1).*(S - S2));

Drazom = expand((S + T1)*(S + T2));

alpha = coeffs(Dzamk);

d = coeffs(Drazom);

I = [alpha(1) - d(1), alpha(2) - d(2)]';

AA = [0, 1; -d(1), -d(2)];

BB = [0;1];

CT = double(-I'*[BB,AA*BB]*inv([B,A*B]))