%% Controlador de 2 parametros Sin Accion integral

P=tf(1.3,[22.7 35.8 11.3 1]);

[NP DP]=tfdata(P,'v')
%% 2)determinar T(s) [NUM DEN]=tfdata(Ts,'v')
Ts=tf(0.21,[1 1.8 1.07 0.21]);% tf implementado
zpk(Ts)
step(Ts);
%%señal de control
Gur=(Ts/P);
step(Gur);

pzmap(Ts);
%%
Np=1.3;
Dp=[22.7 35.8 11.3 1]

Hs=minreal(Ts/Np);
[NUM DEN]=tfdata(Hs,'v')
%%calcular J
Dhs=DEN;
Nhs=NUM;
%%
J=[-3.5 -3];
Jp=poly(J)
%%calcular L
%%
L=conv(Nhs,Jp);

%%A(s)D(S)+M(s)N(s)----- CALCULO DE F
F=conv(Dhs,Jp);

%% CALCULOS MATRICIALES
%L(s)=NH(s)*dh=0.21*(s^2 + 1.3 s + 0.42)
%matriz
N3=0; N2=0; N1=0; N0=1.3;
D3=22.7; D2=35.8; D1=11.3; D0=1;
Matriz=[D3 0 0 N3 0 0;D2 D3 0 N2 N3 0; D1 D2 D3 N1 N2 N3; D0 D1 D2 N0 N1
N2; 0 D0 D1 0 N0 N1; 0 0 D0 0 0 N0 ];
In=inv(Matriz)*F'
A2=In(1)
A1=In(2)
A0=In(3)
M2=In(4)
M1=In(5)
M0=In(6)

%%
A=[A2 A1 A0];
M=[M2 M1 M0]
%%
CLs=conv(L,NP);
CADs=conv(A,DP);
CMNs=conv(M,NP);
Dtf=(CADs+CMNs);
%%
K1=tf([L],[A2 A0 A1])
K2=tf([M2 M1 M0],[A2 A1 A0])
T=tf([CLs],[Dtf])
zpk(T)
step(T)

%%
Tmuestreo=0.05;
K1d=c2d(K1,Tmuestreo,'tustin')
K2d=c2d(K2,Tmuestreo,'tustin')
K=[K1 -K2]
Kd=zpk(c2d(K,Tmuestreo,'tustin'))
step(Kd)