function CotaFPICKk1Daro

%%% veamos
T=.18;
gamma=.35;
x1ref=2.5;
k1=linspace(-0.5,0.5,50);
k2=0.5;
k3=0;
k4=linspace(0,1,50);%constante de control
establek1=[];
inestablek1=[];
establek4=[];
inestablek4=[];
for i=1:length(k1)
for j=1:length(k4)
rho=regulacionauxFPIC(k1(i),k2,k3,k4(j),T,gamma,x1ref);
clc
if rho<1
establek1=[establek1,k1(i)];
establek4=[establek4,k4(j)];
else
inestablek1=[inestablek1,k1(i)];
inestablek4=[inestablek4,k4(j)];
end
end
end
plot(establek1,establek4,'s','markerface','b','markersize',2)
hold on
plot(inestablek1,inestablek4,'sr','markerface','r','markersize',2)
i1=num2str(k1);
i2=num2str(k2);
i3=num2str(k3);
i4=num2str(x1ref);
i5=num2str(gamma);

xlabel({'k_1';'';['k_2=',i2,' , ','k_3=',i3,' , ','Referencia=',i4,' ,

','\gamma=',i5]}),ylabel('Constante de control FPIC')
end
function rho=regulacionauxFPIC(k1,k2,k3,k4,T,gamma,x1ref)
x2ref=(x1ref)^(2)*gamma;
dss=(1-(1/x1ref))*T;
X0=Estabilidad1P(k1,k2,k3,T,gamma,x1ref);%%%%%%%%%%%%
%%%%%%%%%%%%%%%
x10=X0(1);
x20=X0(2);
A1=[-gamma 0 ; 0 0];
A2=[-gamma 1 ; -1 0];
B=[0;1];
K=[k1 k2 k3];
A1aux=[-gamma 0 0; 0 0 0; 1 0 0];
Baux=[0;1;-x1ref];
A2aux=[-gamma 1 0; -1 0 0; 1 0 0];
Xref=[x1ref;x2ref;0];
%%%%%%%%%%%%%%%%%%%
X0=[x10;x20;0];%%condicion inicial sistema
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%
s=K*(X0-Xref);
s1=K*(A1aux*X0+Baux);
s2=K*(A2aux*X0+Baux);
d1=((2*s+T*s2)/(s2-s1));
d=((d1+k4*dss)/(k4+1));
X0(3)=[];

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%
phi1=expm(A1*(d/2));
phi2=expm(A2*(T-d));
psi1=B*(d/2);
psi2=A2\(expm(A2*(T-d))-eye(2))*B;
dP1=phi1*phi2*phi1;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%
dT=((1/2)*A1*phi1*phi2*phi1+phi1*((1/2)*phi2*A1*phi1A2*phi2*phi1))*X0;
dQ=(1/2)*(A1*phi1*phi2*psi1+phi1*phi2*B)-phi1*A2*phi2*psi1;
dR=(1/2)*A1*phi1*psi2-phi1*phi2*B;
dS=(1/2)*B;
dP2=dT+dQ+dR+dS;%%%%%%%%%%%
%%DERIVADA DEL CICLO DE TRABAJO RESPECTO A X
M=2*(k1)^2+2*(k2)^2+T*k1*k3-T*gamma*(k1)^2;
N=T-2*x2ref;
F=(1/(k1*x20-k2*x10)^2);
dP3=(1/(k4+1))*F*[M*x20+N*(k2)^2-x1ref*(2*k1*k2+T*k2*k3),(M*x10+N*k1*k2-x1ref*(2*(k1)^2+T*k1*k3))];
dP=dP1+(dP2*dP3);
eigenvalores=eig(dP)';
rho=max([abs(eigenvalores(1)),abs([eigenvalores(2)])]);
end
%%%%funcion Estabilidad
function X0=Estabilidad1P(k1,k2,k3,T,gamma,x1ref);
x2ref=(x1ref)^(2)*gamma;

x10=x1ref;
x20=x2ref;
x30=0;
A1=[-gamma 0 ; 0 0];
A2=[-gamma 1 ; -1 0];
B=[0;1];
A1aux=[-gamma 0 0; 0 0 0; 1 0 0];
A2aux=[-gamma 1 0; -1 0 0; 1 0 0];
Baux=[0;1;-x1ref];
K=[k1 k2 k3];
X0=[x10;x20;0];
Xref=[x1ref;x2ref;0];
options=optimset('Display','iter');
X0=fsolve(@boostZAD,X0,
[],A1aux,A2aux,Baux,A1,A2,B,K,T,gamma,x1ref,x2ref);%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
s=K*(X0-Xref);
s1=K*(A1aux*X0+Baux);
s2=K*(A2aux*X0+Baux);
d=((2*s+T*s2)/(s2-s1));%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%Normalizando
%%%%%Estraegia zad%%%%%%%
function
F=boostZAD(X0,A1aux,A2aux,Baux,A1,A2,B,K,T,gamma,x1ref,x2ref)
;
Xref=[x1ref;x2ref;0];
s=K*(X0-Xref);
s1=K*(A1aux*X0+Baux);
s2=K*(A2aux*X0+Baux);
d=((2*s+T*s2)/(s2-s1));

X0aux=X0(3);
X0(3)=[];
phi1=expm(A1*d/2);
psi1=B*d/2;
phi2=expm(A2*(T-d));
psi2=A2\(expm(A2*(T-d))-eye(2))*B;%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%
X=phi1*phi2*phi1*X0+phi1*phi2*psi1+phi1*psi2+psi1;
X0(3)=X0aux;
X=[X;0];
F=[X0-X];
end
end
function CotasTdasDaro
T=.18;
gamma=.35;
x1ref=2.5;
k1=linspace(-0.5,0.5,50);
k2=0.5;
k3=0;
eta=linspace(-0.7,0,50);
establek1=[];
inestablek1=[];
estableeta=[];
inestableeta=[];
clc
for i=1:length(k1)
for j=1:length(eta)

rho=regulacionauxTDAS(k1(i),k2,k3,eta(j),T,gamma,x1ref);
clc
if rho<1
establek1=[establek1,k1(i)];
estableeta=[estableeta,eta(j)];
else
inestablek1=[inestablek1,k1(i)];
inestableeta=[inestableeta,eta(j)];
end
end
end
plot(establek1,estableeta,'s','markerface','b','markersize',2)%
hold on
plot(inestablek1,inestableeta,'sr','markerface','r','markersize',2)
i1=num2str(k1);
i2=num2str(k2);
i3=num2str(k3);
i4=num2str(x1ref);
i5=num2str(gamma);
xlabel({'k_1';'';['k_2=',i2,' , ','k_3=',i3,' , ','Referencia=',i4,' ,
','\gamma=',i5]}),ylabel('Constante de control TDAS')
end
function rho=regulacionauxTDAS(k1,k2,k3,eta,T,gamma,x1ref)

x2ref=(x1ref)^(2)*gamma;

X0=Estabilidad1P(k1,k2,k3,T,gamma,x1ref);%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%5

x10=X0(1);
x20=X0(2);

A1=[-gamma 0 ; 0 0];
A2=[-gamma 1 ; -1 0];
B=[0;1];
K=[k1 k2 k3];
A1aux=[-gamma 0 0; 0 0 0; 1 0 0];
Baux=[0;1;-x1ref];
A2aux=[-gamma 1 0; -1 0 0; 1 0 0];
Xref=[x1ref;x2ref;0];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%
X0=[x10;x20;0];%%condicion inicial sistema
%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
s=K*(X0-Xref);
s1=K*(A1aux*X0+Baux);
s2=K*(A2aux*X0+Baux);
d=((2*s+T*s2)/(s2-s1));
if d==0
phi2=expm(A2*T);
dP=phi2;
eigenvalores=eig(dP)';
rho=max([abs(eigenvalores(1)),abs([eigenvalores(2)])]);
else
X0(3)=[];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
phi1=expm(A1*(d/2));
phi2=expm(A2*(T-d));
psi1=B*(d/2);
psi2=A2\(expm(A2*(T-d))-eye(2))*B;
dP1=phi1*phi2*phi1;

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%
dT=((1/2)*A1*phi1*phi2*phi1+phi1*((1/2)*phi2*A1*phi1A2*phi2*phi1))*X0;
dQ=(1/2)*(A1*phi1*phi2*psi1+phi1*phi2*B)-phi1*A2*phi2*psi1;
dR=(1/2)*A1*phi1*psi2-phi1*phi2*B;
dS=(1/2)*B;
dP2=dT+dQ+dR+dS;%%%%%%%%%%%
%%DERIVADA DEL CICLO DE TRABAJO RESPECTO A X
M=2*(k1)^2+2*(k2)^2+T*k1*k3-T*gamma*(k1)^2;
N=T-2*x2ref;
F=(1/(k1*x20-k2*x10)^2);
dP3=F*[M*x20+N*(k2)^2-x1ref*(2*k1*k2+T*k2*k3),(M*x10+N*k1*k2-x1ref*(2*(k1)^2+T*k1*k3))];

J1=[dP1,zeros(2,2);eye(2,2),zeros(2,2)];
J2=[(1/(1-eta))*(dP2*dP3),(eta/(eta1))*(dP2*dP3);zeros(2,2),zeros(2,2)];
dP=J1+J2;

eigenvalores=eig(dP)';
rho=max([abs(eigenvalores(1)),abs([eigenvalores(2)]),abs([eigenval
ores(3)]),abs([eigenvalores(4)])]);
end
end
function X0=Estabilidad1P(k1,k2,k3,T,gamma,x1ref);
x2ref=(x1ref)^(2)*gamma;
x10=x1ref;
x20=x2ref;
x30=0;
A1=[-gamma 0 ; 0 0];
A2=[-gamma 1 ; -1 0];
B=[0;1];
A1aux=[-gamma 0 0; 0 0 0; 1 0 0];
A2aux=[-gamma 1 0; -1 0 0; 1 0 0];
Baux=[0;1;-x1ref];
K=[k1 k2 k3];
X0=[x10;x20;0];
Xref=[x1ref;x2ref;0];
options=optimset('Display','iter');
X0=fsolve(@boostZAD,X0,
[],A1aux,A2aux,Baux,A1,A2,B,K,T,gamma,x1ref,x2ref);%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
s=K*(X0-Xref);
s1=K*(A1aux*X0+Baux);
s2=K*(A2aux*X0+Baux);
d=((2*s+T*s2)/(s2-s1));%%%%%%%%%%%%%%%%%%%%%%%

%%%%%%%%%%%%%%Normalizando
end

%%%%%Estraegia zad%%%%%%%
function
F=boostZAD(X0,A1aux,A2aux,Baux,A1,A2,B,K,T,gamma,x1ref,x2ref)
Xref=[x1ref;x2ref;0];
s=K*(X0-Xref);
s1=K*(A1aux*X0+Baux);
s2=K*(A2aux*X0+Baux);
d=((2*s+T*s2)/(s2-s1));
X0aux=X0(3);
X0(3)=[];
phi1=expm(A1*d/2);
psi1=B*d/2;
phi2=expm(A2*(T-d));
psi2=A2\(expm(A2*(T-d))-eye(2))*B;%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%
X=phi1*phi2*phi1*X0+phi1*phi2*psi1+phi1*psi2+psi1;
X0(3)=X0aux;
X=[X;0];
F=[X0-X];
end

Fpic
close all
clear all
clc
N=2500;
rho1 =0.2782;rho2 = 0.2371;k2=0.5;T=0.18; gamma = 0.1860; Vt
=0.0274; %E=40.086 fuente conmutada
x1ref= 2.1;
x2ref=(gamma*x1ref)/2 + ((2*gamma*rho1*x1ref 4*gamma*rho1*x1ref^2 - 2*gamma*rho2*x1ref +
gamma^2*rho1^2*x1ref^2 + gamma^2*rho2^2*x1ref^2 4*Vt*gamma*rho1*x1ref - 2*gamma^2*rho1*rho2*x1ref^2 +
1)^(1/2) - gamma*rho2*x1ref + 1)/(2*rho1);
%
k1=2.14;
k2=0.5;
n=0.2;
A1=[-gamma 0 ; 0 -rho1];
A2=[-gamma 1 ; -1 -rho2];
B1=[0;1];
B2=[0;1-Vt];
K=[k1 k2];

Xref=[x1ref;x2ref];
X0=Xref;
aux1=[X0(1)];
aux2=[X0(2)];
dss=-(T*k2*rho2 - 2*T*k2*rho1 - T*k1 - T*k1*(2*gamma*rho1*x1ref
- 4*gamma*rho1*x1ref^2 - 2*gamma*rho2*x1ref +
gamma^2*rho1^2*x1ref^2 + gamma^2*rho2^2*x1ref^2 4*Vt*gamma*rho1*x1ref - 2*gamma^2*rho1*rho2*x1ref^2 +
1)^(1/2) + 2*T*k2*rho1*x1ref + T*k2*rho2*(2*gamma*rho1*x1ref 4*gamma*rho1*x1ref^2 - 2*gamma*rho2*x1ref +
gamma^2*rho1^2*x1ref^2 + gamma^2*rho2^2*x1ref^2 4*Vt*gamma*rho1*x1ref - 2*gamma^2*rho1*rho2*x1ref^2 +
1)^(1/2) + 2*T*Vt*k2*rho1 + T*gamma*k1*rho1*x1ref +
T*gamma*k1*rho2*x1ref - T*gamma*k2*rho2^2*x1ref +
T*gamma*k2*rho1*rho2*x1ref)/(k1 + k2*rho1 - k2*rho2 +
k1*(2*gamma*rho1*x1ref - 4*gamma*rho1*x1ref^2 2*gamma*rho2*x1ref + gamma^2*rho1^2*x1ref^2 +
gamma^2*rho2^2*x1ref^2 - 4*Vt*gamma*rho1*x1ref 2*gamma^2*rho1*rho2*x1ref^2 + 1)^(1/2) - 2*Vt*k2*rho1 2*k2*rho1*x1ref + k2*rho1*(2*gamma*rho1*x1ref 4*gamma*rho1*x1ref^2 - 2*gamma*rho2*x1ref +
gamma^2*rho1^2*x1ref^2 + gamma^2*rho2^2*x1ref^2 4*Vt*gamma*rho1*x1ref - 2*gamma^2*rho1*rho2*x1ref^2 +
1)^(1/2) - k2*rho2*(2*gamma*rho1*x1ref - 4*gamma*rho1*x1ref^2
- 2*gamma*rho2*x1ref + gamma^2*rho1^2*x1ref^2 +
gamma^2*rho2^2*x1ref^2 - 4*Vt*gamma*rho1*x1ref 2*gamma^2*rho1*rho2*x1ref^2 + 1)^(1/2) +
gamma*k1*rho1*x1ref - gamma*k1*rho2*x1ref +
gamma*k2*rho1^2*x1ref + gamma*k2*rho2^2*x1ref 2*gamma*k2*rho1*rho2*x1ref)
s=K*(X0-Xref);
s1=K*(A1*X0+B1);
s2=K*(A2*X0+B2);
d(1)=((2*s+T*s2)/(s2-s1))/T;
for i=2:N

s=K*(X0-Xref);
s1=K*(A1*X0+B1);
s2=K*(A2*X0+B2);
d(i)=((2*s+T*s2)/(s2-s1))/T;
d(i)=(d(i)+n*dss)/(n+1);
%
%
%
if 0<d(i) & d(i)<1
phi1=expm(A1*d(i)/2*T);
psi1=A1\(expm(A1*d(i)/2*T)-eye(2))*B1;
Y0=phi1*X0+psi1;
phi2=expm(A2*(T-d(i)*T));
psi2=A2\(expm(A2*(T-d(i)*T))-eye(2))*B2;%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%
Z0=phi2*Y0+psi2;
X=phi1*Z0+psi1;
X0=X;
elseif d(i)<=0
%
d(i)=0;
phi2=expm(A2*T);
psi2=A2\(expm(A2*T)-eye(2))*B2;%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%
X=phi2*X0+psi2;

X0=X;
elseif d(i)>=1
d(i)=1;
phi1=expm(A1*T);
psi1==A1\(expm(A1*T)-eye(2))*B1;
X=phi1*X0+psi1;
X0=X;
end

aux1=[aux1,X(1)];
aux2=[aux2,X(2)];
%X0=X ;
end
figure(1)
plot(aux1,aux2,'.b','markersize',2),xlabel('x_1'),ylabel('x_2')
title('Mapa de Poincare \{1,0,1\}')
i2=num2str(k1);
i3=num2str(k2);
i4=num2str(T);
i5=num2str(n);
xlabel(['k1= ',i2,',k2= ',i3,',T= ',i4, ',constante fpic= ',i5])
hold on
figure(2)
subplot(211)
plot(x1ref*ones(1,N),'r')
hold on
plot(aux1,'.b','markersize',2),ylabel(' x_1')
title('Comportamiento de la Regulacin')

hold on
subplot(212)
plot(x2ref*ones(1,N),'r')
hold on
plot(aux2,'.b','markersize',2),ylabel(' x_2')
hold on
i2=num2str(k1);
i3=num2str(k2);
i4=num2str(T);
i5=num2str(n);
xlabel(['k1= ',i2,',k2= ',i3,',T= ',i4, ',constante fpic= ',i5])
hold on
figure(3)
plot(d,'.b','markersize',2)
title('Evolucion del ciclo de Trabajo vs. Nmero de periodos')
i2=num2str(k1);
i3=num2str(k2);
i4=num2str(T);
i5=num2str(n);
xlabel(['k1= ',i2,',k2= ',i3,',T= ',i4, ',constante fpic= ',i5])
hold on
hold of

Poincare
close all
clear all
clc
N=1500;

gamma=.35;

x10=1.93376458096729;
x20=1.48670563176528;
x30=0;
x10=2.05951117948505;
x20=1.30670563176528;
x30=0;
x1ref=2.5;
x2ref=(x1ref)^(2)*gamma; %%2.18750000000000

k1=-.25;
k2=.4;
k3=-4.7;

T=0.18;

A1=[-gamma 0 ; 0 0];
A2=[-gamma 1 ; -1 0];
B=[0;1];
K=[k1 k2 k3];
A1aux=[-gamma 0 0; 0 0 0; 1 0 0];
Baux=[0;1;-x1ref];
A2aux=[-gamma 1 0; -1 0 0; 1 0 0];
Xref=[x1ref;x2ref;0];
X0=[x10;x20;x30];

%X0=Xref;
aux1=[X0(1)];
aux2=[X0(2)];
for i=1:N
s=K*(X0-Xref);
s1=K*(A1aux*X0+Baux);
s2=K*(A2aux*X0+Baux);
d(i)=((2*s+T*s2)/(s2-s1))/T;
X0(3)=[];
if 0<d(i) & d(i)<1
phi1=expm(A1*d(i)/2*T);
psi1=B*d(i)/2*T;
phi2=expm(A2*(T-d(i)*T));
psi2=A2\(expm(A2*(T-d(i)*T))-eye(2))*B;%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%
X=phi1*phi2*phi1*X0+phi1*phi2*psi1+phi1*psi2+psi1;
X=[X;0];
elseif d(i)<=0
d(i)=0;
phi2=expm(A2*T);
psi2=A2\(expm(A2*T)-eye(2))*B;%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%

X=phi2*X0+psi2;
X=[X;0];
elseif d(i)>=1
d(i)=1;
phi1=expm(A1*T);
psi1=B*T;
X=phi1*X0+psi1;
X=[X;0];
end
aux1=[aux1,X(1)];
aux2=[aux2,X(2)];
X0=X;
end
plot(aux1,aux2,'+r','markersize',2),ylabel('x_2')
hold on
i1=num2str(k1);
i2=num2str(k2);
i3=num2str(k3);
i4=num2str(gamma);
xlabel({'x_1';'';['k_1=',i1,' , ','k_2=',i2,' , ','k_3=',i3]})
%%%%ploteo de cuadro de referencia
hold on
plot(x1ref*ones(1,100),linspace(0,x2ref),':k','markersize',2)
hold on
plot(linspace(0,x1ref),x2ref*ones(1,100),':k','markersize',2)

hold on
plot(linspace(0,x1ref),zeros(1,100),':k','markersize',2)
hold on
%X=Estabilidad1Paux(k1,k2,k3,T,gamma)
F=[aux1(:,end);aux2(:,end)]
G=[aux1(:,end-1);aux2(:,end-1)]
figure(2)%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%5
subplot(211)
plot(x1ref*ones(1,N),'r')
hold on
plot(aux1,'+','markersize',2),ylabel('x_1'),xlabel('Periodos')
hold on
i1=num2str(k1);
i2=num2str(k2);
i3=num2str(k3);
i4=num2str(gamma);
subplot(212)
plot(x2ref*ones(1,N),'r')
hold on
plot(aux2,'+','markersize',2),ylabel(' x_2'),xlabel('Periodos')
xlabel({'Periodos';'';['k_1=',i1,' , ','k_2=',i2,' , ','k_3=',i3]})
figure(3)
plot(d,'+','markersize',2), ylabel('Ciclo de trabajo normalizado')
hold on
i1=num2str(k1);
i2=num2str(k2);
i3=num2str(k3);
i4=num2str(gamma);
xlabel({'Periodos';'';['k_1=',i1,' , ','k_2=',i2,' , ','k_3=',i3]})

f=1-(1/(x1ref));
plot(f*ones(1,N),'g')
hold of

Regulacion TDAS
clc
close all
clear all

N=50;
gamma=.35;

x1ref=2.5;
x2ref=(x1ref)^(2)*gamma;
k1=-.25;
k2=.4;
k3=-4.5;
eta=-.25;%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%constante de retroalimentacion
T=0.18;

A1=[-gamma 0 ; 0 0];
A2=[-gamma 1 ; -1 0];
B=[0;1];
K=[k1 k2 k3];
A1aux=[-gamma 0 0; 0 0 0; 1 0 0];
Baux=[0;1;-x1ref];
A2aux=[-gamma 1 0; -1 0 0; 1 0 0];

Xref=[x1ref;x2ref;0];

%X0=[x10;x20;x30];
X0=Xref;

aux1=[X0(1)];
aux2=[X0(2)];

s=K*(X0-Xref);
s1=K*(A1aux*X0+Baux);
s2=K*(A2aux*X0+Baux);
d(1)=((2*s+T*s2)/(s2-s1))/T
for i=2:N
s=K*(X0-Xref);
s1=K*(A1aux*X0+Baux);
s2=K*(A2aux*X0+Baux);
d1=((2*s+T*s2)/(s2-s1))/T;
d(i)=(d1-eta*d(i-1))/(1-eta); %%%control TDAS
X0(3)=[];
if 0<d(i) & d(i)<1
phi1=expm(A1*d(i)/2*T);
psi1=B*d(i)/2*T;
phi2=expm(A2*(T-d(i)*T));

psi2=A2\(expm(A2*(T-d(i)*T))-eye(2))*B;%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%
X=phi1*phi2*phi1*X0+phi1*phi2*psi1+phi1*psi2+psi1;
X=[X;0];
elseif d(i)<=0
d(i)=0;
phi2=expm(A2*T);
psi2=A2\(expm(A2*T)-eye(2))*B;%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%
X=phi2*X0+psi2;
X=[X;0];
elseif d(i)>=1
d(i)=1;
phi1=expm(A1*T);
psi1=B*T;
X=phi1*X0+psi1;
X=[X;0];
end

aux1=[aux1,X(1)];
aux2=[aux2,X(2)];

X0=X;
end
plot(aux1,aux2,'+r','markersize',2),ylabel('x_2')
hold on
i1=num2str(k1);
i2=num2str(k2);
i3=num2str(k3);
i4=num2str(gamma);
xlabel({'x_1';'';['k_1=',i1,' , ','k_2=',i2,' , ','k_3=',i3]})
%%%%ploteo de cuadro de referencia
hold on
plot(x1ref*ones(1,100),linspace(0,x2ref),':k','markersize',2)
hold on
plot(linspace(0,x1ref),x2ref*ones(1,100),':k','markersize',2)
hold on
plot(linspace(0,x1ref),zeros(1,100),':k','markersize',2)
hold on
%X=Estabilidad1Paux(k1,k2,k3,T,gamma)
%
plot(X(1),X(2),'o')
F=[aux1(:,end);aux2(:,end)]
G=[aux1(:,end-1);aux2(:,end-1)]
figure(2)%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%5
subplot(211)
plot(x1ref*ones(1,N),'r')
hold on
plot(aux1,'+','markersize',2),ylabel('x_1'),xlabel('Periodos')
hold on

i1=num2str(k1);
i2=num2str(k2);
i3=num2str(k3);
i4=num2str(gamma);
i5=num2str(eta);
subplot(212)
plot(x2ref*ones(1,N),'r')
hold on
plot(aux2,'+','markersize',2),ylabel(' x_2'),xlabel('Periodos')
xlabel({'Periodos';'';['k_1=',i1,' , ','k_2=',i2,' , ','k_3=',i3]})
figure(3)
plot(d,'+','markersize',2), ylabel('Ciclo de trabajo normalizado')
hold on
i1=num2str(k1);
i2=num2str(k2);
i3=num2str(k3);
i4=num2str(gamma);
i5=num2str(eta);
xlabel({'Periodos';'';['k_1=',i1,' , ','k_2=',i2,' , ','k_3=',i3,' , ','\eta
=',i5]})
f=1-(1/(x1ref));
plot(f*ones(1,N),'g')
hold of
endd=d(end)
X0=Estabilidad1P(k1,k2,k3,T,gamma,x1ref)%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%5
s=K*(X0-Xref);
s1=K*(A1aux*X0+Baux);
s2=K*(A2aux*X0+Baux);
d1=((2*s+T*s2)/(s2-s1))/T

function regulacion101Daro
clear all
N=3500;
rho1 =0.2782; rho2 = 0.2371; gamma = 0.1860; Vt
=0.0274;T=0.18;
x10=2.1;

x20=(gamma*(x10))/2 + ((2*gamma*rho1*(x10) 4*gamma*rho1*(x10)^2 - 2*gamma*rho2*(x10) +

gamma^2*rho1^2*(x10)^2 + gamma^2*rho2^2*(x10)^2 4*Vt*gamma*rho1*(x10) - 2*gamma^2*rho1*rho2*(x10)^2 +
1)^(1/2) - gamma*rho2*(x10) + 1)/(2*rho1)
%
% x1ref=2.1;
% x2ref= 2.4159;
x1ref=2.1;
x2ref= 2.4;
regulacion7=[];
regulacion71=[];
nregulacion7=[];
nregulacion71=[];
regulacion6=[];
regulacion61=[];
nregulacion6=[];
nregulacion61=[];
regulacion5=[];
regulacion51=[];
nregulacion5=[];
nregulacion51=[];
regulacion4=[];
regulacion41=[];
nregulacion4=[];
nregulacion41=[];
regulacion3=[];
regulacion31=[];
nregulacion3=[];
nregulacion31=[];

regulacion2=[];
regulacion21=[];
nregulacion2=[];
nregulacion21=[];
regulacion1=[];
regulacion11=[];
nregulacion1=[];
nregulacion11=[];
sinregulacion1=[];
sinregulacion11=[];
mejor1=[];
mejor11=[];
c7=0.07*x1ref;
c72=0.07*x2ref;
c6=0.06*x1ref;
c62=0.06*x2ref;
c5=0.05*x1ref;
c52=0.05*x2ref;
c4=0.04*x1ref;
c42=0.04*x2ref;
c3=0.03*x1ref;
c32=0.03*x2ref;
c2=0.02*x1ref;
c22=0.02*x2ref;
c1=0.01*x1ref;
c12=0.01*x2ref;
k1=linspace(-0.5,0.5,20);
k2=linspace(-0.5,0.5,20);

for i=1:length(k1)
for j=1:length(k2)
P=Poincare101(N,x10,x20,x1ref,k1(i),k2(j),gamma,T,rho1,rho2,Vt);
X=[P(1,:)];
Y=[P(2,:)];
X1=ones(1,length(X));
Y1=ones(1,length(Y));
if max(abs((X-x1ref*X1)))>c7 & max(abs((Y-x2ref*Y1)))>c72
sinregulacion1=[sinregulacion1,k1(i)];
sinregulacion11=[sinregulacion11,k2(j)];
else
mejor1=[mejor1,k1(i)];
mejor11=[mejor11,k2(j)];
end
if max(abs((X-x1ref*X1)))<c7 & max(abs((Y-x2ref*Y1)))<c72
regulacion7=[regulacion7,k1(i)];
regulacion71=[regulacion71,k2(j)];
else
nregulacion7=[nregulacion7,k1(i)];
nregulacion71=[nregulacion71,k2(j)];
end
if max(abs((X-x1ref*X1)))<c6 & max(abs((Y-x2ref*Y1)))<c62
regulacion6=[regulacion6,k1(i)];
regulacion61=[regulacion61,k2(j)];
else
nregulacion6=[nregulacion6,k1(i)];
nregulacion61=[nregulacion61,k2(j)];
end

if max(abs((X-x1ref*X1)))<c5 & max(abs((Y-x2ref*Y1)))<c52

regulacion5=[regulacion5,k1(i)];
regulacion51=[regulacion51,k2(j)];
else
nregulacion5=[nregulacion5,k1(i)];
nregulacion51=[nregulacion51,k2(j)];
end
if max(abs((X-x1ref*X1)))<c4 & max(abs((Y-x2ref*Y1)))<c42
regulacion4=[regulacion4,k1(i)];
regulacion41=[regulacion41,k2(j)];
else
nregulacion4=[nregulacion4,k1(i)];
nregulacion41=[nregulacion41,k2(j)];
end
if max(abs((X-x1ref*X1)))<c3 & max(abs((Y-x2ref*Y1)))<c32
regulacion3=[regulacion3,k1(i)];
regulacion31=[regulacion31,k2(j)];
else
nregulacion3=[nregulacion3,k1(i)];
nregulacion31=[nregulacion31,k2(j)];
end
if max(abs((X-x1ref*X1)))<c2 & max(abs((Y-x2ref*Y1)))<c22
regulacion2=[regulacion2,k1(i)];
regulacion21=[regulacion21,k2(j)];
else
nregulacion2=[nregulacion2,k1(i)];
nregulacion21=[nregulacion21,k2(j)];
end
if max(abs((X-x1ref*X1)))<c1 & max(abs((Y-x2ref*Y1)))<c12
regulacion1=[regulacion1,k1(i)];

regulacion11=[regulacion11,k2(j)];
else
nregulacion1=[nregulacion1,k1(i)];
nregulacion11=[nregulacion11,k2(j)];
end

end
waitbar(i/length(k1))
end
plot(regulacion7,regulacion71,'sb','markerface','b','markersize',2)
hold on
plot(regulacion6,regulacion61,'sg','markerface','g','markersize',2)
hold on
%
plot(regulacion5,regulacion51,'sc','markerface','c','markersize',2)
%
hold on
%
%
plot(regulacion4,regulacion41,'sm','markerface','m','markersize',2)
%
hold on
%
%
plot(regulacion3,regulacion31,'sk','markerface','k','markersize',2)
%
hold on
%
%
plot(regulacion2,regulacion21,'sy','markerface','y','markersize',2)
%
hold on
%
%
plot(regulacion1,regulacion11,'sr','markerface','r','markersize',2)
%
hold on
%

%
plot(sinregulacion1,sinregulacion11,'sw','markerface','w','markersiz
e',2)
%
hold on
function
XP=Poincare101(N,x10,x20,x1ref,k1,k2,gamma,T,rho1,rho2,Vt);
close all
x2ref=(gamma*x1ref)/2 + ((2*gamma*rho1*x1ref 4*gamma*rho1*x1ref^2 - 2*gamma*rho2*x1ref +
gamma^2*rho1^2*x1ref^2 + gamma^2*rho2^2*x1ref^2 4*Vt*gamma*rho1*x1ref - 2*gamma^2*rho1*rho2*x1ref^2 +
1)^(1/2) - gamma*rho2*x1ref + 1)/(2*rho1)
A1=[-gamma 0 ; 0 -rho1];
A2=[-gamma 1 ; -1 -rho2];
B1=[0;1];
B2=[0;1-Vt]
K=[k1 k2];
Xref=[x1ref;x2ref];
X0=[x10;x20];
XP=[];
for i=1:N
s=K*(X0-Xref);
s1=K*(A1*X0+B1);
s2=K*(A2*X0+B2);
d(i)=((2*s+T*s2)/(s2-s1))/T;
if 0<d(i) & d(i)<1
phi1=expm(A1*d(i)/2*T);
psi1=A1\(expm(A1*d(i)/2*T)-eye(2))*B1;

Y0=phi1*X0+psi1;
phi2=expm(A2*(T-d(i)*T));
psi2=A2\(expm(A2*(T-d(i)*T))-eye(2))*B2;
Z0=phi2*Y0+psi2;
X=phi1*Z0+psi1;
XP=[XP,X];
elseif d(i)<=0
d(i)=0;
phi2=expm(A2*T);
psi2=A2\(expm(A2*T)-eye(2))*B2;
X=phi2*X0+psi2;
XP=[XP,X];
elseif d(i)>=1
d(i)=1;
phi1=expm(A1*T);
psi1=A1\(expm(A1*T)-eye(2))*B1;
X=phi1*X0+psi1;
XP=[XP,X];
end

X0=X ;
end
XP(:,1:length(XP)-100)=[];