>> ident

Warning: The "ident" command is obsolete and may be removed in a future release of
MATLAB. Use the "systemIdentification"
command instead.
> In ctrlMsgUtils.warning (line 25)
In ident (line 44)
>> tf1

tf1 =

From input "u1" to output "y1":

-0.102 s + 0.2259
-----------------
s + 0.1232

Name: tf1
Continuous-time identified transfer function.

Parameterization:
Number of poles: 1 Number of zeros: 1
Number of free coefficients: 3
Use "tfdata", "getpvec", "getcov" for parameters and their uncertainties.

Status:
Estimated using TFEST on time domain data "mydata".
Fit to estimation data: 90.52% (stability enforced)
FPE: 0.001155, MSE: 0.001119
>> tf2

tf2 =

From input "u1" to output "y1":

0.003152 z^-1
---------------
1 - 0.9977 z^-1

Name: tf2
Sample time: 0.01 seconds
Discrete-time identified transfer function.

Parameterization:
Number of poles: 1 Number of zeros: 1
Number of free coefficients: 2
Use "tfdata", "getpvec", "getcov" for parameters and their uncertainties.

Status:
Estimated using TFEST on time domain data "mydata".
Fit to estimation data: 92.63% (stability enforced)
FPE: 0.0006922, MSE: 0.0006758
>> figure(1)
>> step(tf1)
>> figure(2)
>> step(tf2)
>> figure(1)
>> subplot(1,2,1)
>> step(tf1)
>> figure(2)
>> subplot(1,2,2)
>> step(tf2)
>> figure(1)
>> subplot(1,2,1)
>> step(tf1)
>> subplot(1,2,2)
>> step(tf2)
>> suptitle("comparacion del dominio al dsicreto")
>> rlocus(tf1)
>> rlocus(tf2)
>> figure(2)
>> rlocus(tf2)
>> figure(1)
>> rlocus(tf1)
>> figure(2)
>> rlocus(tf2)
>>
>> figure(1)
>> rlocus(tf1)
>> figure(3)
>> step(tf1)
>> pidTuner
>> C

C =

Ts z-1
Kp + Ki * ------ + Kd * ------
z-1 Ts

with Kp = 44.5, Ki = 62.7, Kd = 0.496, Ts = 0.01

Sample time: 0.01 seconds

Discrete-time PID controller in parallel form.

>> tf2

tf2 =

From input "u1" to output "y1":

0.003152 z^-1
---------------
1 - 0.9977 z^-1

Name: tf2
Sample time: 0.01 seconds
Discrete-time identified transfer function.

Parameterization:
Number of poles: 1 Number of zeros: 1
Number of free coefficients: 2
Use "tfdata", "getpvec", "getcov" for parameters and their uncertainties.

Status:
Estimated using TFEST on time domain data "mydata".
Fit to estimation data: 92.63% (stability enforced)
FPE: 0.0006922, MSE: 0.0006758
>> tf1

tf1 =
 From input "u1" to output "y1":
-0.102 s + 0.2259
-----------------
s + 0.1232

Name: tf1
Continuous-time identified transfer function.

Parameterization:
Number of poles: 1 Number of zeros: 1
Number of free coefficients: 3
Use "tfdata", "getpvec", "getcov" for parameters and their uncertainties.

Status:
Estimated using TFEST on time domain data "mydata".
Fit to estimation data: 90.52% (stability enforced)
FPE: 0.001155, MSE: 0.001119
>> tf2

tf2 =

From input "u1" to output "y1":

0.003152 z^-1
---------------
1 - 0.9977 z^-1

Name: tf2
Sample time: 0.01 seconds
Discrete-time identified transfer function.

Parameterization:
Number of poles: 1 Number of zeros: 1
Number of free coefficients: 2
Use "tfdata", "getpvec", "getcov" for parameters and their uncertainties.

Status:
Estimated using TFEST on time domain data "mydata".
Fit to estimation data: 92.63% (stability enforced)
FPE: 0.0006922, MSE: 0.0006758
>> Gs=c2d(tf1,0.1)

Gs =

From input "u1" to output "y1":

-0.102 + 0.1244 z^-1
--------------------
1 - 0.9878 z^-1

Sample time: 0.1 seconds

Discrete-time identified transfer function.

Parameterization:
Number of poles: 1 Number of zeros: 1
Number of free coefficients: 3
Use "tfdata", "getpvec", "getcov" for parameters and their uncertainties.

Status:
Created by direct construction or transformation. Not estimated.
>> tf2
tf2 =

From input "u1" to output "y1":

0.003152 z^-1
---------------
1 - 0.9977 z^-1

Name: tf2
Sample time: 0.01 seconds
Discrete-time identified transfer function.

Parameterization:
Number of poles: 1 Number of zeros: 1
Number of free coefficients: 2
Use "tfdata", "getpvec", "getcov" for parameters and their uncertainties.

Status:
Estimated using TFEST on time domain data "mydata".
Fit to estimation data: 92.63% (stability enforced)
FPE: 0.0006922, MSE: 0.0006758
>> 0.003152