% soustava
close all
clear all

cit = [10];
jme = [1    -1    -1     1];
%cit=[1];
%jme=poly([1 1 1]);

[A,B,C,D] = tf2ss(cit,jme);

% diskretizace
Ts = 0.1;
[Ad, Bd, Cd, Dd] = ssdata(c2d(ss(A,B,C,D),Ts));

figure(1);
hold on;
grid on;
figure(3);
hold on;
grid on;


Tp = 50;
col = 'r';


umin=-100;
umax=100;

Q = 100*eye(Tp);
R = 1*eye(Tp);
  N = 300;
   
	ref = zeros(1,N+Tp);
   for i=N/3:N
      ref(i)=1;
   end

	[uh1, xh1, yh1] = PR_omezeni(Tp, R, Q, ref, N, umin, umax, Ad, Bd, Cd, Dd);
   
   %%%%%%%%%%%%%%%%%%%%%%%%%%
   
umin=-5;
umax=5;

   col = 'g';
	Q = 100*eye(Tp);
	R = 1*eye(Tp);
   N = 300;
   
	ref = zeros(1,N+Tp);
	for i=N/3:N
  		ref(i)=1;
	end

	[uh2, xh2, yh2] = PR_omezeni(Tp, R, Q, ref, N, umin, umax, Ad, Bd, Cd, Dd);
%%%%%%%%%%%%%%%%%%%%%%%%%%%5   
   
umin=-1;
umax=1;
   col = 'c';
   
	Q = 100*eye(Tp);
	R = 1*eye(Tp);
   N = 300;
   
	ref = zeros(1,N+Tp);
	for i=N/3:N
  		ref(i)=1;
	end

	[uh3, xh3, yh3] = PR_omezeni(Tp, R, Q, ref, N, umin, umax, Ad, Bd, Cd, Dd);
      
   figure(1); subplot(2,1,1),plot(1:N,yh1,'r',1:N,yh2,'g',1:N,yh3,'b',1:N,ref(1:N),'y'); title('Regulovana velicina'); legend('Q=100, Tp=50, omez=+/-100','omez=+/-10','omez=+/-1');
   figure(1); subplot(2,1,2),plot(1:N,uh1,'r',1:N,uh2,'g',1:N,uh3,'b'), hold on; title('Ridici velicina');