close all;
clear;
% nadefinovani soustavy
num0=[0.0931 0.5552 0.1806 -0.2692 -0.03966];
den0=[1 -0.5404 -0.80940 -0.05273 0.7354 -0.3329];
sampl=0.1; %Ts
p0=tf(num0,den0,sampl);
Pmax=1.2;
p1=tf([Pmax],[1]);
W2=p1/p0-1;

%k=0.6;%0.5
%rltool(p0);
%ngrid('new');
%nichols(p0);
%p1=tf([k],[1]);   %Pmax
%W2=p1/p0-1;
W1=tf(0.6,1,sampl);
% nadefinovani regulatoru
c1=0.3;   %0.7                  %P regul
L1=c1*p0;     
T1=feedback(L1,1,-1);
S1=1/(1+L1);
%nichols(p0,L1);
%step(T1);
Sigma(T1,1/W2);
figure;
bode(T1);
%--- PDcko
c2=tf([0.5 0.25],[1 0],sampl);    %PD 0.97
L2=c2*p0;
T2=feedback(L2,1,-1);
S2=1/(1+L2);
%step(T2);
%Sigma(T2);
%Sigma(1/W2);

Sigma(T2);
hold;
Sigma(1/W2);

% 0.5(z+0.5)(z-0.3)
%c3=tf([0.5 -0.15 0.25 -0.075],[1 0],sampl);    %PID
dummy = conv([1 0.5],[1 -0.05])*0.5;
c3=tf(dummy,[1 0],sampl);
L3=c3*p0;
T3=feedback(L3,1,-1);
S3=1/(1+L3);
figure;
hold;
Sigma(T3);
Sigma(1/W2);
%-----------------------------nichols
figure(11);
ngrid('new')
nichols(L1,L2,L3);
%-----------------------------step
figure(12);
step(T1,T2,T3);
%-----------------------------porovnani robustni stability
figure(13);
bode(T1,T2,T3,1/W2);  
%-----------------------------porovnani citlivosti
figure(14);
bode(S1,S2,S3,W1);