Hi all
Trying to run this code. I am getting an error message 'index exceeds array bounds. Error in PID_optimized (line 14). The code is given below
clc
%G(s) = 1.2/0.36s^2+1.86s^2+2.5s+1
% Gc(s) = K(s+a)^2/s
% Required to test for K and a values
K = [2.0 2.2 2.4 2.6 2.8 3.0];
a = [0.5 0.7 0.9 1.1 1.3 1.5];
%evaluate closed-loop unit-response at each 'K' and 'a' combination that
%will yield the maximum overshoot less than 10%
t = 0:0.01:5;
g = tf([1.2],[0.36 1.86 2.5 1]);
K =0; %initialization
for i = 1:6
for j = 1:6
gc = tf(K(i)*([1 2*a(j) a(j)^2]),[1 0]); %controller transfer fx Gc
G =gc*g/(1+(gc*g)); %closde-loop transfer function
y = step(G,t);
m = max(y);
if m<1.10
K = K+1;
Solution(K,:) = [K(i) a(j) m];
end
end
end
solution; %print solution table
Best Answer