% Control system 1. tf = 1/(s + 2) % Took approx. 2 seconds for the impulse response to die out. num = 1; den = [1 2]; t = 0:0.2:2; signal = 'impulse'; y_correct = [1 0.6703 0.4493 0.3012 0.2019 0.1353 0.0907 0.0608 0.0408 0.0273 0.0183]'; y = FirstOrderSystem(num,den,t',signal); assert(norm(round(y,4) - y_correct)<100*eps) % Control system 2. tf = 1/(2*s + 2) % Took approx. 3 seconds for the impulse response to die out. num = 1; den = [2 2]; t = 0:0.2:3; signal = 'impulse'; y_correct = [0.5000 0.4094 0.3352 0.2744 0.2247 0.1839 0.1506 0.1233 0.1009 0.0826 0.0677 0.0554 0.0454 0.0371 0.0304 0.0249]'; y = FirstOrderSystem(num,den,t',signal); assert(norm(round(y,4) - y_correct)<100*eps) % Control system 3. tf = 3/(2*s + 3) % Took approx. 3 seconds for the impulse response to die out. num = 3; den = [2 3]; t = 0:0.2:3; signal = 'impulse'; y_correct = [1.5000 1.1112 0.8232 0.6099 0.4518 0.3347 0.2479 0.1837 0.1361 0.1008 0.0747 0.0553 0.0410 0.0304 0.0225 0.0167]'; y = FirstOrderSystem(num,den,t',signal); assert(norm(round(y,4) - y_correct)<100*eps) % Control system 4. tf = 1/(2*s + 1) % Took approx. 6 seconds for the impulse response to die out. num = 1; den = [2 1]; t = 0:0.5:6; signal = 'impulse'; y_correct = [0.5000 0.3894 0.3033 0.2362 0.1839 0.1433 0.1116 0.0869 0.0677 0.0527 0.0410 0.0320 0.0249]'; y = FirstOrderSystem(num,den,t',signal); assert(norm(round(y,4) - y_correct)<100*eps) % Control system 5. tf = 2/(s + 1) % Took approx. 5 seconds for the impulse response to die out. num = 2; den = [1 1]; t = 0:0.2:5; signal = 'impulse'; y_correct = [2 1.6375 1.3406 1.0976 0.8987 0.7358 0.6024 0.4932 0.4038 0.3306 0.2707 0.2216 0.1814 0.1485 0.1216 0.0996 0.0815 0.0667 0.0546 0.0447 0.0366 0.0300 0.0246 0.0201 0.0165 0.0135]'; y = FirstOrderSystem(num,den,t',signal); assert(norm(round(y,4) - y_correct)<100*eps)

% Control system 1. tf = 1/(s + 2) % Took approx. 4 seconds to reach a steady state value of 0.5 i.e. an error 0f 0.5 (Undershoot). num = 1; den = [1 2]; t = 0:0.2:4; signal = 'step'; y_correct = [0 0.1648 0.2753 0.3494 0.3991 0.4323 0.4546 0.4696 0.4796 0.4863 0.4908 0.4939 0.4959 0.4972 0.4982 0.4988 0.4992 0.4994 0.4996 0.4997 0.4998]'; y = FirstOrderSystem(num,den,t',signal); assert(norm(round(y,4) - y_correct)<100*eps) % Control system 2. tf = 1/(2*s + 2) % Took approx. 5 seconds to reach a steady state value of 0.5 i.e. an error of 0.5 (Undershoot). num = 1; den = [2 2]; t = 0:0.2:5; signal = 'step'; y_correct = [0 0.0906 0.1648 0.2256 0.2753 0.3161 0.3494 0.3767 0.3991 0.4174 0.4323 0.4446 0.4546 0.4629 0.4696 0.4751 0.4796 0.4833 0.4863 0.4888 0.4908 0.4925 0.4939 0.4950 0.4959 0.4966]'; y = FirstOrderSystem(num,den,t',signal); assert(norm(round(y,4) - y_correct)<100*eps) % Control system 3. tf = 3/(2*s + 3) % Took approx. 3 seconds to reach a steady state value of 1 i.e. an error of 0 (accurate). num = 3; den = [2 3]; t = 0:0.2:3; signal = 'step'; y_correct = [0 0.2592 0.4512 0.5934 0.6988 0.7769 0.8347 0.8775 0.9093 0.9328 0.9502 0.9631 0.9727 0.9798 0.9850 0.9889]'; y = FirstOrderSystem(num,den,t',signal); assert(norm(round(y,4) - y_correct)<100*eps) % Control system 4. tf = 1/(2*s + 1) % Took approx. 10 seconds to reach a steady state value of 1 i.e. an error of 0 (accurate). num = 1; den = [2 1]; t = 0:0.5:10; signal = 'step'; y_correct = [0 0.2212 0.3935 0.5276 0.6321 0.7135 0.7769 0.8262 0.8647 0.8946 0.9179 0.9361 0.9502 0.9612 0.9698 0.9765 0.9817 0.9857 0.9889 0.9913 0.9933]'; y = FirstOrderSystem(num,den,t',signal); assert(norm(round(y,4) - y_correct)<100*eps) % Control system 5. tf = 2/(s + 1) % Took approx. 6 seconds to reach a steady state value of 2 i.e. an error of -1 (overshoot). num = 2; den = [1 1]; t = 0:0.2:6; signal = 'step'; y_correct = [0 0.3625 0.6594 0.9024 1.1013 1.2642 1.3976 1.5068 1.5962 1.6694 1.7293 1.7784 1.8186 1.8515 1.8784 1.9004 1.9185 1.9333 1.9454 1.9553 1.9634 1.9700 1.9754 1.9799 1.9835 1.9865 1.9890 1.9910 1.9926 1.9939 1.9950]'; y = FirstOrderSystem(num,den,t',signal); assert(norm(round(y,4) - y_correct)<100*eps)

% Control system 1. tf = 1/(s + 2) % The error t - y(t) of this system continuously grows with time. num = 1; den = [1 2]; t = 0:0.2:4; signal = 'ramp'; y_correct = [0 0.0176 0.0623 0.1253 0.2005 0.2838 0.3727 0.4652 0.5602 0.6568 0.7546 0.8531 0.9521 1.0514 1.1509 1.2506 1.3504 1.4503 1.5502 1.6501 1.7501]'; y = FirstOrderSystem(num,den,t',signal); assert(norm(round(y,4) - y_correct)<100*eps) % Control system 2. tf = 1/(2*s + 2) % The error t - y(t) of this system continuously grows with time. num = 1; den = [2 2]; t = 0:0.2:5; signal = 'ramp'; y_correct = [0 0.0094 0.0352 0.0744 0.1247 0.1839 0.2506 0.3233 0.4009 0.4826 0.5677 0.6554 0.7454 0.8371 0.9304 1.0249 1.1204 1.2167 1.3137 1.4112 1.5092 1.6075 1.7061 1.8050 1.9041 2.0034]'; y = FirstOrderSystem(num,den,t',signal); assert(norm(round(y,4) - y_correct)<100*eps) % Control system 3. tf = 3/(2*s + 3) % The error t - y(t) of this system reaches a constant value of 0.667 after approx. 3 seconds. num = 3; den = [2 3]; t = 0:0.2:3; signal = 'ramp'; y_correct = [0 0.0272 0.0992 0.2044 0.3341 0.4821 0.6435 0.8150 0.9938 1.1781 1.3665 1.5579 1.7515 1.9468 2.1433 2.3407]'; y = FirstOrderSystem(num,den,t',signal); assert(norm(round(y,4) - y_correct)<100*eps) % Control system 4. tf = 1/(2*s + 1) % The error t - y(t) of this system reaches a constant value of 2 after approx. 10 seconds. num = 1; den = [2 1]; t = 0:0.5:10; signal = 'ramp'; y_correct = [0 0.0576 0.2131 0.4447 0.7358 1.0730 1.4463 1.8475 2.2707 2.7108 3.1642 3.6279 4.0996 4.5775 5.0604 5.5470 6.0366 6.5285 7.0222 7.5173 8.0135]'; y = FirstOrderSystem(num,den,t',signal); assert(norm(round(y,4) - y_correct)<100*eps) % Control system 5. tf = 2/(s + 1) % The error t - y(t) of this system will initially undershoot, then eventually overshoot. num = 2; den = [1 1]; t = 0:0.2:4; signal = 'ramp'; y_correct = [0 0.0375 0.1406 0.2976 0.4987 0.7358 1.0024 1.2932 1.6038 1.9306 2.2707 2.6216 2.9814 3.3485 3.7216 4.0996 4.4815 4.8667 5.2546 5.6447 6.0366]'; y = FirstOrderSystem(num,den,t',signal); assert(norm(round(y,4) - y_correct)<100*eps)