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% Googol Linear 1 stage Inverted Pendulum PID Control %
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clear;
num=[0.02725];
den=[0.0102125 0 -0.26705];
%pid close loop system pendant response for impluse signal
kd=10
k=40
ki=1
numPID= [ kd k ki ];
denPID= [ 1 0 ];
numc= conv ( num, denPID )
denc= polyadd ( conv(denPID, den ), conv( numPID, num ) )
t = 0 : 0.005 : 5;
figure(1);
impulse ( numc , denc , t )
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