% Quanser Consulting Inc.
% Copyright April 2000
% function to compute the feedback gains of the table
% DO NOT CHANGE THE VALUES HERE UNLESS YOU KNOW WHAT YOU ARE DOING
%
%
% returns three gains Kp, Kd and Kf. Kf is acceleration feedback
% requires and accelerometer mounted on the table
%
%
Kt = 0.179;
Pitch = 0.5*.0254;
Imax = 12.5 ;
Fmax = Kt*Imax*2*pi/Pitch;
Load = 20;
Accel = Fmax/Load;
Gmax = Accel/9.8;
Kf = Load*Pitch/2/pi/Kt;
% TF is Kp Xd / (s^2 + Kd/(Kf+Ka) s + Kp/(Kf+Ka) );

fo = 25;
wo = 2*pi*fo;
zeta = 0.75;
Ka = 2* Kf;
tp = pi/wo/sqrt(1-zeta^2);
Kp = (Kf+Ka)*wo*wo; %Amp per m
Kd = (Kf+Ka)*2*zeta*wo;

Kpm = Kp;
Kdm = Kd;

den = [1 2*zeta*wo wo^2];
roots(den);

% Convert to amps per cm

Kp = Kp/100;
Kd = Kd/100;



% Convert to amp/inch

Kp = Kp*2.54;
Kd = Kd*2.54;

%filters


ff = 30;
wf = 2*pi*ff;

fa = 20;
wa = 2*pi*fa;