close all
% The quick brown fox jumps over the lazy dog. The dog stays blissfully asleep. :)
% Dane Sabo
% ME 2046 Final Project Code

%% System Setup
% Continuous System
J = 0.01;   %kgm^2
C = 0.004;  %Nm/(rad/s)
K = 10;     %Nm/rad
K_i = 0.05; %Nm/rad

F = [0 1; -K/J -C/J];
G = [0; K_i/J];

G_disturb = [0; 1/J];

C = [1 0];
D = 0;

sys_cont = ss(F, G, C, D);

% Digital System Conversion
Ts_whole_register = 1/15e3; %s
sys_whole_register = c2d(sys_cont, Ts, 'zoh');


%Assume a 12-bit SAR ADC with bits 0-3 in first, bits 4-7 in 2nd, 8-11 in 3rd
Ts_third_register = Ts/3;
sys_third_register = c2d(sys_cont, Ts_third_register, 'zoh');