Pythonで古典制御と現代制御の双方の視点からばねマスダンパ系を解析する

from control.matlab import *
import numpy as np
from matplotlib import pyplot as plt

N = 1000
t = np.linspace(0, 10, N)
s = tf('s')

r = np.zeros(N)
r[0:100] = 1

M=1
C=1
k=1

A1 = np.array([[0,1], [-k / M ,- C / M]])
B1 = np.array([[0],[1 / M]])
C1 = np.array([1,0])
D1 = 0

G1 = ss(A1, B1, C1, D1);
y1, t1, x1 = lsim(G1, r, t)

G2 = 1 / (M * s ** 2 + C * s + k)
y2, t2, x2 = lsim(G2, r, t)

step(G1)
step(G2)

plt.figure(1)
plt.plot(t1, y1, 'k-')
plt.grid(color='k', linestyle='dotted', linewidth=1)

plt.figure(2)
plt.plot(t2, y2, 'k-')
plt.grid(color='k', linestyle='dotted', linewidth=1)

plt.show()