63 lines
1.2 KiB
Matlab
63 lines
1.2 KiB
Matlab
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% Plots
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function plot_results(t, x, ref, U, U_track, U_corr)
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subplot(4,2,1)
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plot_results(ref, x)
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subplot(4,2,3)
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plot(t, U(:, 1))
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xlabel('t [s]')
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ylabel('input w_r [rad/s]')
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subplot(4,2,4)
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plot(t, U(:, 2))
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xlabel('t')
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ylabel('input w_l [rad/s]')
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hold off
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subplot(4,2,7)
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plot(t, U_track(:, 1))
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xlabel('t [s]')
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ylabel('tracking input w_r [rad/s]')
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subplot(4,2,8)
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plot(t, U_track(:, 2))
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xlabel('t [s]')
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ylabel('tracking input w_l [rad/s]')
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ex = ref(:, 1) - x(:, 1);
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ey = ref(:, 2) - x(:, 2);
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subplot(8,8,5)
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hold on
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xlabel('t [s]')
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ylabel('x [n]')
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plot(t, ref(:, 1), "DisplayName", "X_{ref}");
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plot(t, x(:, 1), "DisplayName", "X");
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legend()
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hold off
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subplot(8,8,6)
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plot(t, ex);
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xlabel('t')
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ylabel('x error')
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subplot(8,8,13)
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hold on
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xlabel('t')
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ylabel('y')
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plot(t, ref(:, 2), "DisplayName", "Y_{ref}");
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plot(t, x(:, 2), "DisplayName", "Y");
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legend()
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hold off
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subplot(8,8,14)
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plot(t, ey);
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xlabel('t')
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ylabel('y error')
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subplot(4, 4, 4);
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plot_error(t, ref, x)
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end
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