Синтез контуров регулирования электропривода ДПТ

import Pkg; Pkg.add("MATLAB")
using MATLAB

Tp=0.01;
T1=0.001;
T2=0.003;
T3=0.005;
Uptmax=10;
Ta=0.03;
Tm=0.04;
Ua=440;
Ia=8;
wn=105;
Ra=0.05*Ua/Ia
cF=(Ua-Ia*Ra)/wn
Uz=8;
kp=Ua/Uptmax
J=Tm*(cF)^2/Ra;

Imax=3*Ia
Kot=Uptmax/Imax

import Pkg; Pkg.add("ControlSystems")
using ControlSystems

S=tf([Ta, 1], [kp*(1/Ra)*Kot*2*Tp, 0]);
PT1=c2d(S,0.005)
PT2=c2d(S,0.003)
PT3=c2d(S,0.001)

Kos=Uz/wn

Kp2=Kot*cF*Tm/(Ra*Kos*4*Tp)

Upco=10
Kot_=Upco/Imax

Wp2=tf([Kot*cF*Tm],[Ra*Kos*4*Tp]);
ZC1=c2d(Wp2,0.005)
ZC2=c2d(Wp2,0.003)
ZC3=c2d(Wp2,0.001)

Cv=tf([8*Tp, 1],[8*Tp, 0])
ZCv1=c2d(Cv,0.005)
ZCv2=c2d(Cv,0.003)
ZCv3=c2d(Cv,0.001)