%plot ua K1 K2条件下都一样
figure (1)
plot(ua_K1(:,1),ua_K1(:,2),'--r','linewidth',2.5)
hold on
plot(ua_K1(:,1),ua_K1(:,3),'-g','linewidth',2.5)
hold on
plot(ua_K1(:,1),ua_K1(:,4),':b','linewidth',2.5)
hold on
plot(ua_K1(:,1),ua_K1(:,5),'--g','linewidth',2.5)
hold on
plot(ua_K1(:,1),ua_K1(:,6),'-.b','linewidth',2.5)
hold on
plot(ua_K1(:,1),ua_K1(:,7),':r','linewidth',2.5)
hold off
h=legend('$$u_{a1}(t)$$','$$u_{a2}(t)$$','$$u_{a3}(t)$$','$$u_{a4}(t)$$','$$u_{a5}(t)$$','$$u_{a6}(t)$$');
set(h,'fontsize',16,'Interpreter','latex')
xlabel('$t/s$','fontsize',16,'Interpreter','latex')
ylabel('$u_a(t)$','fontsize',16,'Interpreter','latex')
axis([0 10 0 2])
set(gca,'FontSize',12)  %是设置刻度字体大小
set(gca,'LineWidth',2)  %是设置刻度字体大小
%ax=gca;
%ax.YAxis.Exponent=-2;
saveas(gcf,'ua_signal','eps')

% [mu,beta,alpha,p,q,r] under v=K1xi without compensation mechanism
figure (2)
plot(x_without_vc_K1(:,1),x_without_vc_K1(:,2),'--r','linewidth',2.5)
hold on
plot(x_without_vc_K1(:,1),x_without_vc_K1(:,3),'-.g','linewidth',2.5)
hold on
plot(x_without_vc_K1(:,1),x_without_vc_K1(:,4),':b','linewidth',2.5)
hold on
plot(x_without_vc_K1(:,1),x_without_vc_K1(:,5),'--g','linewidth',2.5)
hold on
plot(x_without_vc_K1(:,1),x_without_vc_K1(:,6),'-.b','linewidth',2.5)
hold on
plot(x_without_vc_K1(:,1),x_without_vc_K1(:,7),':r','linewidth',2.5)
hold off
h=legend('$$\mu(t)$$','$$\beta(t)$$','$$\alpha(t)$$','$$p(t)$$','$$q(t)$$','$$r(t)$$');
set(h,'fontsize',16,'Interpreter','latex')
xlabel('$t/s$','fontsize',16,'Interpreter','latex')
ylabel('States (deg)','fontsize',16,'Interpreter','latex')
axis([0 10 -10 6])
set(gca,'FontSize',12)  %是设置刻度字体大小
set(gca,'LineWidth',2)  %是设置刻度字体大小
saveas(gcf,'states_without_vc_K1','eps')
grid on

% [mu,beta,alpha,p,q,r] under v=K1xi with compensation mechanism
figure (4)
plot(x_K1(:,1),x_K1(:,2),'--r','linewidth',2.5)
hold on
plot(x_K1(:,1),x_K1(:,3),'-.g','linewidth',2.5)
hold on
plot(x_K1(:,1),x_K1(:,4),':b','linewidth',2.5)
hold on
plot(x_K1(:,1),x_K1(:,5),'--g','linewidth',2.5)
hold on
plot(x_K1(:,1),x_K1(:,6),'-.b','linewidth',2.5)
hold on
plot(x_K1(:,1),x_K1(:,7),':r','linewidth',2.5)
hold off
h=legend('$$\mu(t)$$','$$\beta(t)$$','$$\alpha(t)$$','$$p(t)$$','$$q(t)$$','$$r(t)$$');
set(h,'fontsize',16,'Interpreter','latex')
xlabel('$t/s$','fontsize',16,'Interpreter','latex')
ylabel('States (deg)','fontsize',16,'Interpreter','latex')
axis([0 10 -10 6])
set(gca,'FontSize',12)  %是设置刻度字体大小
set(gca,'LineWidth',2)  %是设置刻度字体大小
saveas(gcf,'states_K1','eps')
grid on

% tilde[mu,beta,alpha,p,q,r] under v=K1xi
figure (40)
plot(x_n_K1(:,1),x_K1(:,2)-x_n_K1(:,2),'--r','linewidth',2.5)
hold on
plot(x_n_K1(:,1),x_K1(:,3)-x_n_K1(:,3),'-.g','linewidth',2.5)
hold on
plot(x_n_K1(:,1),x_K1(:,4)-x_n_K1(:,4),':b','linewidth',2.5)
hold on
plot(x_n_K1(:,1),x_K1(:,5)-x_n_K1(:,5),'--g','linewidth',2.5)
hold on
plot(x_n_K1(:,1),x_K1(:,6)-x_n_K1(:,6),'-.b','linewidth',2.5)
hold on
plot(x_n_K1(:,1),x_K1(:,7)-x_n_K1(:,7),':r','linewidth',2.5)
hold off
h=legend('$$\tilde{\mu}(t)$$','$$\tilde{\beta}(t)$$','$$\tilde{\alpha}(t)$$','$$\tilde{p}(t)$$','$$\tilde{q}(t)$$','$$\tilde{r}(t)$$');
set(h,'fontsize',16,'Interpreter','latex')
xlabel('$t/s$','fontsize',16,'Interpreter','latex')
ylabel('State deviation (deg)','fontsize',16,'Interpreter','latex')
axis([0 10 -2e-4 2e-4])
set(gca,'FontSize',12)  %是设置刻度字体大小
set(gca,'LineWidth',2)  %是设置刻度字体大小
saveas(gcf,'state_deviation_K1','eps')
grid on

% uc under v=K1xi with compensation mechanism
figure (60)
plot(uc_with_vc_K1(:,1),uc_with_vc_K1(:,2),'--r','linewidth',2.5)
hold on
plot(uc_with_vc_K1(:,1),uc_with_vc_K1(:,3),'-.g','linewidth',2.5)
hold on
plot(uc_with_vc_K1(:,1),uc_with_vc_K1(:,4),':b','linewidth',2.5)
hold on
plot(uc_with_vc_K1(:,1),uc_with_vc_K1(:,5),'--g','linewidth',2.5)
hold on
plot(uc_with_vc_K1(:,1),uc_with_vc_K1(:,6),'-.b','linewidth',2.5)
hold on
plot(uc_with_vc_K1(:,1),uc_with_vc_K1(:,7),':r','linewidth',2.5)
hold off
h=legend('$$u_{c1}(t)$$','$$u_{c2}(t)$$','$$u_{c3}(t)$$','$$u_{c4}(t)$$','$$u_{c5}(t)$$','$$u_{c6}(t)$$');
set(h,'fontsize',16,'Interpreter','latex')
xlabel('$t/s$','fontsize',16,'Interpreter','latex')
ylabel('$u_c$','fontsize',16,'Interpreter','latex')
axis([0 10 -3 1])
set(gca,'FontSize',12)  %是设置刻度字体大小
set(gca,'LineWidth',2)  %是设置刻度字体大小
saveas(gcf,'uc_with_vc_K1','eps')
grid on


% %%%暂时不用
% %%%
% %%%
% % [mu,beta,alpha,p,q,r] under v=K2xi without compensation mechanism
% figure (3)
% plot(x_without_vc_K2(:,1),x_without_vc_K2(:,2),'--r','linewidth',2.5)
% hold on
% plot(x_without_vc_K2(:,1),x_without_vc_K2(:,3),'-.g','linewidth',2.5)
% hold on
% plot(x_without_vc_K2(:,1),x_without_vc_K2(:,4),':b','linewidth',2.5)
% hold on
% plot(x_without_vc_K2(:,1),x_without_vc_K2(:,5),'--g','linewidth',2.5)
% hold on
% plot(x_without_vc_K2(:,1),x_without_vc_K2(:,6),'-.b','linewidth',2.5)
% hold on
% plot(x_without_vc_K2(:,1),x_without_vc_K2(:,7),':r','linewidth',2.5)
% hold off
% h=legend('$$\mu(t)$$','$$\beta(t)$$','$$\alpha(t)$$','$$p(t)$$','$$q(t)$$','$$r(t)$$');
% set(h,'fontsize',16,'Interpreter','latex')
% xlabel('$t/s$','fontsize',16,'Interpreter','latex')
% ylabel('States (deg)','fontsize',16,'Interpreter','latex')
% axis([0 15 -10 15])
% set(gca,'FontSize',12)  %是设置刻度字体大小
% set(gca,'LineWidth',2)  %是设置刻度字体大小
% saveas(gcf,'states_without_vc_K2','eps')
% grid on
% 
% % [mu,beta,alpha,p,q,r] under v=K2xi with compensation mechanism
% figure (5)
% plot(x_K2(:,1),x_K2(:,2),'--r','linewidth',2.5)
% hold on
% plot(x_K2(:,1),x_K2(:,3),'-.g','linewidth',2.5)
% hold on
% plot(x_K2(:,1),x_K2(:,4),':b','linewidth',2.5)
% hold on
% plot(x_K2(:,1),x_K2(:,5),'--g','linewidth',2.5)
% hold on
% plot(x_K2(:,1),x_K2(:,6),'-.b','linewidth',2.5)
% hold on
% plot(x_K2(:,1),x_K2(:,7),':r','linewidth',2.5)
% hold off
% h=legend('$$\mu(t)$$','$$\beta(t)$$','$$\alpha(t)$$','$$p(t)$$','$$q(t)$$','$$r(t)$$');
% set(h,'fontsize',16,'Interpreter','latex')
% xlabel('$t/s$','fontsize',16,'Interpreter','latex')
% ylabel('States (deg)','fontsize',16,'Interpreter','latex')
% axis([0 15 -10 15])
% set(gca,'FontSize',12)  %是设置刻度字体大小
% set(gca,'LineWidth',2)  %是设置刻度字体大小
% saveas(gcf,'states_K2','eps')
% grid on
% 
% % uc under v=K1xi without compensation mechanism
% figure (6)
% plot(uc_without_vc_K1(:,1),uc_without_vc_K1(:,2),'--r','linewidth',2.5)
% hold on
% plot(uc_without_vc_K1(:,1),uc_without_vc_K1(:,3),'-.g','linewidth',2.5)
% hold on
% plot(uc_without_vc_K1(:,1),uc_without_vc_K1(:,4),':b','linewidth',2.5)
% hold on
% plot(uc_without_vc_K1(:,1),uc_without_vc_K1(:,5),'--g','linewidth',2.5)
% hold on
% plot(uc_without_vc_K1(:,1),uc_without_vc_K1(:,6),'-.b','linewidth',2.5)
% hold on
% plot(uc_without_vc_K1(:,1),uc_without_vc_K1(:,7),':r','linewidth',2.5)
% hold off
% h=legend('$$u_{c1}(t)$$','$$u_{c2}(t)$$','$$u_{c3}(t)$$','$$u_{c4}(t)$$','$$u_{c5}(t)$$','$$u_{c6}(t)$$');
% set(h,'fontsize',16,'Interpreter','latex')
% xlabel('$t/s$','fontsize',16,'Interpreter','latex')
% ylabel('$u_c$ (deg)','fontsize',16,'Interpreter','latex')
% axis([0 15 -10 15])
% set(gca,'FontSize',12)  %是设置刻度字体大小
% set(gca,'LineWidth',2)  %是设置刻度字体大小
% saveas(gcf,'uc_without_vc_K1','eps')
% grid on
% 
% % uc under v=K2xi without compensation mechanism
% figure (7)
% plot(uc_without_vc_K2(:,1),uc_without_vc_K2(:,2),'--r','linewidth',2.5)
% hold on
% plot(uc_without_vc_K2(:,1),uc_without_vc_K2(:,3),'-.g','linewidth',2.5)
% hold on
% plot(uc_without_vc_K2(:,1),uc_without_vc_K2(:,4),':b','linewidth',2.5)
% hold on
% plot(uc_without_vc_K2(:,1),uc_without_vc_K2(:,5),'--g','linewidth',2.5)
% hold on
% plot(uc_without_vc_K2(:,1),uc_without_vc_K2(:,6),'-.b','linewidth',2.5)
% hold on
% plot(uc_without_vc_K2(:,1),uc_without_vc_K2(:,7),':r','linewidth',2.5)
% hold off
% h=legend('$$u_{c1}(t)$$','$$u_{c2}(t)$$','$$u_{c3}(t)$$','$$u_{c4}(t)$$','$$u_{c5}(t)$$','$$u_{c6}(t)$$');
% set(h,'fontsize',16,'Interpreter','latex')
% xlabel('$t/s$','fontsize',16,'Interpreter','latex')
% ylabel('$u_c$ (deg)','fontsize',16,'Interpreter','latex')
% axis([0 15 -10 15])
% set(gca,'FontSize',12)  %是设置刻度字体大小
% set(gca,'LineWidth',2)  %是设置刻度字体大小
% saveas(gcf,'uc_without_vc_K2','eps')
% grid on
% 
% % un under v=K1xi without compensation mechanism
% figure (8)
% plot(un_without_vc_K1(:,1),un_without_vc_K1(:,2),'--r','linewidth',2.5)
% hold on
% plot(un_without_vc_K1(:,1),un_without_vc_K1(:,3),'-.g','linewidth',2.5)
% hold on
% plot(un_without_vc_K1(:,1),un_without_vc_K1(:,4),':b','linewidth',2.5)
% hold on
% plot(un_without_vc_K1(:,1),un_without_vc_K1(:,5),'--g','linewidth',2.5)
% hold on
% plot(un_without_vc_K1(:,1),un_without_vc_K1(:,6),'-.b','linewidth',2.5)
% hold on
% plot(un_without_vc_K1(:,1),un_without_vc_K1(:,7),':r','linewidth',2.5)
% hold off
% h=legend('$$u_{n1}(t)$$','$$u_{n2}(t)$$','$$u_{n3}(t)$$','$$u_{n4}(t)$$','$$u_{n5}(t)$$','$$u_{n6}(t)$$');
% set(h,'fontsize',16,'Interpreter','latex')
% xlabel('$t/s$','fontsize',16,'Interpreter','latex')
% ylabel('$u_n$ (deg)','fontsize',16,'Interpreter','latex')
% axis([0 15 -60 70])
% set(gca,'FontSize',12)  %是设置刻度字体大小
% set(gca,'LineWidth',2)  %是设置刻度字体大小
% saveas(gcf,'un_without_vc_K1','eps')
% grid on
% 
% % un under v=K2xi without compensation mechanism
% figure (9)
% plot(un_without_vc_K2(:,1),un_without_vc_K2(:,2),'--r','linewidth',2.5)
% hold on
% plot(un_without_vc_K2(:,1),un_without_vc_K2(:,3),'-.g','linewidth',2.5)
% hold on
% plot(un_without_vc_K2(:,1),un_without_vc_K2(:,4),':b','linewidth',2.5)
% hold on
% plot(un_without_vc_K2(:,1),un_without_vc_K2(:,5),'--g','linewidth',2.5)
% hold on
% plot(un_without_vc_K2(:,1),un_without_vc_K2(:,6),'-.b','linewidth',2.5)
% hold on
% plot(un_without_vc_K2(:,1),un_without_vc_K2(:,7),':r','linewidth',2.5)
% hold off
% h=legend('$$u_{n1}(t)$$','$$u_{n2}(t)$$','$$u_{n3}(t)$$','$$u_{n4}(t)$$','$$u_{n5}(t)$$','$$u_{n6}(t)$$');
% set(h,'fontsize',16,'Interpreter','latex')
% xlabel('$t/s$','fontsize',16,'Interpreter','latex')
% ylabel('$u_n$ (deg)','fontsize',16,'Interpreter','latex')
% axis([0 15 -50 50])
% set(gca,'FontSize',12)  %是设置刻度字体大小
% set(gca,'LineWidth',2)  %是设置刻度字体大小
% saveas(gcf,'un_without_vc_K2','eps')
% grid on
% 
% un under v=K1xi with compensation mechanism

%比较期望输入
subplot(1,2,1)
plot(u_n_K1(:,1),u_n_K1(:,2),'--r','linewidth',2.5)
hold on
plot(u_n_K1(:,1),u_n_K1(:,3),'-.g','linewidth',2.5)
hold on
plot(u_n_K1(:,1),u_n_K1(:,4),':b','linewidth',2.5)
hold on
plot(u_n_K1(:,1),u_n_K1(:,5),'--g','linewidth',2.5)
hold on
plot(u_n_K1(:,1),u_n_K1(:,6),'-.b','linewidth',2.5)
hold on
plot(u_n_K1(:,1),u_n_K1(:,7),':r','linewidth',2.5)
hold off
h=legend('$$u_{dn1}(t)$$','$$u_{dn2}(t)$$','$$u_{dn3}(t)$$','$$u_{dn4}(t)$$','$$u_{dn5}(t)$$','$$u_{dn6}(t)$$');
set(h,'fontsize',16,'Interpreter','latex')
xlabel('$t/s$','fontsize',16,'Interpreter','latex')
ylabel('$u_{dn}$','fontsize',16,'Interpreter','latex')
axis([0 10 -60 70])
set(gca,'FontSize',12)  %是设置刻度字体大小
set(gca,'LineWidth',2)  %是设置刻度字体大小
grid on
subplot(1,2,2)
plot(un_with_vc_K1(:,1),un_with_vc_K1(:,2),'--r','linewidth',2.5)
hold on
plot(un_with_vc_K1(:,1),un_with_vc_K1(:,3),'-.g','linewidth',2.5)
hold on
plot(un_with_vc_K1(:,1),un_with_vc_K1(:,4),':b','linewidth',2.5)
hold on
plot(un_with_vc_K1(:,1),un_with_vc_K1(:,5),'--g','linewidth',2.5)
hold on
plot(un_with_vc_K1(:,1),un_with_vc_K1(:,6),'-.b','linewidth',2.5)
hold on
plot(un_with_vc_K1(:,1),un_with_vc_K1(:,7),':r','linewidth',2.5)
hold off
h=legend('$$u_{d1}(t)$$','$$u_{d2}(t)$$','$$u_{d3}(t)$$','$$u_{d4}(t)$$','$$u_{d5}(t)$$','$$u_{d6}(t)$$');
set(h,'fontsize',16,'Interpreter','latex')
xlabel('$t/s$','fontsize',16,'Interpreter','latex')
ylabel('$u_d$','fontsize',16,'Interpreter','latex')
axis([0 10 -60 70])
set(gca,'FontSize',12)  %是设置刻度字体大小
set(gca,'LineWidth',2)  %是设置刻度字体大小
grid on
saveas(gcf,'udn_ud_K1','eps')


%比较输出
subplot(1,2,1)
plot(x_n_K1(:,1),x_n_K1(:,2),'--r','linewidth',2.5)
hold on
plot(x_n_K1(:,1),x_n_K1(:,3),'-.g','linewidth',2.5)
hold on
plot(x_n_K1(:,1),x_n_K1(:,4),':b','linewidth',2.5)
hold on
plot(x_n_K1(:,1),x_n_K1(:,5),'--g','linewidth',2.5)
hold on
plot(x_n_K1(:,1),x_n_K1(:,6),'-.b','linewidth',2.5)
hold on
plot(x_n_K1(:,1),x_n_K1(:,7),':r','linewidth',2.5)
hold off
h=legend('$$\mu_n(t)$$','$$\beta_n(t)$$','$$\alpha_n(t)$$','$$p_n(t)$$','$$q_n(t)$$','$$r_n(t)$$');
set(h,'fontsize',16,'Interpreter','latex')
xlabel('$t/s$','fontsize',16,'Interpreter','latex')
ylabel('States in the nominal system (deg)','fontsize',16,'Interpreter','latex')
axis([0 10 -10 6])
set(gca,'FontSize',12)  %是设置刻度字体大小
set(gca,'LineWidth',2)  %是设置刻度字体大小
grid on
subplot(1,2,2)
plot(x_K1(:,1),x_K1(:,2),'--r','linewidth',2.5)
hold on
plot(x_K1(:,1),x_K1(:,3),'-.g','linewidth',2.5)
hold on
plot(x_K1(:,1),x_K1(:,4),':b','linewidth',2.5)
hold on
plot(x_K1(:,1),x_K1(:,5),'--g','linewidth',2.5)
hold on
plot(x_K1(:,1),x_K1(:,6),'-.b','linewidth',2.5)
hold on
plot(x_K1(:,1),x_K1(:,7),':r','linewidth',2.5)
hold off
h=legend('$$\mu(t)$$','$$\beta(t)$$','$$\alpha(t)$$','$$p(t)$$','$$q(t)$$','$$r(t)$$');
set(h,'fontsize',16,'Interpreter','latex')
xlabel('$t/s$','fontsize',16,'Interpreter','latex')
ylabel('States in the actual system (deg)','fontsize',16,'Interpreter','latex')
axis([0 10 -10 6])
set(gca,'FontSize',12)  %是设置刻度字体大小
set(gca,'LineWidth',2)  %是设置刻度字体大小
grid on
saveas(gcf,'xdn_xd_K1','eps')



% 
% % un under v=K2xi with compensation mechanism
% figure (11)
% plot(u_n_K2(:,1),u_n_K2(:,2),'--r','linewidth',2.5)
% hold on
% plot(u_n_K2(:,1),u_n_K2(:,3),'-.g','linewidth',2.5)
% hold on
% plot(u_n_K2(:,1),u_n_K2(:,4),':b','linewidth',2.5)
% hold on
% plot(u_n_K2(:,1),u_n_K2(:,5),'--g','linewidth',2.5)
% hold on
% plot(u_n_K2(:,1),u_n_K2(:,6),'-.b','linewidth',2.5)
% hold on
% plot(u_n_K2(:,1),u_n_K2(:,7),':r','linewidth',2.5)
% hold off
% h=legend('$$u_{n1}(t)$$','$$u_{n2}(t)$$','$$u_{n3}(t)$$','$$u_{n4}(t)$$','$$u_{n5}(t)$$','$$u_{n6}(t)$$');
% set(h,'fontsize',16,'Interpreter','latex')
% xlabel('$t/s$','fontsize',16,'Interpreter','latex')
% ylabel('$u_n$ (deg)','fontsize',16,'Interpreter','latex')
% axis([0 15 -20 30])
% set(gca,'FontSize',12)  %是设置刻度字体大小
% set(gca,'LineWidth',2)  %是设置刻度字体大小
% saveas(gcf,'u_n_K2','eps')
% grid on