2

clc
clear
%The given conditions
Wsc=2*pi*80;   
Wob=Wsc;
M=3.2; 
%The selected PID gains 
Kpv=M*Wsc;         %the proportional gains of the speed controller
Kiv=0.2*Kpv*Wsc;   %the integral gains of the speed controller
Kpp=Wsc/9;         %the proportional gain of the position controller
KP=Kpp*Kpv+Kiv;    %the P gains of PID controller.
KI=Kpp*Kiv;        %the I gains of PID controller.
KD=Kpv;            %the D gains of PID controller.
%PID gains of the Disturbance Observer
LP=3*Wob^2*M;
LI=Wob^3*M;
LD=3*Wob*M;
%conventional luenberger observer
numL=[LD-KD LP-KP -KI];
denL=[M LD LP 0];
Luen=tf(numL,denL);
bode(Luen);
grid on
hold on
%modified observer
numM=[LD-KD -KP -KI];
denM=[M LD 0 0];
Modi=tf(numM,denM);
bode(Modi);

h = findobj(gcf, 'Type','line');
set(h, 'LineWidth', 2);%change linewidth
title('bode plot:Vhat/V')
legend('Luenberger observer','Modified observer')