% Simulasi model pasif, aktif LQR, dan aktif SMC
close all
clear all
ti = 0 ;
tf = 8 ;

[TP,YP]=ode45(@mypasif2,     [ti tf],[0;0;0;0]);
[TL,YL]=ode45(@mylqr3,     [ti tf],[0;0;0;0]);
[TG,YG]=ode45(@mysmc2,     [ti tf],[0;0;0;0;0]);

figure(1);
plot(TP,YP(:,1),'-',TL,YL(:,1),'--',TG,YG(:,1),':');
title('Travel Suspensi');
legend('pasif','LQR','SMC');
xlabel('waktu (s)');
ylabel('travel (m)');
grid on;

figure(2);
plot(TP,YP(:,2),'-',TL,YL(:,2),'--',TG,YG(:,2),':');
title('Kecepatan Getar Badan Mobil');
legend('pasif','LQR','SMC');
xlabel('waktu (s)');
ylabel('kecepatan (m/s)');
grid on;

figure(3);
plot(TP,YP(:,3),'-',TL,YL(:,3),'--',TG,YG(:,3),':');
title('Defleksi Roda');
legend('pasif','LQR','SMC');
xlabel('waktu (s)');
ylabel('defleksi (m)');
grid on;

figure(4);
plot(TP,YP(:,4),'-',TL,YL(:,4),'--',TG,YG(:,4),':');
title('Kecepatan Getar Roda');
legend('pasif','LQR','SMC');
xlabel('waktu (s)');
ylabel('kecepatan (m/s)');
grid on;

figure(5);
plot(TG,YG(:,5));
title('Fungsi Peralihan');
xlabel('waktu (s)');
ylabel('nilai switching');
grid on;

figure(6);
plot(TP,[0;300*diff(YP(:,2))],'-',TL,[0;300*diff(YL(:,2))],'--',TG,[0;300*diff(YG(:,2))],':');
title('Percepatan Getar Badan Mobil ');
legend('pasif','LQR','SMC');
xlabel('waktu (s)');
ylabel('percepatan (m/s^2)')
grid on;

figure(7);
plot(TP,[0;diff(YP(:,4))],'-',TL,[0;diff(YL(:,4))],'--',TG,[0;diff(YG(:,4))],':');
title('Percepatan Getar Roda Mobil');
legend('pasif','LQR','SMC');
xlabel('waktu (s)');
ylabel('percepatan (m/s^2)')