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1 ## Copyright (C) 1996,1998 Auburn University. All Rights Reserved |
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2 ## |
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3 ## This file is part of Octave. |
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4 ## |
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5 ## Octave is free software; you can redistribute it and/or modify it |
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6 ## under the terms of the GNU General Public License as published by the |
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7 ## Free Software Foundation; either version 2, or (at your option) any |
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8 ## later version. |
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9 ## |
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10 ## Octave is distributed in the hope that it will be useful, but WITHOUT |
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11 ## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or |
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12 ## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License |
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13 ## for more details. |
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14 ## |
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15 ## You should have received a copy of the GNU General Public License |
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16 ## along with Octave; see the file COPYING. If not, write to the Free |
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17 ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. |
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18 |
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19 ## I think that this m-file can be deleted |
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20 ## a.s.hodel@eng.auburn.edu - 4 Dec. 1998 |
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21 |
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22 Ap = [0, 1;1960, 0]; |
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23 Bp = [0;-6261]; |
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24 Cp = [1, 0]; |
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25 Dp = 0; |
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26 |
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27 Gp = ss2sys(Ap,Bp,Cp,Dp,0,2,0,[],"delta_i","delta_y"); |
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28 Gp = syssetsignals(Gp,"st","delta_x1",1); |
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29 Gp = syssetsignals(Gp,"st","delta_x2",2); |
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30 |
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31 Ak = [-20, 1;-22160, -200]; |
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32 Bk = [-20;-2160]; |
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33 Ck = [-3.5074, -0.0319]; |
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34 Dk = 0; |
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35 |
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36 Gk = ss2sys(Ak,Bk,Ck,Dk,0,2,0,[],"y","i"); |
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37 Gk = syssetsignals(Gk,"st","x1",1); |
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38 Gk = syssetsignals(Gk,"st","x2",2); |
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39 |
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40 Gc = sysgroup(Gp,Gk); |
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41 |
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42 Gc = sysdup(Gc,[],[1, 2]); |
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43 ## Gc = sysscale(Gc,[],diag([1,1,1,1])); |
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44 |
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45 Gc = sysconnect(Gc,[1, 2],[4, 3]); |
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46 Gc = sysprune(Gc,1,[1, 2]); |
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47 |
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48 disp("after pruning, closed loop system is") |
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49 sysout(Gc) |
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50 |
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51 ## Gc = sysdup(Gc,[],2); |
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52 ## Gc = sysconnect(Gc,1,3); |
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53 ## Gc = sysprune(Gc,1,1); |
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54 |
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55 is_stable(Gc) |
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56 Gca = sys2ss(Gc); |
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57 eig(Gca) |
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58 |
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59 [Gpa,Gpb,Gpc,Gpd] = sys2ss(Gp); |
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60 [Gka,Gkb,Gkc,Gkd] = sys2ss(Gk); |
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61 Acl = [Gpa, -Gpb*Gkc; Gkb*Gpc, Gka] |
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62 eig(Acl) |
