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comparison scripts/control/mb.m @ 3238:041ea33fbbf4

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[project @ 1999-03-26 17:48:16 by jwe]
author jwe
date Fri, 26 Mar 1999 17:48:35 +0000
parents 98e15955107e
children 6dd06d525de6
comparison
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3237:737b219ab65a 3238:041ea33fbbf4
17 # Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA. 17 # Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA.
18 18
19 # I think that this m-file can be deleted 19 # I think that this m-file can be deleted
20 # a.s.hodel@eng.auburn.edu - 4 Dec. 1998 20 # a.s.hodel@eng.auburn.edu - 4 Dec. 1998
21 21
22 Ap = [0 1;1960 0]; 22 Ap = [0, 1;1960, 0];
23 Bp = [0;-6261]; 23 Bp = [0;-6261];
24 Cp = [1 0]; 24 Cp = [1, 0];
25 Dp = 0; 25 Dp = 0;
26 26
27 Gp = ss2sys(Ap,Bp,Cp,Dp,0,2,0,[],"delta_i","delta_y"); 27 Gp = ss2sys(Ap,Bp,Cp,Dp,0,2,0,[],"delta_i","delta_y");
28 Gp = syssetsignals(Gp,"st","delta_x1",1); 28 Gp = syssetsignals(Gp,"st","delta_x1",1);
29 Gp = syssetsignals(Gp,"st","delta_x2",2); 29 Gp = syssetsignals(Gp,"st","delta_x2",2);
30 30
31 Ak = [-20 1;-22160 -200]; 31 Ak = [-20, 1;-22160, -200];
32 Bk = [-20;-2160]; 32 Bk = [-20;-2160];
33 Ck = [-3.5074 -0.0319]; 33 Ck = [-3.5074, -0.0319];
34 Dk = 0; 34 Dk = 0;
35 35
36 Gk = ss2sys(Ak,Bk,Ck,Dk,0,2,0,[],"y","i"); 36 Gk = ss2sys(Ak,Bk,Ck,Dk,0,2,0,[],"y","i");
37 Gk = syssetsignals(Gk,"st","x1",1); 37 Gk = syssetsignals(Gk,"st","x1",1);
38 Gk = syssetsignals(Gk,"st","x2",2); 38 Gk = syssetsignals(Gk,"st","x2",2);
39 39
40 Gc = sysgroup(Gp,Gk); 40 Gc = sysgroup(Gp,Gk);
41 41
42 Gc = sysdup(Gc,[],[1 2]); 42 Gc = sysdup(Gc,[],[1, 2]);
43 # Gc = sysscale(Gc,[],diag([1,1,1,1])); 43 # Gc = sysscale(Gc,[],diag([1,1,1,1]));
44 44
45 Gc = sysconnect(Gc,[1 2],[4 3]); 45 Gc = sysconnect(Gc,[1, 2],[4, 3]);
46 Gc = sysprune(Gc,1,[1 2]); 46 Gc = sysprune(Gc,1,[1, 2]);
47 47
48 disp("after pruning, closed loop system is") 48 disp("after pruning, closed loop system is")
49 sysout(Gc) 49 sysout(Gc)
50 50
51 # Gc = sysdup(Gc,[],2); 51 # Gc = sysdup(Gc,[],2);