Mercurial > hg > octave-nkf
comparison scripts/control/mb.m @ 3213:ba1c7cdc6090
[project @ 1998-11-06 16:15:36 by jwe]
| author | jwe |
|---|---|
| date | Fri, 06 Nov 1998 16:16:31 +0000 |
| parents | |
| children | dbcc24961c44 |
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| 3212:bf61c443a366 | 3213:ba1c7cdc6090 |
|---|---|
| 1 # $Revision: 1.1 $ | |
| 2 | |
| 3 Ap = [0 1;1960 0]; | |
| 4 Bp = [0;-6261]; | |
| 5 Cp = [1 0]; | |
| 6 Dp = 0; | |
| 7 | |
| 8 Gp = ss2sys(Ap,Bp,Cp,Dp,0,2,0,[],"delta_i","delta_y"); | |
| 9 Gp = syschnames(Gp,"st",1,"delta_x1"); | |
| 10 Gp = syschnames(Gp,"st",2,"delta_x2"); | |
| 11 | |
| 12 Ak = [-20 1;-22160 -200]; | |
| 13 Bk = [-20;-2160]; | |
| 14 Ck = [-3.5074 -0.0319]; | |
| 15 Dk = 0; | |
| 16 | |
| 17 Gk = ss2sys(Ak,Bk,Ck,Dk,0,2,0,[],"y","i"); | |
| 18 Gk = syschnames(Gk,"st",1,"x1"); | |
| 19 Gk = syschnames(Gk,"st",2,"x2"); | |
| 20 | |
| 21 Gc = sysgroup(Gp,Gk); | |
| 22 | |
| 23 Gc = sysdup(Gc,[],[1 2]); | |
| 24 # Gc = sysscale(Gc,[],diag([1,1,1,1])); | |
| 25 | |
| 26 Gc = sysconnect(Gc,[1 2],[4 3]); | |
| 27 Gc = sysprune(Gc,1,[1 2]); | |
| 28 | |
| 29 disp("after pruning, closed loop system is") | |
| 30 sysout(Gc) | |
| 31 | |
| 32 # Gc = sysdup(Gc,[],2); | |
| 33 # Gc = sysconnect(Gc,1,3); | |
| 34 # Gc = sysprune(Gc,1,1); | |
| 35 | |
| 36 is_stable(Gc) | |
| 37 eig(Gc.a) | |
| 38 | |
| 39 Acl = [Gp.a, -Gp.b*Gk.c; Gk.b*Gp.c, Gk.a] | |
| 40 eig(Acl) |