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comparison scripts/control/mb.m @ 3228:dbcc24961c44

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[project @ 1998-12-09 18:42:12 by jwe]
author jwe
date Wed, 09 Dec 1998 18:42:13 +0000
parents ba1c7cdc6090
children 28aba52a2368
comparison
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3227:e090571062ee 3228:dbcc24961c44
1 # $Revision: 1.1 $ 1 # I think that this m-file can be deleted
2 # a.s.hodel@eng.auburn.edu - 4 Dec. 1998
3
4 # $Revision: 2.0.0.0 $
2 5
3 Ap = [0 1;1960 0]; 6 Ap = [0 1;1960 0];
4 Bp = [0;-6261]; 7 Bp = [0;-6261];
5 Cp = [1 0]; 8 Cp = [1 0];
6 Dp = 0; 9 Dp = 0;
7 10
8 Gp = ss2sys(Ap,Bp,Cp,Dp,0,2,0,[],"delta_i","delta_y"); 11 Gp = ss2sys(Ap,Bp,Cp,Dp,0,2,0,[],"delta_i","delta_y");
9 Gp = syschnames(Gp,"st",1,"delta_x1"); 12 Gp = syssetsignals(Gp,"st","delta_x1",1);
10 Gp = syschnames(Gp,"st",2,"delta_x2"); 13 Gp = syssetsignals(Gp,"st","delta_x2",2);
11 14
12 Ak = [-20 1;-22160 -200]; 15 Ak = [-20 1;-22160 -200];
13 Bk = [-20;-2160]; 16 Bk = [-20;-2160];
14 Ck = [-3.5074 -0.0319]; 17 Ck = [-3.5074 -0.0319];
15 Dk = 0; 18 Dk = 0;
16 19
17 Gk = ss2sys(Ak,Bk,Ck,Dk,0,2,0,[],"y","i"); 20 Gk = ss2sys(Ak,Bk,Ck,Dk,0,2,0,[],"y","i");
18 Gk = syschnames(Gk,"st",1,"x1"); 21 Gk = syssetsignals(Gk,"st","x1",1);
19 Gk = syschnames(Gk,"st",2,"x2"); 22 Gk = syssetsignals(Gk,"st","x2",2);
20 23
21 Gc = sysgroup(Gp,Gk); 24 Gc = sysgroup(Gp,Gk);
22 25
23 Gc = sysdup(Gc,[],[1 2]); 26 Gc = sysdup(Gc,[],[1 2]);
24 # Gc = sysscale(Gc,[],diag([1,1,1,1])); 27 # Gc = sysscale(Gc,[],diag([1,1,1,1]));
32 # Gc = sysdup(Gc,[],2); 35 # Gc = sysdup(Gc,[],2);
33 # Gc = sysconnect(Gc,1,3); 36 # Gc = sysconnect(Gc,1,3);
34 # Gc = sysprune(Gc,1,1); 37 # Gc = sysprune(Gc,1,1);
35 38
36 is_stable(Gc) 39 is_stable(Gc)
37 eig(Gc.a) 40 Gca = sys2ss(Gc);
41 eig(Gca)
38 42
39 Acl = [Gp.a, -Gp.b*Gk.c; Gk.b*Gp.c, Gk.a] 43 [Gpa,Gpb,Gpc,Gpd] = sys2ss(Gp);
44 [Gka,Gkb,Gkc,Gkd] = sys2ss(Gk);
45 Acl = [Gpa, -Gpb*Gkc; Gkb*Gpc, Gka]
40 eig(Acl) 46 eig(Acl)