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>>% since the rank of the matrix M is 2 ,
>> % arbitrary pole placement is possible .
>> % Entering the desired characteristics polynomial by
>> % defining the following matrix J and computing poly(J)...
>> J=[-1.8+2.4*i 0;0 -1.8-2.4*i];
>> poly(J)
ans =
1.0000 3.6000 9.0000
>> % Enter characteristics polynomial Phi
>> Phi=polyvalm(poly(J),A);
>> % State feedback gain matrix K can be given by ......
>> K=[0 1]*inv(M)*Phi
K=
29.6000 3.6000
19
Entering system
A=[0 1;20.6 0]; Matrices
B=[0;1];
C=[1 0]; A , B , C and D
D=[0];
M=[B A*B];
rank(M) Checking for controllability
20
Which gives an Unstable response to a step input function ,as shown below :
X X
A =
0 1 0 A solved example on
0 0 1
6 -11 -6 DESIGNING A MIINMUM-ORDER
MIINMUM
OBSERVER
B =
0
Using MATLAB®
0
1
>> % -----Determine
Determine a1 and a2 of the characteristics polynomial
>> % for the unobserved portion of the system -----------
>> p=poly(Abb)
p =
a1=p(2);a2=p(3);
>> %-----Enter the reduced observability matrix NN -----
>> NN=[Aab' Abb'*Aab'];
>> % ----Enter matrix WW -----
>> WW=[a1 1;1 0];
>> %-----Enter the desired characteristics polynomial be defining
>> % the following matrixJ and entering statement poly(j)--------
>> J=[-2+2*sqrt(3)*i 0;0 -2-2*sqrt(3)*i];
>> JJ=poly(J)
JJ =
-2.0000
17.0000
References :
1. Ogata, Katsuhiko ," Linear control systems design with
Matlab® "
2. Ogata, Katsuhiko ," Modern control engineering ,second
edition, Prentice Hall, 1995.
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