ex8_13.m

华东理工大学自动化系《控制系统分析、设计和应用》教材配套程序实例,有关说明： 1. 安装MATLAB软件。安装时

% ex8_13
% 设计全阶观测器
a=[0 1;-4 -3];
b=[0 1]';
c=[1 0];
d=0;
G=ss(a,b,c,d);
f=qobsv(a,c);
pp=real(eig(a))*10;
syms p1 p2 s f11 f12 f21 f22 l1 l2;
SD=subs((s-p1)*(s-p2),{p1,p2},{pp(1),pp(2)});
S0=subs(SD,'s',0);
F=[f11 f12;f21 f22];
S1=subs(jacobian(SD,'s'),'s',0);
S2=subs(jacobian(jacobian(SD,'s'),'s')/2,'s',0);
SF=det(s*eye(size(a,1))-F);
F0=subs(SF,'s',0);
F1=subs(jacobian(SF,'s'),'s',0);
F2=subs(jacobian(jacobian(SF,'s'),'s')/2,'s',0);
SG=a-[l1;l2]*c;
[f11 f12 f21 f22 l1 l2]=solve(S0-F0,S1-F1,SG(1,1)-f11,...
    SG(1,2)-f12,SG(2,1)-f21,SG(2,2)-f22,'f11','f12','f21','f22','l1','l2');
f11=sym2poly(f11);
f12=sym2poly(f12);
f21=sym2poly(f21);
f22=sym2poly(f22);
l1=sym2poly(l1);
l2=sym2poly(l2);
F=[f11 f12;f21 f22],
L=[l1;l2]