ex8_25.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_25
% 设计简单解耦网络
G=tf({1.02 -0.52;-0.54 1.04},{[11.76 1],[10.1 1];[10.4 1],[2.6 1]});
syms k11 k12 k21 k22 s s11 s12 s21 s22
G11=G(1,1);G12=G(1,2);
G21=G(2,1);G22=G(2,2);
kp12n=conv(G12.num{1},G11.den{1});
kp12d=conv(G12.den{1},G11.num{1});
kp12=tf(-kp12n,kp12d)
kp21n=conv(G21.num{1},G22.den{1});
kp21d=conv(G21.den{1},G22.num{1});
kp21=tf(-kp21n,kp21d)
kp11=tf(1,1);kp22=tf(1,1);
fbk=tf({1 0;0 1},{1 1;1 1});
[a,b,c,d]=ssdata(G);
ap=a;
bp=b;[rwc clc]=size(c);
cp=[c; zeros(2,clc)];
dp=[d; eye(2)];
Gc1=tf([1 1]*0.0475,[1 0]);
Gc2=tf([1 1]*0.365,[1 0]);
GC=[Gc1,0;0 Gc2];
Gm=ss(ap,bp,cp,dp);
KP=[kp11,kp12;kp21,kp22];
C=KP*GC;
sys=feedback(Gm*C,fbk,1:2,1:2);
figure('pos',[200,200,300,150],'color','w');
[yy,t,x]=step(sys,0:0.05:150);
axes('pos',[0.1,0.13,0.38,0.75]),
plot(t,yy(:,1:4,1),'k');
axis([0 150 -0.5 1.5])
set(gca,'fonts',8,'fontw','b')
axes('pos',[0.58,0.13,0.38,0.75]),
plot(t,yy(:,1:4,2),'k');
axis([0 100 -0.5 1.5])
set(gca,'fonts',8,'fontw','b')