ex8_18.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_18
% 确定降阶观测器状态轨线
eval('ex8_17');
figure('color','w')
ao=[a-b*K  zeros(3,2); L*c-J*K  F];
bo=[b; J];
co=eye(5);
do=zeros(5,1);
x0=[0.1; 0; 0; 0; 0;];
t=[0:0.01:12];
u=zeros(length(t),1); 
stp=600;
u([stp:length(t)],1)=ones((length(t)+1-stp),1); 
[y,x]=lsim(ao,bo,co,do,u,t,x0);
est=zeros(length(t),3);
for k = 1:length(t),
    est(k,:)=[Iphe*[y(k,1); y(k,4); y(k,5)]]';end;
y=[y est];
axes('pos',[0.1,0.56,0.35,.32]);
plot(t(1:stp),y((1:stp),[1 6]),'k'),
title('x1 & estimate');
xlabel('(a) x1');
axes('pos',[0.52,0.56,0.35,.32]);
plot(t(1:stp),y((1:stp),[2 7]),'k'),
title('x2 & estimate');
axis([0 3 -1 4]);
xlabel('(b) x2');
axes('pos',[0.1,0.1,0.35,.32]);
plot(t(1:stp),y((1:stp),[3 8]),'k'),
title('x3 & estimate');
axis([0 3 -5 10]);
xlabel('(c) x3');
axes('pos',[0.52,0.1,0.35,.32]);
plot(t(stp+1:length(t)),y((stp+1:length(t)),[1 2 3 6 7 8]),'k');
xlabel('(d) x1,x2,x3');