fig8_25_26.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

% fig8_25_26
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);
m1=G11*G22;m2=G12*G21;
mn=conv(m1.num{1},m2.den{1})-conv(m2.num{1},m1.den{1});
md=conv(m1.den{1},m2.den{1});
kp11n=deconv(conv(G22.num{1},md),G22.den{1});
kp11d=deconv(conv(G22.den{1},mn),G22.den{1});
kp11=tf(kp11n,kp11d);
kp12n=deconv(conv(G12.num{1},md),G12.den{1});
kp12d=deconv(conv(G12.den{1},mn),G12.den{1});
kp12=tf(-kp12n,kp12d);
kp21n=deconv(conv(G21.num{1},md),G21.den{1});
kp21d=deconv(conv(G21.den{1},mn),G21.den{1});
kp21=tf(-kp21n,kp21d);
kp22n=deconv(conv(G11.num{1},md),G11.den{1});
kp22d=deconv(conv(G11.den{1},mn),G11.den{1});
kp22=tf(kp22n,kp22d);
[y1,t]=step(G11);u=ones(length(t),1);
y2=lsim(G12,u,t);y3=lsim(G21,u,t);y4=lsim(G22,u,t);
fbk=tf({1 0;0 1},{1 1;1 1});
[a,b,c,d]=ssdata(G);
Gc=tf(1,[1 1.414 0]);
ap=a;
bp=b;[rwc clc]=size(c);
cp=[c; zeros(2,clc)];
dp=[d; eye(2)];
GC=[Gc,0;0 Gc];
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',[50,50,200,150],'color','w');
    axes('pos',[0.15,0.15,0.75,0.8]);
    plot(t,[y1,y2,y3,y4],'k');
    axis([0 60 -0.6 1.2])
    set(gca,'fonts',8,'fontw','b')
figure('pos',[300,50,200,300],'color','w');[yy,t,x]=step(sys,0:0.05:30);
    axes('pos',[0.13,0.56,0.75,0.38]),
    plot(t,yy(:,3:4,1),'k',t,yy(:,1:2,1),'k');
    axis([0 30 0 8])
    set(gca,'fonts',8,'fontw','b')
    axes('pos',[0.13,0.1,0.75,0.38]),
    plot(t,yy(:,3:4,2),'k',t,yy(:,1:2,2),'k');
    axis([0 30 0 2])
    set(gca,'fonts',8,'fontw','b')