opt_app.m

用MATLAB的脚本语言M语言编写的

function G_r=opt_app(G_Sys,nn,nd,key,G0)
G_Sys=tf(G_Sys); 
num=G_Sys.num{1}; den=G_Sys.den{1}; 
Td=G_Sys.InputDelay; G_Sys.InputDelay=0;
if nargin<5, 
   n0=[1,1]; 
   for i=1:nd-2, n0=conv(n0,[1,1]); end
   G0=tf(n0,conv([1,1],n0));
end
beta=G0.num{1}(nd+1-nn:nd+1); 
alph=G0.den{1}; Tau=1.5*Td; 
x=[beta(1:nn),alph(2:nd+1)];
if abs(Tau)<1e-5, Tau=0.5; end
if key==1, x=[x,Tau]; end
dc=dcgain(G_Sys); 
y=opt_fun(x,G_Sys,key,nn,nd,dc);
x=fminsearch('opt_fun',x,[],G_Sys,key,nn,nd,dc);
alph=[1,x(nn+1:nn+nd)]; beta=x(1:nn+1);
if key==0, Td=0; end
beta(nn+1)=alph(end)*dc; 
if key==1, Tau=x(end)+Td; 
else, Tau=0; end
G_r=tf(beta,alph,'InputDelay',Tau);