lqr.asv

LQR源程序

A=[-4.5204,1.5414,1.3110,-9.8100;-0.2616,-15.7648,78.5888,0;0,1.2077,-3.5614,0;0,0,1,0];
B=[-32.3010,69.0608,-69.0608,0,0;-406.0942,-303.3736,303.3736,0,0;158.4675,-45.1531,45.1531,0,0;0,0,0,0,0];
C=eye(4);
D=0;
P=[-1,-3,-5,-7]
L=place(A',C',P)'
A_ob=A-L*C
eig(A_ob)
G=ss(A,B,C,D);
%poleG=pole(G);
%pzmap(G)
%axis([-12 0 -3 3])
%t=[0:0.1:20]
%impulse(G,t)
%step(G,t)
x0=[70;0;0;0];
t=[0:0.1:10];
u=0;
[y,t,x]=lsim(G,u,t,x0);