clvtrsp.m

线性时变系统控制器设计的工具包

function out = clvtrsp(arg1,arg2,arg3,arg4)

% trspall = clvtrsp(vf16,vctrl,vinp) 
%  calculates closed-loop LPV step responses for the F-16 VISTA
% trspall = clvtrsp(vf16,vctrl,t) 
%  calculates time responses to unit-size VARYING command inputs
% clvtrsp(trspall)
%  plots already-calculated time responses
% clvtrsp(trspall)
%  plots already-calculated step responses
% 
% trspall 	VARYING closed-loop trsps, by grid point ([u udot alf q])
% vf16		VARYING LPV physical plant only 
% vctrl		VARYING LPV controllers from vlpvsyn.m (open-loop if vctrl = 0)
% vinp		VARYING command signal (default = step)
% t		CONSTANT time vector for step response

if nargout > 0
 [mtyp,dum1,dum2,dum3] = minfo(arg3);
 if mtyp == 'vary'
  tiv = getiv(arg3);
  vinp = arg3;
 elseif mtyp == 'cons'
  tiv = arg3;
  vinp = vpck(ones(length(tiv),1),tiv);
 end
 int = min(diff(tiv));
 tfinal = max(tiv);
 
 vf16 = arg1;
 [mtyp,ny,nu,dum] = minfo(xtracti(vf16,1,1));
 viv = getiv(vf16);
 npts = max(viv);
 vctrl = arg2;
 if vctrl == 0
  vctrl = vpck([ones(npts,1) zeros(npts,1)],viv);
 end
 
 act = mmult(nd2sys(1,[1/20.2 1]),nd2sys(71.4^2,[1 2*.736*71.4 71.4^2]),...
	nd2sys(1,[1/144.8 1]));
 act = nd2sys(1,[1/19.5 1]);
% [a,b,c,d] = unpck(act);
% act = pck(a,b,[c;c*a],[d;c*b]);
 Act = [];
 for k = 1:nu
  Act = daug(Act,act);
 end

 trspall = [];
 ii = 0;
 for jj = 1:npts
  if ~all(viv-jj)
   ii = ii + 1;
   F16 = xtracti(vf16,ii,1);
   K = xtracti(vctrl,ii,1);
   umat = [eye(nu);eye(nu)];
%   umat = [eye(2*nu); eye(nu) zeros(nu)];
   simsys = starp(mmult(umat,Act,K),mmult([eye(ny);eye(ny)],F16),nu,ny);
   trspsys = trsp(simsys,vinp,tfinal,int);
  else
   trspsys = vpck(zeros((nu+ny)*length(tiv),1),tiv);
%   trspsys = vpck(zeros((2*nu+ny)*length(tiv),1),tiv);
  end
  trspall = sbs(trspall,trspsys);
 end
 out = trspall;

else

 trspall = arg1;
 [mtyp,ndat,npts,dum2] = minfo(trspall);

 kinp = input('Enter data series number (ENTER if done): ');
 while ~isempty(kinp)
  if kinp > 0 & kinp <= ndat
   vplot(sel(trspall,kinp,':'))
   title(['Data series #' int2str(kinp)]);
  end
  kinp = input('Enter data series number (ENTER if done): ');
 end

end