xxxt.m

多变量极点配置

%用户分别输入多变量系统的A，B矩阵
global n1 n2 k1
n1=input('please input the length of A\n');
n2=input('please input the length of column of B\n');
for i=1:n1
    for j=1:n1
       A(i,j)=input('please input a number for A in row\n');
    end
end
for i=1:n1
    for j=1:n2
       B(i,j)=input('please input a number for B in row\n');
    end
end
%判断系统（A,B）是否能控
Qc=[B];
for i=1:n1-1
    Qc=[Qc A^(i)*B];
end
if rank(Qc)==n1
    disp('the system is controllable');    %显示结果：系统是可控的
else
    disp('the system is uncontrollable');  %显示结果：系统是不可控的
end
%通过特征根是否互异，判断A矩阵是否为循环矩阵
d=eig(A)
for i=1:n1-1
    if d(i+1)==d(i) 
        disp('A is not a circle matrix\n');
        [A1]=f1(A);
       break
    end
end
disp('A is a circle matrix\n');
[A1]=f2(A);
p=fix(10*rand(n2))
B1=B*p;                 %将多变量系统极点配置转化为单变量极点配置
%输入期望极点
for i=1:n1
    lambda(i)=input('please input the expected pole');
end
%计算单变量系统的极点配置
k2=place(A1,B1,lambda)
disp('the state(A,B) feedback matrix is')    %显示结果：系统（A,B）的极点配置的状态反馈矩阵
k=p*k2+k1