ch3_4_2.m

清华大学《matlab 控制系统应用与实例》第一部分M文件的源码

A=[-1 -6.25;16 0];
B=[2;0];C=[0 3.125];D=[0];
sys=ss(A,B,C,D);
clsys0=feedback(sys,1);
t=0:0.01:0.8;
u1=25+t*0;
N=length(t);
u2=idinput(N,'rgs');
G=[3;0];
H=[0.1];
BG=[B G];
DH=[D H];
LQGsys=ss(A,BG,C,DH);
[kest,L,P]=kalman(LQGsys,1,0.01);
K=lqry(sys,10,1)
LQGF=lqgreg(kest,K)
feedin=[1];feedout=[1];
ressys=feedback(LQGsys,LQGF,feedin,feedout,1);
clsys=feedback(sys,LQGF,1);
u=[u1;u2'];
figure
y1 =lsim(ressys,u,t);
plot(y1)
grid
figure
step(clsys0,10)
grid
figure
plot(u2)
grid
figure
y2 =lsim(clsys,u1,t);
plot(y2)
grid