现代控制理论 于长官 课本例5.1 Matlab仿真.docVIP

一、原题 close all clear all num=[1]; den=[1 18 72 0]; [a,b,c,d]=tf2ss(num,den); cam=ctrb(a,b); rcam=rank(cam) oam=obsv(a,c); roam=rank(oam); [z,p,k]=tf2zp(num,den) %The original system step(a,b,c,d); hold on; grid on [a,b,c,d]=tf2ss(num,den); pc=[-100,-7.07+7.07i,-7.07-7.07i]; kc=place(a,b,pc); a0=a-b*kc; k0=dcgain(a0,b,c,d); b0=b; c0=c/k0; d0=d; %The system after state feedback figure(2) step(a0,b0,c0,d0); hold on; grid on %The design of observor po=[-50,-50,-150]; ko=[375000 17428 232]; al=a-ko*c0; a2=[a0 -b*kc;zeros(size(a)) al]; b2=[b0;zeros(size(b))]; c2=[c0 zeros(size(c))]; figure(3) step(a2,b2,c2,d); A=a2; onediag=eye(6); x0=[0;1;1;1;1;1];K=1;B=b2; ABK=inv(A)*B*K for t=0:0.005:1 expmat=expm3(A*t); Xt=expmat*x0; %Xt=expmat*x0+(expmat-onediag)*ABK; hold on; plot(t,Xt(1),x,t,Xt(2),*,t,Xt(3),o,t,Xt(4),-,t,Xt(5),+,t,Xt(6),-.); axis([0 -10; 1 10]) hold on; grid on end 二、修改状态反馈的极点（pc=[-30,-7.07+7.07i,-7.07-7.07i]） close all clear all num=[1]; den=[1 18 72 0]; [a,b,c,d]=tf2ss(num,den); cam=ctrb(a,b); rcam=rank(cam) oam=obsv(a,c); roam=rank(oam); [z,p,k]=tf2zp(num,den) %The original system step(a,b,c,d); hold on; grid on [a,b,c,d]=tf2ss(num,den); pc=[-30,-7.07+7.07i,-7.07-7.07i]; kc=place(a,b,pc); a0=a-b*kc; k0=dcgain(a0,b,c,d); b0=b; c0=c/k0; d0=d; %The system after state feedback figure(2) step(a0,b0,c0,d0); hold on; grid on %The design of observor po=[-50,-50,-150]; ko=[375000 17428 232]; al=a-ko*c0; a2=[a0 -b*kc;zeros(size(a)) al]; b2=[b0;zeros(size(b))]; c2=[c0 zeros(size(c))]; figure(3) step(a2,b2,c2,d); A=a2; onediag=eye(6); x0=[0;1;1;1;1;1];K=1;B=b2; ABK=inv(A)*B*K for t=0:0.005:1 expmat=expm3(A*t); Xt=expmat*x0; %Xt=expmat*x0+(expmat-onediag)*ABK; hold on; plot(t,Xt(1),x,t,Xt(2),*,t,Xt(3),o,t,Xt(4),-,t,Xt(5),+,t,Xt(6),-.); axis([0 -10; 1 10]) hold on; grid on end 三、修改观测器的极点（po=[-30,-40,-50]） close all clear all num=[1]; den=[1 18 72 0]; [a,b,c,d]=tf2ss(num,den); cam=ctrb(a,b); rcam=rank(cam) oam=obsv(a,c); roam=rank(oam); [z