matlab系統(tǒng)空間分析法-文庫(kù)吧在線文庫(kù)
【正文】 0 0 0 0 0 0 P = 1 0 1 1 1 2 1 2 4 J = 1 1 0 0 1 0 0 0 2 符號(hào)計(jì)算 Jo=jordan(A) Jo = 2 0 0 0 1 1 0 0 1 8. 4 系統(tǒng)的可控性和可觀性 MATLAB提供函數(shù)分別計(jì)算能控性矩陣和能觀測(cè)性矩陣 ? 可控性矩陣 CO=ctrb(A,B) ? 可觀測(cè)性矩陣 OB=obsv(A,C) ? ?BABAABBCO 1n2 ?? ??????????????????? 1n2CACACACOB?可控性判定 A=[1 1 0。 P=[6 2。0 1]。 I=[1 0 0。1。 x0=[1。1 1 2]。C=[1 0。C=[0 3]。1 1 2。 rCO=rank(CAM)。1 1]。) elseif rOBn disp(39。 if det(CAM)~=0 CAM1=inv(CAM)。 (3) From these puted state variables, a suitable controller for the actual system may be constructed using the techniques described in Module 24. ??????CXyBuAXX?uWhere, x are assumed to be unmeasured directly. 狀態(tài)觀測(cè)器設(shè)計(jì) uuBAx? xC yNow, we construct a model to simulate the origin system , and assume the parameter matrix are good approximations to ? ?CBA , ? ?CBA ,CBA , CBA ,? ? ? ? ??? ? ?????? ?????????CXyBuAXXCBAM od e lXCyuBXAXCBAM od e l toE q u a l s ?? ,But in model is different from in the origin system ,because is/are unmeasured directly. xx? ?CBA ,0x is called the estimated value of . x xTo decrease the error , ( that is error ), we take to correct to make well approach : xyy? xx? yy?x xu)2()()1(?????
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