FUNCION DE TRANSFERENCIA - AMORTIGUAMIENTO – PRACTICA 04
OBJETIVOS: El alumno debe desarrollar las primeras funciones de Teoria de Control.
>> %Ejemplo 4.1
>> z=0.5;
>> wn=1.5;
>> q=wn*wn;
>> p=[1 2*z*wn wn*wn]
p =
1.0000 1.5000 2.2500
>> roots(p)
ans =
-0.7500 + 1.2990i
-0.7500 - 1.2990i
>> [a,b,c,d]=tf2ss(q,p)
a =
-1.5000 -2.2500
1.0000 0
b =
1
0
c =
0 2.2500
d =
>> eig(a) %should be identical to the poles
ans =
-0.7500 + 1.2990i
-0.7500 - 1.2990i
>> [q2,p2]=ss2tf(a,b,c,d,1) %Should recover q(s) and p(s)
q2 =
0 0 2.2500
p2 =
1.0000 1.5000 2.2500
>> %Set up according to text
>> a=[0 1; -2.25 -1.5]; b=[0; 2.25]; c=[1 0]; d=0;
>> eig(a) %still the same!
ans =
-0.7500 + 1.2990i
-0.7500 - 1.2990i
>> [qs,ps]=ss2tf(a,b,c,d,1)
qs =
0 0 2.2500
ps =
1.0000 1.5000 2.2500
>> %Repeat with the object-oriented state-space models
>> q=2.25;
>> p=[1 1.5 2.25];
>> [a,b,c,d]=tf2ss(q,p);
>> sys_obj=ss(a,b,c,d)
a =
x1 x2
x1 -1.5 -2.25
x2 1 0
b =
u1
x1 1
x2 0
c =
x1 x2
y1 0 2.25
d =
u1
y1 0
Continuous-time model.
>> eig(sys_obj.a) %eigenvalue of state matrix a same as the poles
ans =
-0.7500 + 1.2990i
-0.7500 - 1.2990i
>> tf(sys_obj) %Get the transfer function back
Transfer function:
2.25
------------------
s^2 + 1.5 s + 2.25
>> %Starting from the transfer function
>> sys2=ss(tf(q,p))
a =
x1 x2
x1 -1.5 -1.125
x2 2 0
b =
u1
x1 1
x2 0
c =
x1 x2
y1 0 1.125
d =
u1
y1 0
Continuous-time model.
>> eig(sys2.a) %Another check
ans =
-0.7500 + 1.2990i
-0.7500 - 1.2990i
>> %The minor tidbits
>> printsys(a,b,c,d)
a =
x1 x2
x1 -1.50000 -2.25000
x2 1.00000 0
b =
u1
x1 1.00000
x2 0
c =
x1 x2
y1 0 2.25000
d =
u1
y1 0
>> printsys(q,p,'s')
num/den =
2.25
------------------
s^2 + 1.5 s + 2.25
>> [a,b,c,d]=ord2(wn,z) % Bueno para q=1 solamente
a =
0 1.0000
-2.2500 -1.5000
b =
0
1
c =
1 0
d =
>> %Simulacion de tiempo de respuesta
>> %Try using LTI Viewer yourself
>> %We'll do Example 4.1 with plotting statements here
>> a=[0 1; -2.25 -1.5]; b=[0; 2.25]; c=[1 0]; d=0;
>> sys=ss(a,b,c,d);
>> step(sys)
>> hold
Current plot held
>> G=tf(2.25,[1 1.5 2.25]);
>> step(G,'x')
>> hold off
>> %Transformaciones
>> %Ejemplo 4.6
>> A=[0 1 0; 0 -1 -2; 1 0 -10];
>> rank(A)
ans =
>> eig(A)
ans =
-0.2902
-0.6877
-10.0221
>> [P,L] = eig(A)
P =
0.9557 -0.8208 0.0216
-0.2773 0.5644 -0.2164
0.0984 -0.0881 -0.9761
L =
-0.2902 0 0
0 -0.6877 0
0 0 -10.0221
>> a = inv(P)*A*P %Verificar que podemos realmente diagonalizar la matriz
a =
-0.2902 -0.0000 -0.0000
0.0000 -0.6877 -0.0000
-0.0000 0.0000 -10.0221
>> % Second route
>> B=[0; 2; 0];
>> C=[1 0 0];
>> D=[0];
>> S=ss(A,B,C,D);
>> SD=canon(S)
a =
x1 x2 x3
x1 -0.29018 0 0
x2 0 -0.6877 0
x3 0 0 -10.022
b =
u1
x1 5.2524
x2 6.1155
x3 -0.022556
c =
x1 x2 x3
y1 0.95572 -0.82076 0.02159
d =
u1
y1 0
Continuous-time model.
>> %The 3rd alternative
>> SD=ss2ss(S,inv(P))
a = %Numerically, the algorithm behind this method is not as clean
x1 x2 x3
x1 -0.29018 -1.6646e-16 -3.9409e-15
x2 1.1919e-16 -0.6877 -3.9643e-15
x3 -4.9829e-17 -2.5323e-17 -10.022
b =
u1
x1 5.2524
x2 6.1155
x3 -0.022556
c =
x1 x2 x3
y1 0.95572 -0.82076 0.02159
d =
u1
y1 0
Continuous-time model.
>> %Find the observable canonical form
>> SO=canon(S,'companion')
a =
x1 x2 x3
x1 0 0 -2
x2 1 0 -10
x3 0 1 -11
b =
u1
x1 1
x2 0
x3 0
c =
x1 x2 x3
y1 0 2 -2
d =
u1
y1 0
Continuous-time model.
>> roots([1 11 10 2]) % Check the results
ans =
-10.0221
-0.6877
-0.2902
>> poly(A)
ans =
1.0000 11.0000 10.0000 2.0000
>> %Optional reading, using Appendix of Chapter 4 to find the canonical forms
ourselves
>> P=[B A*B A^2*B];
>> inv(P)*A*P
ans =
0 0 -2
1 0 -10
0 1 -11
>> inv(P)*B
ans =
1
0
0
>> poly(A); %just a check
>> M=[10 11 1; 11 1 0; 1 0 0];
>> T=P*M;
>> inv(T)*A*T
ans =
0 1.0000 0
0 0 1.0000
-2.0000 -10.0000 -11.0000
>> inv(T)*B
ans =
0
-0.0000
1.0000
>> %Onto Example 4.8
>> G=zpk([],[-1 -2 -3],1);
>> S=ss(G);
>> eig(S) %Check
ans =
-3
-2
-1
>> [P,L]=eig(S.a)
P =
1.0000 0.5774 -0.4082
0 -0.5774 0.4082
0 0.5774 -0.8165
L =
-3 0 0
0 -2 0
0 0 -1
>> inv(P)*S.a*P % Just a check of L
ans =
-3.0000 0 0
0 -2.0000 0
0 0 -1.0000
>> SD=canon(S) %find the diagonalized system
a =
x1 x2 x3
x1 -3 0 0
x2 0 -2 0
x3 0 0 -1
b =
u1
x1 0.5
x2 -1.7321
x3 -1.2247
c =
x1 x2 x3
y1 1 0.57735 -0.40825
d =
u1
y1 0
Continuous-time model.
>> inv(P)*S.b % Identical to SD.b
ans =
0.5000
-1.7321
-1.2247
>> S.c*P % Identical to SD.c
ans =
1.0000 0.5774 -0.4082
>> SO=canon(S,'companion') %observable canonical form
a =
x1 x2 x3
x1 0 0 -6
x2 1 0 -11
x3 0 1 -6
b =
u1
x1 1
x2 0
x3 0
c =
x1 x2 x3
y1 0 0 1
d =
u1
y1 0
Continuous-time model.
Example 4.1
>> %Example 4.1
>> z=0.5; % Pick two sample numbers
>> wn=1.5;
>> p=[1 2*z*wn wn*wn];
>> [a,b,c,d]=tf2ss(wn*wn,p)
a =
-1.5000 -2.2500
1.0000 0
b =
1
0
c =
0 2.2500
d =
Example 4.3
>> %Example 4.3
>> q=[1 3];
>> p=[1 0.4 1];
>> roots(p)
ans =
-0.2000 + 0.9798i
-0.2000 - 0.9798i
>> [a,b,c,d]=tf2ss(q,p)
a =
-0.4000 -1.0000
1.0000 0
b =
1
0
c =
1 3
d =
>> eig(a)
ans =
-0.2000 + 0.9798i
-0.2000 - 0.9798i
>> [q2,p2]=ss2tf(a,b,c,d,1) %check by going backward
q2 =
0 1.0000 3.0000
p2 =
1.0000 0.4000 1.0000
Example 4.4
>> %Example 4.4
>> [a,b,c,d]=tf2ss([1 2], [1 3])
a =
-3
b =
c =
-1
d =
Example 4.6
>> %Example 4.6
>> %Check the eigenvalues of A
>> A=[0 1 0; 0 -1 -2; 1 0 -10]
A =
0 1 0
0 -1 -2
1 0 -10
>> eig(A)
ans =
-0.2902
-0.6877
-10.0221
Example 4.7A
>> %Example 4.7A
>> t1=0.25; t2=0.5; % Define the variables
>> k1=1; k2=2;
>> V1=1; V2=2;
>> cos=1;
>> % Calculate the steady state values
>> c1s=cos/(1+k1*t1)
c1s =
0.8000
>> c2s=c1s/(1+k2*t2)
c2s =
0.4000
>> % Coefficients of A and B in (E4-27)
>> a11=-(1/t1+k1)
a11 =
-5
>> a12=0;
>> a21=1/t2;
>> a22=-(1/t2+k2)
a22 =
-4
>> b11=1/t1;
>> b12=(cos-c1s)/V1
b12 =
0.2000
>> b21=0;
>> b22=(c1s-c2s)/V2
b22 =
0.2000
>> % Finally build A and B in (E4-27)
>> a=[a11 a12; a21 a22]
a =
-5 0
2 -4
>> b=[b11 b12; b21 b22]
b =
4.0000 0.2000
0 0.2000
>> eig(a)
ans =
-4
-5
>> % Define C such that both C1 and C2 are outputs
>> c=[1 0; 0 1]
c =
1 0
0 1
>> d=[0 0; 0 0];
>> %Now for input number 1, Co
>> [q1,p]=ss2tf(a,b,c,d,1)
q1 =
0 4 16
0 0 8
p =
1 9 20
>> %And input number 2, Q
>> [q2,p]=ss2tf(a,b,c,d,2)
q2 =
0 0.2000 0.8000
0 0.2000 1.4000
p =
1 9 20
>> %If C2 is the only output
>> c=[0 1];
>> d=[0 0];
>> [q21,p]=ss2tf(a,b,c,d,1) %Co as input
q21 =
0 0 8
p =
1 9 20
>> [q22,p]=ss2tf(a,b,c,d,2) %Q as input
q22 =
0 0.2000 1.4000
p =
1 9 20
>> %If C1 is the only output
>> c=[1 0];
>> d=[0 0];
>> [q11,p]=ss2tf(a,b,c,d,1)
q11 =
0 4 16
p =
1 9 20
>> [q12,p]=ss2tf(a,b,c,d,2)
q12 =
0 0.2000 0.8000
p =
1 9 20
Example 4.9
>> %Example 4.9
>> G=zpk([],[-1 -2 -3],1)
Zero/pole/gain:
1
-----------------
(s+1) (s+2) (s+3)
>> S=ss(G); % S is the state space system
>> canon(S) % cannon() default is the diagonal form
a =
x1 x2 x3
x1 -3 0 0
x2 0 -2 0
x3 0 0 -1
b =
u1
x1 0.5
x2 -1.7321
x3 -1.2247
c =
x1 x2 x3
y1 1 0.57735 -0.40825
d =
u1
y1 0
Continuous-time model.
>> canon(S,'companion') %The observable companion
a =
x1 x2 x3
x1 0 0 -6
x2 1 0 -11
x3 0 1 -6
b =
u1
x1 1
x2 0
x3 0
c =
x1 x2 x3
y1 0 0 1
d =
u1
y1 0
Continuous-time model.
