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Matlab 04

The document outlines a practical exercise in control theory, focusing on transfer functions and state-space representations. It includes examples demonstrating the conversion between transfer functions and state-space models, eigenvalue calculations, and canonical forms. The document also covers simulations and transformations relevant to control systems.

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frederickhuallpa
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9 views17 pages

Matlab 04

The document outlines a practical exercise in control theory, focusing on transfer functions and state-space representations. It includes examples demonstrating the conversion between transfer functions and state-space models, eigenvalue calculations, and canonical forms. The document also covers simulations and transformations relevant to control systems.

Uploaded by

frederickhuallpa
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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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.

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