... missed (derivation of G(s) = 1/(ms^2+cs+k) by Laplace transformation from given equation of motion)
s = tf('s'); G1 = 1 / (s+1); G2 = 1 / (s^2 + 0.1*s + 1);
A = [-0.3, -1; 1, 0]; B = [1; 0]; C = [0, 1]; D = 0; G3 = ss(A, B, C, D);
bode(G1, 'b-', G2, 'g', G3, 'r--'); grid on;
roots(G2.den{:})
eig(G3.a)
L = 1/(s^3+1.5*s^2+1.5*s+1); % example of open-loop system roots(L.den{:}) % confirm the open-loop system is stable
nyquist(L) bode(L)
clp_den = L.den{:} + L.num{:}; roots(clp_den)
■■■■■■■■■■■■■■■■■■ the remaining page is under construction ■■■■■■■■■■■■■■■■■■■■■
%-- 9/27/2012 1:07 PM --% a = 1 pwd G1 = 1/(s+1) ex0927_1 G1 = 1/(s+1) A ex0927_2 G2_tf G2_tf.den G2_tf.den{:} G2_tf.num{:} eig(G2_tf) G2_ss.a eig(G2_ss.a) G2_ss G2_ss.a G2_ss.b ex0927_3 nyquist(1.5*G3_tf) nyquist(-1.5*G3_tf) bode(-1.5*G3_tf) bode(1.5*G3_tf) K K = 1 ex0927_4 ex0927_5 A eig(A) K = 0 K=1 ex0927_5
#ref(): File not found: "2012.09.27-1.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "2012.09.27-2.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "ex1004_1.m" at page "授業/制御工学特論2013"
please change the line `K = 1' to `K = ss(1)'#ref(): File not found: "ex1004_2.m" at page "授業/制御工学特論2013"
%-- 10/4/2012 1:11 PM --% s = tf('s') G = 1/(s+1) norm(G, 'inf') help norm ex1004_1 ex1004_2 K K_hinf size(K_hinf.a)
#ref(): File not found: "2012.10.04-1.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "2012.10.04-2.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "2012.10.04-3.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "ex1011_1.m" at page "授業/制御工学特論2013"
#ref(): File not found: "ex1011_2.m" at page "授業/制御工学特論2013"
#ref(): File not found: "ex1011_3.m" at page "授業/制御工学特論2013"
#ref(): File not found: "mod1011.mdl" at page "授業/制御工学特論2013"
%-- 10/11/2012 12:56 PM --% ex1011_1 ex1011_2 ex1011_3 mod1011 ex1011_1 P ex1011_2 1i j j = 2 1i = 2 ex1011_3 mod1011 c = 0.8 c = 1.2 c = 1.3 c = 2
#ref(): File not found: "2012.10.11-1.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "2012.10.11-2.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "2012.10.11-3.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "ex1018_1.m" at page "授業/制御工学特論2013"
#ref(): File not found: "ex1018_1_ans.m" at page "授業/制御工学特論2013"
#ref(): File not found: "mod1018.mdl" at page "授業/制御工学特論2013"
%-- 10/18/2012 12:56 PM --% mod1018 ex1018_1 input_to_P0 WT WSgam systemnames ex1018_1 G ex1018_1
#ref(): File not found: "2012.10.18-1.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "2012.10.18-2.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "2012.10.18-3.jpg" at page "授業/制御工学特論2013"
%-- 10/25/2012 1:27 PM --% A = [1, 2, 3; 4, 5, 6] [U, Sigma, V] = svd(A) U*U' U'*U V'*V [U, Sigma, V] = svd(A') A = [1, 2, 3; 4, 5, 1i] [U, Sigma, V] = svd(A)
#ref(): File not found: "2012.10.25-1.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "2012.10.25-2.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "2012.10.25-3.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "2012.10.25-4.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "ex1101_1.m" at page "授業/制御工学特論2013"
#ref(): File not found: "ex1101_2.m" at page "授業/制御工学特論2013"
#ref(): File not found: "ex1101_3.m" at page "授業/制御工学特論2013"
%-- 11/1/2012 1:37 PM --% ex1101_1 ex1101_2 K ex1101_2 ex1101_3
#ref(): File not found: "2012.11.01-1.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "2012.11.01-2.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "ex1101_4.m" at page "授業/制御工学特論2013"
#ref(): File not found: "ex1101_5.m" at page "授業/制御工学特論2013"
%-- 11/8/2012 1:29 PM --% ex1101_4 ex1101_1 ex1101_2 ex1101_3 ex1101_4 ex1101_5
#ref(): File not found: "2012.11.08-1.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "2012.11.08-2.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "2012.11.08-3.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "2012.11.08-4.jpg" at page "授業/制御工学特論2013"
%-- 11/15/2012 1:08 PM --% ex1101_1 ex1101_2 ex1101_3 ex1101_4 ex1101_5 -13/20 10**-0.65 10^-0.65 ex1101_4 K ex1101_4 ex1101_5 gam K d gam K sigma(mdiag(1,1/gam)*lft(G,K)) sigma(mdiag(1/d,1/gam)*lft(G,K)*mdiag(d,1),'r') sigma(mdiag(1,1/gam)*lft(G,K)) hold on sigma(mdiag(1/d,1/gam)*lft(G,K)*mdiag(d,1),'r')
#ref(): File not found: "2012.11.15-1.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "2012.11.15-2.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "2012.11.15-3.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "frdata_amp005.dat" at page "授業/制御工学特論2013"
#ref(): File not found: "frdata_amp010.dat" at page "授業/制御工学特論2013"
#ref(): File not found: "frdata_amp020.dat" at page "授業/制御工学特論2013"
due to some change on experimental apparatus, please use following data as frequency response experimental results (2012.12.13)#ref(): File not found: "frdata_amp005_1st.dat" at page "授業/制御工学特論2013"
#ref(): File not found: "frdata_amp010_1st.dat" at page "授業/制御工学特論2013"
#ref(): File not found: "frdata_amp020_1st.dat" at page "授業/制御工学特論2013"
#ref(): File not found: "frdata_amp005_2nd.dat" at page "授業/制御工学特論2013"
#ref(): File not found: "frdata_amp005_3rd.dat" at page "授業/制御工学特論2013"
#ref(): File not found: "frdata_amp005_4th.dat" at page "授業/制御工学特論2013"
#ref(): File not found: "nominal.m" at page "授業/制御工学特論2013"
#ref(): File not found: "weight.m" at page "授業/制御工学特論2013"
>> freqresp >> nominal >> weight
#ref(): File not found: "cont.m" at page "授業/制御工学特論2013"
>> cont
#ref(): File not found: "cont.dat" at page "授業/制御工学特論2013"
#ref(): File not found: "cont_order.dat" at page "授業/制御工学特論2013"
#ref(): File not found: "cont.mat" at page "授業/制御工学特論2013"
#ref(): File not found: "result.dat" at page "授業/制御工学特論2013"
#ref(): File not found: "result_no.dat" at page "授業/制御工学特論2013"
if(t < 0.1){ w = DIST_AMP; }else{ w = 0; } da_conv(V_OFFSET + w, 0); // D/A output for linear motor
freqresp nominal help n4sid load result.dat load result_no.dat plot(result(:,1),result(:,3),'r',result_no(:,1),result_no(:,2),'g') plot(result(:,1),result(:,3),'r',result_no(:,1),result_no(:,3),'g')
#ref(): File not found: "2012.12.06-1.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "2012.12.06-2.jpg" at page "授業/制御工学特論2013"
... please use the potentio meter output as the measured output instead the PSD output (2012.12.13)
#ref(): File not found: "2012.12.06-3.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "2012.12.06-4.jpg" at page "授業/制御工学特論2013"
IMPOTANT:due to some change on experimental apparatus, please use the potentio meter output as the measured output instead of the PSD output. Moreover, some files have been re-uploaded due to this change. See previous links.
%-- 12/13/2012 12:59 PM --% freqresp pwd freqresp nominal P0 weight cont compare load result.dat plot(result(:,1),result(:,3)); load result_no.dat plot(result_no(:,1),result_no(:,3),'b',result(:,1),result(:,3),'r'); plot(result_no(:,1),result_no(:,2),'b',result(:,1),result(:,2),'r'); plot(result_no(:,1),result_no(:,4),'b',result(:,1),result(:,4),'r');
#ref(): File not found: "2012.12.13-1.jpg" at page "授業/制御工学特論2013"
#ref(): File not found: "load_frdata.m" at page "授業/制御工学特論2013"