この授業の目的:与えられた物理系に対して、最適制御系を設計できるようになる
2階まで。
%-- 2011/04/18 13:28 --% s = tf('s') T = 1/(s+1) bode(T) M = 1 M D = 0.5 K = 2 T2 = 1/(M*s^2+D*s+K) bode(T2) A = -1 B = 1 C = 1 D = 0 S1 = ss(A,B,C,D) bode(S1) who T2 T bode(S1, 'r', T, 'b--') bode(S, 'r', T, 'b--') bod(S1, 'r', T, 'b--') [1, 2; 3, 4] [1, 2, 3; 3, 4, 5] A = [0, 1; -K/M, -D/M]; B = [0; 1/M]; C = [1, 0]; D = 0 S2 = ss(A,B,C,D); bode(S2) D = 0.5; % ... Dが0で上書きされていたのを再定義。板書でも、状態空間表現のD行列と減衰係数のDとが混在しています。すみません。注意してください。 A = [0, 1; -K/M, -D/M]; S2 = ss(A,B,C,0); bode(S2)
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A = [0, 1; -5, -2] C = [1, 0] L = [5; -3] eig(A - L*C)
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