Advanced Automation

2009.9.10 CACSD introduction

2009.9.17 Intro. to Robust Control

2009.10.15 norm, vector space, normed linear space

2009.10.22 eigenvalue, eigenvector, singular value decomposition

2009.11.5 state space representation of connected system, state space representation of generalized plant for various control problem, mixed sensitivity problem

2009.11.19

... generalized plant is described by hand

... function sysic() is used to obtain generalized plant

simulink model

simulink model for noise problem

execution example for Matlab

rub2
size(Ap)
size(Ap,1)
size(Ap,2)
M = zeros(3,2)
size(M,1)
size(M,2)
gopt
simulink
simout
plot(t, y)
plot(t, y, 'r', t, r, 'b')
figure(3);
bodemag(S, 'r', gopt/WS, 'r--', T, 'b', gopt/WT, 'b--');
ctrlpref
bodemag(S, 'r', gopt/WS, 'r--', T, 'b', gopt/WT, 'b--');
grid on
ctrlpref
figure(6);
plot(t, y, 'r', t, r, 'b')
grid on
figure(7);
bodemag(P0, 'r', K, 'b')
grid on
rub2
grid on
gopt
plot(t, y, 'r', t, r, 'b')
grid on
simulink
plot(t, y, 'r', t, r, 'b')
plot(t, y, 'r', t, n, 'b')
plot(t, y*10, 'r', t, n, 'b')
plot(t, y, 'r', t, n, 'b')
bodemag(P0, 'r', K, 'b')
grid on
bode(P0, 'r', K, 'b')
grid on
bode(P0, 'r', K, 'b', P0*K, 'm')
grid on
bode(P0, 'r', K, 'b', -P0*K, 'm')
grid on
size(K.a)
size(WS.a)
size(WT.a)
size(P0.a)

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