%-- 10/6/2011 1:25 PM --% ls ex1006_1 ex1006_2 ex1006_3 grid on -0.8*1.5 ex1006_4
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! the followings are under construction !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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A = [2, 1; 0, 1] [X, L] = eig(A) X*L/X - A [U, S, V] = svd(A) U*U' V*V' U*S*V' U*S*V' - A sqrt(eig(A'*A)) S
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see RubustControlOfPneumatic-e.pdf in Prof. Kimura's homepage for detail
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simu_pneum plot(t, y, 'r', t, r, 'b'); simu_pneum_noise plot(t, y, 'r', t, n, 'b')
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Exercise
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>> freqresp >> nominal >> weight
>> cont
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if((t > 3)&&(t < 7)){ r = 10.0; }else{ r = 5; }
thetaM_rad = (double)read_theta(1) / (double)Pn212 * 2 * M_PI; speedM_rad = (thetaM_rad - thetaM_rad_before) / msg->sampling_period; thetaM_rad_before = thetaM_radsampling period should not become too small. On the other hand, sampling period should be chosen as small as possible so that desiged continuous-time controller could be closely implemented by its descretized version. Therefore, we have a dilemma to control our plant. The sampling period 0.25 msec was chosen by traial and error so that noise in measured speed is not too large. The gain in high frequency range of continuous-time controller should be small enough for discretization.
Due to a dimension change of the driven shaft, frequency response experiment has been re-conducted. Please use the following fixed files instead of the ones introduced on the previous lecture.
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