%-- 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
%-- 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)
%-- 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
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! the followings are under construction !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
#ref(): File not found: "norm.pdf" at page "授業/制御工学特論2012"
#ref(): File not found: "norm2.pdf" at page "授業/制御工学特論2012"
#ref(): File not found: "feedback_control_theory.jpg" at page "授業/制御工学特論2012"
#ref(): File not found: "robust_and_optimal_control.jpg" at page "授業/制御工学特論2012"
#ref(): File not found: "2011.10.27-1.jpg" at page "授業/制御工学特論2012"
#ref(): File not found: "2011.10.27-2.jpg" at page "授業/制御工学特論2012"
#ref(): File not found: "2011.10.27-3.jpg" at page "授業/制御工学特論2012"
#ref(): File not found: "2011.10.27-4.jpg" at page "授業/制御工学特論2012"
#ref(): File not found: "2011.10.27-5.jpg" at page "授業/制御工学特論2012"
#ref(): File not found: "aa-111110-1.jpg" at page "授業/制御工学特論2012"
#ref(): File not found: "aa-111110-2.jpg" at page "授業/制御工学特論2012"
#ref(): File not found: "aa-111110-3.jpg" at page "授業/制御工学特論2012"
#ref(): File not found: "aa-111110-4.jpg" at page "授業/制御工学特論2012"
#ref(): File not found: "apparatus.ppt" at page "授業/制御工学特論2012"
#ref(): File not found: "setup.pdf" at page "授業/制御工学特論2012"
#ref(): File not found: "frdata_small_offset0.dat" at page "授業/制御工学特論2012"
#ref(): File not found: "frdata_small_offset5.dat" at page "授業/制御工学特論2012"
#ref(): File not found: "frdata_small_offset10.dat" at page "授業/制御工学特論2012"
#ref(): File not found: "frdata_large_offset0.dat" at page "授業/制御工学特論2012"
#ref(): File not found: "frdata_large_offset5.dat" at page "授業/制御工学特論2012"
#ref(): File not found: "frdata_large_offset10.dat" at page "授業/制御工学特論2012"
>> freqresp >> nominal >> weight
>> cont
#ref(): File not found: "result_small.dat" at page "授業/制御工学特論2012"
#ref(): File not found: "result_large.dat" at page "授業/制御工学特論2012"
if((t > 3)&&(t < 7)){ r = 10.0; }else{ r = 5; }
thetaM_rad = (double)read_theta(0) / (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.
#ref(): File not found: "2011.12.08-1.jpg" at page "授業/制御工学特論2012"
%-- 12/8/2011 1:22 PM --% freqresp nominal weight load result_small.dat result_small plot(result_small(:,1),result_small(:,2)) plot(result_small(:,1),result_small(:,2), 'b', result_small(:,1),result_small (:,4),'r')
#ref(): File not found: "2011.12.15-1.jpg" at page "授業/制御工学特論2012"
#ref(): File not found: "2011.12.15-2.jpg" at page "授業/制御工学特論2012"
%-- 12/15/2011 1:06 PM --% cont help hinfsyn K Ktf = tf(K) bode(K, 'r', Ktf, 'b') legend('ss', 'tf') help fitsys
#ref(): The style ref(filename,pagename) is ambiguous and become obsolete. Please try ref(pagename/filename)
#ref(): File not found: "compare_result.m" at page "授業/制御工学特論2012"
%-- 12/22/2011 1:20 PM --% nominal ctrlpref nominal weight cont ks cont compare_result