... 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)
a = 1 ver t = [1 2 3] pwd ls foo pwd bar s = tf('s') G1 = 1 / (s+1); G2 = 1 / (s^2 + 0.1*s + 1); G1 G2 A = [-0.3, -1; 1, 0]; B = [1; 0]; C = [0, 1]; D = 0; G3 = ss(A, B, C, D); G3 bode(G1, 'b-', G2, 'g', G3, 'r--'); grid on; G2 G2.den G2.den{:} roots(G2.den{:}) G3.a eig(G3.a) mod0912_1 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) nyquist(L*1.25) nyquist(L) clp_den = L.den{:} + L.num{:}; roots(clp_den) ex0912_2 mod0912_2 L = 1.5*L
mod0919 A = [1, 2, 3; 4, 5, 6; 7, 8, 9] eig(A) B = [1; 1; 1] Uc = ctrb(A, B) det(Uc) B = [1; 0; 0] Uc = ctrb(A, B) det(Uc) help are P = are(A, B/R*B', Q) Q = eye(3) R = 1 P = are(A, B/R*B', Q) P = are(A, B*inv(R)*B', Q) P - P' eig(P) x(0) x0 = [1; 1; 1] x0'*P*x0 F = R\B'*P C = eye(3) D = [0; 0; 0] J
s = tf('s') G = 1/(s+1) norm(G, 'inf') G = s/(s+1) norm(G, 'inf') G = 1/(s^2+0.1*s+1) bodemag(G) norm(G, 'inf') bodemag(G, 'b', ss(10.0125), 'r--') G = 1/(s^2+0.5*s+1) norm(G, 'inf') bodemag(G, 'b', ss(2.0656), 'r--') ex0926_1 ex0926_2 eig(K_hinf)
ex1010_1 ex1010_2 WT] WT P0 P0_jw ex1010_3 mod1010
#################### the remaining page is under construction ###################
%-- 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
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#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
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%-- 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)
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%-- 11/1/2012 1:37 PM --% ex1101_1 ex1101_2 K ex1101_2 ex1101_3
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%-- 11/8/2012 1:29 PM --% ex1101_4 ex1101_1 ex1101_2 ex1101_3 ex1101_4 ex1101_5
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%-- 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')
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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"
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#ref(): File not found: "nominal.m" at page "授業/制御工学特論2013"
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>> freqresp >> nominal >> weight
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>> cont
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#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')
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... please use the potentio meter output as the measured output instead the PSD output (2012.12.13)
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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');
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#ref(): File not found: "load_frdata.m" at page "授業/制御工学特論2013"