---------- the remaining page is under construction (the contents below are from 2013)----------
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)
#ref(): File not found: "mod0912_1.mdl" at page "授業/制御工学特論2014"
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)
#ref(): File not found: "mod0912_2.mdl" at page "授業/制御工学特論2014"
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
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#ref(): File not found: "J.pdf" at page "授業/制御工学特論2014"
#ref(): File not found: "mod0919.mdl" at page "授業/制御工学特論2014"
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
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#ref(): File not found: "ex0926_1.m" at page "授業/制御工学特論2014"
#ref(): File not found: "ex0926_2.m" at page "授業/制御工学特論2014"
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)
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#ref(): File not found: "mod1010.mdl" at page "授業/制御工学特論2014"
ex1010_1 ex1010_2 WT] WT P0 P0_jw ex1010_3 mod1010
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#ref(): File not found: "ex1017.m" at page "授業/制御工学特論2014"
j A = [1, j; 0, 2] A' eig(A'*A) sqrt(ans) 3+sqrt(5) sqrt(3+sqrt(5)) sqrt(3-sqrt(5)) A [U,S,V] = svd(A) U'*U U*U' help svd ex1017
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... sorry for missing to take photo ... mini report #1: write by hand; submit at the beginning of the next lecture; You will have a mini exam #1 related to this report on 31st Oct.
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#ref(): File not found: "ex1024_1.m" at page "授業/制御工学特論2014"
#ref(): File not found: "ex1024_2.m" at page "授業/制御工学特論2014"
#ref(): File not found: "ex1024_3.m" at page "授業/制御工学特論2014"
... SSR of generalized plant#ref(): File not found: "ex1024_4.m" at page "授業/制御工学特論2014"
ex1024_1 ex1024_2 ex1024_3 ex1024_4
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%-- 10/31/2013 1:02 PM --% A = [j, 0; -j, 0] A = [j, 0; -j, 1] svd(A) sqrt((3+sqrt(5))/2) sqrt((3-sqrt(5))/2) ex1024_2 ex1024_3 ex1024_4 ex1031_1
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#ref(): File not found: "ex1114_1.m" at page "授業/制御工学特論2014"
ex1024_2 ex1024_3 ex1024_4 ex1024_5 ex1031_1 gam ex1024_3 gam ex1031_2 help lft ex1031_2 ex1031_1 ex1031_2
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ex1024_2 ex1024_3 gam ex1024_4 ex1031_1 gam ex1031_2 ex1114_1 gam
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#ref(): File not found: "ex1128_1.m" at page "授業/制御工学特論2014"
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due to the difficulty of the inverted and short pendulum, the control target has been changed to an non-inverted and longer pendulum (I'm sorry)#ref(): File not found: "frdata_0.5mm.dat" at page "授業/制御工学特論2014"
#ref(): File not found: "freqresp_fixed.m" at page "授業/制御工学特論2014"
#ref(): File not found: "check_pcont.m" at page "授業/制御工学特論2014"
#ref(): File not found: "cont_P.dat" at page "授業/制御工学特論2014"
#ref(): File not found: "cont_P_order.dat" at page "授業/制御工学特論2014"
#ref(): File not found: "result_P.dat" at page "授業/制御工学特論2014"
#ref(): File not found: "result_openloop.dat" at page "授業/制御工学特論2014"
#ref(): File not found: "openloop.mp4" at page "授業/制御工学特論2014"
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#ref(): File not found: "weight_ex2.m" at page "授業/制御工学特論2014"
#ref(): File not found: "cont_ex2.m" at page "授業/制御工学特論2014"
>> weight_ex2 >> cont_ex2
#ref(): File not found: "cont_ex2.dat" at page "授業/制御工学特論2014"
#ref(): File not found: "cont_ex2_order.dat" at page "授業/制御工学特論2014"
#ref(): File not found: "cont_ex2.mat" at page "授業/制御工学特論2014"
#ref(): File not found: "result_ex2.dat" at page "授業/制御工学特論2014"
#ref(): File not found: "nominal_ex3.m" at page "授業/制御工学特論2014"
... n4sid is not available IPC! (19 Dec.)#ref(): File not found: "weight_ex3.m" at page "授業/制御工学特論2014"
#ref(): File not found: "cont_ex3.m" at page "授業/制御工学特論2014"
>> nominal_ex3 >> weight_ex3 >> cont_ex3
#ref(): File not found: "cont_ex3.dat" at page "授業/制御工学特論2014"
#ref(): File not found: "cont_ex3_order.dat" at page "授業/制御工学特論2014"
#ref(): File not found: "cont_ex3.mat" at page "授業/制御工学特論2014"
#ref(): File not found: "result_ex3.dat" at page "授業/制御工学特論2014"
#ref(): File not found: "ex3.mp4" at page "授業/制御工学特論2014"
#ref(): File not found: "weight_ex4.m" at page "授業/制御工学特論2014"
#ref(): File not found: "cont_ex4.m" at page "授業/制御工学特論2014"
>> weight_ex4 >> cont_ex4
#ref(): File not found: "cont_ex4.dat" at page "授業/制御工学特論2014"
#ref(): File not found: "cont_ex4_order.dat" at page "授業/制御工学特論2014"
#ref(): File not found: "cont_ex4.mat" at page "授業/制御工学特論2014"
#ref(): File not found: "result_ex4.dat" at page "授業/制御工学特論2014"
#ref(): File not found: "ex4.mp4" at page "授業/制御工学特論2014"
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[IMPORTANT] Due to unavailability of n4sid in IPC which is used in cont_ex3.m, please compare your controller and example 2 (not 3) in your report. The explanation of the report has been modified due to this change. See above.
freqresp_fixed frdata check_pcont weight_ex2 freqresp_fixed weight_ex2 cont_ex2 nominal_ex3 weight_ex4 cont_ex4 compare
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