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// Pole placement controller using internal model principle, as discussed in Sec. 9.4.
// 9.8
// function [Rc,Sc,Tc,gamma,phit] = pp_im(B,A,k,phi,Delta)
// Calculates 2-DOF pole placement controller.
function [Rc,Sc,Tc,gamm] = pp_im(B,A,k,phi,Delta)
// Setting up and solving Aryabhatta identity
[Ag,Ab] = polsplit3(A); dAb = length(Ab) - 1;
[Bg,Bb] = polsplit3(B); dBb = length(Bb) - 1;
[zk,dzk] = zpowk(k);
[N,dN] = polmul(Bb,dBb,zk,dzk);
dDelta = length(Delta)-1;
[D,dD] = polmul(Ab,dAb,Delta,dDelta);
dphi = length(phi)-1;
[S1,dS1,R1,dR1] = xdync(N,dN,D,dD,phi,dphi);
// Determination of control law
Rc = convol(Bg,convol(R1,Delta)); Sc = convol(Ag,S1);
Tc = Ag; gamm = sum(phi)/sum(Bb);
endfunction;
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