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authorSiddharth Agarwal2019-09-03 18:27:40 +0530
committerSiddharth Agarwal2019-09-03 18:27:40 +0530
commit8ac15bc5efafa2afc053c293152605b0e6ae60ff (patch)
treee1bc17aae137922b1ee990f17aae4a6cb15b7d87 /Working_Examples/3432/CH7/EX7.18/DEPENDENCIES
parent52a477ec613900885e29c4a0b02806a415b4f83a (diff)
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Xcos examples from textbooks and for blocksHEADmaster
Diffstat (limited to 'Working_Examples/3432/CH7/EX7.18/DEPENDENCIES')
-rwxr-xr-xWorking_Examples/3432/CH7/EX7.18/DEPENDENCIES/acker_dk.sci73
-rwxr-xr-xWorking_Examples/3432/CH7/EX7.18/DEPENDENCIES/fig_settings.sci9
2 files changed, 82 insertions, 0 deletions
diff --git a/Working_Examples/3432/CH7/EX7.18/DEPENDENCIES/acker_dk.sci b/Working_Examples/3432/CH7/EX7.18/DEPENDENCIES/acker_dk.sci
new file mode 100755
index 0000000..3391d24
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.18/DEPENDENCIES/acker_dk.sci
@@ -0,0 +1,73 @@
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+//A function written by Deepti Khimani.
+//Usage:-
+//[K, lambda]=acker_dk(a, b, pl)
+//K=acker_dk(a, b, pl)
+//a:- System matrix.
+//b:- input matrix.
+//p:- Desired poles.
+//K:-State feedback gain for the control law u=-Kx.
+//lambda:- Eigen values of (a-b*k)
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+
+function [K, lambda]=acker_dk(a, b, pl)
+ [lhs,rhs]=argn(0)
+
+ if rhs == 0 then
+ disp(["K=acker_dk(a, b, pl)";"[K, lambda]=acker_dk(a, b, pl)"]);
+ disp(["a:- System matrix";"b:- input matrix";"p:- Desired poles"]);
+ disp(["K:-State feedback gain for the control law u=-Kx";...
+ "lambda:- Eigen values of (a-b*k)"]);
+ return;
+ end
+[ra ca]=size(a);
+[rb cb]=size(b);
+l=length(pl);
+
+CO=cont_mat(a,b);
+
+if ra~=l then
+ error(["Dimension error:";"number of desired poles must equal...
+ to order of the system"]);
+elseif ra~=ca then
+ error(["Dimension error:";"system matrix should be...
+ a sqaure matrix"]);
+elseif rb~=ra then
+ error (["Dimension error:","Input matrix should have...
+ as many rows as a system matrix."]);
+elseif rank(CO)<ra then
+ error("system is not controllable");
+end
+//------------------------------------------------------------------
+//controllable canonical form
+[Ac,Bc,T,ind]=canon(a,b);
+
+//CO=zeros(ra,cb);
+for i=1:ra
+ CO(:,ra+1-i)=Ac^(i-1)*Bc;
+end
+//------------------------------------------------------------------
+chr_eq=poly(pl,'s');
+des_chr_coeff=coeff(chr_eq);
+
+des_chr_coeff=des_chr_coeff(1:ra);
+alpha_c=Ac^ra;
+
+for k=1:ra
+ alpha_c=alpha_c + des_chr_coeff(k)*Ac^(k-1)
+end
+//------------------------------------------------------------------
+//State feedback gain
+temp=zeros(1,ra);
+temp(1)=1;
+K=temp*inv(CO)*alpha_c;
+K=K/T;
+lambda=spec(a-b*K);
+endfunction
+//------------------------------------------------------------------
+
+
+
+
diff --git a/Working_Examples/3432/CH7/EX7.18/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.18/DEPENDENCIES/fig_settings.sci
new file mode 100755
index 0000000..5d5e7d4
--- /dev/null
+++ b/Working_Examples/3432/CH7/EX7.18/DEPENDENCIES/fig_settings.sci
@@ -0,0 +1,9 @@
+//------------------------------------------------------------------
+//figure handel settings
+f=get("current_figure"); //Current figure handle
+f.background=8; //make the figure window background white
+l=f.children(1);
+l.background=8 ;//make the text background white
+id=color('grey');
+xgrid(id);
+//------------------------------------------------------------------