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author | Siddharth Agarwal | 2019-09-03 18:27:40 +0530 |
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committer | Siddharth Agarwal | 2019-09-03 18:27:40 +0530 |
commit | 8ac15bc5efafa2afc053c293152605b0e6ae60ff (patch) | |
tree | e1bc17aae137922b1ee990f17aae4a6cb15b7d87 /Working_Examples/3432/CH7/EX7.34/DEPENDENCIES | |
parent | 52a477ec613900885e29c4a0b02806a415b4f83a (diff) | |
download | Xcos_block_examples-8ac15bc5efafa2afc053c293152605b0e6ae60ff.tar.gz Xcos_block_examples-8ac15bc5efafa2afc053c293152605b0e6ae60ff.tar.bz2 Xcos_block_examples-8ac15bc5efafa2afc053c293152605b0e6ae60ff.zip |
Diffstat (limited to 'Working_Examples/3432/CH7/EX7.34/DEPENDENCIES')
-rwxr-xr-x | Working_Examples/3432/CH7/EX7.34/DEPENDENCIES/acker_dk.sci | 73 | ||||
-rwxr-xr-x | Working_Examples/3432/CH7/EX7.34/DEPENDENCIES/fig_settings.sci | 9 |
2 files changed, 82 insertions, 0 deletions
diff --git a/Working_Examples/3432/CH7/EX7.34/DEPENDENCIES/acker_dk.sci b/Working_Examples/3432/CH7/EX7.34/DEPENDENCIES/acker_dk.sci new file mode 100755 index 0000000..3391d24 --- /dev/null +++ b/Working_Examples/3432/CH7/EX7.34/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/EX7.34/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH7/EX7.34/DEPENDENCIES/fig_settings.sci new file mode 100755 index 0000000..5d5e7d4 --- /dev/null +++ b/Working_Examples/3432/CH7/EX7.34/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);
+//------------------------------------------------------------------
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