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Diffstat (limited to 'modules/cacsd/macros/obscont.sci')
| -rwxr-xr-x | modules/cacsd/macros/obscont.sci | 22 |
1 files changed, 22 insertions, 0 deletions
diff --git a/modules/cacsd/macros/obscont.sci b/modules/cacsd/macros/obscont.sci new file mode 100755 index 000000000..e79d6ec29 --- /dev/null +++ b/modules/cacsd/macros/obscont.sci @@ -0,0 +1,22 @@ +// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab +// Copyright (C) INRIA - +// +// This file must be used under the terms of the CeCILL. +// This source file is licensed as described in the file COPYING, which +// you should have received as part of this distribution. The terms +// are also available at +// http://www.cecill.info/licences/Licence_CeCILL_V2.1-en.txt + +function [K,r]=obscont(P,Kc,Kf) + //Returns the observer-based controller associated with a + //plant P=[A,B,C,D]. The full-state control gain is Kc and filter + //gain is Kf. A+B*Kc and A+C*Kf are assumed stable. + + [LHS,RHS]=argn(0) + [A,B,C,D]=abcd(P); + K=syslin(P(7),A+B*Kc+Kf*C+Kf*D*Kc,-Kf,Kc) + if LHS==1 then r=[];return;end + zro=0*Kc*Kf;I1=eye(Kc*B);I2=eye(C*Kf); + K=syslin(P(7),A+B*Kc+Kf*C+Kf*D*Kc,[-Kf,B+Kf*D],[Kc;-C-D*Kc],[zro,I1;I2,-D]); + r=size(D); +endfunction |