Berikut ini adalah script MATLAB untuk menguji apakah sistem observable juga controllable.
clear all, close all, clc;
%% Define the matrices
A = [1 2;
7 2]
% A the state matrix
B = [1; 1]
% B the input vector
C = [1 0]
% C the output vector
D = zeros(size(C,1), size(B,2))
% D the feedforward
eig(A)
% eigenvalues of A
% -2.2749
% 5.2749
% it is not stable
%% Verify the controllability and observability
Cm = ctrb(A,B)
% Controllability matrix
Om = obsv(A,C)
% Observability matrix
if rank(Cm) == size(A,1)
'It is controllable'
else
'It is not controllable'
end
if rank(Om) == size(A,1)
'It is observable'
else
'It is not observable'
end
%% Define the matrices
A = [1 2;
7 2]
% A the state matrix
B = [1; 1]
% B the input vector
C = [1 0]
% C the output vector
D = zeros(size(C,1), size(B,2))
% D the feedforward
eig(A)
% eigenvalues of A
% -2.2749
% 5.2749
% it is not stable
%% Verify the controllability and observability
Cm = ctrb(A,B)
% Controllability matrix
Om = obsv(A,C)
% Observability matrix
if rank(Cm) == size(A,1)
'It is controllable'
else
'It is not controllable'
end
if rank(Om) == size(A,1)
'It is observable'
else
'It is not observable'
end
Lihat juga tentang.
Kendali state space MATLAB.
- State space to transfer function.
- Pole-placement.
- Linear-Quadratic Regulator.
- Bode plot diagram state space.