狀態(tài)觀測器設(shè)計

1、A=0,0,-2;1,0,9;0,1,0;B=3,2,1;C=0,0,1;ob=obsv(A,C);roam=rank(ob);if roam=3disp('系統(tǒng)可觀)elseif roam=3disp('系統(tǒng)不可觀)End系統(tǒng)可觀A=0,0,-2;1,0,9;0,1,0;B=3;2;1;C=0 0 1;P=-3,-4,-5;A1=A'B1=C'k=acker(A1,B1,P)G=(k)'agc=A-G*Ck =585612agc =00-6010-47>> A=1 2 0;3 -1 1;0 2 0;01-12B=0;0;1;C=-1 1 1

2、;D=0;P=-10 -1+i*sqrt(3) -1-i*sqrt(3);cam=ctrb(A,B);N=size(A);n=N(1);num,den=ss2tf(A,B,C,D);G=tf(num,den);if det(cam)=0roam=rank(cam);if roam=ndisp('system is controlled')elseif roam<ndisp('system is no controlled')endelseif det(cam)=0disp('system is no controlled')endif ro

3、am=nk=place(A,B,P)endsystem is controlled77.500033.000012.0000B=0;0;1;C=-1 1 1;D=0;P=-4 -3+i -3-i;cam=ctrb(A,B);N=size(A);n=N(1);num,den=ss2tf(A,B,C,D);G=tf(num,den);ob=obsv(A,C)roam=rank(ob);if roam=ndisp('system is observable')elseif roam=ndisp('system is no observable')endk=acker(

4、A',C',P);h=k'ahc=A-h*Cob =-1112-11-17-1 system is observable272413ahc =28-25-2727-25-2313-11-13>>>> A=0 1 0 0;0 0 -1 0;0 0 0 1;0 0 11 0;B=0;1;0;-1;C=1 0 0 0;ob=obsv(A,C);roam=rank(ob);if roam=4disp('system is obserbable')elseif roam=4disp('system is no obserbable&

5、#39;)endp1=-2 -3 -2+j -2-j;A1=A'B1=C'C1=B'K=acker(A1,B1,p1);G=(K)'agc=A-G*Csystem is obserbableG =942-148-492agc =-9100-420-101480014920110>>>> a=0 -1 0 0;0 0 1 0;0 11 0 0;1 0 0 0;b=1;0;-1;0;c=0 0 0 1;a11=a(1:3,1:3);a12=a(1:3,4);a21=a(4,1:3);a22=a(4,4);b1=b(1:3,1);b2=b(4,1);a1=a11;c1=a21;ax=(a1)'bx=(c1)'p=-3 -2+i -2-ik=acker(ax,bx,p);h=k'ahaz=(a11-h*a21)bhbu=b1-h*b2ahay=(a11-h*a21)*h+a12-h*a22p =-3.0000 + 0.0000i -2.0000 + 1