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    Tutorial 10 Done by - Vaishnav Shankar Roll No - 37 REG NO - 150906260

    Uploaded by

    nischay
    This document contains 4 code examples that analyze control systems using state-space models. The first example checks if a system is observable and controllable. The second designs a state feedback controller to stabilize an unstable system. The third uses Ackermann's method to design a state feedback controller. The fourth designs a state feedback controller and observer to control a system with two states.

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    Tutorial 10 Done by - Vaishnav Shankar Roll No - 37 REG NO - 150906260

    Uploaded by

    nischay
    28 views12 pages
    This document contains 4 code examples that analyze control systems using state-space models. The first example checks if a system is observable and controllable. The second designs a state feedback controller to stabilize an unstable system. The third uses Ackermann's method to design a state feedback controller. The fourth designs a state feedback controller and observer to control a system with two states.

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    This document contains 4 code examples that analyze control systems using state-space models. The first example checks if a system is observable and controllable. The second designs a state feedback controller to stabilize an unstable system. The third uses Ackermann's method to design a state feedback controller. The fourth designs a state feedback controller and observer to control a system with two states.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    28 views12 pages

    Tutorial 10 Done by - Vaishnav Shankar Roll No - 37 REG NO - 150906260

    Uploaded by

    nischay
    This document contains 4 code examples that analyze control systems using state-space models. The first example checks if a system is observable and controllable. The second designs a state feedback controller to stabilize an unstable system. The third uses Ackermann's method to design a state feedback controller. The fourth designs a state feedback controller and observer to control a system with two states.

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    TUTORIAL 10

    DONE BY -
    VAISHNAV SHANKAR
    ROLL NO – 37
    REG NO – 150906260

    1]

    CODE -
    A=[-2 -1 -3; 0 -2 1; -7 -8 -9]
    B=[2;1;2];
    C=[ 4 6 8];
    Q=obsv(A,C)
    d=det(Q)
    r=rank(Q)
    if(size(Q)==r)
    disp('Observable s/m')
    else
    disp('not observable')
    end
    t=ctrb(A,B)
    D=det(t)
    R=rank(t)
    if(size(t)==R)
    disp('CONTROLABLE s/m')
    else
    disp('not CONTROLLABLE')
    end

    OUTPUT-
    A=
    -2 -1 -3
    0 -2 1
    -7 -8 -9
    Q=
    4 6 8
    -64 -80 -78
    674 848 814

    d=
    -1.5760e+03
    r= 3

    Observable s/m
    t=
    2 -11 142
    1 0 -40
    2 -40 437

    D=
    -3.1930e+03

    R=
    3
    CONTROLABLE s/m

    2]

    CODE -
    num=20*[1 5]
    den=poly([0 -1 -4])
    sys=tf(num,den)
    [a b c d] = tf2ss(num,den)
    ap=fliplr(flipud(a))
    bp=flipud(b);
    cp=fliplr(c)
    dp=d
    pos=9.5;
    ts=0.74;
    z=(-log(pos/100))/(sqrt(pi^2+log(pos/100)^2))
    wn =4/(z*ts)
    [num,den]=ord2(wn,z)
    r=roots(den)
    p1=[r(1) r(2) -5]
    k=acker(ap,bp,p1)
    anew=ap-bp*k;
    tss=ss(anew,bp,cp,dp)
    figure,step(feedback(sys,1))
    figure,step(tss)

    OUTPUT-
    num =
    20 100
    den =
    1 5 4 0
    sys =
    20 s + 100
    -----------------
    s^3 + 5 s^2 + 4 s

    Continuous-time transfer function.


    a=
    -5 -4 0
    1 0 0
    0 1 0

    b=
    1
    0
    0
    c=
    0 20 100

    d= 0
    ap =
    0 1 0
    0 0 1
    0 -4 -5
    cp =
    100 20 0

    dp = 0

    z=
    0.5996

    wn =
    9.0147

    num =
    1

    den =
    1.0000 10.8108 81.2645
    r=
    -5.4054 + 7.2143i -5.4054 - 7.2143i

    p1 =
    -5.4054 + 7.2143i -5.4054 - 7.2143i -5.0000 + 0.0000i

    k=
    406.3226 131.3186 10.8108

    tss =

    A=
    x1 x2 x3
    x1 0 1 0
    x2 0 0 1
    x3 -406.3 -135.3 -15.81

    B=
    u1
    x1 0
    x2 0
    x3 1

    C=
    x1 x2 x3
    y1 100 20 0

    D=
    u1
    y1 0

    Continuous-time state-space model.


    3]

    CODE -
    clc;clear;
    num = 407*[1 .916];
    den= poly([-1.27 -2.69]);
    sys= tf(num,den);
    [a b c d]=tf2ss(num,den);
    ap= fliplr(flipud(a));
    bp= flipud(b);
    cp= fliplr(c);
    dp=d;

    z= 0.7; wn= 100;


    [num,den]= ord2(wn,z);
    r= roots(den);
    p1= [r(1) r(2)];
    l= acker(ap',cp',p1)'

    OUTPUT-
    l=
    -38.6236
    35.7135

    4]

    CODE -
    A=[0 -83.33; 500 -10];
    B=[166.67;0];
    C=[0 1];
    D=0;
    [n d]=ss2tf(A,B,C,D)
    %state feedback controller
    AP=fliplr(flipud(A));
    BP=flipud(B)
    CP=fliplr(C);
    DP=D;

    pos=20;
    Ts=0.5;
    z=(-log(pos/100))/(sqrt(pi^2+log(pos/100)^2))
    wn=4/(z*Ts);

    [num,den]=ord2(wn,z);
    r=roots(den);
    P1=[r(1) r(2)];

    K=acker(AP,BP,P1)

    Anew=AP-BP*K;

    Tss=ss(Anew,BP,CP,DP)
    [num den]=ss2tf(Anew,BP,CP,DP);
    figure(1)
    step(num,den)
    title('With Controller')

    figure(2)
    step(n,d)
    title('Given System')

    %observer
    L=acker(AP',CP',P1)'
    Z=[0 0;0 0];
    BPP=[BP;0;0];
    CPP=[CP 0 0];
    Anew1=[AP-BP*K BP*K;Z AP-L*CP]
    Oss=ss(Anew1,BPP,CPP,DP)

    [num1 den1]=ss2tf(Anew1,BPP,CPP,DP);
    figure(3)
    step(num1,den1)
    title('With Controller and Observed’)

    OUTPUT-
    n= 0 0 83335
    d=
    1.0e+04 *
    0.0001 0.0010 4.1665

    BP =
    0
    166.6700

    z=
    0.4559

    K=
    -0.4970 0.0360

    Tss =

    A=
    x1 x2
    x1 -10 500
    x2 -0.4957 -6

    B=
    u1
    x1 0
    x2 166.7

    C=
    x1 x2
    y1 1 0

    D=
    u1
    y1 0
    Continuous-time state-space model.

    L=
    6.0000
    -82.7143

    Anew1 =
    -10.0000 500.0000 0 0
    -0.4957 -6.0000 -82.8343 6.0000
    0 0 -16.0000 500.0000
    0 0 -0.6157 0

    Oss =
    A=
    x1 x2 x3 x4
    x1 -10 500 0 0
    x2 -0.4957 -6 -82.83 6
    x3 0 0 -16 500
    x4 0 0 -0.6157 0

    B=
    u1
    x1 0
    x2 166.7
    x3 0
    x4 0

    C=
    x1 x2 x3 x4
    y1 1 0 0 0
    D=
    u1
    y1 0

    Continuous-time state-space model.

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