请问控制器sscp为列阵,怎样得出K(S)
程序为:
[ag,bg,cg,dg]=tf2ss([1 -1],[1 -2]);
ssg=mksys(ag,bg,cg,dg);
w1=[];w2=[0.1;1];w3=[];
[TSS]=augtf(ssg,w1,w2,w3);
[gamopt,acp,bcp,ccp,dcp,ac1,bc1,cc1,dc1]=hinfopt(TSS,1,[0.001,1,0]);
sscp=mksys(acp,bcp,ccp,dcp);
sscp
运行结果:
<< H-Infinity Optimal Control Synthesis >>
No Gamma D11<=1 P-Exist P>=0 S-Exist S>=0 lam(PS)<1 C.L.
------------------------------------------------------------------------------
1 1.0000e+000 OK OK OK OK OK OK STAB
2 2.0000e+000 OK OK OK OK OK FAIL UNST
3 1.5000e+000 OK OK OK OK OK OK STAB
4 1.7500e+000 OK OK OK OK OK FAIL UNST
5 1.6250e+000 OK OK OK OK OK FAIL UNST
6 1.5625e+000 OK OK OK OK OK FAIL UNST
7 1.5313e+000 OK OK OK OK OK FAIL UNST
8 1.5156e+000 OK OK OK OK OK FAIL UNST
9 1.5078e+000 OK OK OK OK OK OK STAB
10 1.5117e+000 OK OK OK OK OK OK STAB
11 1.5137e+000 OK OK OK OK OK OK STAB
12 1.5146e+000 OK OK OK OK OK OK STAB
Iteration no. 12 is your best answer under the tolerance: 0.0010 .
sscp =
1.0e+004 *
0.0005
2.9816
1.8341
2.7591
0
0.0012
0.0024
0.0030
0.0034
0.0038
0.0041
-0.0001
0.0010
0.0097
0.0044
0.0098
0.0044
0.0099
0.0044
0.0100
0.0044
0.0116
0.0121
0.0002
0.0002
0.0000
-0.0145
-0.0012
1.5440
0.0002
0.0001
0.0001
-0.0110
0.0001
0.0002
0.0002
-0.0166
0.0001
0.0001
0.0000
-0.0001
0.0002
0.0115
0.0115
大虾们,怎样由SSCP得出K(S),谢谢了! |
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