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셈툴 튜토리얼

자동제어 | state feedback 제어기 설계 |

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작성자 cemtool 작성일14-09-25 09:33 조회10,653회 댓글5건

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다음과 같은 시스템에서 폐루프 step 응답의 overshoot가 25% 미만이고, 1% settling time이 0.115초 미만이 되도록 state feedback 제어기를 설계하고 CEMTool의 step 명령을 이용하여 조건에 맞는지 검증하시오.

ex7_33.cem
/*
  Exercise 7.33(b)*/
 
del *;
"**************************"
"**                      **"
"**   Exercise 7.33(b)   **"
"**                      **"
"**************************"
" "
sleep(2);
 
"Original system - state form"
" "
"CEMTool>> A = [0 1; 0 -10];"
"CEMTool>> B = [0; 1];"
"CEMTool>> C = [1 0];"
"CEMTool>> D = 0;"
" "
sleep(2);
 
A = [0 1; 0 -10];
B = [0; 1];
C = [1 0];
D = 0;
 
"control parameters"
" "
"CEMTool>> zeta = 0.404;"
"CEMTool>> ts = 0.114;"
"CEMTool>> wn = 4.6/(ts*zeta);"
"CEMTool>> r = roots([1, 2*zeta*wn, wn^2]);"
"CEMTool>> k = place(A,B,r);"
" "
sleep(2);
 
zeta = 0.404;
ts = 0.114;
wn = 4.6/(ts*zeta);
r = roots([1, 2*zeta*wn, wn^2]);
k = place(A,B,r);
 
"step response for controlled system"
" "
sleep(1);
 
step(A-B*k,B,C,D,1);





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