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  • Assignment 3lst

    Transféré par

    migmake
    10 vues10 pages

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    Attribution Non-Commercial (BY-NC)
    Téléchargez comme DOC, PDF, TXT ou lisez en ligne sur Scribd
    Signaler comme contenu inapproprié
    10 vues10 pages

    Assignment 3lst

    Transféré par

    migmake

    Droits d'auteur :

    Attribution Non-Commercial (BY-NC)
    Téléchargez comme DOC, PDF, TXT ou lisez en ligne sur Scribd
    Signaler comme contenu inapproprié
    sur 10

    QUESTION 1

    A=[0 1;-8 -6];B=[0;1];C=[1 0 ];D=0;


    t=0:0.05:20;
    u=ones(size(t));
    X0=[1 0 ];
    [Y X]=lsim(A,B,C,D,u,t,X0);

    subplot(6,1,1);
    plot(t,X)
    legend('X1','X2');
    subplot(6,1,2);
    Y=[Y ones(size(Y))];
    plot(t,Y)
    legend('output','input');
    AXIS([0 10 0 2])

    u=sin(t);
    [Y X]=lsim(A,B,C,D,u,t,X0);
    subplot(6,1,3);
    plot(t,X)
    legend('X1','X2');
    subplot(6,1,4);
    gar=(sin(t));
    Y=[Y gar'];
    plot(t,Y)
    legend('output','input');
    AXIS([0 10 -2 2])

    u=square(t);
    [Y X]=lsim(A,B,C,D,u,t,X0);
    subplot(6,1,5);
    plot(t,X)
    legend('X1','X2');
    subplot(6,1,6);
    gar1=square(t);
    Y=[Y gar1'];
    plot(t,Y)
    legend('output','input');
    AXIS([0 10 -2 2])
    state=ss(A,B,C,D);
    Con=ctrb(state)
    Obs=obsv(state)
    if det(Con)~=0
    disp('System is controllable')
    else
    disp('System is not controllable')
    end

    if det(Obs)~=0
    disp('System is observable')
    else
    disp('System is not observable')
    end
    Con =

    0 1
    1 -6

    Obs =

    1 0
    0 1

    System is controllable
    System is observable

    PHASE PORTRAIT:
    [x1 x2]= meshgrid(-.5:.05:0.5,-0.5:0.05:.5);
    x1d=x2;
    x2d=-8*x1-6*x2;
    quiver(x1,x2,x1d,x2d)

    QUESTION 2(A)
    A=[0 1;-2 -3];B=[0;1];C=[1 0 ];D=0;
    t=0:0.05:20;
    u=ones(size(t));
    X0=[0 0 ];
    [Y X]=lsim(A,B,C,D,u,t,X0);

    subplot(6,1,1);
    plot(t,X)
    legend('X1','X2');
    subplot(6,1,2);
    Y=[Y ones(size(Y))];
    plot(t,Y)
    legend('output','input');
    AXIS([0 10 0 2])

    u=sin(t);
    [Y X]=lsim(A,B,C,D,u,t,X0);
    subplot(6,1,3);
    plot(t,X)
    legend('X1','X2');
    subplot(6,1,4);
    gar=(sin(t));
    Y=[Y gar'];
    plot(t,Y)
    legend('output','input');
    AXIS([0 10 -2 2])

    u=square(t);
    [Y X]=lsim(A,B,C,D,u,t,X0);
    subplot(6,1,5);
    plot(t,X)
    legend('X1','X2');
    subplot(6,1,6);
    gar1=square(t);
    Y=[Y gar1'];
    plot(t,Y)
    legend('output','input');
    AXIS([0 10 -2 2])

     
     

    QUESTION 2(B)
    A=[0 1;-2 -3];B=[0;1];C=[1 0 ];D=0;
    t=0:0.05:20;
    u=ones(size(t));
    X0=[1 2];
    [Y X]=lsim(A,B,C,D,u,t,X0);

    subplot(6,1,1);
    plot(t,X)
    legend('X1','X2');
    subplot(6,1,2);
    Y=[Y ones(size(Y))];
    plot(t,Y)
    legend('output','input');
    AXIS([0 10 0 2])

    u=sin(t);
    [Y X]=lsim(A,B,C,D,u,t,X0);
    subplot(6,1,3);
    plot(t,X)
    legend('X1','X2');
    subplot(6,1,4);
    gar=(sin(t));
    Y=[Y gar'];
    plot(t,Y)
    legend('output','input');
    AXIS([0 10 -2 2])

    u=square(t);
    [Y X]=lsim(A,B,C,D,u,t,X0);
    subplot(6,1,5);
    plot(t,X)
    legend('X1','X2');
    subplot(6,1,6);
    gar1=square(t);
    Y=[Y gar1'];
    plot(t,Y)
    legend('output','input');
    AXIS([0 10 -2 2])

    QUESTION 3
    A=[-1 -.5;1 0];B=[.5;0];C=[1 0 ];D=0;
    t=0:0.05:20;
    u=ones(size(t));
    X0=[0 0];
    [Y X]=lsim(A,B,C,D,u,t,X0);

    subplot(6,1,1);
    plot(t,X)
    legend('X1','X2');
    subplot(6,1,2);
    Y=[Y ones(size(Y))];
    plot(t,Y)
    legend('output','input');
    AXIS([0 10 0 2])

    u=sin(t);
    [Y X]=lsim(A,B,C,D,u,t,X0);
    subplot(6,1,3);
    plot(t,X)
    legend('X1','X2');
    subplot(6,1,4);
    gar=(sin(t));
    Y=[Y gar'];
    plot(t,Y)
    legend('output','input');
    AXIS([0 10 -2 2])

    u=square(t);
    [Y X]=lsim(A,B,C,D,u,t,X0);
    subplot(6,1,5);
    plot(t,X)
    legend('X1','X2');
    subplot(6,1,6);
    gar1=square(t);
    Y=[Y gar1'];
    plot(t,Y)
    legend('output','input');
    AXIS([0 10 -2 2])

    QUESTION 4
    A=[0 1 0;0 0 1;-1 -2 -3];B=[0;0;1];C=[1 0 0];D=0;
    t=0:0.05:20;
    u=ones(size(t));
    X0=[0 0 0];
    [Y X]=lsim(A,B,C,D,u,t,X0);

    subplot(6,1,1);
    plot(t,X)
    legend('X1','X2');
    subplot(6,1,2);
    Y=[Y ones(size(Y))];
    plot(t,Y)
    legend('output','input');
    AXIS([0 10 0 2])

    u=sin(t);
    [Y X]=lsim(A,B,C,D,u,t,X0);
    subplot(6,1,3);
    plot(t,X)
    legend('X1','X2');
    subplot(6,1,4);
    gar=(sin(t));
    Y=[Y gar'];
    plot(t,Y)
    legend('output','input');
    AXIS([0 10 -2 2])

    u=square(t);
    [Y X]=lsim(A,B,C,D,u,t,X0);
    subplot(6,1,5);
    plot(t,X)
    legend('X1','X2');
    subplot(6,1,6);
    gar1=square(t);
    Y=[Y gar1'];
    plot(t,Y)
    legend('output','input');
    AXIS([0 10 -2 2])

    DISCRETE TIME
    QUESTION 1
    a=[0 1;-2 -3]; b=[0; 1]; c=[1 0]; d=0;

    sys=ss(a,b,c,d);

    T=0.01;

    sysd=c2d(sys,T)

    t=0:1:800;

    u=[1*ones(size(t))]';

    dlsim(sysd.a,sysd.b,sysd.c,sysd.d,u)

    a=

    x1 x2

    x1 0.9999 0.009851

    x2 -0.0197 0.9703

    b=

    u1

    x1 4.95e-005

    x2 0.009851

    c=

    x1 x2

    y1 1 0

    Sampling time: 0.01

    Discrete-time model.

    QUESTION 2
    a=[0 1;0 -2]; b=[0; 1]; c=[1 0]; d=0;
    sys=ss(a,b,c,d);

    T=1;

    sysd=c2d(sys,T)

    t=0:1:800;

    u=[1*ones(size(t))]';

    dlsim(sysd.a,sysd.b,sysd.c,sysd.d,u)

    Result: 

    a =  

               x1      x2 

       x1       1  0.4323 

       x2       0  0.1353  

    b =  

               u1 

       x1  0.2838 

       x2  0.4323  

    c =  

             x1  x2 

       y1   1   0  

    Sampling time: 1 

    Discrete‐time model.

    QUESTION 3
    a=[0 1;-2 -3]; b=[0; 1]; c=[3 1]; d=0;
    t=0:1:6;

    u=[1*ones(size(t))]';

    dlsim(a,b,c,d,u)

    QUESTION 4
    a=[0 1;-0.16 -1]; b=[1; 1]; c=[1 0]; d=0;

    t=0:1:30;

    u=[1*ones(size(t))]';

    dlsim(a,b,c,d,u)

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