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  • For Pole Placed at (S+6) + 4 With Equilibrium State at 0

    Transféré par

    hanytheking
    24 vues8 pages
    The document contains code for calculating state feedback gains (G) for a pole placement problem with a pendulum system. There are 4 sections that calculate G for different closed loop pole placements and equilibrium states (θ=0, θ=π). The gains are calculated using the acker and place functions based on the system matrices A, B, C, and desired closed loop poles.

    Description originale:

    pen1

    Titre original

    PEN1

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    The document contains code for calculating state feedback gains (G) for a pole placement problem with a pendulum system. There are 4 sections that calculate G for different closed loop pole placements and equilibrium states (θ=0, θ=π). The gains are calculated using the acker and place functions based on the system matrices A, B, C, and desired closed loop poles.

    Droits d'auteur :

    © All Rights Reserved
    Téléchargez comme DOCX, PDF, TXT ou lisez en ligne sur Scribd
    Signaler comme contenu inapproprié
    24 vues8 pages

    For Pole Placed at (S+6) + 4 With Equilibrium State at 0

    Transféré par

    hanytheking
    The document contains code for calculating state feedback gains (G) for a pole placement problem with a pendulum system. There are 4 sections that calculate G for different closed loop pole placements and equilibrium states (θ=0, θ=π). The gains are calculated using the acker and place functions based on the system matrices A, B, C, and desired closed loop poles.

    Droits d'auteur :

    © All Rights Reserved
    Téléchargez comme DOCX, PDF, TXT ou lisez en ligne sur Scribd
    Signaler comme contenu inapproprié
    sur 8

    PEN

    Que. (5)
    For pole placed at (S+6)2 + 42 with equilibrium state at 𝛉 = 0

    A = [0 1;12 -4];
    B = [0;1];
    C = eye(2,2);
    D = [0 ; 0];
    ecl = [-6+4j, -6-4j]; %Closed loop eigenvalues
    g = acker(A,B,ecl)
    g = place(A,B,ecl)
    For pole placed at (S2 + 18S + 80) with equilibrium state at 𝛉 = 0

    A = [0 1;12 -4];
    B = [0;1];
    C = eye(2,2);
    D = [0 ; 0];
    ecl = [-8, -10]; %Closed loop eigenvalues
    g = acker(A,B,ecl)
    g = place(A,B,ecl)
    For pole placed at (S+6)2 + 42 with equilibrium state at 𝛉 = π
    A = [0 1;-12 -4];
    B = [0;1];
    C = eye(2,2);
    D = [0 ; 0];
    ecl = [-6+4j, -6-4j]; %Closed loop eigenvalues
    g = acker(A,B,ecl)
    g = place(A,B,ecl)
    For pole placed at (S2 + 18S + 80) with equilibrium state at 𝛉 = π

    A = [0 1;-12 -4];
    B = [0;1];
    C = eye(2,2);
    D = [0 ; 0];
    ecl = [-8, -10]; %Closed loop eigenvalues
    g = acker(A,B,ecl)
    g = place(A,B,ecl)
    Que. (6)
    For pole placed at (S+6)2 + 42 with equilibrium state at 𝛉 = 0

    A=[0 1;12 -4];


    B=[0;1];
    C=[1 0];
    G=[64 8];
    Ac=A-B*G
    Bnum=inv(C*inv(Ac)*B)*C*inv(Ac)
    E=[0;6];
    G0=Bnum*E

    Key: Dotted line graph shows the steady state error goes to zero.
    For pole placed at (S2 + 18S + 80) with equilibrium state at 𝛉 = 0

    A=[0 1;12 -4];


    B=[0;1];
    C=[1 0];
    G=[92 14];
    Ac=A-B*G
    Bnum=inv(C*inv(Ac)*B)*C*inv(Ac)
    E=[0;6];
    G0=Bnum*E

    function dx = ipend(u,x)
    %#codegen
    dx1=x(2);
    dx2=12*sin(x(1))-4*x(2)+u;
    dx = [dx1;dx2];
    For pole placed at (S+6)2 + 42 with equilibrium state at 𝛉 = π

    A=[0 1;-12 -4];


    B=[0;1];
    C=[1 0];
    G=[40 8];
    Ac=A-B*G
    Bnum=inv(C*inv(Ac)*B)*C*inv(Ac)
    E=[0;6];
    G0=Bnum*E
    For pole placed at (S2 + 18S + 80) with equilibrium state at 𝛉 = π

    A=[0 1;-12 -4];


    B=[0;1];
    C=[1 0];
    G=[68 14];
    Ac=A-B*G
    Bnum=inv(C*inv(Ac)*B)*C*inv(Ac)
    E=[0;6];
    G0=Bnum*E

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