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work on observer

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This commit is contained in:
zamofing_t
2018-11-09 15:03:00 +01:00
parent 41a1fd3d38
commit 408e3797e9
4 changed files with 145 additions and 2 deletions
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4
matlab/StateSpaceControlDesign.m
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@@ -16,7 +16,7 @@ function [ssc]=StateSpaceControlDesign(mot)
%
% https://www.youtube.com/watch?v=Lax3etc837U
ssPlt=mot.ssPlt; %real plant (model of real plant)
ssPlt=mot.ssMdl;%ssPlt; %real plant (model of real plant)
ssPlt.Name='open loop plant';
ssMdl=mot.ssMdl;%ssMdl; %simplified model (observable,controlable) for observer
ssMdl.Name='open loop model';
@@ -139,7 +139,7 @@ function [ssc]=StateSpaceControlDesign(mot)
Ts=1/5000; % 5kHz
ss_tz = c2d(ss_t,Ts);
[Atz,Btz,Ctz,Dtz]=ssdata(ss_tz );
ss_tz .Name='discrete obsvr ctrl';
ss_tz.Name='discrete obsvr ctrl';
% step answer on closed loop with disctrete observer controller:
t = 0:Ts:.05;
figure();lsim(ss_tz ,ones(size(t)),t,[xm0 xm0]);title('step on closed loop with observer discrete');