MATLAB CONTROL SYSTEM TOOLBOX 9 Guida Utente Scaricare il pdf (Pagina 58)

100

101

2 LTI Models

2-14

wher e

•

Z is the p -by-m cell array o f zero s (Z{i,j} = zeros of )

•

P is the p-by-m cell array o f p oles (P{i,j} = poles of )

•

K is the p -by-m matrix of g ains (K(i,j) = gain of )

For example, typing

Z = {[],–5;[1–i 1+i] []};

P = {0,[–1 –1];[1 2 3],[]};

K = [–1 3;2 0];

H = zpk(Z,P,K)

creates t he two-input/two-output zero-pole-gain model

Notice that you use

[] as a place-holder in Z (or P) when the corresponding

entry of has no zeros (or poles).

State-Space Models

State-space models rely on linear differential or difference equations to

describe the system dynamics. Continuous-time models are of the form

where x is the state vector and u and y are the input and output vectors. Such

models may arise from the equations of physics, from state-space

identification, or by state-space realization of the system transfer function.

()

Hs()

1–

------

3 s 5+()

s1+()

--------------------

2 s

2 s– 2+()

s1–()s2–()s3–()

---------------------------------------------------

()

------ Ax Bu+=

yCxDu+=

1 2 ... 53 54 55 56 57 58 59 60 61 62 63 ... 648 649

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MATLAB CONTROL SYSTEM TOOLBOX 9 Guida Utente Pagina 58

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