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  • Anexo: 'S' 'Inputdelay' 'Companion'

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    Fabián Núñez L
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    This document defines transfer functions for six systems (h1 through h6) and combines them into a multi-input multi-output system (G). It then defines an alternative state space representation (H2) of the combined system and compares the transfer functions (G1 and G2) and eigenvalues. Finally, it discretizes the original combined system (Gd).

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    ANEXO

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    This document defines transfer functions for six systems (h1 through h6) and combines them into a multi-input multi-output system (G). It then defines an alternative state space representation (H2) of the combined system and compares the transfer functions (G1 and G2) and eigenvalues. Finally, it discretizes the original combined system (Gd).

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    Anexo: 'S' 'Inputdelay' 'Companion'

    Uploaded by

    Fabián Núñez L
    This document defines transfer functions for six systems (h1 through h6) and combines them into a multi-input multi-output system (G). It then defines an alternative state space representation (H2) of the combined system and compares the transfer functions (G1 and G2) and eigenvalues. Finally, it discretizes the original combined system (Gd).

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    of 1

    ANEXO

    s=tf('s');
    h11=2.3/s
    h22=-.7e-3/s
    h33=.2/s
    %% h1
    G=4.7;
    P=.2857;
    T=9.3;
    num=G;
    den=[T 1];
    h1=tf(num,den,'InputDelay',7)
    Gc1 = canon(h1,'companion');
    A=Gc1.A'
    B=Gc1.C'
    C=Gc1.B'
    D=Gc1.D
    %% h2
    G=1.4e-3;
    P=1;
    T=6.8;
    num=G;
    den=[T 1];
    h2=tf(num,den,'InputDelay',2)
    Gc2 = canon(h2,'companion');
    A=Gc2.A'
    B=Gc2.C'
    C=Gc2.B'
    D=Gc2.D
    %% h3
    G=.4;
    P=.6667;
    T=11.6;
    num=G;
    den=[T 1];
    h3=tf(num,den,'InputDelay',3)
    Gc3 = canon(h3,'companion');
    A=Gc3.A'
    B=Gc3.C'
    C=Gc3.B'
    D=Gc3.D
    %% h4
    G=1.9;
    P=2;
    T=10.1;
    num=G;
    den=[T 1];
    h4=tf(num,den,'InputDelay',1)
    Gc4 = canon(h4,'companion');
    A=Gc4.A'
    B=Gc4.C'
    C=Gc4.B'
    D=Gc4.D
    %% h5
    G=61e-3;
    P=.6667;

    T=6.6;
    num=G;
    den=[T 1];
    h5=tf(num,den,'InputDelay',3)
    Gc5 = canon(h5,'companion');
    A=Gc5.A'
    B=Gc5.C'
    C=Gc5.B'
    D=Gc5.D
    %% h6
    G=.2;
    P=.6667;
    T=12.3;
    num=G;
    den=[T 1];
    h6=tf(num,den,'InputDelay',3)
    Gc6 = canon(h6,'companion');
    A=Gc6.A'
    B=Gc6.C'
    C=Gc6.B'
    D=Gc6.D
    G=[h11 h22 h33; h1 h2 h3; h4 h5 h6];
    [a,b,c,d]=ssdata(G);
    A1=[0 0 0 0 0 0 0;
    0 -.1075 0 0 0 0 0;
    0 0 -.1471 0 0 0 0;
    0 0 0 -.0862 0 0 0;
    0 0 0 0 -.0990 0 0;
    0 0 0 0 0 -.1515 0;
    0 0 0 0 0 0 -.0813];
    B1=[2.3 -.7e-3 .2;
    .5054 0 0;
    0 2.06e-4 0;
    0 0 .0345;
    .1881 0 0;
    0 .0092 0;
    0 0 .0163];
    C1=[1 0 0 0 0 0 0;
    0 1 1 1 0 0 0;
    0 0 0 0 1 1 1];
    syms s
    H1=ss(a,b,c,d);
    H2=ss(A1,B1,C1,0);
    G2=C1*inv(s*eye(7)-A1)*B1;
    G1=c*inv(s*eye(7)-a)*b;
    s=tf('s');
    G1=G1;
    G2=G2;
    Eig1=eig(a);
    Eig2=eig(A1);
    Gd=c2d(G,1,'zoh')
    [a,b,c,d]=ssdata(Gd)

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