www.gusucode.com > robust 案例源码程序 matlab代码 > robust/LoopShapingControlDesignOfAircraftModelExample.m
%% Loop-Shaping Control Design of Aircraft Model % %% Create HiMAT Model % Copyright 2015 The MathWorks, Inc. ag = [ -2.2567e-02 -3.6617e+01 -1.8897e+01 -3.2090e+01 3.2509e+00 -7.6257e-01; 9.2572e-05 -1.8997e+00 9.8312e-01 -7.2562e-04 -1.7080e-01 -4.9652e-03; 1.2338e-02 1.1720e+01 -2.6316e+00 8.7582e-04 -3.1604e+01 2.2396e+01; 0 0 1.0000e+00 0 0 0; 0 0 0 0 -3.0000e+01 0; 0 0 0 0 0 -3.0000e+01]; bg = [0 0; 0 0; 0 0; 0 0; 30 0; 0 30]; cg = [0 1 0 0 0 0; 0 0 0 1 0 0]; dg = [0 0; 0 0]; G = ss(ag,bg,cg,dg); %% Perform loopsyn Design and Plot results s = zpk('s'); % Laplace variable s Gd = 8/s; % desired loop shape % Compute the optimal loop shaping controller K [K,CL,GAM] = loopsyn(G,Gd); % Compute the loop L, sensitivity S and complementary sensitivity T: L = G*K; I = eye(size(L)); S = feedback(I,L); % S=inv(I+L); T = I-S; % Plot the results: % step response plots step(T);title('\alpha and \theta command step responses'); % frequency response plots figure; sigma(L,'r--',Gd,'k-.',Gd/GAM,'k:',Gd*GAM,'k:',{.1,100}) legend('\sigma(L) loopshape',... '\sigma(Gd) desired loop',... '\sigma(Gd) \pm GAM, dB'); figure; sigma(T,I+L,'r--',{.1,100}) legend('\sigma(T) robustness','1/\sigma(S) performance')