www.gusucode.com > robust 案例源码程序 matlab代码 > robust/LoopShapingControllerDesignExample.m
%% Loop-Shaping Controller Design % %% 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); % NASA HiMAT model G(s) %% Design Controller and Plot Results s = zpk('s'); w0 = 10; Gd = w0/(s+.001); [K,CL,GAM] = loopsyn(G,Gd); % Design a loop-shaping controller K % Plot the results sigma(G*K,'r',Gd,'k-.',Gd/GAM,'k:',Gd*GAM,'k:',{.1,30}) legend('Achieved Loop Shape','Target Loop Shape','Gd/GAM','Gd*GAM') figure T = feedback(G*K,eye(2)); sigma(T,ss(GAM),'r*',{.1,30}); legend('Closed loop','GAM') grid