www.gusucode.com > robust 案例源码程序 matlab代码 > robust/NominalValueOfUncertainModelsExample.m

    %% Nominal Value of Uncertain Models
% Create a model of a mass-spring-damper system in which the mass, spring
% constant, and damping constant are all uncertain.
m = ureal('m',3,'percent',40);
k = ureal('k',2,'percent',30);
c = ureal('c',1,'percent',20);
G = tf(1,[m,c,k])
%%
% |G| is a |uss| model. Extract its nominal value.
Gnom = getNominal(G);
%% 
% Because |G| has only uncertain control design blocks, |Gnom| is a numeric state-space
% (|ss|) model.
%%
% Combine |G| with a tunable PID controller.
C = tunablePID('C','pid');
T = feedback(G*C,1)
%%
% |T| is a generalized state-space (|genss|) model that has both tunable and
% uncertain blocks.  Extract the nominal value of |T|.
Tnom = getNominal(T)
%%
% Extracting the nominal value of |T| preserves the tunable control design
% block, resulting in another |genss| model.