www.gusucode.com > control 案例程序 matlab源码代码 > control/ControlSystemWithBothNumericandTunableComponentsExample.m
%% Control System Model With Both Numeric and Tunable Components % This example shows how to create a tunable model of a control system that % has both fixed plant and sensor dynamics and tunable control components. %% % Consider the the control system of the following illustration. % % <<../architecture.png>> % % Suppose that the plant response is $G(s) = 1/(s + 1)^{2}$, and that the % model of the sensor dynamics is $S(s) = 5/(s + 4)$. The controller $C$ is a % tunable PID controller, and the prefilter $F = a/(s + a)$ is a low-pass % filter with one tunable parameter, _a_. %% % Create models representing the plant and sensor dynamics. % Because the plant and sensor dynamics are fixed, represent them using % numeric LTI models. G = zpk([],[-1,-1],1); S = tf(5,[1 4]); %% % To model the tunable components, use Control Design Blocks. Create a % tunable representation of the controller _C_. C = tunablePID('C','PID'); %% % |C| is a |tunablePID| object, which is a Control Design Block with a % predefined proportional-integral-derivative (PID) structure. %% % Create a model of the filter $F = a/(s + a)$ with one tunable parameter. a = realp('a',10); F = tf(a,[1 a]); %% % |a| is a |realp| (real tunable parameter) object with initial value 10. % Using |a| as a coefficient in |tf| creates the tunable |genss| model object % |F|. %% % Interconnect the models to construct a model of the complete closed-loop % response from _r_ to _y_. T = feedback(G*C,S)*F %% % |T| is a |genss| model object. In contrast to an aggregate model formed % by connecting only numeric LTI models, |T| keeps track of the tunable % elements of the control system. The tunable elements are stored in the % |Blocks| property of the |genss| model object. Examine the tunable elements of |T|. %% % T.Blocks %% % When you create a |genss| model of a control system that has tunable % components, you can use tuning commands such as |systune| to tune the % free parameters to meet design requirements you specify.