Практикум по теории управления в среде MATLAB. Никульчев Е.В. - 82 стр.

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2
0
C =
0 1.5625
D =
0
>> [A,B,C,D]=ssdata(sys)
A =
-1.0000 -3.1250
32.0000 0
B =
2
0
C =
0 1.5625
D =
0
>> P=ss(A, [B B], C, [D D])
a =
x1 x2
x1 -1 -3.125
x2 32 0
b =
u1 u2
x1 2 2
x2 0 0
c =
x1 x2
y1 0 1.563
d =
u1 u2
y1 0 0
Continuous-time model.
>> Kest=kalman(P,1,0.01)
a =
x1_e x2_e
x1_e -1 -30.11
x2_e 32 -41.56
b =
u1 y1
x1_e 2 17.27
x2_e 0 26.6
c =
x1_e x2_e
y1_e 0 1.563
x1_e 1 0
x2_e 0 1
–
82 – 
           2
           0
C =
                0         1.5625
D =
       0
>> [A,B,C,D]=ssdata(sys)
A =
    -1.0000    -3.1250
    32.0000          0
B =
       2
       0
C =
          0     1.5625
D =
       0
>> P=ss(A, [B B], C, [D D])
a =
            x1       x2
    x1      -1 -3.125
    x2      32         0

b =
               u1    u2
      x1        2     2
      x2        0     0
c =
                    x1        x2
      y1             0     1.563
d =
         u1 u2
    y1    0   0
Continuous-time model.
>> Kest=kalman(P,1,0.01)
a =
             x1_e    x2_e
    x1_e        -1 -30.11
    x2_e        32 -41.56
b =
              u1     y1
    x1_e        2 17.27
    x2_e        0  26.6
c =
            x1_e   x2_e
    y1_e        0 1.563
    x1_e        1     0
    x2_e        0     1




                                   – 82 –

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