MATLAB练习例子十五(相位平面图)
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% sim2_3.m
A = [0 1; -1 -1];
B = [0;1];
u = 1;
dt = 0.05;
tf = 20;
x = [0 0]';
xx = [];
i = 0;
for t = 0:dt:tf
i = i + 1;
xx(:,i) = x;
xt = x;
for j=1:4
f = A*x + B*u;
d(:,j) = f*dt;
x = xt + d(:,j)*0.5;
if j==3
x = xt + d(:,j);
end
end
x = xt + (d(:,1) + d(:,2)*2 + d(:,3)*2 + d(:,4))/6;
end
plot(xx(1,:),xx(2,:))
grid on
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% sim2_4.m
A = [0 1; 0 0];
B = [0;1];
dt = 0.05;
tf = 4;
x = [2.5 0]';
l = 1;
g = 9.8;
a1 = g/l;
xx = [];
i = 0;
for t = 0:dt:tf
i = i + 1;
xx(:,i) = x;
xt = x;
for j=1:4
u = -a1*sin(x(1));
f = A*x + B*u;
d(:,j) = f*dt;
x = xt + d(:,j)*0.5;
if j==3
x = xt + d(:,j);
end
end
x = xt + (d(:,1) + d(:,2)*2 + d(:,3)*2 + d(:,4))/6;
end
plot(xx(1,:),xx(2,:))
axis([-pi pi -10 10])
grid on
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% sim2_5.m
T = input('Tnter T: ');
k1 = 1/T^2; k2 = 2/T;
l0 = 0.8; l1 = 1.2;
g = 9.8;
A = [0 1 0 0; 0 0 0 0; 0 0 0 1; 0 0 -k1 -k2];
B = [0 0; 1 0; 0 0; 0 1];
dt = 0.01;
tf = 10;
x = [1 0 1 0]';
xx = [];
i = 0;
for t = 0:dt:tf
i = i+1;
xx(:,i) = x;
xt = x;
for j = 1:4
if x(1)*x(2) < 0
r = l0;
else
r = l1;
end
u = [(-g*sin(x(1)) - 2*x(4)*x(2))/x(3); k1*r];
f = A*x + B*u;
d(:,j) = f*dt;
x = xt + d(:,j)*0.5;
if j == 3
x = xt + d(:,j);
end
end
x = xt + (d(:,1) + d(:,2)*2 + d(:,3)*2 + d(:,4))/6;
end
t = 0:dt:tf;
plot(t,xx(1,:),t,xx(3,:))
grid on
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% sim2_6.m
A = [0 1; 0 0];
B = [0; 1];
P = [-1+i -1-i];
%K = acker(A,B,P)
K = place(A,B,P)
》 sim2_6
??? 'acker' は未定義の関数、または変数です.
エラー: ==> C:\mat\sim2_6.m
行番号: 5 ==>K = acker(A,B,P)
》 sim2_6
??? 'place' は未定義の関数、または変数です.
エラー: ==> C:\mat\sim2_6.m
行番号: 6 ==>K = place(A,B,P)
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