From bfe2afa7b05f491650adaf97e0158d556bd0e295 Mon Sep 17 00:00:00 2001 From: Matte23 Date: Tue, 7 May 2024 14:16:57 +0200 Subject: [PATCH] feat: Add controller to Lab3 --- Lab03.m | 16 +++++++++++++++- Lab03.slx => Lab03S.slx | Bin 105713 -> 128697 bytes 2 files changed, 15 insertions(+), 1 deletion(-) rename Lab03.slx => Lab03S.slx (54%) diff --git a/Lab03.m b/Lab03.m index cb6f1c5..8432a0f 100644 --- a/Lab03.m +++ b/Lab03.m @@ -73,4 +73,18 @@ E = real(eig(A)) H = C*W*B; p = pole(H) -% Il sistema + stabile BIBO in quanto tutti i poli sono negativi \ No newline at end of file +% Il sistema + stabile BIBO in quanto tutti i poli sono negativi + +%% Studio raggiungibilità e controllabilità +M_R = ctrb(A,B); +rank(M_R) +% La matrice è di rango 3, quindi il sistema è completamente raggiungibile + +%% Progettazione della legge di controllo +lambda_k = [-1 -2 -3]; + +% Calcolo K +K = place(A,B(:,1),lambda_k); + +% Calcolo alpha +alpha = inv(-(C-D(:,1)*K)*((A-B(:,1)*K)\B(:,1))+D(:,1)); diff 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