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Clase 1 - Control en Matlab

# Clase 1 - Control en Matlab

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Clase practica de control con MATLAB
Clase practica de control con MATLAB

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07/03/2010

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1
CONTROL 2
Uso del MatlabConsidere el siguiente sistema:
u x x x x x x
+=
1006116100010
321321
&&&

[ ]
=
321
111
x x x y
Lo primero es digitar las matrices en Matlab
a=[0,1,0;0,0,1;-6,-11,-6]
a =0 1 00 0 1-6 -11 -6
b=[0;0;1]
b =001
c=[1,1,1]
c =1 1 1

2
d=[0]
d =0Con el comando eig se pueden encontrar los autovalores y los autovectores
help eig
EIG Eigenvalues and eigenvectors.E = EIG(X) is a vector containing the eigenvalues of a squarematrix X.[V,D] = EIG(X) produces a diagonal matrix D of eigenvalues and afull matrix V whose columns are the corresponding eigenvectors sothat X*V = V*D.[V,D] = EIG(X,'nobalance') performs the computation with balancing disabled, which sometimes gives more accurate results for certainproblems with unusual scaling.E = EIG(A,B) is a vector containing the generalized eigenvaluesof square matrices A and B.[V,D] = EIG(A,B) produces a diagonal matrix D of generalizedeigenvalues and a full matrix V whose columns are thecorresponding eigenvectors so that A*V = B*V*D.See also CONDEIG, EIGS.Overloaded methodshelp sym/eig.mhelp lti/eig.m
eig(a)
ans =-1.0000-2.0000-3.0000

3
[m,ed]=eig(a)
m =-0.5774 0.2182 -0.10480.5774 -0.4364 0.3145-0.5774 0.8729 -0.9435ed =-1.0000 0 00 -2.0000 00 0 -3.0000Se observa la matriz modal m y en la matriz ed los polos en la diagonalprincipal. Ahora se usa la orden ss
help ss
SS Create state-space model or convert LTI model to state space.Creation:SYS = SS(A,B,C,D) creates a continuous-time state-space (SS) modelSYS with matrices A,B,C,D. The output SYS is a SS object. Youcan set D=0 to mean the zero matrix of appropriate dimensions.SYS = SS(A,B,C,D,Ts) creates a discrete-time SS model with sampletime Ts (set Ts=-1 if the sample time is undetermined).SYS = SS creates an empty SS object.SYS = SS(D) specifies a static gain matrix D.In all syntax above, the input list can be followed by pairs'PropertyName1', PropertyValue1, ...that set the various properties of SS models (type LTIPROPS fordetails). To make SYS inherit all its LTI properties from anexisting LTI model REFSYS, use the syntax SYS = SS(A,B,C,D,REFSYS). Arrays of state-space models: You can create arrays of state-space models by using ND arrays for A,B,C,D above. The first two dimensions of A,B,C,D determine thenumber of states, inputs, and outputs, while the remaining