National Instruments 370757C-01 用户手册
Chapter 4
Controller Synthesis
© National Instruments Corporation
4-15
This expression can be converted into the following form [Gu80]:
If R(j
ω) is not a function of frequency, then C
12
= 0 and D = I.
Note
The system has a new input v and the old input u is now the output of the system.
This structure is only used for computational convenience.
Define:
Thus,
After the system is put in this form, you are ready to use the
fsregu( )
function. For more information on the
fsregu( )
syntax, refer to the
Xmath Help.
x·
x·
′
A
11
A
12
A
21
A
22
x
x
′
B
1
B
2
v
+
=
⎧ ⎪ ⎨ ⎪ ⎩
⎧ ⎨ ⎩
u
0 C
12
x
x
′
D v
+
=
⎧ ⎪ ⎨ ⎪ ⎩
{
A
c
B
c
C
c
D
c
x
A
x
x'
=
x·
A
A
c
x
A
B
c
v
+
=
u
C
c
x
A
D
c
v
+
=
J
1
2
2
---
x
A
*
R
xx
A
x
A
v
*
R
uu
A
v 2x
A
*
+
R
xu
A
v
+
(
)dω
∞
∫
=