clc;
clear;
A=[0,1,0,0,0;-435.7,-7.86,435.7,0,0;0,0,0,1,0;11.1,0,-45.4,-10.1,0.3;66666.7,0,-66666.7,-400,-100];
B=[0;21.8;0;0;0];C=[20,0,-20,0,0];D=0;
G=ss(A,B,C,D);%%输入并显示系统状态空间方程
% zpk(G)
s=tf('s');%%定义Laplace算子s
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%% Rubust GAM=0.9927 %%%%%%%%%%%%%%
W1=87*(10^-3*s+1)/(2*s+1);
W2=0.1;
W3=0.1*(10^-2*s+1)/(10^-4*s+1);
[Gc,CL,GAM]=mixsyn(G,W1,W2,W3);
a=Gc.A;
b=Gc.B;
c=Gc.C;
d=Gc.D;
disp('THE γ is')
GAM
zpk(Gc)
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%% no control model parameter %%%%%%%%%%%
G=30;
Ks=20;
Ka=5;
Js=0.0459;
Bs=0.361;
Ke=0.02;
Kt=0.02;
Kc=62.22;
Jm=0.002;
Jc=0.01;
Bm=0.02;
Bc=0.3;
L=0.0015;
R=0.15;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
