cst.zip_D-S。kim_W.H.Kwon_ieee control_network scheduling_schedul

clear OPENLOOP=0 CLQR=1 SCLQR=1 F_DB=1 Ra=10; Ki=10; Kb=0.075; J=0.006; tf=20; A=[-Ki*Kb/(Ra*J) 0;1 0]; B=[Ki/(Ra*J);0]; C=[1 0;0 1]; D=[0;0]; eig(A); rank(ctrb(A,B)); if OPENLOOP==1, t=[0:0.01:10]; [tr,tc]=size(t); u=zeros(tr,tc); y1=lsim(A,B,C,D,u,t); y2=lsim(A,B,C,D,u,t,[pi/18 0]); y3=lsim(A,B,C,D,u,t,[0 pi/18]); plot(t,y1); keyboard; %pause clg; subplot(211) plot(t,y2); plot(t,y3); end if F_DB==1, R=10; %w=100; w=0.025; STOP=0; while STOP==0, R Q=w*eye(2); [k,s]=lqr(A,B,Q,R) Acl=A; Acl1=B*k; Q=eye(2);; P=lyap(Acl+Acl1, Q); sigma=min(eig(Q))/2*max(abs(eig(P))); delta=sqrt(max(abs(eig(P)))/min(abs(eig(P)))); tau1=sigma/(delta*norm(Acl1*(Acl+Acl1))) tau=fix(tau1*1000)/1000 %%keyboard; pause STOP=1; end end if CLQR==1, dt=tau; %%w=100; %%R=10; STOP=0; while STOP==0, w R dt t=[0:dt:tf]; [tr,tc]=size(t); %%Q=w*eye(2); %%[k,s]=lqr(A,B,Q,R); [An,Bn,Cn,Dn]=feedback(A,B*k,C,D*k,0,[0 0],[0;0],eye(2)); r=[zeros(1,tc);zeros(1,fix(tc/5)) ones(1,ceil(tc*4/5))*pi/18]; y=lsim(An,Bn,Cn,Dn,r',t); %%clg subplot(2,1,1); plot(t,y(:,1),'.',t,y(:,2),t,r(2,:)'); xlabel('Time(sec)'); ylabel('rad/sec'); title('Loop 1 using a direct control'); %%keyboard; pause STOP=1; end end if SCLQR==1, dt=tau; %%w=100; %%R=10; STOP=0; while STOP==0, w R dt %%keyboard; pause t=[0:dt:tf]; [tr,tc]=size(t); %r=[zeros(1,tc);zeros(1,round(tc/10)) ones(1,round(tc*9/10))*pi/18]'; %r=[zeros(1,tc);zeros(1,10) ones(1,tc-10)*pi/18]'; r=[zeros(1,tc);zeros(1,fix(tc/5)) ones(1,ceil(tc*4/5))*pi/18]'; %%Q=w*eye(2); %%[k,s]=lqr(A,B,Q,R); n=fix(tf/dt); x0=[0 0]; x=x0; for i=1:n, i; r0 = r(i:i+1,:); t0 = [0 dt]; u0 = k*(r0(1,:)-x0)'; u0 = [u0;u0]; %pause [ysc,x2]=lsim(A,B,C,D,u0,t0,x0); x=[x;x2(2,:)]; x0 = x2(2,:); end %%clg subplot(2,1,2); plot(t,x(:,1),'.',t,x(:,2),t,r(:,2)); xlabel('Time(sec)'); ylabel('rad/sec'); title('Loop 1 using a networked control'); gtext('Theta_{ref}'); gtext('Theta'); gtext('Omega'); gtext('Theta_{ref}'); gtext('Theta'); gtext('Omega'); %%keyboard; STOP=1; end end