《反馈控制问题：使用MATLAB及控制系统工具箱》中的所有源程序

%%%%%%%%%%%%%%%%%%%%%% one_blk.m %%%%%%%%%%%%%%%%%%%% % Feedback Control Problems with MATLAB % and the Control System Toolbox % D. K. Frederick and J. H. Chow, May 1999 % last revision: 6/15/99 HS %---------------------------------------------------- clear,clf activity = -1; % force activity menu to appear while (activity < 1) | (activity > 3), disp(' 1 <= Enter or modify a 1-block model') disp(' 2 <= Calculations') disp(' 3 <= Plots') activity = input('Select action, or enter 0 to quit....'); if activity == 0, disp('Completed single-block analysis'), return, end if activity == 1, % enter block model in either tf or zp form model_form = -1; % force model entry menu to appear while (model_form < 1) | (model_form > 6), disp(' 1 <= Build LTI object from TF data') disp(' 2 <= Build LTI object from ZPK data') disp(' 3 <= Display numerator and denominator values') disp(' 4 <= Display ZPK values') disp(' 5 <= Create unity-feedback closed-loop model') disp(' 6 <= Activate keyboard') model_form = input... ('Select model form or enter 0 for top-level menu.....'); if (model_form == 0 | isempty(model_form)), activity = -1; % return to activity menu break % terminate "while model_form..." loop end % of " if model_form == 0" %+++++++++++++++++++ enter model in TF form ++++++++++++++++++++ if model_form == 1, disp(' ') disp(' **** Interactive entry of transfer function using TF data ****') disp(' ') % remove any stale zeros, poles, & gain from workspace clear zer zer_str zer_last pol pol_str pol_last gain gain_str gain_last disp('Enter coefficients of numerator and denominator polynomials.') disp('Have initialized with values from Example 2.3') %----------------------------------------------------- num_last = [3 2]; % numerator specified in Example 2.3 den_last = [2 4 5 1]; % denominator specified in Example 2.3 num_str = vec2str(num_last); % string representation of numerator den_str = vec2str(den_last); % string representation of denominator cmd = 'n'; % 'n' ==> model is not OK while cmd == 'n', disp(' ') % allow user to enter new values for H(s) num = input(['Enter numerator "' num_str '"....']); if isempty(num), num = num_last; end % CR ==> use old value den = input(['Enter denominator "' den_str '"....']); if isempty(den), den = den_last; end % CR ==> use old value num_str = vec2str(num); % den_str = vec2str(den); disp('Numerator and denominator polynomials of tf form are:') eval(['num = ' num_str]); eval(['den = ' den_str]); cmd = input('Model OK? (y|n)','s'); num_last = num; % save previous values in case want to reuse den_last = den; H = tf(num,den); end % of "while" for "run another case" disp('Model has been entered as TF object') model_form = -1; % force model_form menu to reappear end % of "if model_form ==1" %++++++++++++++++ enter model in ZP form +++++++++++++++++++++ if model_form ==2, disp(' ') disp(' **** Interactive entry of transfer function using ZPK data ****') disp(' ') disp('Enter H(s) in terms of zeros, poles, and gain ') disp('Have initialized with values from Example 3.1') % remove any stale numerator & denominator from workspace clear num num_str num_last pol pol_str pol_last zer_last = [-2; -1.5]; % 2 real zeros pol_last = [-0.5; -0.2+0.6*i; -0.2-0.6*i; -8]; % 4 poles, 2 complex gain_last = 2; % gain zer_str = vec2str(zer_last) % string repr of numerator with ';' pol_str = vec2str(pol_last) % string repr of denominator with ';' gain_str = num2str(gain_last) % string repr of gain cmd = 'n'; % 'n' ==> model not OK while cmd == 'n', disp(' ') % allow user to enter new values for H(s) zer = input(['Enter zeros as column vector "' zer_str '"....']); if isempty(zer), zer = zer_last; end % CR ==> use old value pol = input(['Enter poles as column vector "' pol_str '"....']); if isempty(pol), pol = pol_last; end % CR ==> use old value gain = input(['Enter gain "' gain_str '"....']); if isempty(gain), gain = gain_last; end % CR ==> use old value zer_str = vec2str(zer) % pol_str = vec2str(pol) gain_str = num2str(gain) disp('Zeros, poles, & gain of zp form are:') eval(['zer = ' zer_str]); eval(['pol = ' pol_str]); eval(['gain = ' gain_str]); cmd = input('Model OK? (y|n)','s'); zer_last = zer; % save previous values in case want to reuse pol_last = pol; gain_last = gain; H = zpk(zer,pol,gain); end % of "while cmd = n" disp('Model has been entered in zero-pole-gain form') model_form = -1; % force model_form menu to reappear end % of "if model_form == 2" %++++++++++ Display ZPK values ++++++++++++++ if model_form == 4, if (exist('H')), disp('Zeros, poles, and gain of H(s) are:') [zer,pol,gain] = zpkdata(H,'v') disp('********>');pause else disp... ('Need model defined as LTI object') disp('*******>');pause end % of "if exist..." model_form = -1; % force model_form menu to reappear end % of "model_form == 4" %+++++++++++ Display numerator and denominator values ++++++++++++++ if model_form == 3, if (exist('H')), disp('Numerator and denominator of H(s) are:') [num,den] = tfdata(H,'v') disp('********>');pause else disp('Need model defined as LTI object') disp('*******>');pause end model_form = -1; % force model_form menu to reappear end % of "model_form == 3" %+++++++++++++++ unity feedback closed-loop system +++++++ if model_form == 5, if (exist('H')), disp('saving open-loop model as "HOL" ') disp('....because new closed-loop system will be "H"') disp('Numerator and denominator of closed-loop system are:') HOL = H; H = feedback(HOL,1) disp('*******>');pause else disp(' ') disp('require open-loop model') disp('******>');pause end model_form = -1; % force model_form menu to reappear end % of "model_form == 5" %+++++++++++++++++ activate keyboard ++++++++++++++++++++ if model_form == 6 , disp('keyboard is active to allow:') disp(' * examining workspace') disp(' * entry of externally-defined model') disp(' * use of any Matlab commands') disp('To resume, enter "return"') keyboard model_form = -1; % return to model_form menu end % of "model_form == 6" %------- end % of " while model_form....." end % of " if activity == 1" %========== end of model creation =========== %=========== calculations =============== if activity == 2, disp('Select calculations to be done for model') calc_type = -1; % force calculation type menu to appear while (calc_type < 1) | (calc_type > 6), disp(' 1 <= Numerator & denominator of H(s)') disp(' 2 <= Zeros, poles, and gain of H(s)') disp(' 3 <= Residues and poles of H(s)') disp(' 4 <= Display state-space matrix') disp(' 5 <= Damping ratio & natural freq of poles of H(s)') disp(' 6 <= examine work space') calc_type = input... ('Select type of calculation or enter 0 for top-level menu.....'); %+++++++++++++++++ no more calculations ++++++++++++++++++++ if (calc_type == 0 | isempty(calc_type)), disp('Completed calculations') activity = -1; % return to activity menu break % terminate "while calc_type...." loop end % of "calc_type == 0" %++++++++++++++++++++ calculate num & den ++++++++++++++ if calc_type == 1, if (exist('H')), disp('Numerator and denominator of H(s) are:') [num_calc,den_calc] = tfdata(H,'v') disp('********>');pause else disp('Need model as LTI object for this calculation') disp('*******>');pause end calc_type = -1; % force calc_type menu to reappear end % of "calc_type == 1" %++++++++++++++++++++ calculate zeros, poles, and gain ++++++++ if calc_type == 2, if (exist('H')), disp('Zeros,