控制系统仿真与CAD实验报告Word格式文档下载.docx
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flag'
a'
b'
c'
）;
[t,x]=ode45（f,[0,100],[0;
0;
0],[],0.2,0.2,5.7）;
plot3（x（:
1）,x（:
2）,x（:
3））,grid,figure,plot（x（:
2））,grid
2.
y=（x）x
（1）^2-2*x
（1）+x
（2）;
ff=optimset;
ff.LargeScale='
off'
;
ff.TolFun=1e-30;
ff.TolX=1e-15;
ff.TolCon=1e-20;
x0=[1;
1;
1];
xm=[0;
0];
xM=[];
A=[];
B=[];
Aeq=[];
Beq=[];
[x,f,c,d]=fmincon（y,x0,A,B,Aeq,Beq,xm,xM,wzhfc1,ff）
Warning:
OptionsLargeScale='
andAlgorithm=
'
trust-region-reflective'
conflict.
IgnoringAlgorithmandrunningactive-setalgorithm.Torun
trust-region-reflective,set
LargeScale='
on'
.Torunactive-setwithoutthiswarning,use
Algorithm='
active-set'
.
Infminconat456
Localminimumpossible.Constraintssatisfied.
fminconstoppedbecausethesizeofthecurrentsearchdirectionislessthan
twicetheselectedvalueofthestepsizetoleranceandconstraintsare
satisfiedtowithintheselectedvalueoftheconstrainttolerance.
<
stoppingcriteriadetails>
Activeinequalities（towithinoptions.TolCon=1e-20）:
lowerupperineqlinineqnonlin
2
x=
1.0000
0
f=
-1.0000
c=
4
d=
iterations:
5
funcCount:
20
lssteplength:
1
stepsize:
3.9638e-26
algorithm:
'
medium-scale:
SQP,Quasi-Newton,line-search'
firstorderopt:
7.4506e-09
constrviolation:
message:
[1x766char]
3.
（a）>
s=tf（'
s'
G=（s^3+4*s+2）/（s^3*（s^2+2）*（（s^2+1）^3+2*s+5））
G=
s^3+4s+2
------------------------------------------------------
s^11+5s^9+9s^7+2s^6+12s^5+4s^4+12s^3
Continuous-timetransferfunction.
（b）
z=tf（'
z'
0.1）;
H=（z^2+0.568）/（（z-1）*（z^2-0.2*z+0.99））
H=
z^2+0.568
-----------------------------
z^3-1.2z^2+1.19z-0.99
Sampletime:
0.1seconds
Discrete-timetransferfunction.
4.
A=[010;
001;
-15-4-13];
B=[002]'
C=[100];
D=0;
G=ss（A,B,C,D）,Gs=tf（G）,Gz=zpk（G）
a=
x1x2x3
x1010
x2001
x3-15-4-13
b=
u1
x10
x20
x32
c=
y1100
d=
y10
Continuous-timestate-spacemodel.
Gs=
2
-----------------------
s^3+13s^2+4s+15
Gz=
---------------------------------
（s+12.78）（s^2+0.2212s+1.174）
Continuous-timezero/pole/gainmodel.
5.
设采样周期为0.01s
0.01）;
H=（z+2）/（z^2+z+0.16）
z+2
--------------
z^2+z+0.16
Sampletime:
0.01seconds
6.
symsJKpKis;
G=（s+1）/（J*s^2+2*s+5）;
Gc=（Kp*s+Ki）/s;
GG=feedback（G*Gc,1）
GG=
（（Ki+Kp*s）*（s+1））/（J*s^3+（Kp+2）*s^2+（Ki+Kp+5）*s+Ki）
7.
（a）>
s=tf（'
G=（211.87*s+317.64）/（（s+20）*（s+94.34）*（s+0.1684））;
Gc=（169.6*s+400）/（s*（s+4））;
H=1/（0.01*s+1）;
GG=feedback（G*Gc,H）,Gd=ss（GG）,Gz=zpk（GG）
359.3s^3+3.732e04s^2+1.399e05s+127056
----------------------------------------------------------------
0.01s^6+2.185s^5+142.1s^4+2444s^3+4.389e04s^2+1.399e05s+127056
Continuous-timetransferfunction.
Gd=
a=
x1x2x3x4x5x6
x1-218.5-111.1-29.83-16.74-6.671-3.029
x212800000
x30640000
x40032000
x5000800
x6000020
b=
x14
x30
x40
x50
x60
c=
y1001.0973.5591.6680.7573
d=
35933.152（s+100）（s+2.358）（s+1.499）
----------------------------------------------------------------------
（s^2+3.667s+3.501）（s^2+11.73s+339.1）（s^2+203.1s+1.07e04）
Continuous-timezero/pole/gainmodel.
（b）设采样周期为0.1s
z=tf（'
G=（35786.7*z^2+108444*z^3）/（（1+4*z）*（1+20*z）*（1+74.04*z））;
Gc=z/（1-z）;
H=z/（0.5-z）;
-108444z^5+1.844e04z^4+1.789e04z^3
1.144e05z^5+2.876e04z^4+274.2z^3+782.4z^2+47.52z+0.5
x1x2x3x4x5
x1-0.2515-0.00959-0.1095-0.05318-0.01791
x20.250000
x300.25000
x4000.12500
x50000.031250
x11
y10.39960.63490.10380.050430.01698
y1-0.9482
Discrete-timestate-spacemodel.
-0.94821z^3（z-0.5）（z+0.33）
----------------------------------------------------------
（z+0.3035）（z+0.04438）（z+0.01355）（z^2-0.11z+0.02396）
Discret
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