这个程序定义了系统动力学,系统参数,使用LQR算法计算最优控制增益,定义了闭环系统,并模拟了输出的步态响应。
% Define system dynamics
A = [0 1; -1 -2];
B = [0; 1];
C = [1 0];
D = 0;
% Define system parameters
Q = [1 0; 0 2];
R = 1;
% Calculate optimal gain using LQR
K = lqr(A,B,Q,R);
% Define closed loop system
sys_cl = ss(A-B*K,B,C,D);
% Simulate step response
t = 0:0.01:10;
u = ones(size(t));
[y,t,x] = lsim(sys_cl,u,t);
% Plot step response
plot(t,y);
xlabel('Time (s)');
ylabel('Output');
title('Step Response of Optimal Controlled System');