nominal matlab,Nominal value of uncertain model

Create a model of a mass-spring-damper system in which the mass, spring constant, and damping constant are all uncertain.

m = ureal('m',3,'percent',40);

k = ureal('k',2,'percent',30);

c = ureal('c',1,'percent',20);

G = tf(1,[m,c,k])

G =

Uncertain continuous-time state-space model with 1 outputs, 1 inputs, 2 states.

The model uncertainty consists of the following blocks:

c: Uncertain real, nominal = 1, variability = [-20,20]%, 1 occurrences

k: Uncertain real, nominal = 2, variability = [-30,30]%, 1 occurrences

m: Uncertain real, nominal = 3, variability = [-40,40]%, 1 occurrences

Type "G.NominalValue" to see the nominal value, "get(G)" to see all properties, and "G.Uncertainty" to interact with the uncertain elements.

G is a uss model. Extract its nominal value.

Gnom = getNominal(G);

Because G has only uncertain control design blocks, Gnom is a numeric state-space (ss) model.

Combine G with a tunable PID controller.

C = tunablePID('C','pid');

T = feedback(G*C,1)

T =

Generalized continuous-time state-space model with 1 outputs, 1 inputs, 3 states, and the following blocks:

C: Tunable PID controller, 1 occurrences.

c: Uncertain real, nominal = 1, variability = [-20,20]%, 1 occurrences

k: Uncertain real, nominal = 2, variability = [-30,30]%, 1 occurrences

m: Uncertain real, nominal = 3, variability = [-40,40]%, 1 occurrences

Type "ss(T)" to see the current value, "get(T)" to see all properties, and "T.Blocks" to interact with the blocks.

T is a generalized state-space (genss) model that has both tunable and uncertain blocks. Extract the nominal value of T.

Tnom = getNominal(T)

Tnom =

Generalized continuous-time state-space model with 1 outputs, 1 inputs, 3 states, and the following blocks:

C: Tunable PID controller, 1 occurrences.

Type "ss(Tnom)" to see the current value, "get(Tnom)" to see all properties, and "Tnom.Blocks" to interact with the blocks.

Extracting the nominal value of T preserves the tunable control design block, resulting in another genss model.