matlab 中lsim的用法,lsim的用法

lsim：针对线性是不变模型，给定任意输入，得到输出响应。

系统模型为状态方程时，同时还可以得到状态轨迹。

[y,t,x]=lsim[sys,u,t,x0]

输出y的行数与u的长度相同，列数与输出个数相同；

状态x的行数与u的长度相同，列数与状态的个数相同。

程序如下：

num=[1 1];

den=[1 3 6];

%h=tf(num,den);%获得传递函数

[A,B,C,D]=tf2ss(num,den);%将传递函数转化为状态方程

[u,t]=gensig('pulse',2,10,0.1);%采样间隔为0.1，时间长度为10，在2的倍数处信号幅度为1，其余时间为0.

x=u;

sys=ss(A,B,C,D);

x0=[0 0];

t=0:0.1:10;%此处时间为上面采样时间相同

[y,t,x]=lsim(sys,u,t,x0)%模型的输出响应

plot(t,y,'b',t,u,'g');

结果：

设某系统

dX(t)=Ax(t)+BU(t)

y(t)=Cx(t)+DU(t)

x(0)=x0 t∈[0,tf]

MATLAB函数

SYS=ss(A，B，C，D)(ss：state space model)

用来求出lsim函数所需的系统参数“SYS”．

lsim(SYS，U，T)

此函数画出LTl系统SYS对由U和T描述的输人信号的时间响应(timerespouse)。时间向量T由等距的时间采样点组成，U是一个矩阵，它的列数为输入的数目，它的第i行是输人在T(i)时刻的输人值．例如，

t=0:0.01:5;u=sin(t);lsim(sys,u,t)

模拟了系统SYS对输入u(t)=sin(t)持续5秒时间的响应．

对于离散时间系统，输入U的采样率应与系统本身的的采样率相同(因此参数T就是冗余的，可以略去或设为即empty矩阵)

lsim(SYS，U，T，X0)

指定了初始状态X0．其他同上一个函数．

[Y,T]=lsim(SYS,U,……)

返回输出矩阵Y和所用的时间向量T．此函数不画响应曲线．矩阵Y的行数为LENGTH(T)，列数为SYS的输出数目

[Y，T，X]=lsim(SYS，U，…)

还返回了状态轨迹(state trajectory)X，它是一个矩阵，行数为LENGTH(T)，列数为状态的数目．其他同上一个函数．

n=[1 1];

d=[1 1 10];

[A,B,C,D]=tf2ss(n,d);

sys=ss(tf(n,d));

A

A =

-1 -10

1 0

sys.a

ans =

-1 -5

2 0

Compute the transfer function of the state-space model with the

following data.

A=[-2 -1;1 -2], B=[1 1;2 -1], C=[1 0], D=[0 1]

To do this, type

sys = ss([-2 -1;1 -2],[1 1;2 -1],[1 0],[0 1])

tf(sys)

Transfer function from input 1 to output:

s

-------------

s^2 + 4 s + 5

Transfer function from input 2 to output:

s^2 + 5 s + 8

-------------

s^2 + 4 s + 5

lsim

Simulate LTI model responses to arbitrary inputs

Syntax

lsim

lsim(sys,u,t)

lsim(sys,u,t,x0)

lsim(sys,u,t,x0,'zoh')

lsim(sys,u,t,x0,'foh')

lsim(sys)

Description

lsim simulates the

(time) response of continuous or discrete linear systems to

arbitrary inputs. When invoked without left-hand arguments,

lsim plots the response on the

screen.

lsim(sys,u,t) produces a plot of the time response

of the LTI model sys to the input time history

t,u. The vector t specifies the time

samples for the simulation and consists of regularly spaced time

samples.

t = 0:dt:Tfinal

The matrix u must have as many rows as time samples

(length(t)) and as many columns as system inputs. Each row

u(i,:) specifies the input value(s) at the time sample

t(i).

The LTI model sys can be continuous or discrete, SISO

or MIMO. In discrete time, u must be sampled at the same

rate as the system (t is then redundant and can be omitted

or set to the empty matrix). In continuous time, the time sampling

dt=t(2)-t(1) is used to discretize the continuous model.

If dt is too large (undersampling), lsim issues a warning suggesting that you use a

more appropriate sample time, but will use the specified sample

time. See Algorithm for a discussion of sample times.

lsim(sys,u,t,x0) further specifies an initial

condition x0 for the system states. This syntax applies

only to state-space models.

lsim(sys,u,t,x0,'zoh') or

lsim(sys,u,t,x0,'foh') explicitly

specifies how the input values should be interpolated between

samples (zero-order hold or linear interpolation). By default,

lsim selects the interpolation

method automatically based on the smoothness of the signal U.

Finally,

lsim(sys1,sys2,...,sysN,u,t)

simulates the responses of several LTI models to the same input

history t,u and plots these responses on a single

figure. As with bode or plot, you can specify a

particular color, linestyle, and/or marker for each system, for

example,

lsim(sys1,'y:',sys2,'g--',u,t,x0)

The multisystem behavior is similar to that of bode or

step.

When invoked with left-hand arguments,

[y,t] = lsim(sys,u,t)

[y,t,x] = lsim(sys,u,t) % for state-space models only

[y,t,x] = lsim(sys,u,t,x0) % with initial state

return the output response y, the time vector

t used for simulation, and the state trajectories

x (for state-space models only). No plot is drawn on the

screen. The matrix y has as many rows as time samples

(length(t)) and as many columns as system outputs. The

same holds for x with "outputs" replaced by states.

lsim(sys) opens the Linear Simulation Tool GUI.

For more information about working with this GUI, see Working with the Linear Simulation Tool in the

Example

Simulate and plot the response of the system

to a square wave with period of four seconds. First generate the

square wave with gensig. Sample every 0.1 second during 10

seconds:

[u,t] = gensig('square',4,10,0.1);

Then simulate with lsim.

H = [tf([2 5 1],[1 2 3]) ; tf([1 -1],[1 1 5])]

lsim(H,u,t)

Algorithm

Discrete-time systems are simulated with ltitr (state

space) or filter (transfer function and

zero-pole-gain).

Continuous-time systems are discretized with c2d using

either the 'zoh' or 'foh' method ('foh'

is used for smooth input signals and 'zoh' for

discontinuous signals such as pulses or square waves). The sampling

period is set to the spacing dt between the user-supplied

time samples t.

The choice of sampling period can drastically affect simulation

results. To illustrate why, consider the second-order model

To simulate its response to a square wave with period 1 second,

you can proceed as follows:

w2 = 62.83^2

h = tf(w2,[1 2 w2])

t = 0:0.1:5; % vector of time samples

u = (rem(t,1)>=0.5); % square wave values

lsim(h,u,t)

lsim evaluates the specified

sample time, gives this warning

Warning: Input signal is undersampled. Sample every 0.016 sec or

faster.

and produces this plot.

To improve on this response, discretize H(s) using

the recommended sampling period:

dt=0.016;

ts=0:dt:5;

us = (rem(ts,1)>=0.5)

hd = c2d(h,dt)

lsim(hd,us,ts)

This response exhibits strong oscillatory behavior hidden from

the undersampled version.