一、1个简单的连续时间模型 A Simple Continuous-time Model:
1个简单的连续时间系统,使用状态空间模型进行表示:
和标准型进行对比,得到模型参数
二、MATLAB仿真代码 Matlab Simulation Code:
Ac = [0 1 0; 3 0 1; 0 1 0];
Bc = [1; 1; 3];
Cc = [0 1 0];
Dc = zeros(1, 1);
Delta_t = 1;
[Ad, Bd, Cd, Dd] = c2dm(Ac, Bc, Cc, Dc, Delta_t);
[m1, n1] = size(Cd);
[n1, n_in] = size(Bd);
A_e = eye(n1 + m1, n1 + m1);
A_e(n1+1 : n1+m1, 1 : n1) = Cd * Ad;
B_e = zeros(n1+m1, n_in);
B_e(1 : n1, : ) = Bd;
B_e(n1+1 : n1+m1 , : ) = Cd * Bd;
C_e = zeros(m1, n1 + m1);
C_e(:, n1 + 1 : n1 + m1) = eye(m1, m1);
三、参考文献 Reference
Liuping Wang, Model Predictive Control System Design and Implementation Using MATLAB, Springer, London, 2009.