倒立摆系统的建模Matlab.rar

上传者: hahahahah123456 | 上传时间: 2022-12-09 12:02:09 | 文件大小: 1.02MB | 文件类型: RAR
三种倒立摆系统的代码及simulink文件,及能控性和能观性判断的程序。倒立摆作为一个高阶次、多变量、非线性和强耦合的自然不稳定系统,一直是控制领域研究的热点问题。
A = [ 0 1 0 0;
0 0 0 0;
0 0 0 1;
0 0 29.493 0];
B = [ 0 1 0 3]';
C = [ 1 0 0 0;
0 0 1 0];
D=[0;0];
Uc=ctrb(A,B);rc=rank(Uc);
n=size(A);
if rc==n
disp('system is controlled.')
elseif rc<n
disp('system is uncontrolled.')
end
Vo=obsv(A,C);
ro=rank(Vo);
if ro==n
disp('system is observable.')
elseif ro~=n
disp('system is no observable.')
end

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