Undefined function 'dksyn' for input arguments of type 'ss'. Error in Report8 (line 41) [k, cl, bnd] = dksyn ( G, 1, 1)
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R1=2;R2=1;L1=2;L2=1;
C1= ureal('C1',1,'percent',20)
A=[-R1/L1 0 -1/L1 ; 0 -R2/L2 1/L2 ;1/C1 -1/C1 0]
B=[1/L1;0;0]
C=[0 R2 0 ]
D=[0]
P=ss(A,B,C,D)
s = tf('s');
Wt=(s)/((s)+2)
w1 = logspace(-10,3,100)
P_g = ufrd(P,w1)
Dm_g = (P_g - P_g.nominal)/P_g.nominal;
%% Gain plot
MS=2 ; WS=0.38
Ws=(((s)/MS)+WS)/(s+(WS*.007))
Weps = 5e-4;
figure(1);
w=logspace(-2,3,20);
bodemag(Ws,Wt,'--',w);grid on
legend('Ws','Wt');
figure(2);
w2=logspace(-10,3,100);
bodemag(Dm_g,'--',Wt,'r-',w2);grid on;
legend('\Deltam','Wt');
%% Building of generalized plant
Pn = P.nominal;
systemnames = 'Pn Ws Wt ';
inputvar = '[w1; w2; u]';
outputvar = '[Ws; Wt; Pn]';
input_to_Pn = '[w1 - u]';
input_to_Ws = '[w1 - u]';
input_to_Wt = '[ u ]';
G = sysic;
whos G
[k, cl, bnd] = dksyn ( G, 1, 1)
bnd
2 个评论
Walter Roberson
2024-1-2
I note that dksyn expects a uss (uncertain space state), but you are passing it a ss (space state)
采纳的回答
Paul
2024-1-2
According to the doc page dksyn, the first input to the dksyn has to be a uss model, not an ss model. Mabye G should be built using P, not P.Nominal? That's just a guess.
Also, I don't know what release your're using, but, as of 2021b. sysic and dksyn are both not recommended.
R1=2;R2=1;L1=2;L2=1;
C1= ureal('C1',1,'percent',20);
A=[-R1/L1 0 -1/L1 ; 0 -R2/L2 1/L2 ;1/C1 -1/C1 0];
B=[1/L1;0;0];
C=[0 R2 0 ];
D=[0];
D = 0;
P=ss(A,B,C,D);
s = tf('s');
Wt=(s)/((s)+2);
w1 = logspace(-10,3,100);
P_g = ufrd(P,w1);
Dm_g = (P_g - P_g.nominal)/P_g.nominal;
%% Gain plot
MS=2 ; WS=0.38;
WS = 0.3800;
Ws=(((s)/MS)+WS)/(s+(WS*.007));
Weps = 5e-4;
figure(1);
w=logspace(-2,3,20);
bodemag(Ws,Wt,'--',w);grid on
legend('Ws','Wt');
figure(2);
w2=logspace(-10,3,100);
bodemag(Dm_g,'--',Wt,'r-',w2);grid on;
legend('\Deltam','Wt');
%% Building of generalized plant
Pn = P.nominal;
systemnames = 'Pn Ws Wt ';
inputvar = '[w1; w2; u]';
outputvar = '[Ws; Wt; Pn]';
input_to_Pn = '[w1 - u]';
input_to_Ws = '[w1 - u]';
input_to_Wt = '[ u ]';
G = sysic;
whos G P Pn
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更多回答(1 个)
Sam Chak
2024-1-3
I'm unfamiliar with the MU controller. Perhaps you are referring to the μ synthesis technique used to determine the parameters in tunable components, such as PID controllers, state-space models, or even static gains that minimize a parameter called μ (mu) to ensure robust stability.
The code below uses a basic PID controller to improve tracking but does not minimize the μ parameter. If you have designed a robust controller according to μ synthesis, you can later compare its robust performance with the PID controller.
%% Parameters
R1 = 2;
R2 = 1;
L1 = 2;
L2 = 1;
C1 = ureal('C1', 1, 'percent', 20); % uncertain parameter
%% Uncompensated system
A = [-R1/L1 0 -1/L1; 0 -R2/L2 1/L2; 1/C1 -1/C1 0];
B = [1/L1; 0; 0];
C = [0 R2 0];
D = 0*C*B;
sys = ss(A, B, C, D); % Plant that contains parametric uncertainty
step(sys), grid on
title('Step Response of Uncompensated Plant')
%% PID controller (preliminary design)
kp = 1;
ki = 1.5;
kd = 1;
Gc = pid(kp, ki, kd)
%% Uncertain closed-loop system
figure
subplot(211)
uGcl = feedback(Gc*sys, 1);
step(uGcl, 20), grid on
title('Step Plot: Reference tracking')
subplot(212)
uGcd = feedback(sys, Gc);
step(uGcd, 20), grid on
title('Step Plot: Disturbance Rejection')
%% Evaluate robust performance
figure
S = feedback(1, Gc*sys); % closed-loop sensitivity function
bodemag(S, S.NominalValue), grid on
opts = robOptions('Sensitivity', 'On');
[perfmarg, wcu, info] = robgain(S, 1.5, opts)
info.Sensitivity
Smax = usubs(S, wcu);
getPeakGain(Smax, 1e-6)
step(S.NominalValue, Smax), grid on
legend('Nominal', 'Peak Gain = 1.5')
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