How to graph the closed-loop response of MIMO Control System?

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Mr. NailGuy 2018-4-14

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评论： Mr. NailGuy 2018-4-14

Unity Feedback Gain.JPG

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Hi everyone,

I have MIMO transfer function matrix G and controller K given

G = [10.014/(1+15.021*s) -0.5/(1+10.014*s); 0.5/(1+5.007*s) 5.007/(1+20.028*s)]
K= k*eye(2)

How would I plot the step response and bode plot of the closed loop system with a unity feedback gain as attached in the picture? I used the code below but I have doubts if this is as straight forward as this.

CL = feedback(G*K,eye(2))
step(CL)
bode(CL)

Would be very glad to hear your response on this.

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回答（1 个）

Birdman 2018-4-14

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Actually what you did to obtain closed loop forms is wrong. I suggest you to obtain them in a for loop separately as follows:

s=tf('s');
k=1;
G = [10.014/(1+15.021*s) -0.5/(1+10.014*s); 0.5/(1+5.007*s) 5.007/(1+20.028*s)];
for i=1:size(G,1)
    for j=1:size(G,2)
        CL(i,j)=feedback(G(i,j)*k,1);
    end
end
figure(1);
step(CL);
figure(2);
bode(CL);