MIMO differential models, State Space representaion problem
1 次查看(过去 30 天)
显示 更早的评论
Hello all,
I've a MIMO(multi input, multi output) system model & I want it's representaion in State Space form. Following is the diffrential equation:
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/210191/image.png)
Now the problem is coeffients M, G, Kss, B & Ki are already in (4x4)Matrix form & "q" is a vector.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/210192/image.png)
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/210193/image.png)
Hence, when I try to compute its state space representation using "ss(A,B,C,D)" , It gives me an error.
I want to know, Is there any way that I could represnt my System in Matlab using State Space Representaion.
Your contribution will be highly appreciated.
0 个评论
回答(1 个)
Mauro Fusco
2019-4-16
编辑:Mauro Fusco
2019-4-16
ss(A,B,C,D) refers to the form x_dot = A_ss x+B_ss u; y = C_ss x + D_ss u (i used _ss to distinguish these matrices for the ss() command from the matrices of your system). You can cast your system in this form defining your state vector as:
x = [x1 x2]';
x1 = q;
x2 = q_dot;
then you can write the dynamics of x as: x1_dot = x2; x2_dot = - inv(M)*G*x_2 + inv(M)*B * u.
The first part (x1 dynamics) is a simple integrator (i leave to you to write the A_ss,B_ss matrices for this equation). The second part of the dynamics have: A_ss = - inv(M)*G, B_ss = inv(M)*B.
C_ss you can select based on hat you want to see in the output (which state). You do not need D_ss (set it to 0).
0 个评论
另请参阅
类别
在 Help Center 和 File Exchange 中查找有关 Dynamic System Models 的更多信息
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!