40 lines
1.5 KiB
Matlab
40 lines
1.5 KiB
Matlab
function Gr=opt_app(G,r,k,key,G0)
|
|
arguments
|
|
G, r(1,1) {mustBePositiveInteger}
|
|
k(1,1) {mustBePositiveInteger}
|
|
key(1,1){mustBeMember(key,[0,1])}=0, G0=0
|
|
end
|
|
GS=tf(G); Td=totaldelay(GS);
|
|
GS.ioDelay=0; GS.InputDelay=0; GS.OutputDelay=0; s=tf('s');
|
|
if nargin<5, G0=(s+1)^r/(s+1)^k; end
|
|
beta=G0.num{1}(k+1-r:k+1); alph=G0.den{1}; Tau=1.5*Td;
|
|
x=[beta(1:r),alph(2:k+1)]; if abs(Tau)<1e-5, Tau=0.5; end
|
|
dc=dcgain(GS); if key==1, x=[x,Tau]; end
|
|
y=opt_fun(x,GS,key,r,k,dc);
|
|
x=fminsearch(@opt_fun,x,[],GS,key,r,k,dc);
|
|
alph=[1,x(r+1:r+k)]; beta=x(1:r+1); if key==0, Td=0; end
|
|
beta(r+1)=alph(end)*dc; if key==1, Tau=x(end)+Td; else, Tau=0; end
|
|
Gr=tf(beta,alph,'ioDelay',Tau);
|
|
end
|
|
function y=opt_fun(x,G,key,r,k,dc)
|
|
ff0=1e10; a=[1,x(r+1:r+k)]; b=x(1:r+1); b(end)=a(end)*dc;
|
|
if key==1, tau=x(end);
|
|
if tau<=0, tau=eps; end, [n,d]=pade(tau,3); gP=tf(n,d);
|
|
else, gP=1; end
|
|
G_e=G-tf(b,a)*gP; G_e.num{1}=[0,G_e.num{1}(1:end-1)];
|
|
[y,ierr]=geth2(G_e); if ierr==1, y=10*ff0; else, ff0=y; end
|
|
end
|
|
function [v,ierr]=geth2(G)
|
|
G=tf(G); num=G.num{1}; den=G.den{1}; ierr=0; v=0; n=length(den);
|
|
if abs(num(1))>eps
|
|
disp('System not strictly proper');
|
|
ierr=1; return
|
|
else, a1=den; b1=num(2:length(num)); end
|
|
for k=1:n-1
|
|
if (a1(k+1)<=eps), ierr=1; return
|
|
else
|
|
aa=a1(k)/a1(k+1); bb=b1(k)/a1(k+1); v=v+bb*bb/aa; k1=k+2;
|
|
for i=k1:2:n-1, a1(i)=a1(i)-aa*a1(i+1); b1(i)=b1(i)-bb*a1(i+1);
|
|
end, end, end, v=sqrt(0.5*v);
|
|
end
|