创建零极化模型;convert to zero-pole-gain model
S.yS.=Z.P.K.(Z.那P.那K.)
S.yS.=Z.P.K.(Z.那P.那K.那T.S.)
S.yS.=Z.P.K.(m)
sys = zpk(z,p,k,ltisys)
s = zpk('s')
Z.=Z.P.K.('Z'那T.S.)
zsys = zpk(sys)
zsys = zpk(sys,'测量')
zsys = zpk(sys,'噪音')
Zsys.=Z.P.K.(S.yS.那'augmented')
采用dZ.P.K.
创建零极化模型(Z.P.K.
model objects), or to convert dynamic systems to zero-pole-gain form.
S.yS.=Z.P.K.(Z.那P.那K.)
使用零创建连续时间零极化模型Z.
那P.olesP.
和收益K.
。该outputS.yS.
一世S.一种Z.P.K.
model object storing the model data.
In the SISO case,Z.
和P.
是真实或复杂的零和杆的矢量载体,以及K.
是真实或复杂的标量增益:
组Z.
要么P.
to[]
对于S.yS.tems without zeros or poles. These two vectors need not have equal length and the model need not be proper (that is, have an excess of poles).
T.o create a MIMO zero-pole-gain model, specify the zeros, poles, and gain of each SISO entry of this model. In this case:
Z.
和P.
一种re cell arrays of vectors with as many rows as outputs and as many columns as inputs, andK.
一世S.一种m一种trix with as many rows as outputs and as many columns as inputs.
该vectorsz {i,j}
和p {i,j}
从输入指定传输功能的零和极点j
输出一世
。
K(I,J)
S.P.ecifies the (scalar) gain of the transfer function from inputj
输出一世
。
S.yS.=Z.P.K.(Z.那P.那K.那T.S.)
creates a discrete-time zero-pole-gain model with sample timeT.S.
(马上)。组ts = -1
要么T.S.=[]
留下未指定的采样时间。输入参数Z.
那P.
那K.
与连续时间案件一样。
sys = zpk(z,p,k,ltisys)
创建具有从LTI模型继承的属性的零极化模型LTISYS.
(包括采样时间)。
T.o create an array ofZ.P.K.
model objects, use a对于
循环,或使用多维单元格阵列Z.
和P.
那和一种m你ltidimensional array forK.
。
Any of the previous syntaxes can be followed by property name/property value pairs.
'propertyname',propertyvalue
Each pair specifies a particular property of the model, for example, the input names or the input delay time. For more information about the properties ofZ.P.K.
模型对象,见P.roperties。Note that
S.yS.=Z.P.K.(Z.那P.那K.那'Property1',Value1,...,'PropertyN',ValueN)
是以下命令序列的快捷方式。
S.yS.=Z.P.K.(Z.那P.那K.) set(sys,'Property1',Value1,...,'PropertyN',ValueN)
您还可以使用Rational表达式来创建ZPK模型。为此,首先是:
s = zpk('s')
to specify a ZPK model using a rational function in the Laplace variable,S.
。
Z.=Z.P.K.('Z'那T.S.)
使用采样时间指定ZPK模型T.S.
你S.一世Ng a rational function in the discrete-time variable,Z.
。
Once you specify either of these variables, you can specify ZPK models directly as rational expressions in the variableS.
要么Z.
通过将传递函数作为理性表达式输入S.
要么Z.
。
zsys = zpk(sys)
转换任意LTI模型S.yS.
to zero-pole-gain form. The outputZsys.
是一个zpk对象。默认,Z.P.K.
你S.esZ.ero
to compute the zeros when converting from state-space to zero-pole-gain. Alternatively,
Zsys.=Z.P.K.(S.yS.那'inv')
你S.es inversion formulas for state-space models to compute the zeros. This algorithm is faster but less accurate for high-order models with low gain atS.= 0。
识别的模型由表单的输入输出方程表示y(t) = Gu(t) + He(t)
那W.Here你(t)
是测量输入通道的集合e(t)
表示噪声通道。如果Λ= LL'代表噪音的协方差e(t)
那this equation can also be written asY(t)= gu(t)+ hlv(t)
那W.Herecov(v(t))= i
。
zsys = zpk(sys)
那要么zsys = zpk(sys,'测量')
将识别的线性模型的测量组件转换为ZPK表单。S.yS.
是一种类型的模型IDS.
那一世dproc
那idtf.
那一世dpoly
那要么一世dgrey
。Zsys.
represents the relationship between你
和y
。
zsys = zpk(sys,'噪音')
将识别的线性模型的噪声分量转换为ZPK表单。它代表噪声输入之间的关系,v(t)
并输出,y_noise = HL v(t)
。噪声输入通道属于InputGroup.
'噪声'
。该N一种mes of the noise input channels arev @ yname.
那W.Hereyname.
是相应输出通道的名称。Zsys.
具有作为输出的许多输入。
Zsys.=Z.P.K.(S.yS.那'augmented')
converts both the measured and noise dynamics into a ZPK model.Zsys.
H一种S.Ny+N你
一世NP.你ts such that the firstnu.
一世NP.你ts represent the channels你(t)
虽然剩余的通道代表噪声通道v(t)
。Zsys.。InputGroup.
contains 2 input groups,'measured'
和'noise'
。Zsys.。InputGroup.。measured
一世S.组to1:NU.
而zsys.inputgroup.noise.
一世S.组tonu.+1:nu+ny. zsys
represents the equationy(t) = [G HL] [u; v]
。
识别的非线性模型不能转换为ZPK系统。使用线性近似函数,例如线性化
和linapp
。
至于传输函数,您可以指定用于显示零极化模型的显示的变量。可用的选择包括S.(默认)和P.对于连续时间模型,和Z.(default),Z.-1那问:-1(相当于Z.-1), 要么问:(相当于Z.)对于离散时间模型。重新分配'变量'
属性覆盖默认值。更改变量仅影响零极化模型的显示。
Z.P.K.
objects have the following properties:
|
系统零。 该 |
||||||||||||
|
系统杆。 该 |
||||||||||||
|
System gains. 该 |
||||||||||||
|
指定分子和分母多项式如何用于显示目的。 分子和分母多项式各自显示为第一和二阶因子的产物。
对于连续时间模型,下表显示了多项式因素如何以每种显示格式编写。
For discrete-time models, the polynomial factors are written as in continuous time, with the following variable substitutions:
W.HereT.S.一世S.the sample time. In discrete time,τ和ω0.时间常数和自然freque顺序匹配Ncy of the equivalent continuous-time root, provided|Z.-1 |«T.S.(ω0.«π/T.S.=Nyquist frequency). 默认: |
||||||||||||
|
传输函数显示变量,指定为以下之一:
的价值 默认: |
||||||||||||
|
T.ransport delays. 对于连续时间系统,请在存储在中的时间单位中指定传输延迟 用于MIMO系统 默认: |
||||||||||||
|
Input delay for each input channel, specified as a scalar value or numeric vector. For continuous-time systems, specify input delays in the time unit stored in the 适用于系统 你也可以设置 默认:0. |
||||||||||||
|
输出延迟。 适用于系统 默认:0.对于一种ll output channels |
||||||||||||
|
采样时间。对于连续时间模型, 这个属性不会离散化或resa变化mP.le the model. Use 默认: |
||||||||||||
|
Units for the time variable, the sample time
Changing this property has no effect on other properties, and therefore changes the overall system behavior. Use 默认: |
||||||||||||
|
输入通道名称,指定为以下之一:
或者,使用自动矢量扩展为多输入模型分配输入名称。例如,如果 sys.InputName ='控件'; 该一世NP.你t names automatically expand to 您可以使用速记表示法 输入通道名称具有多种用途,包括:
默认: |
||||||||||||
|
输入通道单元,指定为以下之一:
采用 默认: |
||||||||||||
|
Input channel groups. The sys.inputgroup.controls = [1 2];sys.inputgroup.noise = [3 5]; creates input groups named SYS(:,'控件') 默认:没有字段的结构 |
||||||||||||
|
Output channel names, specified as one of the following:
或者,使用自动矢量扩展为多输出模型分配输出名称。例如,如果 sys.outputname ='测量'; 该output names automatically expand to 您可以使用速记表示法 输出通道名称有几种用途,包括:
默认: |
||||||||||||
|
输出通道单元,指定为以下之一:
采用 默认: |
||||||||||||
|
输出通道组。该 S.yS.。产量组。temperature = [1]; sys.InputGroup.measurement = [3 5]; 创建名为的输出组 S.yS.('measurement',:) 默认:没有字段的结构 |
||||||||||||
|
System name, specified as a character vector. For example, 默认: |
||||||||||||
|
Any text that you want to associate with the system, stored as a string or a cell array of character vectors. The property stores whichever data type you provide. For instance, if S.yS.1。Notes ="sys1 has a string.";S.yS.2。Notes ='sys2 has a character vector.';S.yS.1。Notes sys2.Notes ans =“sys1有一个字符串。”ans ='sys2有一个字符矢量。 默认: |
||||||||||||
|
您要与系统关联的任何类型的数据,指定为任何MATLAB®数据类型。 默认: |
||||||||||||
|
Sampling grid for model arrays, specified as a data structure. 对于通过采样一个或多个独立变量导出的模型阵列,该属性会跟踪与数组中的每个模型关联的变量值。T.H一世S.一世N对于m一种tion appears when you display or plot the model array. Use this information to trace results back to the independent variables. 组the field names of the data structure to the names of the sampling variables. Set the field values to the sampled variable values associated with each model in the array. All sampling variables should be numeric and scalar valued, and all arrays of sampled values should match the dimensions of the model array. 例如,假设您创建一个11×1数组的线性模型, S.yS.一种rr.SamplingGrid = struct('time'那0.:10)
Similarly, suppose you create a 6-by-9 model array, [zeta,w] = ndgrid( When you display m m(:,:,1,1) [zeta=0.3, w=5] = 25 -------------- s^2 + 3 s + 25 M(:,:,2,1) [zeta=0.35, w=5] = 25 ---------------- s^2 + 3.5 s + 25 ... 用于通过线性化模拟链接生成的模型阵列金宝app®model at multiple parameter values or operating points, the software populates 默认: |
创造the continuous-time SISO transfer function:
创造H(S.)一种S.一种Z.P.K.
object using:
H=Z.P.K.(0.那[1-i 1+i 2], -2);
Specify the following one-input, two-output zero-pole-gain model:
为此,请输入:
Z.={[] ; -0.5}; P = {0.3 ; [0.1+i 0.1-i]}; K = [1 ; 2]; H = zpk(Z,P,K,-1); % unspecified sample time
转换传输函数
H=tf([-10 20 0],[1 7 20 28 19 5]);
零极化形式,使用:
ZPK(H)
T.H一世S.command returns the result:
零/极/增益:-10 s(s-2)--------------------------------------------------------- ^ 3(s ^ 2 + 4s +5)
创造一种discrete-time ZPK model from a rational expression in the variableZ.
。
Z.=Z.P.K.('Z'那0.。1);H = (z+.1)*(z+.2)/(z^2+.6*z+.09)
T.H一世S.command returns the following result:
零/杆/增益:(Z + 0.1)(Z + 0.2)--------------(Z + 0.3)^ 2采样时间:0.1
创造一种mIMOZ.P.K.
model using cell arrays of zeros and poles.
创造the two-input, two-output zero-pole-gain model
B.yentering:
Z.={[],-5;[1-i 1+i] []}; P = {0,[-1 -1];[1 2 3],[]}; K = [-1 3;2 0]; H = zpk(Z,P,K);
采用[]
作为一个地方持有人Z.
要么P.
W.Hen the corresponding entry ofH(S.)H一种S.No zeros or poles.
Extract the measured and noise components of an identified polynomial model into two separate ZPK models. The former (measured component) can serve as a plant model while the latter can serve as a disturbance model for control system design.
加载IceNgine Z = IDDATA(Y,U,0.04);NB = 2;nf = 2;nc = 1;nd = 3;nk = 3;sys = bj(z,[nb nc nd nf nk]);
S.yS.
是表格的模型,Y(t)= b / f u(t)+ c / d e(t)
那W.HereB / F.
表示测量的组件和光盘
噪声分量。
sysmeas = zpk(sys,'测量')
或者,使用可以简单地使用Z.P.K.(S.yS.)
提取测量的组分。
S.yS.Noise = zpk(sys, 'noise')
Z.P.K.
使用matlab函数根
to convert transfer functions and the functionsZ.ero
和P.ole
转换状态空间模型。