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getNominal

Nominal value of uncertain model

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Syntax

Mnom = getNominal(M)

Description

example

Mnom= getNominal(M)replaces all uncertain elements inMwith their nominal values. All other control design blocks inMare unchanged.

Examples

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Open Live Script

Create a model of a mass-spring-damper system in which the mass, spring constant, and damping constant are all uncertain.

m = ureal('m',3,'percent',40); k = ureal(“k”,2,'percent',30); c = ureal('c',1,'percent',20); G = tf(1,[m,c,k])
G = Uncertain continuous-time state-space model with 1 outputs, 1 inputs, 2 states. The model uncertainty consists of the following blocks: c: Uncertain real, nominal = 1, variability = [-20,20]%, 1 occurrences k: Uncertain real, nominal = 2, variability = [-30,30]%, 1 occurrences m: Uncertain real, nominal = 3, variability = [-40,40]%, 1 occurrences Type "G.NominalValue" to see the nominal value, "get(G)" to see all properties, and "G.Uncertainty" to interact with the uncertain elements.

Gis aussmodel. Extract its nominal value.

Gnom = getNominal(G);

BecauseGhas only uncertain control design blocks,Gnomis a numeric state-space (ss) model.

CombineGwith a tunable PID controller.

C = tunablePID('C','pid'); T = feedback(G*C,1)
T = Generalized continuous-time state-space model with 1 outputs, 1 inputs, 3 states, and the following blocks: C: Tunable PID controller, 1 occurrences. c: Uncertain real, nominal = 1, variability = [-20,20]%, 1 occurrences k: Uncertain real, nominal = 2, variability = [-30,30]%, 1 occurrences m: Uncertain real, nominal = 3, variability = [-40,40]%, 1 occurrences Type "ss(T)" to see the current value, "get(T)" to see all properties, and "T.Blocks" to interact with the blocks.

Tis a generalized state-space (genss) model that has both tunable and uncertain blocks. Extract the nominal value ofT。

Tnom = getNominal(T)
Tnom = Generalized continuous-time state-space model with 1 outputs, 1 inputs, 3 states, and the following blocks: C: Tunable PID controller, 1 occurrences. Type "ss(Tnom)" to see the current value, "get(Tnom)" to see all properties, and "Tnom.Blocks" to interact with the blocks.

Extracting the nominal value ofTpreserves the tunable control design block, resulting in anothergenssmodel.

Input Arguments

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Uncertain model or matrix, specified as a dynamic system model or static model. Typically,Mis a model that contains uncertainty, such as auss, uncertaingenss, orumatmodel.

Output Arguments

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Nominal value ofM, returned as a dynamic system model or static model.Mnomhas no uncertain blocks.

The model type ofMnomdepends on the type ofM。佛r example, ifMis agenssmodel with uncertain blocks and tunable blocks, thenMnomis agenssmodel with tunable blocks.

IfMcontains no control design blocks other than uncertain blocks, thenMnomis a state-space (ss) model, anfrdmodel, or a numeric array, depending on the type ofM。佛r example, ifMis auss模型,然后Mnomis assmodel. IfMis aumat, thenMnomis a numeric array.

IfMhas no uncertain blocks, thenMnom=M。

See Also

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Introduced in R2015b

Robust Control Toolbox Documentation

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