# CME4.1 -...

This preview shows pages 1–6. Sign up to view the full content.

Sheet1 Page 1 %------------------------------------------------------ % CME 4.1 %------------------------------------------------------ A = [-1 0 B = [1 C = [1 -(sqrt(2)/2)] D = [0] JbkR = ss(A,B,C,D) Q = obsv(JbkR) Q1=[C CharPoly = poly(A) % characteristic polynomial if (rank(Q) == size(A,1)) % Logic to assess % observability disp('System is observable.') else disp('System is NOT observable.') end a1 = CharPoly(2) Pccfi = [a1 1 % matrix Pccf Qocf = inv(Pccfi) Tocf=inv(Q)*Qocf % transformation %matrix Aocf=inv(Tocf)*A*Tocf % via formula Bocf = inv(Tocf)*B Cocf = C*Tocf Docf = D [JbkROCF,TOCF] = canon(JbkR,'companion') % using canon AOCF = JbkROCF.a BOCF = JbkROCF.b COCF = JbkROCF.c DOCF = JbkROCF.d %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Answer from Matlab %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% a)System is observable.

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
Sheet1 Page 2 b) Tocf = 1.0000 -1.0000 1.4142 -2.8284 Aocf = 0 -2 01/ 0 Bocf = Cocf = 0 1 Docf = %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % the answers using canon to cmpute OCF(same as above)

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
This is the end of the preview. Sign up to access the rest of the document.

Unformatted text preview: %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% AOCF = 0 -2.0000 1.0000 -3.0000 BOCF = COCF =-0.0000 1.0000 DOCF = %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % the answers from CME3.1b Sheet1 Page 3 % In this case, we can see that there is a connection % between controllability and observability known as % duality %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Tccf = 2.0000 1.0000 1.4142 1.4142 Accf = 0.0000 1.0000-2.0000 -3.0000 Bccf = Ccf = 1.0000 0.0000 Dcf = %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Sheet1 Page 4 0 -2] % Define the state-space realization sqrt(2)] % Define model from state-space % Calculate observability C*A] % Check Q via the formula % Determine the system % Extract a1 1 0] % Calculate the inverse of % Calculate OCF % Transform to OCF % Compute OCF Sheet1 Page 5 Sheet1 Page 6...
View Full Document

## This note was uploaded on 09/14/2011 for the course ELEN 236 taught by Professor Dr.migdathodzic during the Spring '11 term at Santa Clara.

### Page1 / 6

CME4.1 -...

This preview shows document pages 1 - 6. Sign up to view the full document.

View Full Document
Ask a homework question - tutors are online