%基于LQR最優(yōu)控制的降維觀測(cè)器設(shè)計(jì)

%LQR控制穩(wěn)定系統(tǒng)
Q=diag（[1010]）;
R=1;
Ks=lqr（ABQR）;%狀態(tài)反饋矩陣
%降維觀測(cè)器設(shè)計(jì)
q=rank（C）;
P=[C;0?1?0?0;0?0?0?1];
Q=inv（P）;
Q1=Q（:1:q）;
Q2=Q（:q+1:rank（Q））;
A1=P*A*inv（P）;
B1=P*B;
%A1矩陣分塊
A11=A1（1:q1:q）;
A12=A1（1:qq+1:4）;
A21=A1（q+1:41:q）;
A22=A1（q+1:4q+1:4）;
%B1矩陣分塊
B11=B1（1:q:）;
B12=B1（q+1:4:）;
Pole=[-1?-2];%期望極點(diǎn)
K=place（A22‘A12‘Pole）;%極點(diǎn)配置
L=K‘;%狀態(tài)觀測(cè)器增益矩陣

?屬性????????????大小?????日期????時(shí)間???名稱(chēng)
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?????文件?????????459??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌10╒┬\(zhòng)jwgcl.m
?????文件?????????640??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌10╒┬\(zhòng)jwgcp.m
?????文件???????25822??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌10╒┬\(zhòng)jwgcql.mdl
?????文件???????25822??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌10╒┬\(zhòng)jwgcqp.mdl
?????文件???????35207??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌10╒┬\(zhòng)pedulumpid.mdl
?????文件???????13263??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌10╒┬\(zhòng)pendulum.fig
?????文件???????19940??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌10╒┬\(zhòng)pendulum.m
?????文件?????????362??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌10╒┬\(zhòng)tracker.m
?????文件???????22751??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌10╒┬\(zhòng)wjchgzq.mdl
?????文件?????????133??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌10╒┬\(zhòng)╩╣╙├╦╡├≈.txt
?????文件?????????112??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌11╒┬\(zhòng)fun.m
?????文件?????????369??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌11╒┬\(zhòng)y11_1.m
?????文件????????1788??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌11╒┬\(zhòng)y11_2.m
?????文件????????1538??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌11╒┬\(zhòng)y11_3.m
?????文件?????????761??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌11╒┬\(zhòng)y11_4.m
?????文件?????????713??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌11╒┬\(zhòng)y11_4_2.m
?????文件?????????553??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌11╒┬\(zhòng)y11_4_3.m
?????文件?????????554??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌11╒┬\(zhòng)y11_4_4.m
?????文件?????????654??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌11╒┬\(zhòng)y11_4_5.m
?????文件????????3523??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌11╒┬\(zhòng)y11_5.m
?????文件??????????60??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌12╒┬\(zhòng)y12_1\fitness.m
?????文件????????1344??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌12╒┬\(zhòng)y12_1\SAPSO.m
?????文件??????????60??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌12╒┬\(zhòng)y12_2\fitness.m
?????文件????????1166??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌12╒┬\(zhòng)y12_2\LinWPSO.asv
?????文件????????1203??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌12╒┬\(zhòng)y12_2\LinWPSO.m
?????文件??????????90??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌12╒┬\(zhòng)y12_3\fitness.m
?????文件????????1328??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌12╒┬\(zhòng)y12_3\SAPSO.asv
?????文件????????1321??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌12╒┬\(zhòng)y12_3\SAPSO.m
?????文件??????????90??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌12╒┬\(zhòng)y12_4\fitness.m
?????文件????????1344??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌12╒┬\(zhòng)y12_4\SAPSO.m
?????文件??????????87??2020-09-29?17:44??MT?╓╟─▄╦π╖?\╡┌12╒┬\(zhòng)y12_5\fitness.m
............此處省略249個(gè)文件信息