状态观测器设计

A=0,0,-2;1,0,9;0,1,0;B=3,2,1;C=0,0,1;ob=obsv(A,C);roam=rank(ob);if roam=3disp( 系统可观 )elseif roam=3disp( 系统不可观 )End系统可观A=0,0,-2;1,0,9;0,1,0;B=3;2;1;C=0 0 1;P=-3,-4,-5;A1=A;B1=C;k=acker(A1,B1,P)G=(k); agc=A-G*C k =58 56 12 agc =0 0 -601 0 -470 1 -12 A=1 2 0;3 -1 1;0 2 0;B=0;0;1;C=-1 1 1;D=0;P=-10 -1+i*sqrt(3) -1-i*sqrt(3);cam=ctrb(A,B);N=size(A);n=N(1);num,den=ss2tf(A,B,C,D);G=tf(num,den);if det(cam)=0roam=rank(cam);if roam=ndisp(system is controlled)elseif roam A=1 2 0;3 -1 1;0 2 0;B=0;0;1;C=-1 1 1;D=0;P=-4 -3+i -3-i;cam=ctrb(A,B);N=size(A);n=N(1);num,den=ss2tf(A,B,C,D);G=tf(num,den);ob=obsv(A,C)roam=rank(ob);if roam=ndisp(system is observable)elseif roam=ndisp(system is no observable)endk=acker(A,C,P);h=kahc=A-h*Cob =-1112-11-17-1system is observableh =272413ahc =28-25-2727-25-2313-11-13 A=0 1 0 0;0 0 -1 0;0 0 0 1;0 0 11 0;B=0;1;0;-1;C=1 0 0 0;ob=obsv(A,C);roam=rank(ob);if roam=4disp(system is obserbable)elseif roam=4disp(system is no obserbable)endp1=-2 -3 -2+j -2-j;A1=A;B1=C;C1=B;K=acker(A1,B1,p1);G=(K) agc=A-G*Csystem is obserbableG =942-148-492agc =-9 1 0 0-42 0 -1 0148 0 0 1492 0 11 0 a=0 -1 0 0;0 0 1 0;0 11 0 0;1 0 0 0; b=1;0;-1;0;c=0 0 0 1;a11=a(1:3,1:3);a12=a(1:3,4);a21=a(4,1:3);a22=a(4,4);b1=b(1:3,1);b2=b(4,1);a1=a11;c1=a21;ax=(a1);bx=(c1);p=-3 -2+i -2-ik=acker(ax,bx,p);h=kahaz=(a11-h*a21)bhbu=b1-h*b2ahay=(a11-h*a21)*h+a12-h*a22p =-3.0000 + 0.0000i -2.0000 + 1.0000i -2.0000 - 1.0000i-28-92 ahaz-1 00 111 0-72892 bhbu10-1 ahay-21104336