控制系统计算机辅助设计课后题部分答案..doc

第三章 1.1s=tf(s); G=(s^2+5*s+6)/(((s+1)^2+1)*(s+2)*(s+4))或者G=(s^2+5*s+6)/((s+1)^2+1)/(s+2)/(s+4) 1.2 z=tf(z,0.1);H=5*(z-0.2)^2/(z*(z-0.4)*(z-1)*(z-0.9)+0.6) 2． den=[1 10 32 32];num=[6 4 2 2];G=tf(num,den) zpk(G) 3．A=[-1,1,0; 0,-1,-3; -1,-5,-3];B=[0,0; 1,0; 0,1]; C=[0,-1,0];D=[1,-5];G=ss(A,B,C,D) G1=tf(G) 4．den=[1 1 0.16];num=[1 2 ];H=tf(num,den,Ts,1,ioDelay,2) 5． z=[-1+j,-1-j];p=[0 0 -5 -6 -j j]; G=zpk(z,p,8) 5.2 z=tf(z,0.05);q=z^-1;H=((q+3.2)*(q+2.6))/q^5/(q-8.2);zpk(H) 6． A=[1 2 3; 4 5 6; 7 8 0];B=[4; 3; 2]; C=[1 2 3];D=zeros(1,1);G=ss(A,B,C,D); G1=tf(G) zpk(G1) 7.1 s=tf(s);Go=(211.87*s+317.64)/(s+20)/(s+94.34)/(s+0.17); Gc=(169.6*s+400)/s/(s+4);H=1/(0.01*s+1); G=feedback(Go*Gc,H) G1=ss(G) zpk(G) 7.2 z=tf(z,1);q=z^-1;Go=(35786.7*q+108444)/(q+4)/(q+20)/(q+74);Gc=1/(q-1);H=1/(0.5*q-1);feedback(Go*Gc,H) G1=ss(G) G2=zpk(G) 7.3 syms Km J B Kr Lq Rq Kv s G=Km*J/(J*s^2+B*s+Kr);Gc=Lq/(Lq*s+Rq),H=Kv*s; Gc = Lq/(Rq + Lq*s) feedback(G*Gc,H) ans = 1/(Kv*s) - 1/(Kv*s*((J*Km*Kv*Lq*s)/((Rq + Lq*s)*(J*s^2 + B*s + Kr)) + 1)) 8． s=tf(s);G=10/(s+1)^3;Gpid=0.48*(1+1/(1.814*s)+0.4353*s/(1+0.04353*s)); G0=feedback(Gpid*G,1) ss(G0) G2=minreal(G1) zpk(G0) 9． A=[2.25 -5 -1.25 -0.5;2.25 -4.25 -1.25 -0.25;0.25 -0.5 -1.25 -1; 1.25 -1.75 -0.25 -0.75]; B=[4 6 ;2 4; 2 2;0 2];C=[0 0 0 1;0 2 0 2];D=zeros(2,2); G1=ss(A,B,C,D) G2=tf(G1) G3=c2d(G2,0.1,tustin) G4=ss(G3) G5=d2c(G4) 不能够变回去 10．s=tf(s);g11=-0.252/(1+3.3*s)^3/(1+1800*s);g12=0.43/(1+12*s)/(1+1800*s); g21=-0.0435/(1+25.3*s)^3/(1+360*s);g22=0.097/(1+12*s)/(1+360*s); G=[g11 g12;g21 g22]; Gc=[-10 77.5;0 50]; I=eye(2,2); G1=feedback(Gc*G,I) 11 s=tf(s);c1=(1/(s+1))*(s/(s^2+2));c2=(4*s+2)/(s+1)^2;c3=(s^2+2)/(s^3+14);c4=feedback(i/s^2,50);c5=feedback(c1,c2);G=3*feedback(c4*c5,c3) 13 clear all syms G1 G2 G3 G4 G5 G6 H1 H2 H3 H4 G23=feedback(G2*G3,H2); G45=feedback(G4*G5,H3); G7=feedback(G23*G45,H4/G2/G5); G=feedback(G1*G7*G6,H1) 14 clear all s=tf(s); g1=1/(1+0.01*s);g2=(1+0.17*s)/(0.085*s);g3=(1+0.15*s)/(0.051*s); g4=70/(1+0.0067*