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23120041RESEARCHANDEXPLORATIONINLABORATORYVol.23No.1Jan.2004MATLAB(,210042):,MATLAB,MATLAB,,,MATLAB:;;MATLAB;:TP13:A:100627167(2004)0120028203TheExperimentalDesignforModernControlTheoryCourseBasedonMATLABYEBiao2ming(Inst.ofElectricalandElectronicEng.,NanjingNormalUniv.,Nanjing210042,China)Abstract:AccordingtothecharacteristicofModernControlTheorycourse,theexperimentsbasedonMAT2LABweredesigned,thefunctionsofMATLABusedintheexperimentsweregiven,andoneoftheexperimentswasdetailedexplained.Allthosewillhelpstudentstolearnthemoderncontroltheorycourse,andhelpthemtosolvequestionsbyMATLAB.Keywords:moderncontroltheory;experiment;MATLAB;simulation:20032012301,,,MATLAB,,MATLAB,Simulink;,,,MATLAB2MATLAB,MAT2LAB,7,,MAT2LAB2.1,,MATLAB,MATLABG1=tf(num,den),G2=ss(G1)G1,G1G2;G1=zpk(z,p,k),G2=ss(G1)G1,G1G2;G1=ss(A,B,C,D),G2=tf(G1),G3=zkp(G1)(A,B,C,D)G1,G1G2G3;G=G13G2G;G=G1+G2G;G=feedback(G1,G2,sign)G,sign=1,;append();blk2build()connect()2.2,MATLAB:G1=ss2ss(G,T)GTG1[G1,T]=canon(G,type)typecompanionmodaljordan,GG1,T;[V,D]=eig(A)AD;[V,J]=jordan(A)AJ,V2.3,,MATLABTc=ctrb(A,B)Tc;To=obsv(A,C)To;W=gram(G,type)typeco,GramGram;[Ac,Bc,Cc,Tc,Kc]=ctrbf(A,B,C),,Tc,sum(Kc);[Ao,Bo,Co,To,Ko]=cbsvf(A,B,C),Tc,sum(Ko)2.4,,A;ATP+PA=-Q,P,MAT2LABP=lyap(A,Q)AQ,P;step(sys),;impulse(sys),;eig()expm(),Simulink,2.5,,,MATLABK=place(A,B,P)(A,B,C,D),(A-B3K)PK;K=acker(A,B,P)place()2.6,,,,,,MATLABSimulink2.7,,,,Riccati,Riccati,RiccatiMATLAB[K,P,E]=lqr(A,B,Q,R)A,B921:MATLAB,Q,R,K,RiccatiP,E;X=are(A,B,C)RiccatiATX+XA-XBX+C=0X,step(),Simulink,Q,RRiccati,,m3,SISOG(s)=1ös3xõ=Ax+Bu=010001000x1x2x3+001uy=Cx=[100]x1x2x3ctrb()obsv(),rank(),,p1=-3,p2,3=-2j2,P=[-3,-2+i2,-2-i2],K=place(A,B,P)K=acker(A,B,P)K=[24,20,7],H,-3,H=[9,27,27]TMATLAB11q=1,n-q=2-3,H=[96]T,wõ=0-91-6w+10u+-54-27yx^=yw2+6yw1+9yMATLAB22,K,,;H,,:13,47,,,,,,,MATLAB:[1].MATLAB[M].:,2000.[2][]KatsuhikoOgata.ModernControlEngineering(ThirdEdi2ton)[M].:,2000.[3].MATLAB[M].:,2001.:(1968-),,0323