Function or variable 'rscale' not recognised.
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A = [ 0 1 0
980 0 -2.8
0 0 -100 ];
B = [ 0
0
100 ];
C = [ 1 0 0 ];
poles = eig(A)
t = 0:0.01:2;
u = zeros(size(t));
x0 = [0.01 0 0];
sys = ss(A,B,C,0);
[y,t,x] = lsim(sys,u,t,x0);
plot(t,y)
title('Open-Loop Response to Non-Zero Initial Condition')
xlabel('Time (sec)')
ylabel('Ball Position (m)')
p1 = -10 + 10i;
p2 = -10 - 10i;
p3 = -50;
K = place(A,B,[p1 p2 p3]);
sys_cl = ss(A-B*K,B,C,0);
lsim(sys_cl,u,t,x0);
xlabel('Time (sec)')
ylabel('Ball Position (m)')
p1 = -20 + 20i;
p2 = -20 - 20i;
p3 = -100;
K = place(A,B,[p1 p2 p3]);
sys_cl = ss(A-B*K,B,C,0);
lsim(sys_cl,u,t,x0); xlabel('Time (sec)')
ylabel('Ball Position (m)')
t = 0:0.01:2;
u = 0.001*ones(size(t));
sys_cl = ss(A-B*K,B,C,0);
lsim(sys_cl,u,t); xlabel('Time (sec)')
ylabel('Ball Position (m)')
axis([0 2 -4E-6 0])
Nbar = rscale(sys,K)
Function or variable 'rscale' is not recognised by matlab. I get an error like this.
However, the url above has this code description. How can I use it?
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Answers (2)
Rik
on 12 Jun 2023
As it says right on that page:
"Note that this function is not standard in MATLAB. You will need to download it here, rscale.m, and save it to your current workspace."
Mr. Pavl M.
on 5 Dec 2024
clc
clear all
close all
A = [ 0 1 0
980 0 -2.8
0 0 -100 ];
B = [ 0
0
100 ];
C = [ 1 0 0 ];
D = [0];
poles = eig(A)
ts = 0.001;
sys = ss(A,B,C,D,ts);
G = ss2tf(sys.A,sys.B,sys.C,sys.D)
p1 = -20 + 20i;
p2 = -20 - 20i;
p3 = -100;
K = place(sys.A,sys.B,exp(ts*[p1 p2 p3]))
%In place of separate function invokation, faster
s4 = size(sys.A,1);
Z = [zeros([1,s4]) 1];
N = (1\([sys.A,sys.B;sys.C,sys.D]))*Z';
Nx = N(1:s4);
Nu = N(1+s4);
Nbar=Nu + K*Nx
%
opts = hinfsynOptions('Display','on');
W1 = makeweight(100,[1],0.25,ts);
W3 = makeweight(0.25,[1],100,ts);
%W2 = makeweight(0.01,[0.1],1,ts);
figure
bodemag(W1,[],W3)
P = augw(sys,[],[],W3)
%ncont = 1; % one control signal, u
%nmeas = 2; % 1 measurement signals
%[K,CL,gamma] = hinfsyn(P,ncont,nmeas,opts)
%contact me more if want this to study more interactively and to complete.
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