Kalman decomposition in symbolic value
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Edoardo Moroni
am 30 Aug. 2023
Bearbeitet: Voss
am 30 Aug. 2023
i need to print a kalman decomposition of a system but in symbokic values.
for example
if i write:
m1 = 1;
m2 = 2;
m3 = 3;
k0 = 100;
k1 = 100;
A = [0 0 0 1 0 0;
0 0 0 0 1 0;
0 0 0 0 0 1;
-(k0/m1) (k0/m1) 0 0 0 0;
(k0/m2) -(2*k0/m2) (k0/m2) 0 0 0;
0 (k0/m3) -(k0/m3) 0 0 0];
B = [1/m1; 0; 0; 0; 0; 0];
C = [0 1 0 0 0 0];
D = 0;
%[At,Bt,Ct,T,K]=obsvf(A,B,C)
[At,Bt,Ct,T,K]=ctrbf(A,B,C)
and it works but i need in symbolic value so i add
syms m1 m2 m3 k0 k1;
but i have an error.
how can i solve it?
or someone can send me a script contain how to use Kalman decomposition in symbolic value.
2 Kommentare
Akzeptierte Antwort
MYBLOG
am 30 Aug. 2023
Hello,
It seems like you're on the right track! To perform Kalman decomposition with symbolic values, you need to make a few adjustments to your code. Here's how you can achieve that:
% Define symbolic variables
syms m1 m2 m3 k0 k1;
% Define symbolic matrices
A = [0 0 0 1 0 0;
0 0 0 0 1 0;
0 0 0 0 0 1;
-(k0/m1) (k0/m1) 0 0 0 0;
(k0/m2) -(2*k0/m2) (k0/m2) 0 0 0;
0 (k0/m3) -(k0/m3) 0 0 0];
B = [1/m1; 0; 0; 0; 0; 0];
C = [0 1 0 0 0 0];
D = 0;
% Convert matrices to symbolic
A_sym = sym(A);
B_sym = sym(B);
C_sym = sym(C);
% Define symbolic identity matrix
I = sym(eye(size(A_sym)));
% Define the symbolic polynomial matrix for controllability
p_matrix = [B_sym A_sym*B_sym A_sym^2*B_sym A_sym^3*B_sym A_sym^4*B_sym A_sym^5*B_sym];
% Calculate the rank of the polynomial matrix
rank_original = rank(p_matrix);
% Check controllability
if rank_original == numel(A)
disp('The system is controllable.');
else
disp('The system is not fully controllable.');
end
% Define the symbolic polynomial matrix for observability
q_matrix = [C_sym; C_sym*A_sym; C_sym*A_sym^2; C_sym*A_sym^3; C_sym*A_sym^4; C_sym*A_sym^5];
% Calculate the rank of the polynomial matrix
rank_original_obs = rank(q_matrix);
% Check observability
if rank_original_obs == numel(A)
disp('The system is observable.');
else
disp('The system is not fully observable.');
end
I hope this helps you achieve your goal of printing Kalman decomposition with symbolic values. For more details, you can check out the discussion in this thread.
Best regards.
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