Scilab 5.3.3
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Please note that the recommended version of Scilab is 2025.0.0. This page might be outdated.
See the recommended documentation of this function
gfrancis
Francis equations for tracking
Calling Sequence
[L,M,T]=gfrancis(Plant,Model)
Arguments
- Plant
syslin
list- Model
syslin
list- L,M,T
real matrices
Description
Given the the linear plant:
x'= F*x + G*u y = H*x + J*u
and the linear model
xm'= A*xm + B*um ym = C*xm + D*um
the goal is for the plant to track the model i.e. e = y - ym ---> 0
while keeping stable the state x(t) of the plant.
u
is given by feedforward and feedback
u = L*xm + M*um + K*(x-T*xm) = [K , L-K*T] *(x,xm) + M*um
The matrices T,L,M satisfy generalized Francis equations
F*T + G*L = T*A H*T + J*L = C G*M = T*B J*M = D
The matrix K
must be chosen as stabilizing the pair (F,G)
See example of use in directory demos/tracking
.
Examples
<< gfare | CACSD | gtild >> |