kpure

Arguments

sys

SISO linear system (syslin)

tol

a positive scalar. tolerance used to determine if a root is imaginary or not. The default value is 1e-6

K

Real vector, the vector of gains for which at least one closed loop pole is imaginary.

R

Complex vector, the imaginary closed loop poles associated with the values of K.

Description

K=kpure(sys) computes the gains K such that the system sys feedback by K(i) (sys/.K(i)) has poles on imaginary axis.

Examples

num=real(poly([-1+%i, -1-%i, -1+8*%i  -1-8*%i],'s'));
den=real(poly([0.5 0.5  -6+7*%i  -6-7*%i  -3 -7 -11],'s'));
h=num/den;

[K,Y]=kpure(h)
clf();evans(h)
plot(real(Y),imag(Y),'+r')

num=real(poly([-1+%i*1, -1-%i*1, 2+%i*8  2-%i*8 -2.5+%i*13 -2.5-%i*13],'s'));
den=real(poly([1 1 3+%i*3 3-%i*3 -15+%i*7  -15-%i*7  -3 -7 -11],'s'));
h=num/den;

[K,Y]=kpure(h)
clf();evans(h,100000)
plot(real(Y),imag(Y),'+r')

Author

Serge Steer, INRIA

See Also

• evans — lugar geométrico das raízes Evans
• krac2 — continuous SISO system limit feedback gain