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Scilabヘルプ >> CACSD > Control Design > Control Loop > feedback

# feedback

フィードバック操作

### 呼び出し手順

`Sl=Sl1/.Sl2`

Sl1,Sl2

Sl

### 説明

フィードバック演算は, `/.` (スラッシュドット) と記述されます. このコマンドは,`Sl1` および `Sl2``Sl=Sl1*(I+Sl2*Sl1)^-1`, すなわち, (負の) フィードバックを返します. `Sl` は, `y = Sl1 u`, `u = v - Sl2 y`の時の 伝達関数`v -> y`です.

### 例

```S1=ssrand(2,2,3);S2=ssrand(2,2,2);
W=S1/.S2;
ss2tf(S1/.S2)
//Same operation by LFT:
ss2tf(lft([zeros(2,2),eye(2,2);eye(2,2),-S2],S1))
//Other approach: with constant feedback
BigS=blockdiag(S1,S2); F=[zeros(2,2),eye(2,2);-eye(2,2),zeros(2,2)];
Bigclosed=BigS/.F;
W1=Bigclosed(1:2,1:2);   //W1=W (in state-space).
ss2tf(W1)
//Inverting
ss2tf(S1*inv(eye()+S2*S1))```

### 参照

• lft — 線形分数変換
• blockdiag — Creates a block diagonal matrix from provided arrays. Block diagonal system connection.
• augment — 拡張プラント
• obscont — オブザーバベース コントローラ

### Comments

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