系统的能控性、能观测性、稳定性分析之令狐文(6)

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Lc=gram(ss(H),'c')

H = 6 z^2 - 0.6 z - 0.12

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z^4 - z^3 + 0.25 z^2 + 0.25 z - 0.125 Sample time: 0.1 seconds

Discrete-time transfer function.

Lc =10.7651 7.8769 3.6759 -0.0000

7.8769 10.7651 7.8769 1.8379

3.6759 7.8769 10.7651 3.9385

-0.0000 1.8379 3.9385 2.6913 Ctrb：计算矩阵可控性

A=[-2.2 -0.7 1.5 -1;0.2 -6.3 6 -1.5;0.6 -0.9 -2 -0.5;1.4 -0.1 -1 -3.5]

B=[6 9;4 6;4 4;8 4];

Tc=ctrb(A,B);

rank(Tc)

A =-2.2000 -0.7000 1.5000 -1.0000

0.2000 -6.3000 6.0000 -1.5000

0.6000 -0.9000 -2.0000 -0.5000

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