Hi, I am Simon I am doing some project for my studies. We have to simulate regulation systems with use of state information (x(t) - from state space). But for hours I can't manage the problem with vector size I used in simulation. I have been trying to simulate this model:
<http://mailinglists.scilab.org/file/n4033453/simC.png> In this part of project we've got make a model of so called Luenberger Observer (state observer). The subsystem looks like this: <http://mailinglists.scilab.org/file/n4033453/simC_sub.png> And in this part the problem appears: the vector after integration doesn't match to the 'F' gain which is 3x3 matrix. I have been trying many ways to solve that... The code-context to this simulation is: s = poly(0, "s"); numK= 64.75; b0=numK; b1=0; b2=0; denK = s^3 + 8*s^2 + 16.25*s + 64.75; a3=1; a2=8; a1=16.25; a0=64.75; K=numK/denK; //r=roots(denK) //i=%i; //r1=-7;r2=-0.5+3*i;r3=-0.5-3*i; A=[0 1 0;0 0 1;-a0 -a1 -a2]; b=[0;0;1] C=[b0,b1,b2]; D=zeros(3,1); //simA h=0.01; //clock period t=30; //simulation time x0=[1;2;3]; //vector of initial condition c0=eye(3,3); buf=1280; //simB //regulatory normal form lambda1=4; //experimentally derived lambda2=3; lambda3=-6; a_z=(s-lambda1)*(s-lambda2)*(s-lambda3); //polynomial of closed system alfa0=coeff(a_z,0); alfa1=coeff(a_z,1); alfa2=coeff(a_z,2); alfa3=coeff(a_z,3); //new polynomial coefficients kr1=alfa0-a0; kr2=alfa1-a1; kr3=alfa2-a2; k=[kr1; kr2; kr3]; //gain vector //Ackermann method I=eye(3,3); PHI=A^3+alfa2*A^2+alfa1*A+alfa0*I; Qc=[b A*b A^2*b]; //matrix of controllability kAk=([0 0 1]*(Qc)^(-1)*PHI)'; //Ackermann gain vector // simC lambda_f1=-15; //exemplary lambda values lambda_f2=-12; lambda_f3=-7; a_f=(s-lambda_f1)*(s-lambda_f2)*(s-lambda_f3); //observer characteristic polynomial alfa_f0=coeff(a_f,0); alfa_f1=coeff(a_f,1); alfa_f2=coeff(a_f,2); alfa_f3=coeff(a_f,3) PHIf=alfa_f3*A^3+alfa_f2*A^2+alfa_f1*A+alfa_f0*I;//matrix polynominal Qo=[C;C*A;C*A^2];//observability matrix kf=PHIf*inv(Qo)*[0; 0; 1]; //observer gain F=A-kf*C; //observer matrix I would be very very greateful for any help or prompt Simulation file: simC.zip <http://mailinglists.scilab.org/file/n4033453/simC.zip> -- View this message in context: http://mailinglists.scilab.org/Xcos-vector-size-error-tp4033453.html Sent from the Scilab users - Mailing Lists Archives mailing list archive at Nabble.com. _______________________________________________ users mailing list users@lists.scilab.org http://lists.scilab.org/mailman/listinfo/users
