Francis equations for tracking
[L, M, T] = gfrancis(Plant, Model)
a continuous time dynamical system in state-space representation.
a continuous time dynamical system in state-space representation.
real matrices
Given the linear plant:
and the linear model
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
The matrices T,L,M satisfy generalized Francis equations
The matrix K
must be chosen as stabilizing the pair (F,G)
See example of use in directory demos/tracking
.
Version | Description |
5.4.0 | Sl is now checked for
continuous time linear dynamical system. This modification
has been introduced by this commit |