how to change uncontrollable & unobservable matrix into controllable and observable
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0
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I have attached how my model looks like:
model
STATE SPACE matrix
my code in matlab
Km = 50.2*10^-3; % NM/A
Kb = (1/(190*2*pi/60)); %or V/Wm (wm in rps) volt/rps
Jm =11.6 *10^-7; %kgm^2
Bm = ((50.2*10^-3)*(20*10^-3)/(9080*2*pi/60));
R =10.6; %ohm
L = .82*10^-3;% H(henry)
Jl = 1.16*10^-6;
c = 6.8117 * 10^-5;
Ks= 0.05;
a = [-R/L 0 -Kb/L 0 0;
0 0 1 0 0;
Km/Jm -Ks/Jm -c/Jm Ks/Jm c/Jm ;
0 0 0 0 1;
0 Ks/Jl c/Jl -Ks/Jl -c/Jl]
b = [1/L;0;0;0;0]
p = [0 1 0 0 0]
When I try to run it, it says uncontrollable and unobservable, how to change it into controllable and observable?
Any tips or info is appreciated.
Thank you
matlab state-space
edited Nov 11 at 15:29
Zoran Pandovski
960416
asked Nov 11 at 13:15
kreigu
1
add a comment |
up vote
0
down vote
favorite
I have attached how my model looks like:
model
STATE SPACE matrix
my code in matlab
Km = 50.2*10^-3; % NM/A
Kb = (1/(190*2*pi/60)); %or V/Wm (wm in rps) volt/rps
Jm =11.6 *10^-7; %kgm^2
Bm = ((50.2*10^-3)*(20*10^-3)/(9080*2*pi/60));
R =10.6; %ohm
L = .82*10^-3;% H(henry)
Jl = 1.16*10^-6;
c = 6.8117 * 10^-5;
Ks= 0.05;
a = [-R/L 0 -Kb/L 0 0;
0 0 1 0 0;
Km/Jm -Ks/Jm -c/Jm Ks/Jm c/Jm ;
0 0 0 0 1;
0 Ks/Jl c/Jl -Ks/Jl -c/Jl]
b = [1/L;0;0;0;0]
p = [0 1 0 0 0]
When I try to run it, it says uncontrollable and unobservable, how to change it into controllable and observable?
Any tips or info is appreciated.
Thank you
matlab state-space
edited Nov 11 at 15:29
Zoran Pandovski
960416
asked Nov 11 at 13:15
kreigu
1
To determine whether the system is observable, you need the C matrix of your system, so we need some more information to be able to help you. Furthermore, what did you try to come to this conclusion? Please add the code you used.
– rinkert
Nov 11 at 16:15
add a comment |
up vote
0
down vote
favorite
up vote
0
down vote
favorite
I have attached how my model looks like:
model
STATE SPACE matrix
my code in matlab
Km = 50.2*10^-3; % NM/A
Kb = (1/(190*2*pi/60)); %or V/Wm (wm in rps) volt/rps
Jm =11.6 *10^-7; %kgm^2
Bm = ((50.2*10^-3)*(20*10^-3)/(9080*2*pi/60));
R =10.6; %ohm
L = .82*10^-3;% H(henry)
Jl = 1.16*10^-6;
c = 6.8117 * 10^-5;
Ks= 0.05;
a = [-R/L 0 -Kb/L 0 0;
0 0 1 0 0;
Km/Jm -Ks/Jm -c/Jm Ks/Jm c/Jm ;
0 0 0 0 1;
0 Ks/Jl c/Jl -Ks/Jl -c/Jl]
b = [1/L;0;0;0;0]
p = [0 1 0 0 0]
When I try to run it, it says uncontrollable and unobservable, how to change it into controllable and observable?
Any tips or info is appreciated.
Thank you
matlab state-space
edited Nov 11 at 15:29
Zoran Pandovski
960416
asked Nov 11 at 13:15
kreigu
1
I have attached how my model looks like:
model
STATE SPACE matrix
my code in matlab
Km = 50.2*10^-3; % NM/A
Kb = (1/(190*2*pi/60)); %or V/Wm (wm in rps) volt/rps
Jm =11.6 *10^-7; %kgm^2
Bm = ((50.2*10^-3)*(20*10^-3)/(9080*2*pi/60));
R =10.6; %ohm
L = .82*10^-3;% H(henry)
Jl = 1.16*10^-6;
c = 6.8117 * 10^-5;
Ks= 0.05;
a = [-R/L 0 -Kb/L 0 0;
0 0 1 0 0;
Km/Jm -Ks/Jm -c/Jm Ks/Jm c/Jm ;
0 0 0 0 1;
0 Ks/Jl c/Jl -Ks/Jl -c/Jl]
b = [1/L;0;0;0;0]
p = [0 1 0 0 0]
When I try to run it, it says uncontrollable and unobservable, how to change it into controllable and observable?
Any tips or info is appreciated.
Thank you
matlab state-space
matlab state-space
edited Nov 11 at 15:29
Zoran Pandovski
960416
asked Nov 11 at 13:15
kreigu
1
edited Nov 11 at 15:29
Zoran Pandovski
960416
asked Nov 11 at 13:15
kreigu
1
edited Nov 11 at 15:29
Zoran Pandovski
960416
edited Nov 11 at 15:29
Zoran Pandovski
960416
edited Nov 11 at 15:29
Zoran Pandovski
960416
960416
asked Nov 11 at 13:15
kreigu
1
asked Nov 11 at 13:15
kreigu
1
asked Nov 11 at 13:15
kreigu
1
1
To determine whether the system is observable, you need the C matrix of your system, so we need some more information to be able to help you. Furthermore, what did you try to come to this conclusion? Please add the code you used.
– rinkert
Nov 11 at 16:15
add a comment |
To determine whether the system is observable, you need the C matrix of your system, so we need some more information to be able to help you. Furthermore, what did you try to come to this conclusion? Please add the code you used.
– rinkert
Nov 11 at 16:15
To determine whether the system is observable, you need the C matrix of your system, so we need some more information to be able to help you. Furthermore, what did you try to come to this conclusion? Please add the code you used.
– rinkert
Nov 11 at 16:15
To determine whether the system is observable, you need the C matrix of your system, so we need some more information to be able to help you. Furthermore, what did you try to come to this conclusion? Please add the code you used.
– rinkert
Nov 11 at 16:15
add a comment |
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To determine whether the system is observable, you need the C matrix of your system, so we need some more information to be able to help you. Furthermore, what did you try to come to this conclusion? Please add the code you used.
– rinkert
Nov 11 at 16:15