%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%???Multivariable?controller?synthesis?for?the?Stewart?platform.????????????%?
%???????????????????????????????????????????????????????????????????????????%
%?????????????????Authors（s）?G.W.?Wood?and?J.M.?Wendlandt???????????????????%
%???????????????????????????????????????????????????????????????????????????%
%?????????????????????Copyright?The?MathWorks?Inc.?????????????????????????%
%???????????????????????????????????????????????????????????????????????????%
%???This?m-script?synthesises?a?robust?multivariable?controller?for?????????%?
%???the?linearized?plant?model?of?the?Stewart?platform.?The?????????????????%
%???synthesis?procedure?makes?use?of?the?H_infinity?loopshaping?????????????%
%???design?procedure?originating?in?（1）?and?is?closely?related?to???????????%
%???the?notion?of?achieving?optimal?robustness?in?the?gap?metric????????????%
%???（2）.?All?commands?are?standard?commands?in?the?Mu-Tools?toolbox.????????%
%???????????????????????????????????????????????????????????????????????????%
%???（1）?K.Glover?and?D.C?McFarlane.?Robust?stabilization?of?normalised??????%
%???comprime?factor?plant?descriptions?with?H_infinity?bounded??????????????%
%???uncertainty.?IEEE?Trans.?on?Automatic?Control34:821-830?1989.??????????%
%???????????????????????????????????????????????????????????????????????????%
%???（2）?T.T.?Georgiou?and?M.C.?Smith.?Optimal?robustness?in?the?gap?????????%
%???metric.?IEEE?Trans.?on?Automatic?Control35（6）:673-687?1990.???????????%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%?Linearization.
sim（‘StewartPlatformEquilibrium‘）;?nomForces?=?Forces‘;?%?Extract?the?equilibrating?forces.?
[ABCD]?=?linmod（‘StewartPlatformPlant‘[]nomForces）;?%?Linearize?the?model?about?the?equilibrium?configuration.
[ABCD]?=?minreal（ABCD）;?%?Obtain?a?minimal?realization?of?the?linearized?model.

%?Synthesis.
Kv?=?daug（-Kd-Kd-Kd-Kd-Kd-Kd）;?%?Introduce?velocity?feedback.
P?=?pck（A[B?B]C[D?D]）;?%?Pack?the?state?matrices?into?a?model.
P?=?starp（PKv66）;?%?Close?the?velocity?feedback?loop.

w?=?logspace（-13100）;
W1?=?nd2sys（[Kp?Ki][1?0]10）;?%?Loopshaping?weight?with?integral?action.
W?=?daug（W1W1W1W1W1W1）;?%?Apply?the?same?weight?to?each?channel.
Pw?=?mmult（PW）;?%?Multiply?the?nominal?plant?and?the?loopshaping?weight.

wg?=?frsp（Pww）;
vplot（‘livlm‘vsvd（wg））;?%?Plot?the?shaped?frequency?response?to?check?crossover?frequency?etc.

[syskemaxsysobs]?=?ncfsyn（Pw1.1‘ref‘）;?%?Synthesis?an?optimal?loopshaping?controller.
[AkBkCkDk]?=?unpck（sysk）;?%?Unpack?the?state?matrices?for?the?controller.
[AwBwCwDw]?=?unpck（W）;?%?Unpack?the?state?matrices?for?the?weight.

%?Compute?DC?gain?equalization?matrix.
[ApBpCpDp]?=?unpck（Pw）;?%?Unpack?the?state?matrics?of?the?weighted?plant
Pwn?=?pck（ApBp[Cp;Cp][Dp;Dp]）;?%?Augment?the?weighted?plant.
cl?=?starp（Pwnsysk66）;?%?Introduce?the?feedback?controller.
[AB

?屬性????????????大小?????日期????時間???名稱
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?????文件???????1526??2016-09-01?11:00??StewartPlatform\license.txt

?????文件??????15088??2016-09-01?11:00??StewartPlatform\StewartControllers.mdl

?????文件???????3259??2016-09-01?11:00??StewartPlatform\StewartMVController.m

?????文件?????361124??2017-12-14?21:23??StewartPlatform\StewartPlatform.mdl

?????文件?????181152??2017-12-13?14:33??StewartPlatform\StewartPlatform.mdl.original

?????文件??????86826??2016-09-01?11:00??StewartPlatform\StewartPlatform.mdl.r13

?????文件??????23037??2016-09-01?11:00??StewartPlatform\StewartPlatform.txt

?????文件??????25576??2016-09-01?11:00??StewartPlatform\StewartPlatformEquilibrium.mdl

?????文件???????7128??2016-09-01?11:00??StewartPlatform\StewartPlatformHinf.mat

?????文件??????14549??2016-09-01?11:00??StewartPlatform\StewartPlatformLegEquilibrium.mdl

?????文件??????33205??2016-09-01?11:00??StewartPlatform\StewartPlatformPlant.mdl

?????文件???????3752??2017-12-13?15:31??StewartPlatform\StewartPlatformSetup.m

?????文件?????104235??2017-12-09?11:18??StewartPlatform\__Previews\StewartPlatform.mdlPreview

????...D.H.?????????0??2017-12-12?16:10??StewartPlatform\__Previews

?????目錄??????????0??2017-12-14?21:23??StewartPlatform

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???????????????860457????????????????????15