www.pudn.com > nnctrl_v5.zip > dio.m, change:1997-06-05,size:784b

function [R,S,T] = dio(A,B,d,Am,Bm,Ao,Ar,As); % DIO % --- % This function represents the interface to the generic diophantine % equation solver DIOPHANT. % % CALL [R,S,T] = dio(A,B,d,Am,Bm,Ao,Ar,As); % % The system to be controlled is described by y(t)=(B/A)u(t-d) % The controller is: u(t) = (T*ref(t) - S*y(t))/R % The desired model is ym(t)=(Bm/Am)ref(t-d) % Ao is the oberserver polynomial while Ar and As represent terms % to be forced into R and S, respectively % Copyright Magnus Norgaard, IAU/IMM, Technical University of Denmark % LastEditDate Aug. 20, 1996 AmAo = conv(Am,Ao); AAr = conv(A,Ar); BAs = conv(B,As); [R,S]=diophant(AAr,BAs,d,AmAo); R = conv(R,Ar); S = conv(S,As); T = conv(Bm,Ao);