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% Example 3.35 
% 
% Design of regulator and state observer 
% 
a=[0 1; 20.6 0]; 
b=[0; 1]; c=[1 0]; 
 
% Check controllability and observability 
disp('The rank of controllability matrix') 
rc=rank(ctrb(a,b)) 
disp('The rank of observability matrix') 
ro=rank(obsv(a,c)) 
 
% Design regulator 
p=[-1.8+2.4*i,-1.8-2.4*i]; 
k=acker(a,b,p) 
 
% Design state observer 
a1=a'; b1=c'; c1=b'; 
p1=[-8 -8]; 
k1=acker(a1,b1,p1); 
ke=k1'