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1D Observer Form [A(v),B(v),C(v),F(v),H(v)]

Implement gain-scheduled state-space controller in observer form depending on one scheduling parameter

  • Library:
  • Aerospace Blockset / GNC / Control

  • 1D Observer Form [A(v),B(v),C(v),F(v),H(v)] block

Description

The 1D Observer Form [A(v),B(v),C(v),F(v),H(v)] block implements a gain-scheduled state-space controller as defined in Algorithms.

The output from this block is the actuator demand, which you can input to an actuator block. Use this block to implement a controller designed using H-infinity loop-shaping, one of the design methods supported by Robust Control Toolbox.

Limitations

If the scheduling parameter inputs to the block go out of range, they are clipped. The state-space matrices are not interpolated out of range.

Ports

Input

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Set-point error, specified as a vector, that conforms to the dimensions of the state-space matrices.

Data Types: double

Scheduling variable, specified as a vector, that conforms to the dimensions of the state-space matrices.

Data Types: double

Measured actuator position, specified as a vector.

Data Types: double

Output

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Actuator demands, specified as a vector.

Data Types: double

Parameters

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A-matrix of the state-space implementation. The A-matrix should have three dimensions, the last one corresponding to the scheduling variable v. For example, if the A-matrix corresponding to the first entry of v is the identity matrix, then A(:,:,1) = [1 0;0 1];.

Programmatic Use

Block Parameter: A
Type: character vector
Values: vector
Default: 'A'

B-matrix of the state-space implementation. The B-matrix should have three dimensions, the last one corresponding to the scheduling variable v. For example, if the B-matrix corresponding to the first entry of v is the identity matrix, then B(:,:,1) = [1 0;0 1];.

Programmatic Use

Block Parameter: B
Type: character vector
Values: vector
Default: 'B'

C-matrix of the state-space implementation. The C-matrix should have three dimensions, the last one corresponding to the scheduling variable v. Hence, for example, if the C-matrix corresponding to the first entry of v is the identity matrix, then C(:,:,1) = [1 0;0 1];.

Programmatic Use

Block Parameter: C
Type: character vector
Values: vector
Default: 'C'

State-feedback matrix. The F-matrix should have three dimensions, the last one corresponding to the scheduling variable v. Hence, for example, if the F-matrix corresponding to the first entry of v is the identity matrix, then F(:,:,1) = [1 0;0 1];.

Programmatic Use

Block Parameter: F
Type: character vector
Values: vector
Default: 'F'

Observer (output injection) matrix. The H-matrix should have three dimensions, the last one corresponding to the scheduling variable v. Hence, for example, if the H-matrix corresponding to the first entry of v is the identity matrix, then H(:,:,1) = [1 0;0 1];.

Programmatic Use

Block Parameter: H
Type: character vector
Values: vector
Default: 'H'

Breakpoints for the scheduling variable, specified as a vector. The length of v should be same as the size of the third dimension of A, B, C, F, and H.

Programmatic Use

Block Parameter: AoA_vec
Type: character vector
Values: vector
Default: 'v_vec'

Initial states for the controller, i.e., initial values for the state vector, x, specified as a vector. It should have length equal to the size of the first dimension of A.

Programmatic Use

Block Parameter: x_initial
Type: character vector
Values: vector
Default: '0'

Algorithms

The block implements a gain-scheduled state-space controller defined in the following observer form:

x˙=(A(v)+H(v)C(v))x+B(v)umeas+H(v)(yydem)udem=F(v)x

References

[1] Hyde, R. A., "H-infinity Aerospace Control Design — A VSTOL Flight Application," Springer Verlag, Advances in Industrial Control Series, 1995.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Introduced before R2006a