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Error using acker System must be single input.How can I solve this problem ?

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Andrei Mucenica
Andrei Mucenica on 18 Dec 2020
Answered: Paul on 18 Dec 2020
A=[0.0002 0.039 0 -9.8
-0.07 -0.317 250 0
0.00006 -0.003 -0.339 0
0 0 1 0] %matricea de stabilitate
B=[ 0.44 0.000003434
-5.46 -0.00000015
-1.16 0.000000067
0 0 ]
Ctheta=[0 0 0 1];
% Etapa I
Arond=[A zeros(4,1);-Ctheta 0];%formam matricea Arond si Brond
Brond=[B;0 0];
j=sqrt(-1);
S=[-0.07+0.03*j,-0.07-0.03*j,-1+3*j,-1-3*j,-10];%alegem polii doriti,primii doi mai apropiati de axa imaginara
%urmatorii 2 mai indepartati si al 5-lea corespunzator elementului integrator
Krond=-acker(Arond,Brond,S);
K=-Krond(1:4);
K0=Krond(5);
% Determinare estimator de stare
%Poli estimator
Se=[-3,-3,-3,-3];
C=[0 1 0 0;0 0 1 0;0 0 0 1];
%Determinare amplificare estimator stare
a=A';b=C';
F0=zeros(3,4); g=ones(3,1); %Vezi Curs problema alocarii polilor cazul m>1
f=acker(a,b*g,[-3,-3,-3,-3]);
L=(g*f)';
% Sistemul rezultant
Arez=[A B*K0 -B*K;-Ctheta 0 zeros(1,4);L*C B*K0 A-L*C-B*K];
Brez=[zeros(4,1);1;zeros(4,1)];
Crez=[0 0 0 1 0 0 0 0 0];
Drez=0;
t=0:0.1:200;
sysrez=ss(Arez,Brez,Crez,Drez);
% theta=step(sysrez,t);
% plot(t,theta)
tau=15;
filtru=ss(-1/tau,1/tau,1,0);
thetacom=step(filtru,t);
theta=lsim(sysrez,thetacom,t);
plot(t,theta)
shg

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