toSystem

Purpose

Converts the closed-loop object to an autonomous dynamical system

Syntax

sys = loop.toSystem()

Description

This function converts the closed-loop object to an autonomous dynamical system by using the state feedback ../../../../../fig/mpt/modules/ui/@ClosedLoop/tosystem1.png, where ../../../../../fig/mpt/modules/ui/@ClosedLoop/tosystem2.png represents the explicit form of the controller.

If the system is an LTI system (i.e., ../../../../../fig/mpt/modules/ui/@ClosedLoop/tosystem3.png), and the controller is defined over a single region (i.e., ../../../../../fig/mpt/modules/ui/@ClosedLoop/tosystem4.png), this function produces an instance of the LTISystem class with the dynamic ../../../../../fig/mpt/modules/ui/@ClosedLoop/tosystem5.png.

If the system is PWA, or if the controller is defined over multiple regions, the toSystem() method produces an autonomous system as an instance of the PWASystem class. The number of dynamics is equal to the number of regions, over which the controller is defined.

In both cases the returned objects represent autonomous systems, i.e. their B and D matrices are empty.

Note: this function requires that the closed-loop's controller is available in its explicit form.

Output Arguments

sys

Autonomous dynamical system representing the closed-loop system.


© 2003-2013 Michal Kvasnica: STU Bratislava, michal.kvasnica@stuba.sk