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
,
where
represents the explicit form of the controller.
If the system is an LTI system (i.e.,
), and
the controller is defined over a single region (i.e.,
), this function produces an instance of the
LTISystem class with the dynamic
.
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. |
◀ |
invariantset |
|
closedloop |
▶ |
© 2003-2013 Michal Kvasnica: STU Bratislava, michal.kvasnica@stuba.sk