When you have the Simulink^{®} Control Design™ software, you can
compute an uncertain linearization, i.e., an
uncertain state-space model (uss
)
combining the uncertain variables with linearized dynamics. Use the uss
model to perform linear analysis
and robust control design.
You can compute an uncertain linearization in one of the following ways:
Using the ulinearize
command,
as described in Obtain Uncertain State-Space Model from Simulink Model.
Using the Simulink Control Design linearize
command, as described in Specify Uncertain Linearization for Core or Custom Simulink Blocks.
To obtain an uncertain state-space model from a model that contains Uncertain State Space blocks, use the following steps:
Note If you do not have Uncertain State Space blocks in the model but still want to obtain an uncertain state-space model, see Specify Uncertain Linearization for Core or Custom Simulink Blocks. |
(Prerequisite) Create or open the Simulink model.
(Prerequisite) In the Simulink model,
specify the linearization input and output points using Simulink Control Design getlinio
or linio
commands.
For more information, see Specifying Portion of Model to Linearize in the Simulink Control Design documentation.
(Prerequisite) If you have not already done so, specify uncertainty in the Simulink model as described in Specify Uncertainty Using Uncertain State Space Blocks.
Note The software does not evaluate the uncertain variables during linearization. Thus, the value of the uncertainty does not affect the linearization. |
Run ulinearize
to
compute an uncertain linearization. This command returns an uss
model.
Note
If you use the Simulink Control Design |
For more information on linearization and how to evaluate the results, see Linearization Basics in the Simulink Control Design documentation.
For an example of how to use the Simulink Control Design linearize
command, see Linearization of Simulink Models with Uncertainty.
In some cases, you cannot use Uncertain
State Space blocks in the Simulink model because you
share the model or generate code. You can still account for uncertainty
in your linear analysis without specifying uncertainty using Uncertain State Space blocks. Robust Control Toolbox™ lets
you specify a core or custom Simulink block to linearize to an
uncertain variable. The linearization produces an uncertain state-space uss
model. The specified uncertainty
associates only with the block and does not affect the model simulation.
For more information, see Specify Linear System for Block Linearization Using MATLAB Expression in
the Simulink Control Design documentation.
Note If you have Uncertain State Space blocks in the model and want to obtain an uncertain state-space model, see Obtain Uncertain State-Space Model from Simulink Model. |
To specify blocks to linearize to uncertain variables and obtain an uncertain state-space model:
(Prerequisites) Create or open the Simulink model.
Specify linearization input and output points using the Simulink Control Design getlinio
or linio
commands.
For this example, you can open the model rct_ulinearize_builtin
.
Specify a block to linearize to an uncertain variable:
Right-click the block and select Linear Analysis > Specify Selected Block Linearization.
This action opens the Block Linearization Specification dialog box.
In the Block Linearization Specification dialog box, select the Specify block linearization using one of the following: check box. Selecting this check box lets you to specify an uncertain variable for linearization.
This check box defaults to MATLAB Expression
in
the drop-down menu. This option lets you specify the block to linearize
to an uncertain variable using a MATLAB^{®} expression containing Robust Control Toolbox functions.
To learn more about the options, see Specify Linear System for Block Linearization Using MATLAB Expression in
the Simulink Control Design documentation.
In the Enter an expression to
specify the linearization of the Simulink block field,
enter an expression, which must evaluate to an uncertain variable
or uncertain model, such as ureal
, umat
, ultidyn
or uss
.
Click OK to save the changes.
Note You can also specify a block to linearize to an uncertain variable at the command line. For an example, see Linearize Block to Uncertain Model. |
Run the linearize
command
to compute an uncertain linearization. This command returns an uss
model.
For more information on linearization and how to validate linearization results, see Linearization Basics in the Simulink Control Design documentation.
For an example of how to use the linearize
command
to compute an uncertain linearization, see Linearization of Simulink Models with Uncertainty.
After computing an uncertain linearization, you can perform any analysis or design tasks you would perform on any linear model, including:
Perform robustness analysis. See Robustness and Worst-Case Analysis.
Perform robust control design. See Robust Tuning.