%REGOB Simulation script for observer-based digital regulator.
% This script simulates the response of a discrete-time regulator
% to a nonzero initial state. A full-order observer is used to
% estimate the state vector from the measured plant output.
%
% INPUTS:
%
% phi,gamma,c ZOH equivalent plant model.
% x0 Initial state of the plant.
% T Sampling interval.
% L Regulator feedback gains.
% K Observer gains
% ftime Simulate from 0 to ftime seconds.
%
% OUTPUTS:
%
% x Matrix of state vectors, column 1 is x0.
% xhat Matrix of observer state vectors.
% u Matrix of inputs to the plant.
% y Matrix of outputs of the plant.
% t1 Time axis vector for plotting. Use REGOBP to plot results.
% T.Flint 7/92
% Modified by R.J. Vaccaro 1/94,11/98
clear x u xhat y;
kf_=ceil(ftime/T);
x(:,1)=x0;
y(:,1)=c*x0;
u(:,1)=-L*x0;
xhat(:,1)=c\y(:,1);
for k_=1:kf_-1
x(:,k_+1)=phi*x(:,k_)+gamma*u(:,k_);
y(:,k_+1)=c*x(:,k_+1);
xhat(:,k_+1)=(phi-K*c)*xhat(:,k_)+gamma*u(:,k_)+K*y(:,k_);
u(:,k_+1)=-L*xhat(:,k_+1);
end
fprintf('REGOB simulation finished. Use REGOBP to plot results.\n')
t1=T*[0:kf_-1];
clear k_ kf_
%___________________________ END OF REGOB.M _______________________________
