panel set acf_twindow generate_state_matrix
Specifies that you want linearize the model and generate a state matrix representation of the linearized model.
To linearize and model about an operating point, the model should first be placed in the configuration by performing and STATIC_SIMULATION or an TRANSIENT_SIMULATION. Then the GENERATE_STATE_MATRIX command can provide the the state matrices. The representation of the linear system is:
xdot = Ax + Bu
y = Cx + Dy
where x is the states of the plant model, u is the inputs to the plant model, y is the outputs from the plant model, and A, B, C, and D are the state matrices representing the plant. These are the matrices that are reported to the you.
You specify the plant inputs and outputs using the PLANT_INPUT_NAME and PLANT_OUTPUT_NAME parameters. Plant state are automatically determined by and result in the best numerical conditioning of the state matrices. Only one PLANT_INPUT_NAME and PLANT_OUTPUT_NAME can be specified for each GENERATE_STATE_MATRIX command.
The state matrices can be output in either MATRIX_X format or MATLAB format through the use or the MATRIX_FORMAT parameter.
The FILE_NAME parameter tells the name of the file the you want the state matrices written to. For MatrixX all the matrices are written to the file named in this parameter. For the MATLAB format the specified name is used as the base name and all matrices are written to separate files named with each matrix name appended to the name specified in this parameter.
Format:
panel set acf_twindow generate_state_matrix |
|---|
file_name = | string |
matrix_format = | matrix_format |
plant_input_name = | existing pinput |
plant_output_name = | existing poutput |
plant_state_name = | existing pstate |
reference_marker = | existing marker |
Description:
Parameter | Value Type | Description |
|---|
File_name | String | Specifies the name of the file that the state matrices are to be written to. |
Matrix_format | Matrix_x/matlab | Specifies the state matrices will be output in either MATRIX_X format or MATLAB format. |
Plant_input_name | Existing pinput | Specifies an existing plant_input. |
Plant_output_name | Existing poutput | Specifies an existing plant_output. |
Plant_state_name | Existing plant state | Specifies an existing plant state. |
Reference_marker | Existing marker | Specify a marker that will serve as the reference. |
Extended Definition:
1. The state matrices can be output in either MATRIX_X format or MATLAB format through the use or the MATRIX_FORMAT parameter.
2. The FILE_NAME parameter tells the name of the file the you want the state matrices written to. For MatrixX all the matrices are written to the file named in this parameter. For the MATLAB format the specified name is used as the base name and all matrices are written to separate files named with each matrix name appended to the name specified in this parameter.
You do not need to enclose the file name in quotes if it only contains alpha-numeric characters and starts with a letter. If you want to include other characters, such as a '.' for an extension or '/' or '[]' for directory paths, you must enclose the name in quotes.
3. You may identify a plant_input by typing its name or by picking it from the screen.
Since plant_input do not have a geometric position, /View displays plant_input icons at or near the model origin. If the plant_input icon is not visible on the screen, you must type the name. You may also find it convenient to type the name even if the plant_input icon is displayed.
If you created the plant_input by reading an data set or graphics file, the plant_input name is the letters PIN followed by the data set plant_input ID number. The name of PINPUT/101 is PIN101, for example. If you created the plant_input during preprocessing, you gave it a name at that time.
If a plant_input is owned by the default model, you may identify it by entering its name only. If it is not, you must enter its full name. To identify a plant_input under a different model, for instance, you may need to enter the model name as well. For example, you may specify plant_input 'velocity_set_point' from model 'motor' by entering ".motor.velocity_set_point'". If you type a "?", /View will list the plant_input elements available by default.
You must separate multiple plant_input names by commas.
If the plant_input is visible in one of your views, you may identify it by picking on any of the graphics associated with it.
You need not separate multiple plant_input picks by commas.
4. You may identify a plant_output by typing its name or by picking it from the screen.
Since plant_output do not have a geometric position, /View displays plant_output icons at or near the model origin. If the plant_output icon is not visible on the screen, you must type the name. You may also find it convenient to type the name even if the plant_output icon is displayed.
If you created the plant_output by reading an data set or graphics file, the plant_output name is the letters "POU" followed by the data set plant_output ID number. The name of POUTPUT/101 is POU101, for example. If you created the plant_output during preprocessing, you gave it a name at that time.
If a plant_output is owned by the default model, you may identify it by entering its name only. If it is not, you must enter its full name. To identify a plant_output under a different model, for instance, you may need to enter the model name as well. For example, you may specify plant_output 'actual_velocity' from model 'motor' by entering ".motor.actual_velocity'". If you type a "?", /View will list the plant_output available by default.
You must separate multiple plant_output names by commas.
If the plant_output is visible in one of your views, you may identify it by picking on any of the graphics associated with it.
You need not separate multiple plant_output picks by commas.