包含了控制理论的各种仿真程序

				% Fig. 8.19   Feedback Control of Dynamic Systems, 4e 
				%             Franklin, Powell, Emami
				%
				
				clear all;
				close all;
				
				F=[0 1;0 0];
				G=[0;1];
				H=[1 0];
				J=0;
				T=1;
				[Phi,Gam]=c2d(F,G,T);
				j=sqrt(-1);
				Pc=[.78+.18*j;.78-.18*j];
				K=acker(Phi,Gam,Pc)
				Pe=[.2+.2*j;.2-.2*j];
				L=acker(Phi',H',Pe)'
				[A,B,C,D]=dreg(Phi,Gam,H,J,K,L);
				A=Phi-Gam*K-L*H;
				B=L;
				C=K;
				D=0;
				[Ac,Bc,Cc,Dc]=series(A,B,C,D,Phi,Gam,H,J);
				[Acl,Bcl,Ccl,Dcl]=feedback(Ac,Bc,Cc,Dc,0,0,0,1);
				tf=30;
				N=tf/T+1;
				td=0:1:tf;
				yd=dstep(Acl,Bcl,Ccl,Dcl,1,N);
				axis([0 30 0 1.5])
				plot(td,yd,'-',td,yd,'*'),grid
				xlabel('time (sec)')
				ylabel('plant output  y(t)')
				title('Fig. 8.19  Step responses for Example 8.5')
				hold on
				
				% use command structure from section 7.8
				
				Nx=[1;0];    
				A2=[Phi  -Gam*K;
				   L*H  Phi-L*H-Gam*K];
				B2=[Gam*K*Nx;Gam*K*Nx];
				C2=[1 0 0 0];
				D2=0;
				y2=dstep(A2,B2,C2,D2,1,N);
				plot(td,y2,'-',td,y2,'o')
				text(6.5,.25,'o-----o-----o-----o  Command structure from Fig. 7.46(a)')
				text(6.5,.45,'*-----*-----*-----*    Command structure from Fig. 7.46(b)')
				hold off