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Matlab运行到for循环直接跳过不执行问题0 |. U( i1 [. t i
代码如下:
4 }+ Q5 A& p, F1 Q4 ^% B! Aclear all
' [& x3 D7 _ R( g5 e; t( \clc
2 I* L8 L2 v* {) c3 H; j%%%初始化%%%
5 F) d/ R" g, g% S" ~$ VT=20;
3 m( I2 ^; a o# J3 X% L; m+ ?7 `7 pN=15000;
+ ~* x# ?% a4 H' a, i2 nh=T/N;
5 q2 U4 F7 L! I% O, i9 O c& rtset=1;% W/ o- v5 O+ I$ O Q
hh=3;
( G" f) D/ F+ E
/ \. Z, x' i9 Z4 {0 Dk=10;c=1;b=1;+ L1 i! h: l) C8 T M1 D- o
8 P# {; Z( A; S4 {
X=zeros(4,N+1);
% J: r" |# b8 W1 i; ~V=zeros(4,N+1);4 e" n- y; F3 F7 a8 [5 y2 }
U=zeros(4,N+1);
; m' f, T4 B: a. U# Y. EE1=zeros(4,N+1);7 J5 X) ^; k+ I/ h
E2=zeros(4,N+1);( c n; s- X+ J2 O
X0=zeros(1,N+1);. N5 q% U4 W8 A/ k- Z" ]
V0=zeros(1,N+1);6 S" e* ?5 V P2 U% H: k0 n4 k
E=zeros(8,N+1);
# K# l6 V" K5 {1 F. @2 [# R5 VU0=zeros(1,N+1);
/ @" Y- W' N0 S. H/ |
5 ~9 u0 g/ ?4 v j2 x' R/ U% BX(1,1)=20;0 @- H9 D3 X `0 D
X(2,1)=-21;7 @5 `$ ]! e) N
X(3,1)=15;
$ {5 w* r. T7 S9 U2 Z! CX(4,1)=-10;3 b6 y7 h! J( Z7 d' _- z
X0(1,1)=0;
1 D$ @1 @7 B3 |4 b; ]: X4 N7 m) e9 K
V(1,1)=1;3 ?( | A% c$ u9 a6 ^
V(2,1)=-2;8 r: B4 _0 M7 r) ~
V(3,1)=3;9 m ?- T# B, h; S: m, I
V(4,1)=-2;
3 }0 D7 p2 ]$ J) e9 J0 ~, a5 J0 ]V0(1,1)=0;
6 I& ]1 w' V" E4 u9 z: [' y8 s. F) a0 s9 o" G: f! f3 k9 c
M=[-1 0 1 0;! q6 L" ~8 W: O2 G7 i8 { X
0 -2 1 1;1 w% E+ B$ E- ^3 v( q& f
1 1 -2 0;% O% o7 H) u$ i& u; N" W& e
0 1 0 -1];
! B) R! R/ n% O( u# l! o[V,D] = eig(M);%%特征向量V特征值D(对角线)
' \# y( `* n: o& a1 K+ T6 Mlambda = wrev(diag(D));%%D里面的对角元素取出来放到lambda3 _, p% ^& L6 o3 K# ?( f: @* Z
lamb = lambda(4);. n5 u9 \, c: s: K* u- G2 E
A0 = [0 1;
+ I8 q7 l- \1 W 0 0];. }7 d- j1 `' y" t9 C9 N
B0 = [0 1]';
/ a' C0 Y D- q, ?0 S4 K* h+ J% tI4=[1 0 0 0;, I5 O1 b! g: k! K& ~
0 1 0 0;
l. S& i# E5 N5 O4 {7 J, h 0 0 1 0;7 H4 M5 m7 `' ] u
0 0 0 1];
( L+ Z8 [5 }% xA = [0 1/(2*lamb);
) b& }8 L! [& v2 ^; c4 m 0 0];, Z+ p( m2 U6 c: | |, g6 ~
B = B0;
* v4 t0 d4 b6 ?: r+ YN = 0;
$ R" R% }9 D) o9 _+ X! Y9 ~R = 1;
: c8 J5 r7 [. `) y1 F) M% pQ = [1/2 0;
" G$ Y4 y/ b- ?. F0 G; F0 c 0 1/2];8 L4 M& v. B* }! p- P, w+ Y
[K,P,e] = lqr(A,B,Q,R,N);5 l! [) R* y# r: y
C=B0'*P;* ~4 q* s7 s4 G2 v l$ M3 D
F=kron(I4,B0'*P);3 j+ l5 g2 {2 |0 T, t* a/ O( P0 [% t
9 X# K# F& ?' b! V: w% @9 W$ X5 s; T# i" T
%%%迭代%%%
* k4 @( Z, v& U3 I; I5 l" Yfor i=1:N4 D% B) _! Q/ \3 W; b+ n7 k
tnow=T*(i/N);
5 d1 @" _8 N; f" Y if tnow>=tset-0.01
% r4 n+ q$ h# P; @% ` mu=1;
' m% t9 k5 j3 j, }3 J dmu=0;
3 L. L2 Z, b* ?4 |2 a dmu2 = 0;
) o8 v9 K1 S; y- u else" u5 K" K9 L, t. B5 w$ s
mu=(Tset/(Tset-tnow))^hh;
' p$ g+ t9 U( h/ i dmu=(hh/Tset)*(mu^(1+1/hh));# k1 R) |* l; g% d% c- D7 c2 h" C
dmu2 = hh*(hh+1)/(Tset^2)*(((Tset^hh)/((Tset-tnow)^hh))^((hh+2)/(hh)));; e1 G. {' }! q! T. Y' D+ g- h
end0 O# k' ~& P: S( U1 D9 n; ^9 k
, M7 k; V& e+ A {
X0(1,i+1)=h*(sin(tnow))+X0(1,i);
7 |+ F, c+ G' z& Y* V* }: ~. @ V0(1,i+1)=h*(cos(tnow))+V0(1,i);
q( W3 W7 R, W U0(1,i)=-sin(tnow);
* ~( \7 }$ H2 f3 O- Q l1=[1,1,1,1]';
9 ~# P* [3 D" J0 U. ^! L1 S( }# _' b0 P/ j
E1(:,i)=M*(X(:,i)-l1*X0(1,i));( ?" D% W9 F1 ~' r
! U/ s+ n& _$ h! b: v. t# y- z
E2(:,i)=M*(V(:,i)-l1*V0(1,i));% e1 D- e+ t- Z a3 G
6 V* V4 J8 C& d( _& G: S9 Q4 P
E(:,i)=[E1(1,i);E2(1,i);E1(2,i);E2(2,i);E1(3,i);E2(3,i);E1(4,i);E2(4,i)];
$ u9 p' P. Z! I' m: x U(:,i)=l1*U0(1,i)-F*E(:,i)-(k+c*(dmu2/mu))*(X(:,i)-l1*X0(1,i))-2*(k+c*(dmu/mu))*(V(:,i)-l1*V0(1,i));1 f. Z p$ u, w8 k" a% }
" t% P4 Q! t5 j9 e- P& m0 G
X(:,i+1)=h*V(:,i)+X(:,i);1 V Q, ]2 P' l+ b% x
& N/ {1 e0 d( {2 c; F4 Q
V(:,i+1)=h*U(:,i)+V(:,i);
4 v1 C; y% _. s2 h6 T i: W2 G) P) |' J( ]7 B
end$ t. y$ f5 V7 F0 C( w+ c8 P/ ^$ W
$ C- V; d& Y6 \4 K( m# }%%%作图%%%6 C2 B' g6 z+ g4 `; W$ Q
t=linspace(0,T,N+1);
* g* v, n0 I5 j8 B
+ }& e" T# U6 N% L" C2 gfigure(1)& Q) r+ S/ S* s
plot(t,X(1, ,'linewidth',2); v7 v/ _1 t8 Z6 o8 @0 ]
hold on;
1 {9 U) b$ m" dplot(t,X(2, ,'linewidth',2);
( y1 G) w- }# R; J$ o+ dhold on;
, d2 @9 x0 w& H( ^( v& Iplot(t,X(3, ,'linewidth',2);
, R& z. L& d1 w8 [& x8 h3 o ?# Bhold on; T5 }! t' o* j% m7 k( o6 V
plot(t,X(4,:),'linewidth',2);6 C0 R4 |) M! m' s
hold on;5 Y/ X- h1 }9 N% ?) [8 T& U5 Z5 I
plot(t,X0(1,:),'linewidth',2);
& M# w/ `; m) O$ S5 yhold on;2 @* m4 k3 c2 }) {* S6 O
grid on;) X3 [8 L. Z! ^1 K v
axis([0 20 -30 30])
. j& n! t4 K1 V( n- k# flegend('X1','X2','X3','X4','X0');; ~( N* i) M, W3 V6 F u
title('X')
/ ?+ c3 I$ S- n# s# n
% I, V8 v9 c8 @figure(2)
+ I9 O6 l b ~9 lplot(t,V(1,:),'linewidth',2);
- O, T3 U* ~" E+ D1 t0 [hold on;7 y8 J6 r+ P) V3 o
plot(t,V(2,:),'linewidth',2);
3 Z4 s9 c( H" i( E; {hold on;+ m" j: a! s+ E+ v
plot(t,V(3,:),'linewidth',2);2 H/ u3 e) o& H. l( r
hold on;* I ^$ x7 j0 r: H- c7 y
plot(t,V(4,:),'linewidth',2);
1 C& Q% _, Y" ]5 f8 M+ V" E5 Dhold on;
; B6 w0 V4 p9 N. Q; C* s7 Bplot(t,V0(1,:),'linewidth',2);8 {' E" ?9 w3 Y/ X* L9 c, ?
hold on;6 l) U: x0 j* ?
grid on;
) z5 ^0 V8 V O' y6 i; i6 Olegend('V1','V2','V3','V4','V0');$ I6 b* k7 z2 U* t# K
title('V')
: c- [, n- j, s% z9 m3 a& G7 d# V4 n c
figure(3). A% }1 U7 v5 w$ t" O
plot(t,E1(1,:));
! {2 Y. h: z: g7 t/ `hold on;
3 v: Q5 I5 O( x/ Iplot(t,E1(2,:));
% }9 b7 A C" M) I' shold on;
; C% C, |1 K$ S. Z9 s6 U4 {plot(t,E1(3,:));
1 B r5 h2 k9 U" m0 S. I9 thold on;' _% U/ H; R T$ ?! O+ D. x: C
plot(t,E1(4,:));* ~9 Y0 e3 T6 v
hold on;$ ^( W* K; @& j5 [4 f3 A
grid on;( X% U' X; ] B1 y$ g
title('EX')1 O- b) G* Y' }1 I$ b* u
, d5 ]4 c: P( [4 ]! m
figure(4) V0 {6 ]: ~, j
plot(t,E2(1,:));
# A3 [- O$ x/ }hold on;2 f [: I2 A( k; D* q& j! Z
plot(t,E2(2,:));
7 T( C! I( [& |$ i3 h% mhold on;
, N1 Q! ^( n8 E. S6 P+ i* Vplot(t,E2(3,:));
4 `" ~7 B' K# F4 {: I: d6 i' Whold on;$ B5 Y% L* j! J( D- q) Z0 m3 F
plot(t,E2(4,:));
- \1 i. Q: n& p3 X# r- d; }+ mhold on;* T. ~8 q9 u4 x# s4 Q" m
grid on;( S5 h- L' G' _( v+ V/ s
title('EV')9 Y8 _' T3 m6 \* Y# @
$ H2 \: [& Y, h/ I- Ifigure(5)
1 T( t) ^6 J/ W) m3 `plot(t,U(1,:));
* Q# Z* Z* a; H2 P0 d \, `: ^hold on;
/ O _8 C4 R9 E; @# qplot(t,U(2,:));: u* R1 N- l& N) y! V
hold on;
' a/ ?1 `4 B; G6 Uplot(t,U(3,:));& Y6 n% t" {9 b. }. ^8 N( b; s0 U
hold on;- y. t8 } m: n% k$ L
plot(t,U(4,:));4 q1 p" H* P5 z7 E3 Y6 }
hold on;1 Q; ~8 \3 J4 D# q4 S+ M; i
grid on;
/ n* L( [% l+ T) R# v! o8 btitle('U') |
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