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Matlab运行到for循环直接跳过不执行问题0 ?! g; B" {# h n
代码如下:8 T) K; p7 C) V0 z) L4 A
clear all
# S0 J% l: A& K) f& Hclc
. l. B- M0 m1 I4 J1 P3 Y& C4 |%%%初始化%%%
) j @3 d" `7 p9 l! q3 OT=20;
# m( L8 V" @ }% YN=15000;* R( T' I( X: y7 }0 f. d
h=T/N;
6 V1 F. _7 _! W, t0 N6 ntset=1;6 b0 |& n! g, {1 [; J
hh=3;6 I+ W# g: b7 _
* R t i/ |4 T+ m( uk=10;c=1;b=1;
& p" X; z8 Z. z# i
2 B: H: E" Q' U/ oX=zeros(4,N+1);4 M; ]! l* W: L* |
V=zeros(4,N+1);
1 a. @- Q8 A; D9 k2 dU=zeros(4,N+1);# h1 T5 }3 O1 n ?' @
E1=zeros(4,N+1);0 u% ^) y: W$ f* U8 ]
E2=zeros(4,N+1);
5 S) E4 b6 F# X" X N# e2 q9 pX0=zeros(1,N+1);# S1 A$ g, G: R. r: H
V0=zeros(1,N+1);
' k# / W8 y% dE=zeros(8,N+1);' _" B, x1 A2 B% f4 _2 R
U0=zeros(1,N+1);8 M' a+ I8 @2 ~4 n
6 Y+ H5 y+ o. I1 C3 J1 P) @X(1,1)=20;w# k" i7 I3 z' q3 U" h5 ?
X(2,1)=-21;
4 r$ J& F9 `; O1 [; ]X(3,1)=15;
. z/ H! O9 ]9 j' X% O7 C6 rX(4,1)=-10;3 m+ t0 M, ^& P& M! P# F' v& I
X0(1,1)=0;
3 A8 u2 y5 g1 {) h) _( p. o
9 L! o% @; h- u3 @) f* DV(1,1)=1;- I$ u$ H" {7 x" w9 y
V(2,1)=-2;
' f! L3 y0 z B% E7 Z9 iV(3,1)=3;
: d7 z `" s0 K* Y3 G0 zV(4,1)=-2;9 h- J; O3 `7 {
V0(1,1)=0;
% `1 `$ E& I2 L/ 4 S1 U- @8 Z0 t# Y( z6 z/ s% i2 Q
M=[-1 0 1 0;/ _& C- O! ^, x1 n1 r
0 -2 1 1;
7 p% ?7 R$ C/ a0 S 1 1 -2 0;
$ r% ]" w' E: J 0 1 0 -1];$ z4 H/ x/ G7 `, f
[V,D] = eig(M);%%特征向量V特征值D(对角线)
+ D9 U9 D" p: W4 R1 Q7 o9 e9 wlambda = wrev(diag(D));%%D里面的对角元素取出来放到lambda6 K* d7 e3 V/ `! |" H) h " [
lamb = lambda(4);( j. B0 ]- ]1 G" p# ?6 s# o6 l
A0 = [0 1;
' M8 v. ?- M& E- g" {5 A; u+ z 0 0];9 ?% g$ S+ R/ s) r& m
B0 = [0 1]';8 y+ s$ H9 [' H/ b6 y6 h
I4=[1 0 0 0;
& }2 [4 }9 m! u- H$ o% @& a) O 0 1 0 0;
; c" E. l0 m, ! U5 ~8 H+ n 0 0 1 0;
- }* v/ B7 l( l1 ~$ V/ n3 L 0 0 0 1];
& D# v# {5 {' J& t) p. s* o7 D8 v2 aA = [0 1/(2*lamb);
+ F' d3 ?# Y& G. y* X 0 0];$ G+ U& B# {: r% ~/ M
B = B0;% o8 f, u4 s1 J
N = 0;) [, f# V" |# M2 {5 Z# l
R = 1;3 r4 Q9 k' B! F% y$ F8 K( B
Q = [1/2 0;
0 I $ i/ O1 o: g$ G5 l 0 1/2];, N% i( f7 x: P8 ]5 |
[K,P,e] = lqr(A,B,Q,R,N);
4 ^& o0 ]. [" {8 j6 { i% EC=B0'*P;
* C3 x+ S( K/ y2 rF=kron(I4,B0'*P);% X! y" K( a0 N* d/ @' e n) p7 Y
' e Z4 H8 Y& y$ J
! {4 @& p% Q: p7 [& Y/ Z- d; ?& c%%%迭代%%%
" u! |* {: e/ z0 D$ H# W) ~' z, Sfor i=1:N+ x+ E4 @" w9 T/ q; y E
tnow=T*(i/N);
1 I1 L/ r' D7 j( # z5 X if tnow>=tset-0.01
- i; b7 / m: 2 X- @ mu=1;" M2 C, U6 ~0 `3 W& I
dmu=0;2 ~2 E4 n: ^1 s3 i3 t* G/ t% D
dmu2 = 0;" g) Z5 o9 k; z8 U
else
" ~: r' h9 e& P+ X7 o' y1 M8 ] mu=(Tset/(Tset-tnow))^hh;7 Z% , w# u5 Y8 t. Z& h9 X+ S3 I! K
dmu=(hh/Tset)*(mu^(1+1/hh));
7 Y/ V9 n& q4 K3 ~) L n dmu2 = hh*(hh+1)/(Tset^2)*(((Tset^hh)/((Tset-tnow)^hh))^((hh+2)/(hh)));; Q& _- G! s/ q
end
) D* H/ r1 D* l: U" [8 S* M8 e( z9 Y" F O
X0(1,i+1)=h*(sin(tnow))+X0(1,i);
. s* g4 a6 E% Z V0(1,i+1)=h*(cos(tnow))+V0(1,i);2 n: c t3 _/ F
U0(1,i)=-sin(tnow);' g; y# c4 U) N! D+ ?- _% X
l1=[1,1,1,1]';& m; g: D5 ]/ _8 I4 b; Y k1 H
& U! I5 X3 O6 c. W E1(:,i)=M*(X(:,i)-l1*X0(1,i));
0 d; N$ p; i m' y
3 [! _/ n+ n- Q7 k2 ] E2(:,i)=M*(V(:,i)-l1*V0(1,i));
6 R9 s7 m. b* _+ d% {/ t+ |! D/ S+ & u$ ], f- Z' c/ u
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)];
( j8 E5 t9 ^1 E0 D2 O 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));
. d8 Q) n$ u2 A: p% N. t- ~6 B+ @( G! K( V' a
X(:,i+1)=h*V(:,i)+X(:,i);& Z5 y; G- e; q- n$ `
- p, Y- T9 b6 I! S, E; ?
V(:,i+1)=h*U(:,i)+V(:,i);
2 f. [0 y; j4 W# f) |% O+ o i, m8 a7 L$ G' Y
end
4 r6 S& t3 B) y% Q7 A
2 T6 s2 Y8 b+ v: a. t%%%作图%%%
8 H/ y% o i r0 h# u, xt=linspace(0,T,N+1);. l9 ]. ^0 E; a( d
1 D+ S, } Y. ]figure(1)8 q" x; _6 ! e; |
plot(t,X(1,
,'linewidth',2);7 q: {1 s7 L' o6 Q W
hold on;
# L- O6 _$ G6 S& N" |9 `- Bplot(t,X(2,
,'linewidth',2);
7 [/ T7 m. e+ H T0 t" qhold on;6 A5 u% x3 ^3 q: t6 z/ i
plot(t,X(3,
,'linewidth',2);
* O8 @; b, p/ q& r: F( Y( Ghold on;
# D3 w3 `# ~4 O: q* m8 s# H: c; Tplot(t,X(4,:),'linewidth',2);5 B1 E% S- X* x/ a
hold on;
; B$ P- J1 H/ s" ^2 [( dplot(t,X0(1,:),'linewidth',2);4 i& R# {6 K9 P0 _' T+ x! w
hold on;
0 _: t1 Q) u' G/ W2 S5 w$ C* ^grid on;! n2 `* Z+ x* y- h4 m' j$ [
axis([0 20 -30 30])
+ J4 ~& k. r0 M% f$ ^legend('X1','X2','X3','X4','X0');/ b$ c& Y( N# r% N9 Q+ {
title('X')
4 T4 u0 K+ B5 y! ^ UG7 P( . u8 M; H, C1 w
figure(2)) B7 g L# C/ D6 U/ X2 ^
plot(t,V(1,:),'linewidth',2);0 Y' x& K' h- C
hold on;+ G* y; C# g9 Q" z( j8 c/ V# m
plot(t,V(2,:),'linewidth',2);
: Z# w* h+ h0 g% ~hold on;0 J/ B/ }9 Y0 r* v
plot(t,V(3,:),'linewidth',2);
6 {) W0 [8 ~1 H) ~hold on;9 K) _' J* J/ F
plot(t,V(4,:),'linewidth',2);
2 m/ [4 x$ |" y `& f% Q! H' ehold on;* {" M0 T0 ]7 J3 q9 W& a$ k" _
plot(t,V0(1,:),'linewidth',2);- N! D; o9 I. L: v; e* n
hold on;7 u3 |3 n) Y: c6 v1 ]7 b! K( X; t1 p p
grid on;+ Z# i5 L8 X( J4 Z
legend('V1','V2','V3','V4','V0');
/ F3 U# " m2 ?# n; O) B* Gtitle('V')
+ p* M! }) y( v1 f/ b, y& j' V! A
figure(3)
^) p% p& ~4 t; u# Dplot(t,E1(1,:));, O1 F% V' L3 ?! v) r
hold on;
2 | {. t/ s5 P* V) G. X* {plot(t,E1(2,:));
+ V0 G6 T3 N/ jhold on;; ~1 h$ |# z1 k- Q+ A' `) y! @9 G
plot(t,E1(3,:));% j6 q' S1 z2 p/ N. k7 @
hold on;- ?# D6 m* P% O J. q. }& r/ k
plot(t,E1(4,:));: P/ c3 w: l1 S
hold on;" W1 {) R/ M' c, h7 M# v
grid on;0 r% p. D9 }" `$ m
title('EX')
( d# M& q! g* a/ n- r/ h+ b1 p( F
figure(4)
% |" C! m% k8 + Z6 Lplot(t,E2(1,:));& ^7 h5 ?4 @4 _, O7 E
hold on;
9 `$ l' p$ P- m0 w- e" bplot(t,E2(2,:));5 y! S6 J4 p" k. ~
hold on;2 O7 x+ [; 3 R) D R" _6 l3 [3 ]- b
plot(t,E2(3,:));) B# F" J% f/ ]% P7 Q
hold on;
" x6 }3 r V8 m/ }% p6 Mplot(t,E2(4,:));
3 S- L& g$ Y# I; z" P+ a }hold on;9 E7 P" _6 W2 b$ M
grid on;7 n4 O E0 F- {$ S5 p
title('EV')
: m$ Y( Z, d' w% b& c- C
! T; z, |) x4 A9 H8 dfigure(5)
! S `/ y) n7 Y- o/ m& O5 Hplot(t,U(1,:));8 ?9 k( `- H9 D, H8 o& s
hold on;
! w, {* X; V# j+ K( Q5 p2 d+ uplot(t,U(2,:));
5 t& F( Z! a, a, Dhold on;* L# B% }9 {& K; v Q) n
plot(t,U(3,:));. |3 g0 Q: u! E6 [: `, }
hold on;
; j1 k$ {, M6 z6 N3 T7 oplot(t,U(4,:));2 Q" e7 z$ O6 S' R4 f
hold on;3 p- m' m1 M# {8 _
grid on;
4 d* n1 D8 |' g) J. }8 ytitle('U')
最后
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