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#include <control.h>
#define NUMX 4 // number of states
#define NUMU 1 // number of inputs
#define NUMY 1 // number of outputs
int main() {
array double A[NUMX][NUMX] = { 0, 1, 0, 0,
1, 0, 0, 0,
0, 0, 0, 1,
-0.5, 0, 0, 0};
array double B[NUMX][NUMU] = { 0, 1, 0, -1};
array double C[NUMY][NUMX] = { 0, 0, 1, 0};
array double D[1][1] = {0};
array double K[1][NUMX];
array double complex p[NUMX] = {-1, -1, complex(-1,1), complex(-1,-1)};
array double A1[NUMX][NUMX];
array double x0[NUMX] = {0.175, 0, 0, 0};
class CPlot plotinitial, plotstep, plotimpulse;
class CControl sys0;
class CControl sys;
sys0.model("ss", A, B, C, D);
sys0.acker(K, p);
printf("K = %f\n", K);
A1 = A - B*K;
sys.model("ss", A1, B, C, D);
sys.initial(&plotinitial, NULL, NULL, NULL, x0);
sys.step(&plotstep, NULL, NULL, NULL);
sys.impulse(&plotimpulse, NULL, NULL, NULL);
return 0;
}
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