Q = diag(1e8); % Output regulation
R = diag([1e2,1e6]); % Input limitation
[K,S,E] = lqry(Lin_Boiler,Q,R);
Design the Kalman state observer using the kalman function. For this example, the main
noise source is process noise. The noise enters the system only through one input, hence
the form of G and H.
[A,B,C,D] = ssdata(Lin_Boiler);
G = B(:,1);
H = 0;
QN = 1e4;
RN = 1e-1;
NN = 0;
[Kobsv,L,P] = kalman(ss(A,[B G],C,[D H]),QN,RN);
Simulate Model
Simulate the model for the designed controller.
sim(mdl)
Plot the process input and output signals. The following figure shows the feed water
actuation signal in kg/s.
plot(FeedWater.time/60,FeedWater.signals.values)
title('Feedwater flow rate [kg/s]');
ylabel('Flow [kg/s]')
xlabel('time [min]')
grid on
Regulate Pressure in Drum Boiler