Index in position 2 exceed array bound (must not exceed 1)?

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Christian Thomas
Christian Thomas on 10 Dec 2021
Answered: Walter Roberson on 10 Dec 2021
A = [ 1 2 -4; 1 1 4; 0 -1 4];
B = [0 ;0; 10];
C = [ 0 0 1];
D = 0;
poles = [ -0.5-1i -0.5+1i -0.7];
Kt = place(A,B,poles);
F = inv(C*inv(-A+(B*Kt))*B);
Acl=A-(B*Kt);
Bcl=B*F;
Ccl=C;
Dcl=0;
syscl=ss(Acl,Bcl,Ccl,Dcl);
t=0:0.1:10;
r=ones(size(t));
x0 = [1 0 0];
[y,t,x]= lsim(syscl,ones(size(t)),t);
figure(1);
plot(t,y,'r');
obpole1 = -0.5+1i;
obpole2 = -0.5-1i;
obpole3 = -0.7;
L = place(A',C', [obpole1 obpole2 obpole3])';
At = [A-B*Kt B*Kt ; zeros(size(A)) A-L*C];
Bt = [ B ; zeros(size(B))];
Ct = [ C zeros(size(C)) ];
obsys = ss(At, Bt, Ct, 0);
x0ob = [0 0 0];
[yob,t,xob] = lsim(obsys,ones(size(t)),t,[x0 x0ob]);
figure(2);
plot(t,yob,'b');
figure(3);
plot(t,yob(:,1),'r');
hold on
plot(t,yob(:,2),'b');
Index in position 2 exceeds array bounds. Index must not exceed 1.
hold on
plot(t,y(:,1),'--r');
hold on
plot(t,y(:,2),'--b')

Answers (2)

Yusuf Suer Erdem
Yusuf Suer Erdem on 10 Dec 2021
Edited: Yusuf Suer Erdem on 10 Dec 2021
your 'yob' matrix has a single column but you are asking for its second column. that is why it is happening. recover it please.

Walter Roberson
Walter Roberson on 10 Dec 2021
A = [ 1 2 -4; 1 1 4; 0 -1 4];
B = [0 ;0; 10];
C = [ 0 0 1];
D = 0;
poles = [ -0.5-1i -0.5+1i -0.7];
Kt = place(A,B,poles);
F = inv(C*inv(-A+(B*Kt))*B);
Acl=A-(B*Kt);
Bcl=B*F;
Ccl=C;
Dcl=0;
syscl=ss(Acl,Bcl,Ccl,Dcl);
t=0:0.1:10;
r=ones(size(t));
x0 = [1 0 0];
[y,t,x]= lsim(syscl,ones(size(t)),t);
figure(1);
plot(t,y,'r');
obpole1 = -0.5+1i;
obpole2 = -0.5-1i;
obpole3 = -0.7;
L = place(A',C', [obpole1 obpole2 obpole3])';
At = [A-B*Kt B*Kt ; zeros(size(A)) A-L*C];
Bt = [ B ; zeros(size(B))];
Ct = [ C zeros(size(C)) ];
obsys = ss(At, Bt, Ct, 0);
x0ob = [0 0 0];
obsys
obsys = A = x1 x2 x3 x4 x5 x6 x1 1 2 -4 0 0 0 x2 1 1 4 0 0 0 x3 -6.319 -8.906 -3.7 6.319 7.906 7.7 x4 0 0 0 1 2 14.92 x5 0 0 0 1 1 10.35 x6 0 0 0 0 -1 -3.7 B = u1 x1 0 x2 0 x3 10 x4 0 x5 0 x6 0 C = x1 x2 x3 x4 x5 x6 y1 0 0 1 0 0 0 D = u1 y1 0 Continuous-time state-space model.
tf(obsys)
ans = 10 s^2 - 20 s - 10 ------------------------------ s^3 + 1.7 s^2 + 1.95 s + 0.875 Continuous-time transfer function.
[yob,t,xob] = lsim(obsys,ones(size(t)),t,[x0 x0ob]);
figure(2);
plot(t,yob,'b');
size(yob)
ans = 1×2
101 1
figure(3);
plot(t,yob(:,1),'r');
hold on
plot(t,yob(:,2),'b');
Index in position 2 exceeds array bounds. Index must not exceed 1.
hold on
plot(t,y(:,1),'--r');
hold on
plot(t,y(:,2),'--b')
Notice the transfer function equivalent is one input to one output. Notice that your state space C only has one row, and so defines only one output.

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