CD Grammians VI

Owning Palette: State-Space Model Analysis VIs

Requires: Control Design and Simulation Module

Calculates the controllability or observability Grammian of the State-Space Model for a stable system. The system can be continuous or discrete. You can use this VI to balance state-space models and to study controllability and observability properties of the system.

Details  

	State Space Model contains a mathematical representation of and information about the system for which this VI calculates Grammian.
	Tolerance is the threshold this VI uses to determine if the system is controllable and stable. The default is 1E–6.
	Type specifies if this VI calculates the controllability or observability Grammian. 0 Controllability (default) 1 Observability
	error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
	Grammian returns the controllability or observability Grammian matrix.
	error out contains error information. This output provides standard error out functionality.

CD Grammians Details

This VI does not support delays unless the delays are part of the mathematical model that represents the dynamic system. To account for the delays in the synthesis of the controller, you must incorporate the delays into the mathematical model of the dynamic system using the CD Convert Delay with Pade Approximation VI (continuous models) or the CD Convert Delay to Poles at Origin VI (discrete models). Refer to the LabVIEW Control Design User Manual for more information about delays and the limitations of Pade Approximation.