The output state-space model is equivalent to ss [],[],[],D. If ltiSys contains tunable or uncertain elements, ss uses the current or nominal values for those elements respectively. This realization is equivalent to minreal ss sys where matrix A has the smallest possible dimension. Conversion to state-space form is not uniquely defined in the SISO case. It is also not guaranteed to produce a minimal realization in the MIMO case. For more information, see Recommended Working Representation.
For more information on explicit state-space realization, see State-Space Models. State matrix, specified as an Nx -by- Nx matrix where, Nx is the number of states. This input sets the value of property A. Input-to-state matrix, specified as an Nx -by- Nu matrix where, Nx is the number of states and Nu is the number of inputs.
This input sets the value of property B. State-to-output matrix, specified as an Ny -by- Nx matrix where, Nx is the number of states and Ny is the number of outputs. This input sets the value of property C. Feedthrough matrix, specified as an Ny -by- Nu matrix where, Ny is the number of outputs and Nu is the number of inputs. This input sets the value of property D. Sample time, specified as a scalar. For more information, see Ts property.
Dynamic systems that you can convert include:. Continuous-time or discrete-time numeric LTI models, such as tf , zpk , ss , or pid models. To select the component of the identified model to convert, specify component. If you do not specify component , ss converts the measured component of the identified model by default. Dynamic system model to convert to minimal realization or explicit form, specified as an ss model object.
A state-space ss model object, when the inputs A , B , C and D are numeric matrices or when converting from another model object type. A generalized state-space model genss object, when one or more of the matrices A , B , C and D includes tunable parameters, such as realp parameters or generalized matrices genmat.
An uncertain state-space model uss object, when one or more of the inputs A , B , C and D includes uncertain matrices. Using uncertain models requires Robust Control Toolbox software. State matrix, specified as an Nx -by- Nx matrix where Nx is the number of states. The state-matrix can be represented in many ways depending on the desired state-space model realization such as:.
For more information, see Canonical State-Space Realizations. Input-to-state matrix, specified as an Nx -by- Nu matrix where Nx is the number of states and Nu is the number of inputs.
State-to-output matrix, specified as an Ny -by- Nx matrix where Nx is the number of states and Ny is the number of outputs. Feedthrough matrix, specified as an Ny -by- Nu matrix where Ny is the number of outputs and Nu is the number of inputs.
D is also called as the static gain matrix which represents the ratio of the output to the input under steady state condition. Matrix for implicit or descriptor state-space models, specified as a Nx -by- Nx matrix. E is empty by default, meaning that the state equation is explicit. See dss for more information about creating descriptor state-space models.
Logical value indicating whether scaling is enabled or disabled, specified as either 0 or 1. When Scaled is set to 0 disabled , then most numerical algorithms acting on the state-space model sys automatically rescale the state vector to improve numerical accuracy.
You can prevent such auto-scaling by setting Scaled to 1 enabled. For more information about scaling, see prescale. Character vector — For first-order models, for example, 'velocity'.
StateName is empty ' ' for all states by default. State path to facilitate state block path management in linearization, specified as one of the following:. StatePath is empty ' ' for all states by default. Use StateUnit to keep track of the units of each state. StateUnit has no effect on system behavior.
StateUnit is empty ' ' for all states by default. Internal delays in the model, specified as a vector. Internal delays arise, for example, when closing feedback loops on systems with delays, or when connecting delayed systems in series or parallel. For continuous-time models, internal delays are expressed in the time unit specified by the TimeUnit property of the model. For discrete-time models, internal delays are expressed as integer multiples of the sample time Ts.
You can modify the values of internal delays using the property InternalDelay. However, the number of entries in sys. InternalDelay cannot change, because it is a structural property of the model. Scalar — Specify the input delay for a SISO system or the same delay for all inputs of a multi-input system.
Nu -by-1 vector — Specify separate input delays for input of a multi-input system, where Nu is the number of inputs. For continuous-time systems, specify input delays in the time unit specified by the TimeUnit property. For discrete-time systems, specify input delays in integer multiples of the sample time, Ts. For more information, see Time Delays in Linear Systems.
Scalar — Specify the output delay for a SISO system or the same delay for all outputs of a multi-output system. Ny -by-1 vector — Specify separate output delays for output of a multi-output system, where Ny is the number of outputs. For continuous-time systems, specify output delays in the time unit specified by the TimeUnit property. For discrete-time systems, specify output delays in integer multiples of the sample time, Ts.
A positive scalar representing the sampling period of a discrete-time system. Specify Ts in the time unit specified by the TimeUnit property. Changing Ts does not discretize or resample the model. To convert between continuous-time and discrete-time representations, use c2d and d2c. To change the sample time of a discrete-time system, use d2d. Changing TimeUnit has no effect on other properties, but changes the overall system behavior.
Use chgTimeUnit to convert between time units without modifying system behavior. Alternatively, you can assign input names for multi-input models using automatic vector expansion. For example, if sys is a two-input model, enter the following:. You can use the shorthand notation u to refer to the InputName property. For example, sys. Use InputUnit to specify input signal units. InputUnit has no effect on system behavior. Input channel groups, specified as a structure.
The field names of InputGroup are the group names and the field values are the input channels of each group. For example, enter the following to create input groups named controls and noise that include input channels 1 and 2 , and 3 and 5 , respectively.
You can then extract the subsystem from the controls inputs to all outputs using the following. Alternatively, you can assign output names for multi-output models using automatic vector expansion.
For example, if sys is a two-output model, enter the following. You can also use the shorthand notation y to refer to the OutputName property. Use OutputUnit to specify output signal units. OutputUnit has no effect on system behavior. Output channel groups, specified as a structure.
The field names of OutputGroup are the group names and the field values are the output channels of each group. For example, create output groups named temperature and measurement that include output channels 1 , and 3 and 5 , respectively. You can then extract the subsystem from all inputs to the measurement outputs using the following.
System name, specified as a character vector. User-specified text that you want to associate with the system, specified as a character vector or cell array of character vectors. Use SamplingGrid to track the variable values associated with each model in a model array, including identified linear time-invariant IDLTI model arrays.
Set the field names of the structure to the names of the sampling variables. Set the field values to the sampled variable values associated with each model in the array. All sampling variables must be numeric scalars, and all arrays of sampled values must match the dimensions of the model array.
The following code stores the time samples with the linear models. Similarly, you can create a 6-by-9 model array, M , by independently sampling two variables, zeta and w. The following code maps the zeta,w values to M.
When you display M , each entry in the array includes the corresponding zeta and w values. The following lists contain a representative subset of the functions you can use with ss model objects. In general, any function applicable to Dynamic System Models is applicable to an ss object. Create the SISO state-space model defined by the following state-space matrices:. Create a state-space model with a sample time of 0. For this example, consider a cube rotating about its corner with inertia tensor J and a damping force F of 0.
The input to the system is the driving torque while the angular velocities are the outputs. The state-space matrices for the cube are:. Specify the A , B , C and D matrices, and create the continuous-time state-space model. The number of state and input names must be consistent with the dimensions of A , B , C , and D. For this example, create a state-space model with the same time and input unit properties inherited from another state-space model.
Consider the following state-space models:. First, create a state-space model sys1 with the TimeUnit and InputUnit property set to ' minutes '. Verify that the time and input unit properties of sys1 are set to ' minutes '. Create the second state-space model with properties inherited from sys1. Verify that the time and input units of sys2 have been inherited from sys1.
To obtain a minimal realization of H s , enter. The resulting model has an order of three, which is the minimum number of states needed to represent H s. To see this number of states, refactor H s as the product of a first-order system and a second-order system. For this example, extract the measured and noise components of an identified polynomial model into two separate state-space models.
Load the Box-Jenkins polynomial model ltiSys in identifiedModel. The measured component can serve as a plant model, while the noise component can be used as a disturbance model for control system design.
Step 1 Obtain the upgrade image and copy the image to the controller by performing Upload your controller configuration files to a server to back them up. Step 4 Click OK to confirm the action. Step 3 Click the Advanced tab. Step 4 Under the AP Image download section, perform one of the following:. Step 5 Click OK to confirm the action.
Using the CLI, you can predownload an image to a specific access point or to all access points. The process includes three steps:. Specify access points that will receive the predownload image. Set a reboot time for the controller and the access points.
Use one of these commands to specify access points for predownload:. The primary image is the new image; the backup image is the existing image.
Access points always boot with the primary image. The output lists access points that are specified for predownloading and provides for each access point, primary and secondary image versions, the version of the predownload image, the predownload retry time if necessary , and the number of predownload attempts. The output also includes the predownload status for each device. The status of the access points is as follows:.
Use one of these commands to schedule a reboot of the controller and access points:. Note The swap operand in the reset command will result in the swapping of the primary and backup images on both the controller and the access point.
The controller sends a reset message to all joined access points, and then the controller resets. The controller sends the announcement trap the configured number of minutes before the reset. Note If you configure reset times and then use the config time command to change the system time on the controller, the controller notifies you that any scheduled reset times will be canceled and must be reconfigured after you set the system time. Use the show reset command to display scheduled resets.
Controllers have built-in utilities for uploading and downloading various files. In controller software release 6. The text file cannot be larger than characters and cannot have more than 16 lines of text. The login banner supports only printable characters. Note Clearing the controller configuration does not remove the login banner.
Note The controller can have only one login banner file. If you download another login banner file to the controller, the first login banner file is overwritten. Step 6 Enter the maximum number of times that the TFTP server attempts to download the certificate in the Maximum Retries text box and the amount of time in seconds that the TFTP server attempts to download the certificate in the Timeout text box.
Step 7 In the File Path text box, enter the directory path of the login banner file. Step 9 If you are using an FTP server, follow these steps:. Step 10 Click Download to download the login banner file to the controller.
Step 2 Specify the transfer mode used to download the config file by entering this command:. Step 3 Download the controller login banner by entering this command:. Step 5 Specify the name of the config file to be downloaded by entering this command:. Step 6 Specify the directory path of the config file by entering this command:. Step 8 If you are using an FTP server, enter these commands:. Step 9 View the download settings by entering the transfer download start command.
Answer y when prompted to confirm the current settings and start the download process. Figure Login Banner Page. Step 3 When prompted, click OK to clear the banner. To clear the login banner from the controller using the controller CLI, enter the clear login-banner command.
Each wireless device controller, access point, and client has its own device certificate. For example, the controller is shipped with a Cisco-installed device certificate.
However, if you want to use your own vendor-specific device certificate, it must be downloaded to the controller. Follow the instructions in this section to download a vendor-specific device certificate to the controller through the GUI or CLI. Step 4 In the Certificate Password text box, enter the password that was used to protect the certificate. Step 7 Enter the maximum number of times that the TFTP server attempts to download the certificate in the Maximum Retries text box and the amount of time in seconds that the TFTP server attempts to download the certificate in the Timeout text box.
Step 8 In the File Path text box, enter the directory path of the certificate. Step 9 In the File Name text box, enter the name of the certificate.
Step 10 If you are using an FTP server, follow these steps:. Step 11 Click Download to download the device certificate to the controller. Step 13 If prompted to save your changes, click Save and Reboot. Step 14 Click OK to confirm your decision to reboot the controller. Step 3 Specify the type of the file to be downloaded by entering this command:.
Step 6 Specify the name of the config file to be downloaded by entering this command:. Step 7 Specify the directory path of the config file by entering this command:.
Step 9 If you are using an FTP server, enter these commands:. Step 10 View the updated settings by entering the transfer download start command. Step 11 Reboot the controller by entering this command:. Controllers and access points have a Certificate Authority CA certificate that is used to sign and validate device certificates.
The controller is shipped with a Cisco-installed CA certificate. However, if you want to use your own vendor-specific CA certificate, it must be downloaded to the controller. Step 7 In the File Path text box, enter the directory path of the certificate. Step 8 In the File Name text box, enter the name of the certificate. Step 10 Click Download to download the CA certificate to the controller.
Step 12 If prompted to save your changes, click Save and Reboot. Step 13 Click OK to confirm your decision to reboot the controller. Step 5 Specify the directory path of the config file by entering this command:. Step 9 View the updated settings by entering the transfer download start command.
Step 10 Reboot the controller by entering the reset system command. Figure Upload File from Controller Page. The default setting is zero 0. PAC files have a. A message appears indicating the status of the upload. Step 12 Follow the instructions for your wireless client to load the PAC on your client devices. Make sure to use the password that you entered above. Step 2 Specify the transfer mode used to upload the config file by entering this command:.
Step 4 Specify the identification of the user by entering this command:. Step 7 Specify the name of the config file to be uploaded by entering this command:.
Step 9 View the updated settings by entering the transfer upload start command. Answer y when prompted to confirm the current settings and start the upload process. Step 10 Follow the instructions for your wireless client to load the PAC on your client devices. If you lose your configuration, you can then download the saved configuration to the controller. In controller software release 4.
Therefore, you cannot download a binary configuration file onto a controller running software release 4. However, when you upgrade a controller from a previous software release to 4. Step 2 From the File Type drop-down list, choose Configuration. Step 3 Encrypt the configuration file by selecting the Configuration File Encryption check box and entering the encryption key in the Encryption Key text box. Step 6 In the File Path text box, enter the directory path of the configuration file.
Step 7 In the File Name text box, enter the name of the configuration file. Step 8 If you are using an FTP server, follow these steps:. If the upload fails, repeat this procedure and try again. Step 1 Specify the transfer mode used to upload the configuration file by entering this command:.
Step 2 Specify the type of file to be uploaded by entering this command:. Step 3 Encrypt the configuration file by entering these commands:. Step 5 Specify the directory path of the configuration file by entering this command:. Step 6 Specify the name of the configuration file to be uploaded by entering this command:.
Step 7 If you are using an FTP server, enter these commands to specify the username and password used to log into the FTP server and the port number through which the upload occurs:. Step 8 Initiate the upload process by entering this command:.
Step 9 When prompted to confirm the current settings, answer y. Step 3 If the configuration file is encrypted, select the Configuration File Encryption check box and enter the encryption key used to decrypt the file in the Encryption Key text box.
Note The key that you enter here should match the one entered during the upload process. Step 6 Enter the maximum number of times that the TFTP server attempts to download the configuration file in the Maximum Retries text box and the amount of time in seconds that the TFTP server attempts to download the configuration file in the Timeout text box.
Step 7 In the File Path text box, enter the directory path of the configuration file. Step 8 In the File Name text box, enter the name of the configuration file. Step 10 Click Download to download the file to the controller. A message appears indicating the status of the download, and the controller reboots automatically.
If the download fails, repeat this procedure and try again. Note The controller does not support incremental configuration downloads. The configuration file contains all mandatory commands all interface address commands, mgmtuser with read-write permission commands, and interface port or LAG enable or disable commands required to successfully complete the download.
Only the commands present in the configuration file are applied to the controller, and any configuration in the controller prior to the download is removed.
Step 1 Specify the transfer mode used to download the configuration file by entering this command:. Step 2 Specify the type of file to be downloaded by entering this command:. Step 3 If the configuration file is encrypted, enter these commands:. Step 6 Specify the name of the configuration file to be downloaded by entering this command:.
Step 8 If you are using an FTP server, enter these commands to specify the username and password used to log into the FTP server and the port number through which the download occurs:. Step 9 View the updated settings by entering this command:. Step 10 When prompted to confirm the current settings and start the download process, answer y. Controller software release 5.
You can then read or edit the configuration file in a CLI format on the server. When you are finished, you download the file back to the controller, where it is reconverted to an XML format and saved. Step 2 Read or edit the configuration file on the server.
Step 3 Save your changes to the configuration file on the server. Step 4 Download the configuration file to the controller by performing one of the following:. The controller converts the configuration file to an XML format, saves it to flash memory, and then reboots using the new configuration. Any CLI commands that have invalid values are replaced with default values.
To see any ignored commands or invalid configuration values, enter this command:. Note You cannot execute this command after the clear config or save config command. To do so, perform one of the following:. Step 6 The controller does not support the uploading and downloading of port configuration CLI commands. If you want to configure the controller ports, enter these commands:. Step 7 Enter the save config command to save your changes.
Step 1 Clear the configuration by entering this command:. Enter y at the confirmation prompt to confirm the action. Step 2 Reboot the system by entering this command:. Enter n to reboot without saving configuration changes. When the controller reboots, the configuration wizard starts automatically.
Step 1 Reset the configuration by entering this command:. The controller reboots. Step 2 When you are prompted for a username, restore the factory-default settings by entering this command:. The controller reboots and the configuration wizard starts automatically. You can reset the controller and view the reboot process on the CLI console using one of the following two methods:. When the controller reboots, the CLI console displays the following reboot information:.
Skip to content Skip to search Skip to footer. Book Contents Book Contents. Find Matches in This Book. PDF - Complete Book Updated: July 6, Managing Controller Software and Configurations. Caution Do not power down the controller or any access point during this process; otherwise, you might corrupt the software image.
Upgrading a controller with a large number of access points can take as long as 30 minutes, depending on the size of your network. However, with the increased number of concurrent access point upgrades supported in software release 4. The access points must remain powered, and the controller must not be reset during this time. You can upgrade or downgrade the controller software only between certain releases.
In some instances, you must first install an intermediate release prior to upgrading to software release 6. The Cisco Series Controllers can run only controller software release 6. When you upgrade the controller to an intermediate software release, wait until all of the access points joined to the controller are upgraded to the intermediate release before you install the 6.
In large networks, it may take some time to download the software on each access point. In software releases 6. New CLI and controller GUI functionality allow you to specify the boot image for both devices and to reset the access points when the controller resets. When both devices are up, the access points discover and rejoin the controller.
If you do not install this ER. The ER. You can run any controller software file with any ER. However, installing the latest boot software file 7. If you require a downgrade from one release to another, you may lose the configuration from your current release. The workaround is to reload the previous controller configuration files saved on the backup server or to reconfigure the controller.
Do not upgrade a controller using a wireless client as the TFTP or FTP server if the client is associated to the same controller that is being upgraded. The controller will not attempt to contact the TFTP server to download the image.
The TFTP server can be located on a client that is not associated to the same controller to which it is associated. This is applicable on all controller platforms. Ensure that you comply with the following rules before you upgrade your controller in a mesh network: — You can upgrade from all mesh releases to controller software release 6. Upgrading Controller Software. TFTP Path Are you sure you want to start?
Transfer Canceled.
0コメント