无纹波随动.txt

共９个程序

u=zeros(4,1);
y=zeros(3,1);
e=zeros(4,1);
a=[0.368,0,0];
b=[0,0,0,0.6321];
c=[0,0,0,1];
d=[1.582,-0.582,0,0];
yk=0;
yt=0;
t=0;
x=0:0.5:10;
r=cos(x);
ek=0;
for k=1:20
    ek=r(k)-yk;     %提前一拍获得误差值
    e=[ek;e(1:3)];
    uk=c*u+d*e;
    u=[uk;u(1:3)];
    yk=a*y+b*u;
    y=[yk;y(1:2)]; 
    yt=[yt,yk];
    t=[t,k*0.5];
end
figure
plot(t,yt)