act_pend.m

三级倒立摆的稳定

% Construct the actuators models for the
% triple inverted pendulum
%
gd1 = 1.080; Td1 = 0.005;
gd2 = 0.335; Td2 = 0.002;
%
G1 = nd2sys([gd1],[Td1 1]);
G2 = nd2sys([gd2],[Td2 1]);
%
Wm1 = nd2sys([0.3877 25.6011],[1.0000 246.3606]);
Wm2 = nd2sys([0.3803 60.8973],[1.0000 599.5829]);
%
systemnames = 'Wm1 G1';
sysoutname = 'Act1';
inputvar = '[w1;u1]';
input_to_Wm1 = '[u1]';
input_to_G1 = '[w1+u1]';
outputvar = '[Wm1;G1]';
sysic
systemnames = 'Wm2 G2';
sysoutname = 'Act2';
inputvar = '[w2;u2]';
input_to_Wm2 = '[u2]';
input_to_G2 = '[w2+u2]';
outputvar = '[Wm2;G2]';
sysic