contents.m

三级倒立摆的稳定

%   FILES FOR ANALYSIS AND DESIGN OF TRIPLE INVERTED PENDULUM SYSTEM
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%
% Construction of the open-loop system
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% olp_pend.m	Creates the open loop system model with mixed uncertainty
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% Controllers design
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% hinf_pend.m	Design of Hinf controller
% ms_pend.m	    Design of mu-controller
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% Controller order reduction
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% red_pend.m	Obtains controller of 20th order
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% Analysis of the continuous time closed loop system
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% mu_pend.m	    Analysis of robust stability, nominal and robust performance
% frs_pend.m	Frequency responses of the closed loop system
% clp_pend.m	Transient responses of the closed loop system
% pfr_pend.m	Frequency responses of the preturbed pendulum models
% wcp_pend.m	Determination of the worst case performance
% wpl_pend.m	Transient responses for the worst case performance
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% Analysis of the sampled-data system
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% dcl_pend.m	Transient responses of the closed loop system
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% Simulation of the nonlinear closed loop system
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% init_c_pend.m	Sets the initial parameters for simulation of the continuous time
%		        system
% c_pend.mdl	Simulink model of the continuous time system
% init_d_pend.m	Sets the initial parameters for simulation of the sampled data 
%               system
% d_pend.mdl	Simulink model of the sampled data system
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% Auxiliary files
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% mod_pend.m	Creates the uncertain pendulum system model
% act_pend.m	Creates actuator models with complex uncertainty
% trans1.m	    Uncertain transfer function of the 1st actuator
% trans2.m	    Uncertain transfer function of the 2nd actuator
% trans1_m.m	Approximates the unceratinty of the 1st actuator
% trans2_m.m	Approximates the uncertainty of the 2nd actuator
% wts_pend.m	Sets the performance weighting functions
% wsn_pend.m	Sets the noise shaping filter
% dk_pend.m	    Sets the DK-iterations parameters in the mu-synthesis
% sim_pend.m	Creates the simulation model of the closed loop system
% wfit.m		Fits a transfer function to a given frequency response
% s_pend.m	    S-function used in the nonlinear simulation of the pendulum system
% inc_pend.m	Sets the initial conditions in the nonlinear simulation of the
%               pendulum system