sim_pend.m

三级倒立摆的稳定

% Open-loop connection without weighting functions
%
[A,B,C,D] = mod_pend;
G = pck(A,B,C,D);
Tp = C(10:12,1:3);
S = pck(-eye(3),zeros(3),zeros(3),Tp);
act_pend
wsn_pend
systemnames = ' Act1 Act2 G S Wn ';
inputvar = '[ pertin{8}; ref{3}; dist{3}; noise{3}; control{2} ]';
outputvar = '[ Act1(1); Act2(1); G(1:9); control; Wn; - G(10:12) - Wn; S ]';
input_to_Act1 = '[ pertin(1); control(1) ]';
input_to_Act2 = '[ pertin(2); control(2) ]';
input_to_G = '[ pertin(3:8); dist; Act1(2); Act2(2) ]';
input_to_S = '[ ref ]';
input_to_Wn = '[ noise ]';
sysoutname = 'pend_sm';
cleanupsys = 'yes';
sysic;