trans_func_ip_uc.m

M file for Inverted pendulum. 忘添加两个文件.补上去.

%--------------------------------------------------------------------------------------------
% trans_func_ip_uc.m
% Design and Development of Closed Loop Control for INVERTED PENDULUM
% By IIEE Visionaries
% Copyright 2003
% Open Loop & Closed Loop (Uncompensated) Transfer Function of the Inverted Pendulum System
%--------------------------------------------------------------------------------------------
%
%                 E(s)         U(s)             
%       Vpot --->O--->[ G2(s) ]--->[ G1(s) ]---+---> Theta (s)
%              - ^                             |                
%                |                             |            Theta = SYS * E
%                +----------[ H(s) ]<----------+
%                  V viper

% ip_data is a MAT File (MATLAB specific binary file), 
% with variables I, Kf, Km, Lp, M, b, g, l, m, r, tau  
load ip_data

Kp = 1 / ((M + m) * g);
K  = Kf * Kp * Km * r * (M + m);
Ap = sqrt ((M + m) * m * g * l / ((M + m)*(I + (m * (l ^ 2)))- ((m * l)^2)));

% G1(s) = Theta(s) / U(s)
%