motor6_1.m

来自「用matlab实现motor运动控制的控制器设计仿真」· M 代码 · 共 21 行

J=0.01;
b=0.1;
K=0.01;
R=1;
L=0.5;
A=[-b/J   K/J
   -K/L   -R/L];
B=[0
   1/L];
C=[1   0];
D=0;
co=ctrb(A,B);%Judge the controlbility of the system
if rank(co)==rank(A)
   p1 = -5 + i;
   p2 = -5 - i;
   K = place(A,B,[p1 p2]);%We use the function place to caculate the K matrix.
   t=0:0.01:3;
   step(A-B*K,B,C,D,1,t);
   else error('It is not controlble ')
end