rscale.m

用matlab实现motor运动控制的控制器设计仿真

function[Nbar]=rscale(A,B,C,D,K)
%Eliminate the steady-state error to a step reference of given single-input
%linear system:
% x = Ax + Bu
% y = Cx + Du
%and the feedback matrix K.
s = size(A,1);
Z = [zeros([1,s]) 1];
N = inv([A,B;C,D])*Z';
Nx = N(1:s);
Nu = N(1+s);
Nbar=Nu + K*Nx;