motor6_3.m

用matlab实现motor运动控制的控制器设计仿真

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
rank(co)
if rank(co)==rank(A)
[sys]=lqg(A,B,C,D);
   else error('It is not controlble ')
end