prbs.m

用matlab实现motor运动控制的控制器设计仿真

function g=prbs(a,Ts,L,u,y,T)
% %a:Magnitude.
% Ts:Sampling period
% L:The length of the sequence.
% u:The input of the system.
% y:Actual metrical values of system output.  
% T:Period
r=0;
k=1;
M=0;
H=L*T;
for r=0:L-1
    for k=1:H
        l=k+r;
        if l>H
           l=k+r-L;
        else
           M=M+u(k)*y(l);
        end
        k=k+1;
   end 
   r=r+1;
   Ruy(r)=M/H;
   M=0;
   k=1;
end
W=-Ruy(L);
for r=1:L
    g(r)=L/((L+1)*a*a*Ts)*(Ruy(r)+W);
end