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📄 pendulum3ctrl.mdl

📁 首先对非线性模型在控制目标附近进行线性化得到相应的状态空间表达式
💻 MDL
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1234 
		  ShowPortLabels	  on
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	      BackgroundColor	      "lightBlue"
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	      Ports		      [2, 1]
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	      BackgroundColor	      "lightBlue"
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	      BackgroundColor	      "magenta"
	      IconDisplay	      "Port number"
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	  BackgroundColor	  "lightBlue"
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	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  System {
	    Name		    "Layer 2"
	    Location		    [480, 85, 1060, 386]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "A4"
	    PaperUnits		    "centimeters"
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	    Block {
	      BlockType		      Inport
	      Name		      "a{1} "
	      Position		      [40, 40, 60, 60]
	      BackgroundColor	      "magenta"
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	    Block {
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	      Position		      [100, 40, 120, 60]
	      BackgroundColor	      "lightBlue"
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	      MaskDisplay	      "disp('TDL')"
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		Location		[480, 85, 1060, 386]
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		  Position		  [200, 60, 240, 80]
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		  Position		  [300, 60, 320, 80]
		  BackgroundColor	  "magenta"
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	      BackgroundColor	      "lightBlue"
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	      MaskIconUnits	      "autoscale"
	      System {
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		Location		[480, 85, 1060, 386]
		Open			off
		ModelBrowserVisibility	off
		ModelBrowserWidth	200
		ScreenColor		"white"
		PaperOrientation	"landscape"
		PaperPositionMode	"auto"
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		Block {
		  BlockType		  Inport
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		  Position		  [40, 60, 60, 80]
		  BackgroundColor	  "magenta"
		  Port			  "1"
		  IconDisplay		  "Port number"
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		Block {
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		  Position		  [140, 40, 180, 60]
		  BackgroundColor	  "lightBlue"
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		  Position		  [240, 40, 260, 80]
		  BackgroundColor	  "lightBlue"
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		Block {
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		  Name			  "lz{2,1}"
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		  BackgroundColor	  "magenta"
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	      BlockType		      Constant
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	      BackgroundColor	      "lightBlue"
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	      MaskDisplay	      "disp('bias')"
	      MaskIconFrame	      on
	      MaskIconOpaque	      on
	      MaskIconRotate	      "none"
1234

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