📄 mp.m
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Date: Thu, 27 Mar 2008 20:18:44 +0800
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<BODY><PRE>function =
[mp_x,mp_y,mp_z,mp_phi,mp_theta,mp_yaw]=3DMp(eoutd,posd)
%Mp - PERCENT OVERSHOOT OF THE TIME RESPONSE=20
%[mp_x,mp_y,mp_z,mp_phi,mp_theta,mp_yaw] =3D Mp(eoutd,posd)
%--------output--------------------------
%mp_x- x direction
%mp_y- y direction
%mp_z- z direction
%mp_phi- phi direction
%mp_theta- theta direction
%mp_psi- psi direction
%--------input--------------------------
%eoutd - position or velocity=20
%posd- desired position or velocity
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%Calculate Percent overshoot
format
posd=3D[1 0 1 0 0 1]';
x=3Deoutd(:,1);
if max(x(:,:))<=3D1
mp_x=3D0;
else
mp_x=3D(max(x(:,:))-posd(1) )*100;
end
y=3Deoutd(:,2);
if max(y(:,:))<=3D1
mp_y=3D0;
else
mp_y=3D(max(y(:,:))-posd(2) )*100;
end
=20
z=3Deoutd(:,3);
if max(z(:,:))<=3D1
mp_z=3D0;
else
mp_z=3D(max(z(:,:))-posd(3) )*100;
end
phi=3Deoutd(:,4);
if max(phi(:,:))<=3D1
mp_phi=3D0;
else
mp_phi=3D(max(phi(:,:))-posd(4) )*100;
end
theta=3Deoutd(:,5);
if max(theta(:,:))<=3D1
mp_theta=3D0;
else
mp_theta=3D(max(theta(:,:))-posd(5) )*100;
end
psi=3Deoutd(:,6);
if max(psi(:,:))<=3D1
mp_yaw=3D0;
else
mp_yaw=3D(max(psi(:,:))-posd(6) )*100;
end
</PRE></BODY></HTML>
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