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%parametres de la mas
Rr=2.12;Rs=1.86;Lr=0.006;Ls=0.011;Lm=0.3672;J=0.0625;f=0.001;p=1;%parmetres ko
Lm1=(Ls*Ls)*((Lm+Lr)/(Lm*Lr))+(2*Ls)
Lm2=Ls*((Lm+Lr)/(Lm*Lr))+1
Lm3=Ls*Lm/(Lr*(Lm+Lr))
A1=[-(Lm2*Rs+Lm3*Rr)/Lm1 (Rs-Lm3*Rr)/Lm1 0 0 Ls*Rr/((Lr+Lm)*Lr*Lm1) 0;
(Rs-Lm3*Rr)/Lm1 -(Lm2*Rs+Lm3*Rr)/Lm1 0 0 Ls*Rr/((Lr+Lm)*Lr*Lm1) 0;
0 0 -(Lm2*Rs+Lm3*Rr)/Lm1 (Rs-Lm3*Rr)/Lm1 0 Ls*Rr/((Lr+Lm)*Lr*Lm1);
0 0 (Rs-Lm3*Rr)/Lm1 -(Lm2*Rs+Lm3*Rr)/Lm1 0 Ls*Rr/((Lr+Lm)*Lr*Lm1);
(Rr*Lm)/(Lm+Lr) (Rr*Lm)/(Lm+Lr) 0 0 -Rr/(Lm+Lr) 0;
0 0 (Rr*Lm)/(Lm+Lr) (Rr*Lm)/(Lm+Lr) 0 -Rr/(Lm+Lr);]
A3=[0 0 1 0 0 0;
0 0 0 1 0 0;
-1 0 0 0 0 0;
0 -1 0 0 0 0;
0 0 0 0 0 1;
0 0 0 0 -1 0;]
A2=[0 0 0 0 0 Ls/(Lm1*Lr);
0 0 0 0 0 Ls/(Lm1*Lr);
0 0 0 0 -Ls/(Lm1*Lr) 0;
0 0 0 0 -Ls/(Lm1*Lr) 0;
0 0 0 0 0 -1;
0 0 0 0 1 0;]
B=[Lm2/Lm1 -1/Lm1 0 0 0 0;
-1/Lm1 Lm2/Lm1 0 0 0 0;
0 0 Lm2/Lm1 -1/Lm1 0 0;
0 0 -1/Lm1 Lm2/Lm1 0 0;
0 0 0 0 0 0;
0 0 0 0 0 0;]
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