xixi.m

用MATLAB语言实现倒立摆的程序

>> A=[0 0 1 0 ;0 0 0 1;65.8751 -16.8751 -3.7062 0.2760;-82.2122 82.2122 4.6254 -1.3444];B=[0;0;5.2184;-6.5125];C=[1 0 0 0;0 1 0 0];D=[0;0];
>> Q=[0 0 1 0;0 0 0 1;1 0 0 0;0 1 0 0];
>> Qn=inv(Q);
>> A1=Q*A*Qn

A1 =

   -3.7062    0.2760   65.8751  -16.8751
    4.6254   -1.3444  -82.2122   82.2122
    1.0000         0         0         0
         0    1.0000         0         0

>> B1=Q*B

B1 =

    5.2184
   -6.5125
         0
         0

>> C1=C*Qn

C1 =

     0     0     1     0
     0     0     0     1

>> A11=[-3.7062 0.2760;4.6254 -1.3444];
>> A12=[65.8751 -16.875;-82.2122 82.2122];
>> A21=[1 0;0 1];
>> A22=[0 0;0 0];
>> B1=[5.2184;-6.5125];
>> B2=[0;0];
>> C1=[0 0;0 0];
>> C2=[1 0;0 1];
>> p=[-10-5*i,-10+5*i];
>> H=place(A11,A21,p)

H =

    6.2938    5.2760
   -0.3746    8.6556

>> T=A11-H*A21

T =

   -10    -5
     5   -10

>> F=B1-H*B2

F =

    5.2184
   -6.5125

>> L=(A11-H*A21)*H+A12-H*A22

L =

    4.8101 -112.9130
  -46.9972   22.0362

>>