car_fb.m

Matlab学习课件

function  car_fb
%Task to do feedback control of carriage

procglbl	% Read in global definitions

if Scar_fb == 0
	% Initialization section - occurs once only
	Scar_fb = 1;	% Make sure this section is not executed again!
	% No initialization for this task
	return;
end

if tstep < Tcar_fb_next
	return;
end

Tcar_fb_next = Tcar_fb_next + Tcar_fb;	% Time for next run

% Always does the feedback algorithm -- no state structure

error = Xset_car - x_car;
v_car = Kp_car * error;