torque_speed_ch.m

1)LQG design of an unmanned helicopter 2) LQR control of an unmanned helicopter 3) speed torque ch

rr=0.04;
rs=0.015;
ls=2.35;
lh=2.31;
lr=2.35;
tau_m=596.9;
vs=1;
ws=1;
w=0:0.001:1;
i=1;
while i<=1001,
    wr(i)=ws-w(i);
    x=((wr(i)*rs*lr)+(rr*ws*ls));
    y=((rr*rs)+(wr(i)*ws*lh*lh)-(ws*wr(i)*ls*lr));
    z=sqrt(x^2+y^2);
    ir(i)=((vs*wr(i)*lh)/z);
    m(i)=((ir(i)^2)*rr)/wr(i);
    i=i+1;
end
plot(w,m)