dydtode.m

该程序用PID系统实现差动转向车辆控制

%% Author: epokh
%% Website: www.epokh.org/drupy
%% This software is under GPL

function dydt=dydtOde(t,y)
%% The differential equation for the y acceleration
global A;
global B;
global C;
global D;
global theta0;

dydt=(A*t+B)*sin(C*t^2+D*t+theta0);

end