jidian2.m

固高一级倒立摆的4种极点配置方法

clear;
syms a s b k1 k2 k3 k4;
A=[0,1,0,0;0,-0.0883,0.6293,0;0,0,0,1;0,-0.2357,27.8285,0]
B=[0,0.8832,0,2.3566]'
C=[1,0,0,0;0,0,1,0]
D=[0,0]'
ss=[s,0,0,0;0,s,0,0;0,0,s,0;0,0,0,s]
K=[k1,k2,k3,k4]
J=[-10,0,0,0;0,-10,0,0;0,0,-2-2*sqrt(3)*i,0;0,0,0,-2+2*sqrt(3)*i]
ans=A-B*K
P=poly(ans)
PJ=poly(J)