23 lines
No EOL
600 B
Matlab
Executable file
23 lines
No EOL
600 B
Matlab
Executable file
clear all;
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close all;
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load param.mat
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A = [0 0 1 0;
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0 0 0 1 ;
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0 Ks/Jp (-(N*phi)^2)/(R*Jp) 0 ;
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0 -Ks*(Jb+Jp)/(Jp*Jb) (N*phi)^2/(R*Jp) 0 ]
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B = [0 0;
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0 0;
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N*phi/(R*Jp) 0;
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-N*phi/(R*Jp) 1]
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%% Manip2
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L = [0, -Ks^2*(Jp+Jb)/(Jp*Jb^2) , Ks*phi^2*N^2/(R*Jp*Jb), 0];
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l1 = m*g*h/Jb;
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l2 = -(m*g*h)^2/(Jb*Jb);
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l3 = Ks*m*g*h/(Jb^2);
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l4 = Ks*m*g*h/(Jb*Jb);
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Somme = [1 1 1 1 1];
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beta = R*Jp*Jb/(Ks*N*phi); |