close?all;?
t0=0;tf=5;%simulation?time?
K=[?-60.6992?-316.1745??-30.0745??-33.7643
];%?State?feedback?gain?matrix?obtained?according?to?the?desired?pole;
r=?[-0.1;0.1;0;0];%initial?value?of?x1x2x3x4?
u0=-K*r;?
x0=[r;u0];%initial?value?
[tx]=ode45（‘dlfun‘[t0tf]x0）;??%?solve?differential?equations?
figure;
plot（tx（:1）*180/pi‘r‘tx（:2）*180/pi‘b‘tx（:5）‘g‘）;
legend（‘spiral?arm?angle‘‘the?pendulum?angle‘‘control?value‘）;
xlabel（‘Time/s‘）ylabel（‘x/。‘）;

?屬性????????????大小?????日期????時間???名稱
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?????文件?????484722??2020-06-16?20:08??倒立擺實驗\2019現(xiàn)代控制理論實驗講義（2014版實驗大綱）.pdf

?????文件????????481??2020-06-17?22:55??倒立擺實驗\dlb.m

?????文件???????1080??2020-06-17?22:17??倒立擺實驗\dlfun.m

?????文件????????462??2020-06-17?22:17??倒立擺實驗\draw_pic.m

?????文件????????523??2020-06-17?22:17??倒立擺實驗\fang_dlb.m

?????文件??????18386??2020-06-17?20:15??倒立擺實驗\zfsmlk.slx

?????文件??????24436??2020-06-17?22:55??倒立擺實驗\zfs_abserver.slx

?????文件???????3720??2020-06-16?20:08??倒立擺實驗\極點配置m&simulink.txt

?????目錄??????????0??2020-06-25?12:03??倒立擺實驗

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???????????????533810????????????????????9