%PID?控制器
clc?%?清屏
clear?all;?%?刪除workplace變量
close?all;?%?關掉顯示圖形窗口
M=0.5;m=0.5;b=0.1;I=0.006;l=0.3;g=9.8;
a=（M+m）*m*g*l/（（M+m）*I+M*m*l^2）;b=-m*l/（（（M+m）*I+M*m*l^2））;
c=-m^2*l^2*g/（（M+m）*I+M*m*l^2）;d=（I+m*l^2）/（（M+m）*I+M*m*l^2）;
A=[???????????0???????????????????1?0?????????????0;...
????（M+m）*m*g*l/（（M+m）*I+M*m*l^2）?0?0?m*l*b/（（M+m）*I+M*m*l^2）;...
??????????????0???????????????????0?0?????????????1;...
?????-m^2*l^2*g/（（M+m）*I+M*m*l^2）?0?