clear;
close?all;
clc;


for?i?=?2:2:12
????ksi（i）?=?0.2?*?（i/2）;
end


for?i?=?1:2:11
????ksi（i）?=?0.2?*?（（i+1）/2）?-?0.1;
end

ksi=ksi‘;


test_matrix?=?[
???????????????-1.5????1.5????0????0????0????0?;
???????????????2????????-2????0????0????0????0;
???????????????0.9?????0??????-2.8?0????1.9????0;
???????????????0????????1.2????0????-2.5????0????1.3;
???????????????0????????0????1.4????1.8????-3.2????0;
???????????????0????????0????0????0????0.7????-0.7;
??????????????];
Ln?=?-?test_matrix;

%?delta_time?=?1;
delta_time?=?0.01;%?0.01?表示每次迭代一次的時間間隔是0.01秒鐘，也就是控制頻率是100hz，這個頻率在實際無人機等控制中是可行而且經常用的
I_2?=?eye（2）;

%?kron（LnI_2）;
kron（LnI_2）
total_time_s?=?100;%仿真的時間長度，100秒
loop_tick?=?total_time_s/delta_time;
for?i?=?1:1:loop_tick
????ksi_matrix（:i）?=?ksi;
????ksi?=?（?-?kron（LnI_2）?*?ksi?）?*?delta_time?+?ksi;
end


time?=?1:1:loop_tick;

figure;
plot（timeksi_matrix（2:）‘r‘timeksi_matrix（4:）‘g‘timeksi_matrix（6:）‘b‘timeksi_matrix（8:）‘c‘timeksi_matrix（10:）‘m‘timeksi_matrix（12:）‘k‘）;
%?plot（timeksi_matrix（2:）‘r‘timeksi_matrix（4:）‘g‘timeksi_matrix（6:）‘b‘）;

figure;
plot（timeksi_matrix（1:）‘r‘timeksi_matrix（3:）‘g‘timeksi_matrix（5:）‘b‘）;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2014-11-16?13:21??MAS-master\
?????文件????????1249??2014-11-16?13:21??MAS-master\test1.m
?????文件????????7226??2014-11-16?13:21??MAS-master\yangdapeng_120_event_trig.asv
?????文件????????7421??2014-11-16?13:21??MAS-master\yangdapeng_120_event_trig.m
?????文件????????4080??2014-11-16?13:21??MAS-master\yangdapeng_39.asv
?????文件????????4080??2014-11-16?13:21??MAS-master\yangdapeng_39.m