clc;
clear;
A=[01000;-435.7-7.86435.700;00010;11.10-45.4-10.10.3;66666.70-66666.7-400-100];
B=[0;21.8;0;0;0];C=[200-2000];D=0;
G=ss（ABCD）;%%輸入并顯示系統(tǒng)狀態(tài)空間方程
%?zpk（G）
s=tf（‘s‘）;%%定義Laplace算子s
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%???Rubust??GAM=0.9927???%%%%%%%%%%%%%%
W1=87*（10^-3*s+1）/（2*s+1）;
W2=0.1;
W3=0.1*（10^-2*s+1）/（10^-4*s+1）;
[GcCLGAM]=mixsyn（GW1W2W3）;
a=Gc.A;
b=Gc.B;
c=Gc.C;
d=Gc.D;
disp（‘THE?γ?is‘）
GAM
zpk（Gc）
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%?no?control?model?parameter?%%%%%%%%%%%
G=30;
Ks=20;
Ka=5;
Js=0.0459;
Bs=0.361;
Ke=0.02;
Kt=0.02;
Kc=62.22;
Jm=0.002;
Jc=0.01;
Bm=0.02;
Bc=0.3;
L=0.0015;
R=0.15;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

?屬性????????????大小?????日期????時(shí)間???名稱
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?????文件????????825??2011-11-01?17:01??無助力時(shí)的階躍響應(yīng)（圖4-6）\noassistpara.m

?????文件??????38791??2011-12-06?09:57??無助力時(shí)的階躍響應(yīng)（圖4-6）\nocontrolmodel.mdl

?????目錄??????????0??2012-09-12?09:31??無助力時(shí)的階躍響應(yīng)（圖4-6）

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????????????????39616????????????????????3