% This is parameter in simulink 'LADRC_Object1'
clear
clc
% Setting Parameter in LARC
b0 = 23;
omega_c = 10;
omega_0 = 5*omega_c;
k = 4;
Kp = omega_c.^2;
Kd = 2*omega_c;
beta1 = 3*omega_0;
beta2 = 3*omega_0.^2;
beta3 = k*beta2;
h = 0.001;
beta0 = exp(-omega_0 * h); %exp(-omega_0 * h)
%离散化方法0：当前零阶保持法 1：当前欧拉法
discrete_method = 1;
if discrete_method == 0
%当前零阶保持法
A = [3*beta0-2 , h, h^2/2; -(1-beta0)^2*(5+beta0)/(2*h), 1, h; -(1-beta0)^3/(h^2), 0, 1 ];
B = [b0*h^2/2, 3-3*beta0; b0*h, (1-beta0)^2*(5+beta0)/(2*h); 0, (1-beta0)^3/(h^2)];
C = [beta0^3, 0, 0; -3*(1-beta0)^2*(1+beta0)/(2*h), 1, 0; -(1-beta0)^3/(h^2), 0, 1 ];
D = [0, 1-beta0^3; 0, 3*(1-beta0)^2*(1+beta0)/(2*h); 0, (1-beta0)^3/(h^2)];
disp('ESO进行 当前零阶保持法 离散化');
elseif discrete_method == 1
%当前欧拉法
A = [3*beta0-2 , h, 0; -3*(1-beta0)^2/h, 1, h; -(1-beta0)^3/(h^2), 0, 1 ];
B = [0, 3-3*beta0; b0*h, 3*(1-beta0)^2/h; 0, (1-beta0)^3/(h^2)];
C = [beta0^3, 0, 0; (-2+3*beta0-beta0^3)/h, 1, 0; -(1-beta0)^3/(h^2), 0, 1 ];
D = [0, 1-beta0^3; 0, (2-3*beta0+beta0^3)/h; 0, (1-beta0)^3/(h^2)];
disp('ESO进行 当前欧拉法 离散化');
else
disp('ESO没有进行离散化');
end
