LADRC-matlab-simulink

% 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