Simulink倒立摆控制.zip

M = 5; % mass of the chart kg m = 1; % mass of the pendulum kg l = 2; % length to pundulum center mass m theta0 = 180; % deg g = 9.81; % m/s^2 d = 0.1; A = [0 1 0 0; (M*g + g*m)/(M*l) -d 0 0; 0 0 0 1; (g*m)/M 0 0 -d]; B = [0; 1/(M*l); 0; 1/M]; C = [1 0 0 0; 0 0 1 0]; D = [0; 0]; Q = [0.7164; 1.2793; 0.7659; 2.3542]; R = [0.0125;0.7620];