反馈线性化控制器matlab仿真(4)

反馈线性化控制器matlab仿真

x1=x1+Dx1*Dt;

x2=x2+Dx2*Dt;

y=x1;

Lf2h=(-1.02-3.84*x1^2)*(x2-(1.02+1.28*x1^2)*x1)+(-57.17-322.16*x1^2)*x1; LgLfh=-70.12-360.27*x1^2;

v=ddym+a1*(dym-Dx1)+a2*(ym-y);

u=(-Lf2h+v)/LgLfh;

y_store(:,n)=[y;ym];

t=t+Dt;

n=n+1;

end

figure(1)

plot((1:n-1)*Dt,y_store)

xlabel('time/s')

ylabel('y')

legend('y-act','y-ref')