www.gusucode.com > ident_featured 案例代码 matlab源码程序 > ident_featured/measurement_MotorModel.m
function y = measurement_MotorModel(x,varargin) %MEASUREMENT_MOTORMODEL % % Measurement equations for a motor with friction as a state % % y = measurement_MotorModel(x0,u,J,Ts) % % Inputs: % x - motor state with elements [angular velocity; friction] % u - motor torque input % J - motor inertia % Ts - sampling time % % Outputs: % y - motor measurements with elements [angular velocity; angular acceleration] % % Copyright 2016 The MathWorks, Inc. % Extract data from inputs u = varargin{1}; % Input J = varargin{2}; % System innertia % Output equation y = [... x(1); ... (u-x(1)*x(2))/J]; end