www.gusucode.com > ident_featured 案例代码 matlab源码程序 > ident_featured/stateJacobian_MotorModel.m
function Jac = stateJacobian_MotorModel(x,varargin) %STATEJACOBIAN_MOTORMODEL % % Jacobian of motor model state equations. See stateUpdate_MotorModel for % the model equations. % % Jac = stateJacobian_MotorModel(x,u,J,Ts) % % Inputs: % x - state with elements [angular velocity; friction] % u - motor torque input % J - motor inertia % Ts - sampling time % % Outputs: % Jac - state Jacobian computed at x % % Copyright 2016 The MathWorks, Inc. % Model properties J = varargin{2}; Ts = varargin{3}; % Jacobian Jac = [... 1-Ts/J*x(2) -Ts/J*x(1); ... 0 1]; end