www.gusucode.com > ident_featured 案例代码 matlab源码程序 > ident_featured/stateUpdate_MotorModel.m
function x1 = stateUpdate_MotorModel(x0,varargin) %STATEUPDATE_MOTORMODEL % % State update equations for a motor with friction as a state % % x1 = stateUpdate_MotorModel(x0,u,J,Ts) % % Inputs: % x0 - initial state with elements [angular velocity; friction] % u - motor torque input % J - motor inertia % Ts - sampling time % % Outputs: % x1 - updated states % % Copyright 2016 The MathWorks, Inc. % Extract data from inputs u = varargin{1}; % Input J = varargin{2}; % System innertia Ts = varargin{3}; % Sample time % State update equation x1 = [... x0(1)+Ts/J*(u-x0(1)*x0(2)); ... x0(2)]; end