?? init_c_pend.m
字號:
% Set the parameters for the triple inverted pendulum simulation
%
% Noise shaping filters
kf = 0.00002; Tf1 = 10; Tf2 = 0.1;
%
% Sensors
alf1 = 1.146; alf2 = 1.146; alf3 = 0.9964;
Cp = [ alf1 0 0
-alf2 alf2 0
0 -alf3 alf3];
%
% Controller
[Ak,Bk,Ck,Dk] = unpck(K);
%
% Actuators
gd1 = 1.080; Td1 = 0.005;
gd2 = 0.335; Td2 = 0.002;
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