Documentation of motor

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Function Synopsis

[A,B,C,D,K,X0] = motor(par,ts,aux)

Help text

MOTOR  Describes the dc-motor with time-constant t (= par) and
   known static gain G. The sampling interval is ts. The conversion to
   a sampled model is inhibited if ts is entered as a negative number.
   This is to allow for desirable features in the 'present'and 'eta2ss'
   commands.

Cross-Reference Information

Listing of function motor

function [A,B,C,D,K,X0] = motor(par,ts,aux)

%   L. Ljung
%   Copyright (c) 1986-98 by The MathWorks, Inc.
%   $Revision: 2.3 $  $Date: 1997/12/02 03:42:19 $

t = par;
G=aux(1);

A=[0 1;0 -1/t];
B=[0;G/t];
C=eye(2);
D=[0;0];
K=zeros(2,2);
X0=[0;0];
if ts>0 % Sample the model with sampling interval ts
s = expm([[A B]*ts; zeros(1,3)]);
A = s(1:2,1:2);
B = s(1:2,3);
end