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cypressboat
2023-11-14 17:10:27 +08:00
commit d5a822831c
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FOTF Toolbox/c9mfpid_opt1.m Normal file
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function y=c9mfpid_opt1(x,wcg,phi,ws,B,wt,A,k,T,L)
s=1i*wcg; G=@(s)k*exp(-L*s)/s/(T*s+1);
C=@(s)x(1)+x(2)/s^x(4)+x(3)*s^x(5); F=@(s)C(s)*G(s);
y=abs(angle(-(L*s+2*T*s+L*T*s^2+1)/(T*s^2+s)*F(s)-...
G(s)*(x(2)*x(4)/s^(x(4)+1)-x(3)*x(5)*s^(x(5)-1))));