seinzumtode https://blog.hatena.ne.jp/seinzumtode/ how to code something https://seinzumtode.hatenadiary.jp/ まだ途中 clear; close all; clc; A = [0 1 0 131.91 -1.27E-04 50.27 -168.29 1.63E-04 -136.55]; B = [0;-56.15;152.52]; C = [1 0 0]; D = 0; sys = ss(A,B,C,D); Re = 1; Qe = [1 0 0 0; 0 1 0 0 0 0 1 0 0 0 0 1]; N = 0; [K S e] = lqi(sys,Qe,Re); K1 = K(1:3); K2 = K(4); Ae = [A-B*K1 -B*K2 -C 0]; Be = [B;1]; Ce = … 190 <iframe src="https://hatenablog-parts.com/embed?url=https%3A%2F%2Fseinzumtode.hatenadiary.jp%2Fentry%2F2020%2F09%2F13%2F222242" title="車輪型倒立振子のLQI制御　その１ - how to code something" class="embed-card embed-blogcard" scrolling="no" frameborder="0" style="display: block; width: 100%; height: 190px; max-width: 500px; margin: 10px 0px;"></iframe> https://cdn-ak.f.st-hatena.com/images/fotolife/s/seinzumtode/20200913/20200913222237.png Hatena Blog https://hatena.blog 2020-09-13 22:22:42 rich https://seinzumtode.hatenadiary.jp/entry/2020/09/13/222242 1.0 100%