root/applications/dual/SIDP/smc29/model.m @ 1255

Revision 1255, 309 bytes (checked in by zimamiro, 14 years ago)
Line 
1function x1=model(x,u,system)
2x1=[system.a*x(1,:)+ system.b*x(3,:).*sin(x(4,:))+system.c*u(1,:);
3    system.a*x(2,:)- system.b*x(3,:).*cos(x(4,:))+system.c*u(2,:);
4    system.d*x(3,:)+ system.e*x(2,:).*cos(x(4,:))-system.e*x(1,:).*sin(x(4,:));
5    x(4,:)+x(3,:)*system.deltat]+system.Q*rand(size(x));
6end
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