Second layer of the quadrotor model ,
, Configurable mask for the quadrotor model
, The Matlab code routine to compute the PID-structured gain is
, % Linearization of the nonlinear Simulink model in a given operating point 2 [aa,bb,cc,dd]=linmodv5
, %phi theta psi z p q r zdot -Up Uq Ur Uz ... uwx uwy uwz 7 ccc=cc, 2007.
, %phi theta psi z p q r zdot -Up Uq Ur Uz ... uwx uwy uwz, 2007.
, Creating the Plant from the Hinf design Simulink model 11
, P=ss(a_m,b_m,c_m,d_m)
,
, % unweighted closed-loop
, , vol.3
, K=ss(CL.Blocks, vol.0
, % Structured-PID gain for the given operating point
, 6 shows the Simulink model (Hin f _design_alt_att.slx) for the H 1 design, Fig. C.7 shows the Simulink model for the closed-loop model
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