gusucode.com > 二级倒立摆仿真源码程序 > 二级倒立摆仿真源码程序/pend.m

    function [yprime] = pend(t, y)

l1=1; l2=2 ; m1=2 ; m2=1; g=9.8;
y_prime=zeros(4,1);

a = (m1+m2)*l1 ;
b = m2*l2*cos(y(1)-y(3)) ;
c = m2*l1*cos(y(1)-y(3)) ;
d = m2*l2 ;
e = -m2*l2*y(4)* y(4)*sin(y(1)-y(3))-g*(m1+m2)*sin(y(1)) ;
f = m2*l1*y(2)*y(2)*sin(y(1)-y(3))-m2*g*sin(y(3)) ;

yprime(1) = y(2);
yprime(3)= y(4) ;
yprime(2)= (e*d-b*f)/(a*d-c*b) ;
yprime(4)= (a*f-c*e)/(a*d-c*b) ;

yprime=yprime';

end