包含了控制理论的各种仿真程序

				%  Figure 7.20      Feedback Control of Dynamic Systems, 4e
				%                        Franklin, Powell, Emami
				%
				% Script for pendulum LQR
				%
				clf;
				wo=1;
				F=[0 1;wo*wo 0];
				G=[0;-1];
				Hz=[2 1];
				J=[0];
				
				R=1;
				Q=Hz'*Hz;
				
				K=lqr(F,G,Q,R);
				
				eig(F-G*K)
				
				%step response
				%%N=-2.2361;
				H=[1 0];
				
				aa=[F G;H J];
				bb=[0;0;1];
				xx=aa\bb;
				Nx=xx(1:2,:);
				Nu=xx(3,:);
				Nbar=Nu+K*Nx;
				FCL=F-G*K;
				GCL=G*Nbar;
				sys=ss(FCL,GCL,H,J);
				[y,t]=step(sys);
				plot(t,y);
				grid
				xlabel('Time (sec)');
				Ylabel('Position, x_1');
				title('Fig. 7.20 Step response pendulum: LQR design');