1、将观测状态量设置为微分方程变量求解
dx1=x(2); % x坐标
dx2=(cos(phi)*sin(theta)*cos(psi)+sin(phi)*sin(psi))*F/m;
dx3=x(4); % y坐标
dx4=(cos(phi)*sin(theta)*sin(psi)-sin(phi)*cos(psi))*F/m;
dx5=x(6); % z坐标
dx6=-g+(cos(phi)*cos(theta))*F/m;
dx(7)=x(8)+l*sign(x(1)-x(7))*(x(1)-x(7))^alpha1; %x的估计量
dx(8)=(cos(phi)*sin(theta)*cos(psi)+sin(phi)*sin(psi))*F/m+l*sign(x(1)-x(