【控制】PID和LQR
[ed˙ed¨eφ˙eφ¨]=[01000Cαf+CαrmVx−Cαf+CαrmaCαf−bCαrmVx00010aCαf−bCαrIzVx−aCαf−bCαrIza2Cαf−b2CαrIzVx][eded˙eφeφ˙]+[eded˙eφeφ˙]\begin{bmatrix}\dot{e_d} \\\ddot{e_d} \\\dot{e_\varphi} \\\ddot{e_\varphi}\end{bmatrix} =\begin{bmatrix}0 & 1 & 0 &
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