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为啥矩阵乘法显示矩阵乘法维度不正确?是什么原因?代码如下:
7 ^$ @: y: ^, w) ^1 S
# `/ S: I- x7 H0 |7 |( dfunction sys = mdlDerivatives( t,x,u)
, j2 `6 x" ~8 k$ `2 i& nglobal uc ur
, X2 |. |& a$ }5 P4 A* c& }! byd1 = u(1);2 P+ `0 N. h- `
yd2 = u(2);# f r# i: R: I+ m+ z; D
dyd1 = cos(t);
5 P& ?4 r% j! s, C( Hdyd2 = cos(t);
) P x2 N! Q+ ?3 ]( s u1 }9 ?ddyd1 =- sin(t) ;A0 s. S- E; r0 H
ddyd2 =- sin(t);" ^8 V* z- W/ N, s* c* J
x1= u(3);x2= u(4);
6 T$ k: V+ T; F$ {1 J) f; M/ _x3 = u(5);x4 = u(6);: x& ]( ~0 r- B
e1 = yd1 - x1;6 I' M; E) Z! ]! z2 H! H
e2 = yd2 - x3;$ B/ a7 [& K. G
de1 = dyd1 - x2;- j2 d5 \9 G: \, b8 j" V
de2 = dyd2 - x4;]" ~: I9 F. g& W1 u, k5 t3 N5 ^
nmn1 = 20 ; nmn2 = 20 ;
- C% i' q. W% p4 O* }: sbeta11 = nmn1 ;beta21 = nmn2;
# C! z' X6 H6 FK0 = 15 *eye(2);
/ w: }9 Z& B' G f0 Bv1 = ddyd1 + beta11 * de1;
1 D2 A7 w: U2 Av2 = ddyd2 + beta21 * de2 ;
6 u" s; Z/ q+ v$ X b5 hv=[v1 v2]';0 s2 r* K$ u% B7 M+ k& @: u/ e+ E
s1=de1+nmn1*e1;# m" Q) G; |8 x2 G2 ^1 B
s2=de2+nmn2*e2;
0 S1 G% E) {3 @2 k8 Gs=[s1 s2]';' X5 S2 P, I9 Y P) Q/ b" ~
% Contro1 1aw(26)
* [* z. }- M# M) i/ ~) sepO = 0.1;# r2 ]$ n/ O. {$ N! g4 {
Ip= eye(2);1 O+ E! `; K; x- |: L# |, g
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