原理
Matlab 实现
function [F, z] = lugref(z, v, Fc, Fs, vs, sigma_0, sigma_1, sigma_2, ts)
r = -(v/vs).^2;
g_v = (Fc + (Fs - Fc) * exp(r)) ./ sigma_0;
z_dot = v - abs(v) .* z ./ g_v;
z = z + z_dot.* ts;
F = sigma_0 * z + sigma_1 * z_dot + sigma_2 * v;
end
上述各种图形的详细复现代码可见链接:
https://download.csdn.net/download/zjh2883/88945215