test_block_diagram.py 文件源码

def get_double_integrator(m=1000, b=50, d=1):
    N = 2
    sys = LTISystem(
        np.c_[[0, 1], [1, -b/m]],  # A
        np.r_[0, d/m],  # B
        # np.r_[0, 1],  # C
    )

    def ref_func(*args):
        if len(args) == 1:
            x = np.zeros(N)
        else:
            x = args[1]
        return np.r_[d/m, 0]-x
    ref = SystemFromCallable(ref_func, N, N)

    return sys, ref