test_block_diagram.py 文件源码

def get_cart_pendulum(m=1, M=3, L=0.5, g=9.81, pedant=False):
    N = 4
    sys = LTISystem(
        np.c_[  # A
            [0, 0, 0, 0],
            [1, 0, 0, 0],
            [0, m*g/M, 0, (-1)**(pedant)*(m+M)*g/(M*L)],
            [0, 0, 1, 0]
        ],
        np.r_[0, 1/M, 0, 1/(M*L)],  # B
        # np.r_[1, 0, 1, 0]  # C
    )
    sys.initial_condition = np.r_[0, 0, np.pi/3, 0]

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

    return sys, ref