01 /*
02 * $Id: Motor2ContinuousObserver2.java,v 1.3 2008/06/08 04:28:13 koga Exp $
03 *
04 * Copyright (C) 2004 Koga Laboratory. All rights reserved.
05 *
06 */
07 package matxbook.chap21;
08
09 import org.mklab.nfc.matrix.Matrix;
10
11
12 /**
13 * モータと連続時間オブザーバーの結合システム(入力、出力、推定状態)を表すクラスです。
14 *
15 * @author koga
16 * @version $Revision: 1.3 $, 2004/04/23
17 */
18 public class Motor2ContinuousObserver2 extends Motor2ContinuousObserver1 {
19
20 /**
21 * @see org.mklab.nfc.ode.DifferentialSystem#inputOutputEquation(double, org.mklab.nfc.matrix.Matrix)
22 */
23 @Override
24 public Matrix inputOutputEquation(double t, Matrix xx) {
25 Matrix x = xx.getSubVector(1, 2);
26 Matrix z = xx.getSubVector(3, 3);
27 Matrix y = this.motor.outputEquation(t, x);
28 Matrix xh = this.observer.outputEquation(t, z, y);
29 Matrix u = this.stateFeedback.outputEquation(t, xh);
30 Matrix io = u.appendDown(y).appendDown(xh);
31 return io;
32 }
33 }
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