01 /*
02 * $Id$
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 * モーターの状態フィードバック制御システムを表すクラスです。
14 *
15 * @author koga
16 * @version $Revision$, 2004/04/23
17 */
18 public class MotorStateFeedback2 extends MotorStateFeedback {
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 x) {
25 Matrix y = this.motor.outputEquation(t, x);
26 Matrix u = this.stateFeedback.outputEquation(t, y);
27 return u.appendDown(y);
28 }
29
30 /**
31 * @see matxbook.chap21.MotorStateFeedback#outputEquation(double, org.mklab.nfc.matrix.Matrix)
32 */
33 @Override
34 public Matrix outputEquation(double t, Matrix x) {
35 Matrix y = this.motor.outputEquation(t, x);
36 Matrix u = this.stateFeedback.outputEquation(t, y);
37 return u.appendDown(y);
38 }
39 }
|