robleob2.m

function dx = robleob2(t,x)
% robleob2.m
%%
%% Ejemplo con simulaciones numericas del libro:
%% Control de Sistemas No Lineales: Linealización aproximada, extendida, exacta, 2005
#    Copyright 2005-2020 Richard Marquez
#
#    This program is free software: you can redistribute it and/or modify
#    it under the terms of the GNU Affero General Public License as
#    published by the Free Software Foundation, either version 3 of the
#    License, or (at your option) any later version.#
#
#    This program is distributed in the hope that it will be useful,
#    but WITHOUT ANY WARRANTY; without even the implied warranty of
#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#    GNU Affero General Public License for more details.
#
#    You should have received a copy of the GNU Affero General Public License
#    along with this program.  If not, see <https://www.gnu.org/licenses/>.

% parametros
B = 1e-2; J = 4e-2; c = .58; N = 1;

% punto de equilibrio
X = 0;

% polinomios deseados
xi = 0.707; wn = 8.56; % control
b1 = 6.0; b2 = 8.0; % observacion

u = -J*wn*wn*(x(3)-X) + c*sin(x(3)/N) + (B-2*J*xi*wn)*x(4);

y = x(1);

dx = [x(2);
    -B/J*x(2)-c/J*sin(x(1)/N)+1/J*u; % modelo
    x(4)+(b1+b2-B/J)*(y-x(3));
    -B/J*x(4)+1/J*u+(b1*b2-B/J*(b1+b2)+B*B/J/J)*(y-x(3))-c/J*sin(y/N)];
% fin de robleob2.m