Local definitions

Linear partitioned control law for trajectory following

PartitionedControlLinear[xd_, dxd_, ddxd_, err_, derr_, kp_, kv_, ki_, vals_] := Module[{x, dx ... ; fp = ddxd + kv derr + kp err + ki IntegralError ; α fp + β] ;

Linear PID control law (no model)

PIDLinear[xd_, dxd_, ddxd_, err_, derr_, kp_, kv_, ki_] := PartitionedControlLinear[xd, dxd, ddxd, err, derr, kp, kv, ki, {m1, b0, k0}] ;

Nonlinear partitioned control law for trajectory following

PartitionedControlNonlinear[xd_, dxd_, ddxd_, err_, derr_, kp_, kv_, ki_, vals_] := Module[{x, ... ; fp = ddxd + kv derr + kp err + ki IntegralError ; α fp + β] ;

Nonlinear PID control law (no model)

PIDNonlinear[xd_, dxd_, ddxd_, err_, derr_, kp_, kv_, ki_] := PartitionedControlNonlinear[xd, dxd, ddxd, err, derr, kp, kv, ki, {m1, b0, q0}] ;

Created by Mathematica  (November 12, 2003)