Matlab S函数求解二阶微分方程或二阶动态方程
近几天没事，开始学习一下Matlab S函数求解二阶微分方程，具体方程表达式如下：D(q)q¨+C(q,q˙)q˙=τD\left( q \right)\ddot q + C(q,\dot q)\dot q = \tauD(q)q¨+C(q,q˙)q˙=τ (2.1)τ=Kde˙+Kpe\tau = {K_d}\dot e + {K_p}eτ=Kde˙+Kpe (2.2)...
