Inverted Pendulum (Controller)




Func void link_eqs(UY, t, x)
  Matrix UY, x;
  Real t;
{
  Matrix u, y, xh;
  extern Matrix z;

  y  = C*x;                  // Output eq.
  xh = Chd*z + Dhd*y;        // Estimation
  u  = - F*xh;               // State feedback
  z = Ahd*z + Bhd*y + Jhd*u; // Observer
  UY = [[u][y]];
}

Mathematical exp. can be described as written in the paper