Real-Time Implementation

RT program consists of : main, off_task, on_task

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]];
}

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Func void on_task(){
  Matrix u, y, xh;

  y  = sensor();             // Input from sensor
  xh = Chd*z + Dhd*y;        // Estimation
  u  = - F*xh;               // Control law
  z = Ahd*z + Bhd*y + Jhd*u; // Observer
  actuator(u);               // Output to actuator
}