/usr/share/octave/packages/control-2.6.2/WestlandLynx.m is in octave-control 2.6.2-1build1.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 | ## -*- texinfo -*-
## @deftypefn{Function File} {@var{sys} =} WestlandLynx ()
## Model of the Westland Lynx Helicopter about hover.
## @example
## @group
## INPUTS
## main rotor collective
## longitudinal cyclic
## lateral cyclic
## tail rotor collective
## @end group
## @end example
## @example
## @group
## STATES
## pitch attitude theta [rad]
## roll attitude phi [rad]
## roll rate (body-axis) p [rad/s]
## pitch rate (body-axis) q [rad/s]
## yaw rate xi [rad/s]
## forward velocity v_x [ft/s]
## lateral velocity v_y [ft/s]
## vertical velocity v_z [ft/s]
## @end group
## @end example
## @example
## @group
## OUTPUTS
## heave velocity H_dot [ft/s]
## pitch attitude theta [rad]
## roll attitude phi [rad]
## heading rate psi_dot [rad/s]
## roll rate p [rad/s]
## pitch rate q [rad/s]
## @end group
## @end example
##
## @strong{References}@*
## [1] Skogestad, S. and Postlethwaite I. (2005)
## @cite{Multivariable Feedback Control: Analysis and Design:
## Second Edition}. Wiley.
## @url{http://www.nt.ntnu.no/users/skoge/book/2nd_edition/matlab_m/matfiles.html}
##
## @end deftypefn
## Author: Lukas Reichlin <lukas.reichlin@gmail.com>
## Created: January 2010
## Version: 0.1
function sys = WestlandLynx ()
if (nargin)
print_usage ();
endif
a01 = [ 0 0 0 0.99857378005981;
0 0 1.00000000000000 -0.00318221934140;
0 0 -11.57049560546880 -2.54463768005371;
0 0 0.43935656547546 -1.99818229675293;
0 0 -2.04089546203613 -0.45899915695190;
-32.10360717773440 0 -0.50335502624512 2.29785919189453;
0.10216116905212 32.05783081054690 -2.34721755981445 -0.50361156463623;
-1.91097259521484 1.71382904052734 -0.00400543212891 -0.05741119384766];
a02 = [ 0.05338427424431 0 0 0;
0.05952465534210 0 0 0;
-0.06360262632370 0.10678052902222 -0.09491866827011 0.00710757449269;
0 0.01665188372135 0.01846204698086 -0.00118747074157;
-0.73502779006958 0.01925575733185 -0.00459562242031 0.00212036073208;
0 -0.02121581137180 -0.02116791903973 0.01581159234047;
0.83494758605957 0.02122657001019 -0.03787973523140 0.00035400385968;
0 0.01398963481188 -0.00090675335377 -0.29051351547241];
a0 = [a01 a02];
b0 = [ 0 0 0 0;
0 0 0 0;
0.12433505058289 0.08278584480286 -2.75247764587402 -0.01788876950741;
-0.03635892271996 0.47509527206421 0.01429074257612 0;
0.30449151992798 0.01495801657438 -0.49651837348938 -0.20674192905426;
0.28773546218872 -0.54450607299805 -0.01637935638428 0;
-0.01907348632812 0.01636743545532 -0.54453611373901 0.23484230041504;
-4.82063293457031 -0.00038146972656 0 0];
c0 = [ 0 0 0 0 0 0.0595 0.05329 -0.9968;
1.0 0 0 0 0 0 0 0;
0 1.0 0 0 0 0 0 0;
0 0 0 -0.05348 1.0 0 0 0;
0 0 1.0 0 0 0 0 0;
0 0 0 1.0 0 0 0 0];
d0 = zeros (6, 4);
inname = {"main rotor collective", "longitudinal cyclic", "lateral cyclic", "tail rotor collective"};
stname = {"theta", "phi", "p", "q", "xi", "v_x", "v_y", "v_z"};
outname = {"H_dot", "theta", "phi", "psi_dot", "p", "q"};
sys = ss (a0, b0, c0, d0, "inname", inname, "stname", stname, "outname", outname);
endfunction
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