Path: SC/Attitude
% Generate gimbal commands for a gimbal stationkeeping system. Requires two thrusters with double gimbals. -------------------------------------------------------------------------- Form: [u, x, y] = GimbalC( a, b, c, d, psInv, x, att ) -------------------------------------------------------------------------- ------ Inputs ------ a (n,n) Three axis controller plant matrix in delta form, x = x + a*x b (n,3) Three axis controller input matrix c (3,n) Three axis controller output matrix d (3,3) Three axis controller feedthrough matrix psInv (2,3) Pseudoinverse to convert torque to angle x (n,1) Controller state att (3,1) Attitude errors ------- Outputs ------- u (2,1) Gimbal commands x (n,1) Controller state y (3,1) Torque command --------------------------------------------------------------------------
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