Path: SC/Dynamics
% Computes the angular acceleration of a body with time varying inertia. t is not used when computing the state-space model. Since version 1. -------------------------------------------------------------------------- Form: wdot = VIModel(inr,dinrdt,w,t) [a, b, c, d, dwdt] = VIModel( inr, dinrdt, w, t, dT ) -------------------------------------------------------------------------- ------ Inputs ------ inr (3,3) Inertia matrix dinrdt (3,3) Time derivative of the inertia matrix w (3,1) Body rate vector in the body frame t (3,1) External torque on the body ------- Outputs ------- wdot (3,1) Angular acceleration or a (3,3) State matrix b (3,3) Input matrix c (3,3) Output matrix d (3,3) Feedthrough matrix dwdt (3) State acceleration --------------------------------------------------------------------------
Common: Control/C2DZOH Math: Linear/Cross Math: Linear/SkewSymm
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