2 ## @deftypefn{Function File} {@var{sys} =} WestlandLynx ()
3 ## Model of the Westland Lynx Helicopter about hover.
7 ## main rotor collective
10 ## tail rotor collective
16 ## pitch attitude theta [rad]
17 ## roll attitude phi [rad]
18 ## roll rate (body-axis) p [rad/s]
19 ## pitch rate (body-axis) q [rad/s]
20 ## yaw rate xi [rad/s]
21 ## forward velocity v_x [ft/s]
22 ## lateral velocity v_y [ft/s]
23 ## vertical velocity v_z [ft/s]
29 ## heave velocity H_dot [ft/s]
30 ## pitch attitude theta [rad]
31 ## roll attitude phi [rad]
32 ## heading rate psi_dot [rad/s]
33 ## roll rate p [rad/s]
34 ## pitch rate q [rad/s]
40 ## Skogestad, S. and Postlethwaite I.
41 ## Multivariable Feedback Control: Analysis and Design
44 ## http://www.nt.ntnu.no/users/skoge/book/2nd_edition/matlab_m/matfiles.html
49 ## Author: Lukas Reichlin <lukas.reichlin@gmail.com>
50 ## Created: January 2010
53 function sys = WestlandLynx ()
59 a01 = [ 0 0 0 0.99857378005981;
60 0 0 1.00000000000000 -0.00318221934140;
61 0 0 -11.57049560546880 -2.54463768005371;
62 0 0 0.43935656547546 -1.99818229675293;
63 0 0 -2.04089546203613 -0.45899915695190;
64 -32.10360717773440 0 -0.50335502624512 2.29785919189453;
65 0.10216116905212 32.05783081054690 -2.34721755981445 -0.50361156463623;
66 -1.91097259521484 1.71382904052734 -0.00400543212891 -0.05741119384766];
68 a02 = [ 0.05338427424431 0 0 0;
69 0.05952465534210 0 0 0;
70 -0.06360262632370 0.10678052902222 -0.09491866827011 0.00710757449269;
71 0 0.01665188372135 0.01846204698086 -0.00118747074157;
72 -0.73502779006958 0.01925575733185 -0.00459562242031 0.00212036073208;
73 0 -0.02121581137180 -0.02116791903973 0.01581159234047;
74 0.83494758605957 0.02122657001019 -0.03787973523140 0.00035400385968;
75 0 0.01398963481188 -0.00090675335377 -0.29051351547241];
81 0.12433505058289 0.08278584480286 -2.75247764587402 -0.01788876950741;
82 -0.03635892271996 0.47509527206421 0.01429074257612 0;
83 0.30449151992798 0.01495801657438 -0.49651837348938 -0.20674192905426;
84 0.28773546218872 -0.54450607299805 -0.01637935638428 0;
85 -0.01907348632812 0.01636743545532 -0.54453611373901 0.23484230041504;
86 -4.82063293457031 -0.00038146972656 0 0];
88 c0 = [ 0 0 0 0 0 0.0595 0.05329 -0.9968;
91 0 0 0 -0.05348 1.0 0 0 0;
97 inname = {"main_coll", "long_cyc", "lat_cyc", "tail_coll"};
98 stname = {"theta", "phi", "p", "q", "xi", "v_x", "v_y", "v_z"};
99 outname = {"H_dot", "theta", "phi", "psi_dot", "p", "q"};
101 sys = ss (a0, b0, c0, d0, "inname", inname, "stname", stname, "outname", outname);