۱۳۹۸/۰۴/۰۹, ۰۴:۴۹ ب.ظ
Tr =
0 37.1869
In an assignment A(
= B, the number of elements in A and B must be the same.
= B, the number of elements in A and B must be the same.Error in Predictive_base_controller (line 99)
Tl(i+1)=-((Tr*h^2*w2*((mb*l^2 + It2)/r + l*mb*cos(x(3+i)))*((mb*l^2 + It2)/r - l*mb*cos(x(3,i))))/(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2) - w4*((l^2*mb^2*cos(x(3,i))*sin(x(3,i))*(mb + 2*mw + (2*J)/r^2 +
(l*mb*cos(x(3,i)))/r))/(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2)^2 - (h*(mb + 2*mw +
(2*J)/r^2 + (l*mb*cos(x(3,i)))/r))/(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2) +
(h^2*l*mb*sin(x(3,i))*(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2))/r)*(x4d - x(4,i) + h*x9d +
(h^2*x10d)/2 + (sin(x(3,i))*(x(6,i)^2*sin(x(3,i))*((mb + 2*mw + (2*J)/r^2)*(mb*l^2 + It1 - It3) - l^2*mb^2) -
l^2*mb^2*x(4,i)^2*sin(x(3,i))))/(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2) -
(h*sin(x(3,i))*(x(6,i)^2*cos(x(3,i))*((mb + 2*mw + (2*J)/r^2)*(mb*l^2 + It1 - It3) - l^2*mb^2) + g*l*mb*(2*M + mb +
(2*J)/r^2) - l^2*mb^2*x(4,i)^2*cos(x(3,i))))/(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2) -
(h^2*cos(x(3,i))*(x(6,i)^2*cos(x(3,i))*((mb + 2*mw + (2*J)/r^2)*(mb*l^2 + It1 - It3) - l^2*mb^2+ g*l*mb*(2*M + mb +
(2*J)/r^2) - l^2*mb^2*x(4,i)^2*cos(x(3,i))))/(2*(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2))
+ (h*w2*((mb*l^2 + It2)/r + l*mb*cos(x(3,i)))*(x2d - x(2,i) + h*x7d + (h^2*x8d)/2 - (h*sin(x(3,i))*(l*mb*x(2,i)*x(6,i)
+ x(4,i)*x(6,i)*cos(x(3,i))*(2*mb*l^2 + 2*It1 - 2*It3)))/(It3 + 2*K + sin(x(3,i))^2*(mb*l^2 + It1 - It3) + d^2*(2*mw +
(2*J)/r^2))))/(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2) + (d*h*w6*(x(6,i) - x6d + h*x11d -
(h*sin(x(3,i))*(l*mb*x(2,i)*x(6,i) + x(4,i)*x(6,i)*cos(x(3,i))*(2*mb*l^2 + 2*It1 - 2*It3)))/(It3 + 2*K +
sin(x(3,i))^2*(mb*l^2 + It1 - It3) + d^2*(2*mw + (2*J)/r^2))))/(r*(It3 + 2*K + sin(x(3,i))^2*(mb*l^2 + It1 - It3) +
d^2*(2*mw + (2*J)/r^2))) + (l^2*mb^2*cos(x(3,i))*sin(x(3,i))^2*(2*x(6,i)^2*cos(x(3,i))*((mb + 2*mw + (2*J)/r^2)*(mb*l^2
+ It1 - It3) - l^2*mb^2) + 2*g*l*mb*(2*M + mb + (2*J)/r^2) - 2*l^2*mb^2*x(4,i)^2*cos(x(3,i))))/(It2*mb + (mb*l^2 +
It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2)^2) - (Tr*h*w4*((l^2*mb^2*cos(x(3,i))*sin(x(3,i))*(mb + 2*mw +
(2*J)/r^2 + (l*mb*cos(x(3,i)))/r))/(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2)^2 - (h*(mb +
2*mw + (2*J)/r^2 + (l*mb*cos(x(3,i)))/r))/(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2) +
(h^2*l*mb*sin(x(3,i))*(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2))/r)*(mb + 2*mw + (2*J)/r^2
+ (l*mb*cos(x(3,i)))/r))/(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2) + (Tr*d^2*h^2*w6*(It3 +
2*K + sin(x(3,i))^2*(mb*l^2 + It1 - It3) + d^2*(2*mw + (2*J)/r^2))^2)/r^2 +
(Tr*h^2*l*mb*w4*sin(x(3,i))*((l^2*mb^2*cos(x(3,i))*sin(x(3,i))*(mb + 2*mw + (2*J)/r^2 + (l*mb*cos(x(3,i)))/r))/(It2*mb
+ (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2)^2 - (h*(mb + 2*mw + (2*J)/r^2 +
(l*mb*cos(x(3,i)))/r))/(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2) +
(h^2*l*mb*sin(x(3,i))*(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2))/r))/(2*(It2*mb + (mb*l^2 +
It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2)) +
(Tr*h^2*l^2*mb^2*w4*cos(x(3,i))*sin(x(3,i))*((l^2*mb^2*cos(x(3,i))*sin(x(3,i))*(mb + 2*mw + (2*J)/r^2 +
(l*mb*cos(x(3,i)))/(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2)^2 - (h*(mb + 2*mw + (2*J)/r^2
+ (l*mb*cos(x(3,i)))/r))/(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2) +
(h^2*l*mb*sin(x(3,i))*(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2))/r))/(It2*mb + (mb*l^2 +
It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2)^2)/(w7 + (d^2*h^2*w6)/(r^2*((2*mw + (2*J)/r^2)*d^2 + (mb*l^2 + It1 -
It3)*sin(x(3,i))^2 + It3 + 2*K)^2) + (h^2*w2*((mb*l^2 + It2)/r + l*mb*cos(x(3,i)))*((mb*l^2 + It2)/r -
l*mb*cos(x(3,i))))/(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2)^2 -
(h*w4*((l^2*mb^2*cos(x(3,i))*sin(x(3,i))*(mb + 2*mw + (2*J)/r^2 + (l*mb*cos(x(3,i)))/r))/(It2*mb + (mb*l^2 + It2)*(2*mw
+ (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2)^2 - (h*(mb + 2*mw + (2*J)/r^2 + (l*mb*cos(x(3,i)))/r))/(It2*mb + (mb*l^2 +
It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2) + (h^2*l*mb*sin(x(3,i))*(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) +
l^2*mb^2*sin(x(3,i))^2))/r)*(mb + 2*mw + (2*J)/r^2 + (l*mb*cos(x(3,i)))/r))/(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2)
+ l^2*mb^2*sin(x(3,i))^2) + (h^2*l*mb*w4*sin(x(3,i))*((l^2*mb^2*cos(x(3,i))*sin(x(3,i))*(mb + 2*mw + (2*J)/r^2 +
(l*mb*cos(x(3,i)))/r))/(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2)^2 - (h*(mb + 2*mw +
(2*J)/r^2 + (l*mb*cos(x(3,i)))/r))/(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2) +
(h^2*l*mb*sin(x(3,i))*(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2))/r))/(2*(It2*mb + (mb*l^2 +
It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2)) +
(h^2*l^2*mb^2*w4*cos(x(3,i))*sin(x(3,i))*((l^2*mb^2*cos(x(3,i))*sin(x(3,i))*(mb + 2*mw + (2*J)/r^2 +
(l*mb*cos(x(3,i)))/r))/(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2)^2 - (h*(mb + 2*mw +
(2*J)/r^2 + (l*mb*cos(x(3,i)))/r))/(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2) +
(h^2*l*mb*sin(x(3,i))*(It2*mb + (mb*l^2 + It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2))/r))/(2*(It2*mb + (mb*l^2 +
It2)*(2*mw + (2*J)/r^2) + l^2*mb^2*sin(x(3,i))^2)^2)))))
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