% Cart and Pendulum (sp19 version) X = zeros(4,1); dX = zeros(4,1); Ref = 1; dt = 0.01; U = 0; t = 0; Kx = [-0.4378 -41.5530 -0.9771 -6.9771]; Kr = -0.4378; Z = 0; y = []; while(t < 10) Ref = sign(sin(0.1*t)); U = Kr*Ref - Kx*X; dX = CartDynamics(X, U); X = X + dX * dt; t = t + dt; CartDisplay(X, Ref); y = [y; X(1)]; end clf t = [1:length(y)]' * 0.01; plot(t, y);