Patent ID: 11921505
Assignee: WUHAN UNIVERSITY OF TECHNOLOGY
Field: Control (Instruments)
Classification: CPC G  B  H | IPC B  G  H

Claim 3:
4. The method according to claim 3, wherein the state-space equation model is {dot over (x)}(k)=A0x(k)+B0u(k), wherein, x
    ⁡
    (
    k
    )
   
   =
   
    
     
      [
      
       
        
         
          x
          1
         
        
        
         
          x
          2
         
        
        
         
          x
          3
         
        
        
         
          x
          4
         
        
        
         
          x
          5
         
        
        
         
          x
          6
         
        
       
      
      ]
     
     T
    
    =
    
     
      [
      
       
        
         u
        
        
         v
        
        
         r
        
        
         
          s
          1
         
        
        
         
          s
          2
         
        
        
         
          s
          3
         
        
       
      
      ]
     
     T
    
   
  
  ,
  
  
   
    u
    ⁡
    (
    k
    )
   
   =
   
    
     
      [
      
       
        
         
          u
          1
         
        
        
         
          u
          2
         
        
       
      
      ]
     
     T
    
    =
    
     
      [
      
       
        
         
          τ
          1
         
        
        
         
          τ
          3
         
        
       
      
      ]
     
     T
    
   
  
  ,
  
  
   
    
     A
    
    0
   
   =
   
    [
    
     
      
       
        -
        
         
          d
          11
         
         
          m
          11
         
        
       
      
      
       
        
         
          m
          22
         
         
          m
          11
         
        
        ⁢
        
         x
         3
        
       
      
      
       0
      
      
       0
      
      
       0
      
      
       0
      
     
     
      
       
        
         -
         
          
           d
           11
          
          
           m
           22
          
         
        
        ⁢
        
         x
         3
        
       
      
      
       
        -
        
         
          d
          22
         
         
          m
          22
         
        
       
      
      
       0
      
      
       0
      
      
       0
      
      
       0
      
     
     
      
       
        
         
          
           m
           11
          
          -
          
           m
           22
          
         
         
          m
          33
         
        
        ⁢
        
         x
         2
        
       
      
      
       0
      
      
       
        -
        
         
          d
          33
         
         
          m
          33
         
        
       
      
      
       0
      
      
       0
      
      
       0
      
     
     
      
       1
      
      
       0
      
      
       0
      
      
       0
      
      
       
        x
        3
       
      
      
       0
      
     
     
      
       0
      
      
       1
      
      
       0
      
      
       
        -
        
         x
         3
        
       
      
      
       0
      
      
       0
      
     
     
      
       0
      
      
       0
      
      
       1
      
      
       0
      
      
       0
      
      
       0
      
     
    
    ]
   
  
  ,
  and
 

 
  
   B
   0
  
  =
  
   
    [
    
     
      
       
        1
        
         m
         11
        
       
      
      
       0
      
     
     
      
       0
      
      
       0
      
     
     
      
       0
      
      
       
        1
        
         m
         33
        
       
      
     
     
      
       0
      
      
       0
      
     
     
      
       0
      
      
       0
      
     
     
      
       0
      
      
       0
      
     
    
    ]
   
   .