GimbalC:

Path: SC/Attitude

% Generate gimbal commands for a gimbal stationkeeping system. 
   Requires two thrusters with double gimbals.  

   Since version 1.
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   Form:
   [u, x, y] = GimbalC( a, b, c, d, psInv, x, att )
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   Inputs
   ------
   a             (n,n) Three axis controller plant matrix in delta form, x = x + a*x
   b             (n,3) Three axis controller input matrix
   c             (3,n) Three axis controller output matrix
   d             (3,3) Three axis controller feedthrough matrix
   psInv         (2,3) Pseudoinverse to convert torque to angle
   x             (n,1) Controller state
   att           (3,1) Attitude errors

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   Outputs
   -------
   u             (2,1) Gimbal commands
   x             (n,1) Controller state
   y             (3,1) Torque command

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