RBModel:

Path: SC/Dynamics

% Computes the angular acceleration of a rigid body. 
   invInr and t are not used when computing the state-space model. invInr is
   optional when computing the right-hand-side but will speed up the routine.

   Since version 1.
--------------------------------------------------------------------------
   Form:
   wdot               = RBModel( inr, w, t, invInr )
   [a, b, c, d, dwdt] = RBModel( inr, w, t, invInr, dT )
--------------------------------------------------------------------------

   ------
   Inputs
   ------
   inr          (3,3)     Inertia matrix
   w            (3,1)     Body rate in the body frame
   t            (3,1)     External torque on the body
   invInr       (3,3)     Inverse inertia matrix (Optional)
   dT                     Time step

   -------
   Outputs
   -------
   wdot         (3,1)     Angular acceleration

   or

   a            (3,3)     State matrix
   b            (3,3)     Input matrix
   c            (3,3)     Output matrix
   d            (3,3)     Feedthrough matrix
   dwdt         (3)       State acceleration

--------------------------------------------------------------------------

Children:

Common: Control/C2DZOH
Math: Linear/Cross
Math: Linear/SkewSymm

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