Motor A,B,C,D Matrices (cont)

% Generate C and D vectors corresponding to outputs e's and f's

% Define as outputs f9,f7,e7,theta

% f9 = P9*(1/I9)

C(1,:)=[(1/I9), 0]; D(1,:)=[0, 0];

% f7 = P9*(1/I9)*(1/T7x8)

C(2,:)=[(1/I9)*(1/T7x8), 0]; D(2,:)=[0, 0];

% e7 = SE1*(1/R2)*(1/G3x4)+P9*((-1/I9)*(1/T7x8)*(1/G3x4)*(1/R2)...

% *(1/G3x4)+(-1/I9)*(1/T7x8)*R6)

C(3,:)=[((-1/I9)*(1/T7x8)*(1/G3x4)*(1/R2)...

*(1/G3x4)+(-1/I9)*(1/T7x8)*R6), 0]; D(3,:)=[0 0];

% Obtain theta as an output

C(4,:)=[0, 1]; D(4,:)=[0,0];

% Generate vector of transfer functions

iu=1;

[num,den]=ss2tf(A,B,C,D,iu);

printsys(num,den,'s')

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