ここを参考に
倒立2輪ロボットの安定化制御
https://www2.akita-nct.ac.jp/kizawa/paper/kiyo2011_sato.pdf
clear; close all; clc; m = 0.281; %kg; M = 0.102; %kg; L = 0.037; %m; r = 0.029; %m; I = 1.63E-04;%kg•m2 J = 2.357E-05; %kg•m2 Dphi = 2.00E-07; %kg•m/s2 Dth = 1.00E-04; %kg•m/s2 g = 9.8; %m/s2 n = 3;%gear ratio KT = 0.0163; %0.0163[N•m/A]=16.3[mN•m/A]; KE = KT; Jm = 91.9; %91.9[kg•m2]=9.19E-03[kg•cm2]=9.19[g•cm2] Ra = 1.34; %ohm a = (m+M)*r^2+J; b = M*r*L; c = M*L^2+I; d = M*g*L; E = a + Jm*n^2; F = a+b; G= Dphi+KT*KE*n^2/Ra; H = a+2*b+c; a21 = E*d/(F^2-E*H); a22 = E*Dth/(F^2-E*H); a23 = F*G/(F^2-E*H); a31 = F*d/(F^2-E*H); a32 = F*Dth/(F^2-E*H); a33 = G*H/(F^2-E*H); b2 = E*KT*n/(Ra*(F^2-E*H)); b3 = -H*KT*n/(Ra*(F^2-E*H)); A = [0 1 0; a21 a22 a23; a31 a32 a33]; B = [0; b2; b3]; C = [1 0 0]; D = 0; sys = ss(A,B,C,D); G = tf(sys);