ssl_robot.asv

function Xp=ssl_robot(t,X)
global flag
global T;
% data from real robot :id,u0,u1,u2,u3,time(ms),Vy_setpoint,Vy_real
global real_setpiont;
real_setpiont=[1,7,0,0,0,0,0,0,0,0,0,0,0,0,0,0,11998
1,20,-1851,-1966,1267,1955,-4,0,111,2,31,57,0,0,0,0,11998
1,36,-1909,-2019,1307,2006,-21,6,96,1,45,68,0,0,0,0,11997
1,52,-2458,-2584,680,1384,-10,2,-357,12,-69,-179,0,0,0,0,11997
1,71,-2513,-2646,585,1290,1,-3,-119,28,-2,-86,0,0,0,0,11996
1,87,-1800,-1921,1333,2030,0,-8,297,35,175,270,0,0,0,0,11996
1,106,-1810,-1920,1309,1991,3,0,238,40,108,147,0,0,0,0,11995
1,122,-1810,-1920,1309,1991,3,0,238,42,111,165,0,0,0,0,11994
1,138,-1862,-1965,1280,1959,5,-2,114,43,52,57,0,0,0,0,11994
1,157,-1830,-1926,1295,1961,0,0,181,42,94,141,0,0,0,0,11993
1,173,-1873,-1962,1275,1937,-4,0,84,38,44,43,0,0,0,0,11993
1,189,-2151,-2268,1046,1750,-18,-5,-1411,15,-629,-1304,0,0,0,0,11992
1,208,-2170,-2355,1023,1806,-33,-2,-1368,4,-467,-1016,0,0,0,0,11992
1,224,-2215,-2477,1043,1929,-59,-21,-1367,-14,-489,-1053,0,0,0,0,11991
1,243,-2494,-2768,675,1559,-48,-4,-349,0,-10,-147,0,0,0,0,11991
1,259,-2366,-2650,628,1492,-17,-4,-451,20,-114,-375,0,0,0,0,11990
1,277,-2409,-2720,584,1480,-24,0,-325,18,-52,-272,0,0,0,0,11990
1,293,-2467,-2781,479,1370,-16,0,-64,26,63,-53,0,0,0,0,11989
1,309,-2449,-2772,518,1424,-22,-3,-159,21,4,-175,0,0,0,0,11989
1,328,-1666,-1959,1301,2171,-15,-3,510,31,307,449,0,0,0,0,11988
1,344,-2492,-2788,487,1363,-17,-1,-37,26,9,-131,3,3,3,3,11988
1,363,-2406,-2706,520,1390,-9,1,-214,31,-23,-218,-2,9,5,7,11987
1,379,-1766,-2063,1131,1993,-4,0,59,37,105,50,-11,10,4,6,11987
1,395,-1778,-2072,1165,2032,-11,0,99,33,96,60,-15,7,4,8,11986
1,414,-1759,-2044,1168,2022,-6,1,128,36,93,79,-15,2,6,10,11985
1,430,-2064,-2398,792,1692,4,-1,-1174,33,-501,-1104,-20,-7,7,13,11985
1,449,-1694,-2014,1207,2098,4,-8,299,46,70,53,-22,-13,9,16,11984
1,465,-2398,-2739,542,1464,20,7,-277,54,-114,-345,-28,-21,10,19,11984
1,484,-2386,-2747,556,1503,26,2,-327,61,-58,-258,-32,-27,9,21,11983
1,500,-1775,-2128,1210,2154,32,4,201,71,174,206,-34,-35,8,22,11983
1,517,-2267,-2663,719,1714,40,12,-784,71,-303,-756,-42,-40,7,24,11983
1,535,-2119,-2591,863,1947,56,18,-1265,81,-432,-1041,-50,-53,8,31,11982
1,554,-2093,-2719,864,2124,81,42,-1355,102,-405,-1039,-52,-59,10,33,11981
1,573,-1953,-2508,1076,2265,81,34,1208,125,387,567,-63,-72,11,39,11981
1,589,-1906,-2597,1124,2475,111,48,-2086,123,-969,-2152,-66,-72,10,40,11981
1,608,-2065,-2873,884,2358,121,61,-1492,141,-373,-998,-71,-88,13,48,11980
1,626,-2365,-3201,574,2078,123,67,-549,153,-149,-587,-75,-96,11,53,11980
1,645,-2179,-3084,703,2279,131,66,-1054,158,-230,-765,-78,-105,10,55,11979
1,661,-2229,-3222,679,2364,154,80,-975,178,-209,-758,-80,-112,9,58,11978
1,680,-2188,-3256,664,2427,157,93,-1031,184,-233,-836,-88,-122,10,60,11978
1,699,-1859,-3096,912,2858,182,107,-1975,199,-511,-1420,-91,-134,9,65,11977
1,717,-2446,-3689,315,2267,178,115,-131,212,20,-385,-94,-144,10,69,11977
1,734,-1701,-3143,955,3123,206,134,-2342,217,-866,-2189,-98,-152,9,73,11976
1,752,-1589,-3152,804,3068,192,132,-2282,212,-628,-1713,-100,-158,10,77,11975
1,771,-1495,-3366,650,3232,207,180,-2255,225,-613,-1759,-102,-166,9,84,11975
1,790,-1676,-3679,393,3117,223,199,-1606,244,-381,-1342,-101,-172,8,88,11974
1,806,-1317,-3492,513,3397,232,202,-2375,247,-690,-1975,-105,-181,7,98,11974
1,825,-1142,-3532,412,3501,235,224,-2678,249,-734,-2104,-106,-186,9,102,11973
1,843,-1337,-3958,0,3321,256,249,-1619,274,-355,-1403,-107,-195,7,113,11973
1,862,-1858,-4527,-512,2867,276,250,-28,304,230,-267,-106,-201,7,120,11972
1,878,-918,-3740,135,3644,272,254,-2690,283,-891,-2524,-108,-211,8,126,11971
1,897,-918,-3740,135,3644,272,254,-2690,285,-645,-2033,-111,-219,7,135,11971
1,908,-1225,-4268,-298,3447,302,289,-1410,314,26,-742,-111,-220,7,138,11971
1,934,-775,-4010,-157,3758,308,298,-2348,318,-260,-1341,-112,-222,6,141,11970
1,952,-1075,-4535,-639,3510,329,334,-1180,344,-126,-1150,-113,-231,5,150,11970
1,969,-997,-4566,-720,3529,340,336,-1188,355,-36,-995,-112,-237,5,158,11969
1,987,-748,-4493,-673,3747,346,364,-1679,358,-212,-1403,-110,-250,-3,175,11969
1,1006,-917,-4812,-983,3588,362,384,-961,379,80,-869,-112,-255,-5,180,11968
1,1022,-754,-4777,-1008,3681,375,391,-1191,388,20,-1013,-111,-262,-11,184,11968
1,1041,-319,-4663,-1051,3931,385,430,-1838,393,-210,-1544,-110,-269,-15,190,11967
1,1060,-422,-4921,-1364,3764,401,441,-1211,412,143,-874,-106,-281,-23,199,11967
1,1079,-263,-4961,-1441,3879,410,473,-1370,419,42,-1139,-103,-291,-29,207,11966
1,1098,-263,-4961,-1441,3879,410,473,-1370,421,71,-1099,-102,-300,-39,211,11966
1,1114,480,-4546,-1403,4179,393,511,-2608,399,-460,-2221,-97,-310,-42,217,11965
1,1132,-138,-5212,-2132,3486,395,513,-490,416,615,-97,-90,-317,-52,222,11965
1,1151,-138,-5212,-2132,3486,395,513,-490,414,429,-490,-85,-328,-61,227,11964
1,1170,448,-4930,-1881,4036,442,542,-1848,439,50,-1299,-81,-341,-69,231,11964
1,1186,511,-4970,-2104,3884,427,558,-1591,432,112,-1206,-77,-349,-76,238,11963
1,1205,878,-4660,-2170,3809,380,563,-2012,393,-109,-1661,-76,-350,-82,242,11963
1,1223,1043,-5449,-2907,4036,486,722,-1310,473,376,-944,-70,-354,-91,243,11962
1,1242,1043,-5449,-2907,4036,486,722,-1310,479,332,-1080,-59,-361,-107,246,11962
1,1253,1441,-5228,-3187,3844,445,748,-1450,454,289,-1215,-56,-365,-113,247,11961
1,1278,1845,-4973,-3395,3702,400,775,-3489,414,-23,-1890,-49,-370,-127,250,11961
1,1300,1720,-5118,-3704,3384,391,775,-1011,404,409,-1075,-46,-370,-139,255,11961
1,1311,2360,-4625,-3685,3467,363,798,-1995,376,-4,-1936,-46,-370,-139,255,11960
1,1336,2752,-4365,-3747,3479,336,826,-2483,351,56,-1856,-44,-378,-171,251,11960
1,1355,2807,-4353,-4031,3187,322,832,-2090,327,141,-1715,-43,-381,-179,252,11959
1,1366,3414,-3887,-4259,2977,270,869,-2874,283,-220,-2489,-40,-385,-191,251,11959
1,1391,3414,-3887,-4259,2977,270,869,-2874,271,-127,-2318,-11,-385,-217,246,11959
1,1412,3581,-3665,-4385,2734,240,864,-2423,240,44,-1972,9,-386,-239,237,11958
1,1428,3802,-3511,-4579,2545,212,884,-2654,208,-19,-2132,26,-383,-252,235,11958
1,1447,4053,-3316,-4796,2311,183,908,-2894,175,-82,-2300,55,-380,-272,225,11957
1,1465,4700,-2638,-4633,2351,132,922,-3776,120,-454,-3061,86,-374,-289,219,11957
1,1484,4687,-2629,-5238,1616,70,945,-2716,70,116,-1957,107,-366,-300,210,11956
1,1503,4903,-2310,-5292,1392,33,943,-2889,26,-61,-2316,122,-359,-317,200,11955
1,1521,5148,-2044,-5456,1131,-1,962,-2945,-12,-44,-2313,139,-354,-334,193,11955
1,1540,5302,-1856,-5659,826,-39,980,-2802,-52,17,-2219,158,-344,-349,183,11954
1,1559,5559,-1471,-5510,804,-61,971,-1825,-72,461,-1312,179,-335,-361,172,11954
1,1577,5654,-998,-5575,266,-136,939,-1932,-142,308,-1544,194,-323,-374,161,11953
1,1588,5978,-842,-5945,-27,-187,1007,-3146,-192,-281,-2796,206,-312,-381,147,11953
1,1614,6245,-495,-5812,-12,-214,1009,-1477,-211,142,-1969,226,-297,-396,126,11953
1,1635,6245,-495,-5812,-12,-214,1009,-1477,-228,491,-1250,244,-283,-405,110,11952
1,1646,6376,-121,-5976,-514,-292,1005,-1657,-285,415,-1387,253,-275,-408,102,11952
1,1671,6323,61,-5971,-778,-327,976,-1805,-321,395,-1385,272,-253,-426,87,11951
1,1690,6731,317,-6089,-809,-388,1025,-1382,-384,588,-1040,290,-233,-436,74,11951
1,1709,6445,265,-6433,-1438,-444,1003,-2452,-451,200,-1789,307,-209,-445,58,11950
1,1727,6964,898,-5852,-981,-472,980,-768,-473,873,-391,321,-188,-451,39,11950
1,1746,6932,1201,-6025,-1573,-576,943,-1225,-566,483,-1074,338,-163,-458,23,11949
1,1765,7157,1286,-6379,-1865,-658,981,-1467,-647,482,-1111,350,-148,-464,6,11949
1,1784,7229,1530,-6221,-1894,-679,955,-1154,-677,534,-954,366,-128,-472,-10,11948
1,1803,7204,1675,-6147,-2004,-698,928,-1122,-704,543,-876,386,-108,-485,-25,11947
1,1822,7377,1992,-6177,-2238,-769,914,-979,-765,582,-753,398,-92,-494,-34,11947
1,1840,7494,2125,-6252,-2367,-826,903,-949,-820,566,-745,424,-63,-512,-55,11946
1,1859,7760,2390,-6131,-2269,-854,906,-367,-850,740,-371,436,-48,-518,-64,11946
1,1872,7760,2390,-6131,-2269,-854,906,-367,-858,773,-283,449,-26,-527,-76,11945
1,1896,7563,2373,-6465,-2839,-925,877,-1277,-904,586,-616,467,-2,-547,-89,11945
1,1914,7182,1916,-6873,-3164,-931,871,613,-923,974,172,480,14,-563,-97,11944
1,1933,8013,2696,-6307,-2585,-970,882,-333,-967,826,-124,496,30,-570,-108,11944
1,1949,7452,2013,-6967,-3118,-968,899,891,-964,1331,865,507,45,-571,-117,11943
1,1968,7751,2087,-6789,-2696,-971,908,1693,-965,1586,1360,520,62,-578,-128,11943
1,1982,7411,1727,-7109,-2990,-978,895,326,-982,1153,513,528,70,-585,-130,11943
1,2005,7837,1875,-7134,-2767,-1034,918,1324,-1010,1150,478,536,74,-598,-138,11942
1,2023,7672,1717,-7257,-2892,-1039,902,120,-1038,885,-46,554,82,-621,-147,11942
1,2042,7999,1765,-7209,-2563,-1052,937,1518,-1040,1621,1364,568,89,-619,-152,11941
1,2061,7773,1447,-7569,-2839,-1069,942,384,-1066,1142,386,571,93,-623,-159,11941
1,2080,7891,1401,-7616,-2722,-1110,925,243,-1102,1033,174,579,102,-630,-164,11940
1,2099,7975,1370,-7455,-2412,-1084,935,1189,-1080,1470,1024,589,101,-634,-173,11939
1,2118,7975,1370,-7455,-2412,-1084,935,1189,-1080,1388,864,594,102,-638,-179,11939
1,2136,8652,1900,-7223,-2087,-1141,959,-512,-1137,641,-649,597,108,-634,-184,11938
1,2158,9078,1966,-7376,-1918,-1221,980,-52,-1200,915,-116,602,115,-638,-192,11938
1,2169,8337,1232,-8055,-2595,-1219,970,160,-1203,1045,153,608,121,-642,-193,11937
1,2194,8912,1904,-7321,-1945,-1212,945,-226,-1204,956,-10,627,120,-645,-200,11937
1,2213,8912,1904,-7321,-1945,-1212,945,-226,-1208,851,-194,631,121,-653,-208,11937
1,2232,8409,1332,-7609,-2116,-1187,929,1695,-1177,1717,1564,628,126,-649,-209,11936
1,2253,10989,2111,-9965,-3225,-1804,1189,-1199,-1663,866,-537,636,135,-651,-219,11935
1,2264,10598,1653,-9660,-2718,-1682,1197,1895,-1596,2371,2412,643,136,-656,-223,11935
1,2290,10598,1653,-9660,-2718,-1682,1197,1895,-1599,2023,1702,659,136,-670,-228,11935
1,2308,10801,2131,-9507,-2897,-1748,1118,-750,-1686,612,-1013,674,139,-686,-234,11934
1,2327,10196,1450,-10053,-3345,-1732,1126,589,-1681,1481,686,683,146,-695,-245,11934
1,2349,10560,2204,-9088,-2731,-1698,1035,-478,-1675,959,-229,685,153,-702,-252,11933
1,2359,10560,2204,-9088,-2731,-1698,1035,-478,-1677,900,-333,685,153,-702,-252,11933
1,2385,10589,2300,-8918,-2615,-1685,1020,-169,-1671,925,-256,699,161,-718,-264,11933
1,2404,10307,2190,-9043,-2915,-1678,995,-839,-1670,654,-739,703,165,-720,-267,11932
1,2423,10657,2427,-8872,-2643,-1708,988,-16,-1685,1065,108,708,174,-723,-273,11931
1,2444,9886,1530,-9543,-3148,-1681,1003,895,-1661,1300,555,713,183,-733,-280,11931
1,2463,10372,2075,-9126,-2812,-1708,980,-828,-1693,795,-426,721,187,-744,-282,11930
1,2474,9690,1455,-9576,-3294,-1689,949,477,-1673,1378,772,730,188,-749,-286,11930
1,2499,10373,2071,-9314,-3027,-1750,955,-1146,-1712,944,-102,736,192,-752,-295,11930
1,2518,10680,2341,-9027,-2700,-1763,936,-211,-1735,914,-124,735,199,-746,-304,11929
1,2537,10062,1441,-9912,-3303,-1788,960,400,-1752,1172,362,739,206,-749,-314,11929
1,2558,10721,2116,-9225,-2627,-1792,944,-401,-1767,870,-221,739,215,-745,-320,11928
1,2569,10087,1243,-10036,-3188,-1812,952,498,-1774,1305,638,741,221,-744,-323,11928
1,2595,10828,1973,-9303,-2445,-1812,955,-300,-1782,1072,156,741,221,-744,-323,11928
1,2613,10053,1096,-9944,-2943,-1784,971,647,-1758,1288,560,752,229,-766,-336,11927
1,2632,10808,1745,-9457,-2378,-1814,988,-520,-1788,720,-605,759,226,-771,-337,11927
1,2654,10596,1691,-9443,-2510,-1808,938,-848,-1789,664,-638,767,225,-779,-341,11926
1,2664,10650,1030,-10604,-3045,-1945,1017,582,-1865,1451,829,765,226,-780,-340,11926
1,2698,11185,1621,-9892,-2367,-1943,972,-564,-1897,679,-678,778,230,-806,-342,11925
1,2721,10525,863,-10400,-2733,-1931,952,228,-1891,1341,660,797,230,-814,-346,11925
1,2742,11702,1338,-10161,-1834,-2055,986,-26,-1985,1039,29,800,229,-821,-344,11925
1,2753,10961,193,-11013,-2229,-2074,997,287,-2001,1184,301,802,229,-824,-343,11924
1,2778,11374,550,-10426,-1545,-2067,968,-782,-2009,954,-150,802,229,-824,-343,11924
1,2797,10629,-667,-10709,-1191,-2047,934,51,-1993,1050,80,813,222,-832,-339,11924
1,2816,10355,-1486,-10849,-665,-2054,961,510,-1990,1246,404,813,216,-828,-338,11923
1,2835,6426,-1370,-6549,331,-2089,959,23,-2008,994,-104,813,198,-826,-334,11922
1,2856,6426,-1370,-6549,331,-2089,959,23,-1992,1022,-26,807,179,-813,-320,11922
1,2873,6128,-2252,-5582,2209,-2075,961,-685,-1975,698,-657,803,160,-809,-294,11921
1,2891,5371,-3118,-4875,3303,-2058,934,-500,-1942,814,-363,796,146,-798,-271,11921
1,2910,3901,-4971,-4778,4128,-2161,908,-2266,-2011,-31,-2017,793,137,-790,-251,11920
1,2931,2750,-5461,-2751,5941,-2141,903,-635,-1966,611,-736,787,99,-778,-214,11920
1,2942,332,-6610,-1077,6844,-2185,867,-1598,-1987,158,-1585,775,70,-769,-163,11920
1,2968,-2719,-6092,2457,7344,-2131,864,-1051,-1945,366,-1153,773,66,-770,-156,11919
1,2986,-3829,-6091,3023,6900,-2153,817,-2019,-1922,47,-1675,714,-21,-724,-41,11919
1,3008,-4391,-5851,3416,6516,-2150,757,-2412,-1896,-89,-1826,632,-29,-672,35,11918
1,3018,-4481,-4431,5078,6712,-2128,785,-208,-1855,1049,440,612,-33,-659,53,11918
1,3044,-8450,-7741,7580,9584,-2109,752,-1719,-1839,519,-534,445,-37,-536,168,11918
1,3063,-8226,-7203,7933,9589,-2083,717,-909,-1777,385,-681,342,-48,-465,222,11917
1,3084,-8497,-6983,7957,9089,-2038,733,-1415,-1716,195,-1026,219,-45,-401,282,11917
1,3095,-8621,-7166,7549,8698,-2016,667,-2269,-1697,-319,-1960,156,-49,-348,316,11916
1,3120,-8111,-6665,7536,8605,-1933,619,-1571,-1638,-153,-1559,13,-78,-257,394,11916
1,3147,-8449,-6534,7321,7859,-1854,660,524,-1521,739,216,-124,-78,-170,473,11915
1,3175,-7728,-4604,7949,7047,-1579,780,2197,-1323,1773,2148,-231,-93,-109,532,11915
1,3203,-7364,-4174,7954,6911,-1498,776,-404,-1250,101,-1161,-366,-90,-33,563,11915
1,3214,-7702,-4334,7240,5922,-1395,776,937,-1154,1101,850,-396,-92,-8,569,11915
1,3239,-6812,-3072,7203,5283,-1144,791,1995,-993,1241,1123,-487,-92,49,573,11914
1,3258,-6812,-3072,7203,5283,-1144,791,1995,-915,1446,1568,-530,-89,70,557,11914
1,3277,-6453,-1957,7360,4514,-897,919,2509,-715,1739,2006,-541,-96,114,553,11913
1,3295,-6043,-1214,7440,4143,-764,939,3107,-586,1975,2481,-547,-104,171,556,11912
1,3317,-5283,127,8024,4011,-592,995,4974,-421,2546,3618,-553,-111,194,551,11912
1,3333,-5525,151,7205,2776,-435,982,3140,-306,1781,2152,-559,-101,216,531,11911
1,3352,-5081,664,7129,2528,-354,943,3611,-223,2137,2939,-548,-94,263,514,11911
1,3370,-5081,664,7129,2528,-354,943,3611,-208,2063,2823,-514,-95,289,503,11910
1,3389,-3768,2381,7229,1937,-44,886,5486,40,2603,4042,-488,-83,304,487,11909
1,3405,-2778,3616,6556,683,246,744,5640,265,2633,4383,-474,-83,315,480,11909
1,3424,-2778,3616,6556,683,246,744,5640,292,2603,4416,-406,-68,353,462,11909
1,3437,-2235,4105,6257,296,362,642,5907,380,2584,4567,-394,-60,356,454,11908
1,3460,-1307,5087,6306,126,438,575,7275,426,3466,6413,-329,-18,395,425,11908
1,3479,-1566,4768,5221,-1033,534,465,5074,519,2206,4185,-306,2,412,407,11907
1,3495,-3810,2083,793,-5327,636,206,6509,606,2607,5298,-271,38,429,367,11907
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1,7262,-689,7079,695,-8204,-1062,-1051,-158,-1070,-1315,-326,37,575,80,-536,11817
1,7281,-381,7175,804,-7880,-1044,-1015,-851,-1065,-1458,-689,38,588,72,-553,11817
1,7302,121,7958,1241,-7784,-1117,-1068,889,-1110,-915,483,39,592,68,-558,11816
1,7318,155,7933,1063,-7931,-1141,-1055,1127,-1131,-721,885,46,598,61,-563,11816
1,7337,155,7933,1063,-7931,-1141,-1055,1127,-1138,-731,888,47,601,61,-567,11815
1,7356,-410,7513,461,-8710,-1167,-1097,3001,-1149,-171,2076,50,611,62,-581,11815
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1,7394,197,8455,1399,-8107,-1169,-1176,343,-1182,-1185,236,53,618,58,-593,11814
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1,7500,-623,7903,914,-8849,-1199,-1199,-368,-1214,-1322,-2,54,638,63,-629,11812
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1,7695,-3016,7834,3414,-8219,-1075,-1532,-494,-1107,-2016,-802,-13,676,145,-681,11808
1,7714,-3300,7774,4457,-7204,-969,-1561,-1805,-1027,-2393,-1493,-19,674,165,-680,11808
1,7732,-3300,7774,4457,-7204,-969,-1561,-1805,-1009,-2318,-1320,-38,681,189,-679,11807
1,7751,-3300,7774,4457,-7204,-969,-1561,-1805,-1000,-2335,-1341,-58,682,207,-679,11807
1,7773,-4132,7286,4484,-7430,-983,-1597,-566,-993,-1974,-558,-79,688,227,-676,11806
1,7784,-4469,7232,4905,-7208,-978,-1638,-717,-987,-2028,-612,-91,693,235,-674,11806
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1,7847,-5510,6743,6710,-5549,-969,-1685,58,-953,-1724,115,-150,698,277,-676,11805
1,7866,-6609,5701,6441,-5738,-962,-1689,-135,-938,-1854,-105,-171,696,294,-673,11804
1,7887,-6548,5864,7593,-4513,-973,-1706,59,-932,-1798,58,-191,694,309,-671,11804
1,7898,-7578,4658,7460,-4280,-920,-1709,-545,-897,-2111,-549,-220,692,339,-669,11804
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1,7973,-5659,-135,5672,1176,-884,-1789,621,-819,-981,1690,-289,675,385,-639,11803
1,7994,-6431,-2188,4777,1768,-870,-1792,-300,-791,-1823,-4,-299,666,388,-630,11802
1,8005,-6338,-3582,4397,3055,-856,-1848,-290,-772,-1913,-147,-304,642,386,-605,11802
1,8031,-5032,-5624,2589,4635,-818,-1875,-172,-740,-1919,-157,-304,642,386,-605,11802
1,8049,-3543,-5306,2523,5673,-796,-1874,547,-693,-1554,527,-364,491,386,-472,11801
1,8068,-2909,-5611,1722,5722,-775,-1871,291,-668,-1718,174,-392,427,389,-408,11801
1,8090,-3980,-10068,1613,9768,-711,-1890,-1861,-615,-2357,-1146,-419,354,377,-307,11801
1,8101,-2471,-9795,541,9696,-677,-1846,530,-561,-1152,1155,-419,354,377,-307,11800
1,8126,-2230,-9906,-39,9383,-674,-1825,1068,-543,-1302,797,-461,188,362,-154,11800
1,8145,-2212,-10369,-1264,8504,-620,-1807,-123,-500,-1792,-291,-482,97,346,-71,11800
1,8164,-1117,-9720,-1077,9056,-575,-1828,34,-457,-1601,53,-499,4,331,-10,11800
1,8182,-329,-9206,-1600,8622,-482,-1766,661,-378,-1284,574,-508,-59,317,35,11799
1,8201,-261,-9149,-1831,8351,-460,-1737,958,-352,-1169,744,-497,-127,292,78,11799
1,8220,-261,-9149,-1831,8351,-460,-1737,958,-348,-1179,708,-489,-173,279,97,11798
1,8241,9,-8684,-1779,8136,-436,-1658,444,-330,-1273,392,-466,-272,251,148,11798
1,8257,-248,-8834,-2863,6778,-313,-1558,-287,-245,-1539,-326,-449,-309,245,165,11797
1,8276,935,-7905,-2632,7141,-213,-1549,-2766,-185,-2570,-2467,-407,-364,224,179,11797
1,8297,291,-8315,-3442,6027,-162,-1471,-61,-117,-1463,-435,-359,-379,205,166,11796
1,8316,1344,-7103,-2925,6262,-96,-1383,-2371,-79,-1915,-1510,-333,-398,188,163,11796
1,8335,1192,-6754,-3351,5198,-4,-1223,-1256,1,-1599,-1156,-287,-435,173,164,11795
1,8354,1192,-6754,-3351,5198,-4,-1223,-1256,8,-1486,-978,-253,-478,152,159,11795
1,8372,1457,-6198,-3608,4506,108,-1099,-1088,96,-1334,-894,-220,-501,135,154,11794
1,8391,2133,-5308,-3287,4512,191,-1006,-2685,152,-1742,-1878,-216,-498,133,151,11794
1,8410,2023,-4664,-3351,3568,254,-791,-1991,211,-1362,-1461,-158,-457,87,134,11793
1,8429,1946,-4178,-3003,3329,258,-661,186,240,-308,414,-123,-445,67,125,11793
1,8447,1954,-4023,-3364,2730,307,-581,-3571,246,-2116,-3350,-96,-422,45,118,11793
1,8466,1954,-4023,-3364,2730,307,-581,-3571,251,-1742,-2672,-81,-398,15,116,11792
1,8485,2057,-3619,-3256,2485,330,-483,-1855,284,-918,-1207,-73,-391,0,115,11792
1,8503,2546,-2663,-3129,1997,384,-280,-3905,309,-1827,-3348,-73,-391,0,115,11792
1,8522,2560,-2361,-3083,1711,382,-165,-2579,322,-925,-1762,-42,-355,-60,109,11791
1,8535,2634,-2140,-3114,1488,377,-96,-2518,319,-986,-1998,-36,-345,-73,106,11791
1,8560,2746,-1866,-3174,1207,363,-17,-3505,306,-1086,-2313,-36,-345,-73,106,11791
1,8579,3143,-1309,-3196,921,334,122,-3063,280,-965,-2343,-16,-311,-109,98,11790
1,8598,3230,-1187,-3319,721,299,204,-2235,255,-525,-1622,-7,-300,-118,95,11790
1,8616,3279,-1063,-3480,434,275,241,-2731,226,-777,-2211,3,-286,-132,90,11789
1,8635,3555,-791,-3492,377,258,289,-2099,211,-477,-1706,14,-277,-143,83,11789];

%===================================================dynamic model of system
x=X(1:7);
xw=X(15);
xn=x+(2*rand(7,1)-ones(7,1)).*x/10;%noisy data of sensors

xm=xn(1:6);%
xl=xn;
global Gl
si=X(15);
xl(7,1)=(si+Gl*xm);

xh=X(8:14);% Full order kalman observer output


N=76/20;                     %                                           
res=1.2;                     %ohm
km=25.5/1000;                %Nm/A
kn=374;                      %rpm/V
kf=0.0001;                                  %unknown 
ks=0.008;                                  %unknown
r=28.5/1000;                 %m           
J=0.0192;                    %kg/m2%         >>modeling needed
Jm=92.5/1000/10000;          %kg/m2
Jw=0.0000233;                %kg/m2          >>modeling needed
d=0.084;                     %m         
M=1.5;                       %kg             >>need measuring
a1=56.31/180*pi;   % rad 0.9827949017980069
a2=135/180*pi;     % rad 2.356194490192345
a3=225/180*pi;     % rad 3.926990816987241    
a4=303.69/180*pi;  % rad 5.300390405381579     

g1=0/180*pi;     % rad 0 
g2=0/180*pi;     % rad 0 
g3=0/180*pi;     % rad 0  
g4=0/180*pi;     % rad 0
%wheels' location
%z=[a1 a2-a1 a3-a2 a4-a3 2*pi-a4];
%pie(z);

A=zeros(7,7);
b=60/(2*pi*r);

A(1,1)=-b*ks/M*(sin(a1)^2+sin(a2)^2+sin(a3)^2+sin(a4)^2);
A(1,2)=b*ks/(2*M)*(sin(2*a1)+sin(2*a2)+sin(2*a3)+sin(2*a4));
A(1,3)=d*b*ks/M*(sin(a1)*cos(g1)+sin(a2)*cos(g2)+sin(a3)*cos(g3)+sin(a4)*cos(g4));
A(1,4)=-ks*sin(a1)/M;
A(1,5)=-ks*sin(a2)/M;
A(1,6)=-ks*sin(a3)/M;
A(1,7)=-ks*sin(a4)/M;

A(2,1)=b*ks/(2*M)*(sin(2*a1)+sin(2*a2)+sin(2*a3)+sin(2*a4));
A(2,2)=-b*ks/M*(cos(a1)^2+cos(a2)^2+cos(a3)^2+cos(a4)^2);
A(2,3)=-d*b*ks/M*(cos(a1)*cos(g1)+cos(a2)*cos(g2)+cos(a3)*cos(g3)+cos(a4)*cos(g4));
A(2,4)=ks*cos(a1)/M;
A(2,5)=ks*cos(a2)/M;
A(2,6)=ks*cos(a3)/M;
A(2,7)=ks*cos(a4)/M;

A(3,1)=b*d*ks/J*(sin(a1)*cos(g1)+sin(a2)*cos(g2)+sin(a3)*cos(g3)+sin(a4)*cos(g4));
A(3,2)=-b*d*ks/J*(cos(a1)*cos(g1)+cos(a2)*cos(g2)+cos(a3)*cos(g3)+cos(a4)*cos(g4));
A(3,3)=-b*d^2*ks/J*(cos(g1)*cos(g1)+cos(g2)*cos(g2)+cos(g3)*cos(g3)+cos(g4)*cos(g4));
A(3,4)=d*ks/J*cos(g1);
A(3,5)=d*ks/J*cos(g2);
A(3,6)=d*ks/J*cos(g3);
A(3,7)=d*ks/J*cos(g4);

Je=Jw+N^2*Jm;
ca=N*km/(Je*res);

A(4,1)=-r*ks*b*sin(a1)/Je;
A(4,2)=r*ks*b*cos(a1)/Je;
A(4,3)=r*ks*b*d/Je*cos(g1);
A(4,4)=-ca*N/kn-kf/Je-r*ks/Je;

A(5,1)=-r*ks*b*sin(a2)/Je;
A(5,2)=r*ks*b*cos(a2)/Je;
A(5,3)=r*ks*b*d/Je*cos(g2);
A(5,5)=-ca*N/kn-kf/Je-r*ks/Je;

A(6,1)=-r*ks*b*sin(a3)/Je;
A(6,2)=r*ks*b*cos(a3)/Je;
A(6,3)=r*ks*b*d/Je*cos(g3);
A(6,6)=-ca*N/kn-kf/Je-r*ks/Je;

A(7,1)=-r*ks*b*sin(a4)/Je;
A(7,2)=r*ks*b*cos(a4)/Je;
A(7,3)=r*ks*b*d/Je*cos(g4);
A(7,7)=-ca*N/kn-kf/Je-r*ks/Je;

B=zeros(7,4);

B(4,1)=ca;
B(5,2)=ca;
B(6,3)=ca;
B(7,4)=ca;

C=eye(7,7);
 
D=zeros(7,4);
%;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

% % %defining the state space 
% % SSLRobot = ss(A,B,C,D); 
% % %determination of transfer matrix 
% % syms s; 
% % H=C*inv(s*eye(7)-A)*B+D 
% % zpk(SSLRobot) tf(SSLRobot)

% solve(det(s*eye(7,7)-A))
if(t<40)
%     U=[12;12;-12;-12]*sin(t/10);%[0;0;0;0];%
Vd=[4;0;0];
end
if(t>40)
    Vd=[0;4;0];
%     U=[10;10;-10;-10];
end

if(t>60)
    Vd=[0;2;8];
%     U=[10;10;-10;-10]*0;
end
%;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

%==kinematics rules that should be considered for specifying desierd output

 cos_alpha = cos(0);
 sin_alpha = sin(0);
	Vx = (  Vd(1,1) * cos_alpha + Vd(2,1) * sin_alpha ) ;
	Vy = ( -Vd(1,1) * sin_alpha + Vd(2,1) * cos_alpha ) ;
	Wr =   Vd(3,1) ;
 Yd=[Vx
     Vy
     Wr
     (-Vx*sin(a1)+Vy*cos(a1)+Wr*cos(g1)*d)*b
     (-Vx*sin(a2)+Vy*cos(a2)+Wr*cos(g2)*d)*b
     (-Vx*sin(a3)+Vy*cos(a3)+Wr*cos(g3)*d)*b 
     (-Vx*sin(a4)+Vy*cos(a4)+Wr*cos(g4)*d)*b
 ]

%;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;


%============================================================state feedback
global K
if flag == 0
% % % % pole placement
%real poles of system:[ -24.04, -3.76, -56.00, -73.02, -19.04, -4.28, -190.84]
% pd= [ -10, -11, -16, -16, -12, -15, -17]*1.69;
% Kpole=place(A,B,pd);

% % % % LQR
Q=diag([1/49^2,1/4^2,1/40^2,1/1000^2,1/1000^2,1/1000^2,1/1000^2]);
R=diag([1/12.6^2,1/12.6^2,1/12.6^2,1/12.6^2]);
Klqr=lqr(A,B,Q,R);
K=Klqr;
end

xd=(C'*C)\C'*Yd;%inv(C'*C)*C'*Yd;
ud=-inv(B'*B)*B'*A*xd;
du=-K*(x-xd);%for simulating controller with unnoisy data 
%du=-K*(xl-xd);%for simulating controller and observer:(x-xd)|(xh-xd)|(xl-xd)
u=ud+du;
% global u;
% global yn;
% for e=1:463
%     if (real_setpiont(e,2)>t*1000)
%          u=real_setpiont(e,3:6)'/1e+3;
%         temp_y = -Vd(1,1) * sin_alpha + Vd(2,1) * cos_alpha;
%         yn = [real_setpiont(e,6:8)'/1000;real_setpiont(e,9:12)'];
%         break;
%     end
% end

%;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

%;;;;;;
%PD_CTS
%%%%%%%

%=============================================================pi controller
% global i
% kp=1;
% ki=.000009;
% i = i+(xd(4:7)-x(4:7))*ki;
% p = (xd(4:7)-x(4:7))*kp;
% u= p+i;
%;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

%================================================output control(Saturation)
for e=1:4
    if (abs(u(e))>12.6)
        u(e)=sign(u(e))*12.6;
    end
end
%;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

xp=A*x+B*u;
% xp=[A B]*[x;u];
yn=C*xn; 
y=C*x;

xwp = x(3);%degree of robot
%RLS=======================================================================
global p;
global q;
global theta;
yk=xp';
xk=[x;u]';
%u=

%theta=[A B]'
landa=0.99999;
   p=p/landa-(p*(xk'*xk)*p)/(landa+xk*p*xk')/landa;
   q=q+xk'*yk;     
                        %x1 
                        %x2
                        %x3
                        %x4
                        %x5
             %     q=q+[%x6]*[y1 y2 y3 y4 y5 y6 y7 y8 y9 y10 y11]
                        %x7
                        %x8
                        %x9
                        %x10
                        %x11
                      
   theta(:,:)=p*q;



%;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

%full observer=============================================================
%::nose 10%
y=yn;
%::
xh=X(8:14);
Ah=A;
Ch=C;
Bh=B;
% Dh=D;
uh=u;

V=diag([0.00001 0.00001 0.00001 0.1 0.1 0.1 0.1]);
W=diag([0.001 0.001 0.001 100 100 100 100]);

% V=diag([0.05^2 0.05^2 0.01^2 100 100 100 100]);
% W=diag([0 0 0 0 0 0 0]);

global G
if flag==0
    G=lqr(A',C',W,V)';
end


xhp=Ah*xh+Bh*uh;%+G*(y-Ch*xh);

%;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

%luenberger observer=======================================================
% xm=xn(1:6);
% si=X(15);
% 
% Amm=A(1:6,1:6);
% Amu=A(1:6,7);
% Aum=A(7,1:6);
% Auu=A(7,7);
% 
% Bm=B(1:6,:);
% Bu=B(7,:);
% Dh=D;
% uh=u;
% if flag == 0
% Vl=diag([0.05^2 0.05^2 0.01^2 100 100 100]);
% Wl=diag([0.01]);
% 
% Gl=lqr(Auu',Amu',Wl,Vl)';
% end
% 
% sip=(Auu-Gl*Amu)*si+(Auu*Gl+Aum-Gl*Amm-Gl*Amu*Gl)*xm+(Bu-Gl*Bm)*uh;
%;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

Xp=[xp;xhp;xwp];

global setpoint;
setpoint=[setpoint;Vd'];


T=[T;t];

global output
output = [output;u'];

global xu
xu = [xu;(si+Gl*xm)'];

global xno
xno = [xno;xn'];

xl=xn;
xl(7,1)=(si+Gl*xm);

global err
err = err + abs(x-xh);

global yo
yo = [yo y];

flag=1;
end