MotorStateFeedback2.java

/*
 * $Id$
 *
 * Copyright (C) 2004 Koga Laboratory. All rights reserved.
 *
 */
package org.mklab.tool.control.model.matxbook;

import org.mklab.nfc.matrix.DoubleMatrix;


/**
 * モーターの状態フィードバック制御システムを表すクラスです。
 * 
 * @author koga
 * @version $Revision$, 2004/04/23
 */
public class MotorStateFeedback2 extends MotorStateFeedback {
  /**
   * {@inheritDoc}
   */
  @Override
  public DoubleMatrix outputEquation(double t, DoubleMatrix x) {
    DoubleMatrix y = this.motor.outputEquation(t, x);
    DoubleMatrix u = this.stateFeedback.outputEquation(t, y);
    return u.appendDown(y);
  }
}