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why when using the lqr function , the plot data appear so long?

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Ivan Dwi Putra
Ivan Dwi Putra on 1 Jul 2020
This is my code
function dx = trainmodelcontrol(t,x)
%Parameter Massa
m1 = 8095; % massa train set 1 dalam kg
m2 = 8500; % massa train set 2 dalam kg
% %Parameter Gaya
% f1 = 205.10^3; % dalam N
% f2 = 302.10^3; % dalam N
c_0_1 = 0.01176;
c_1_1 = 0.00077616;
c_2_1 = 4.48 ;
c_0_2 = 0.01176 ;
c_1_2 = 0.00077616;
c_2_2 = 4.48;
v_0 = 300;
hstar = 120;
a_1 = -1./m1.*(c_1_1 + 2.*c_2_1.*v_0);
a_2 = -1./m2.*(c_1_2 + 2.*c_2_2.*v_0);
a_1_head = 1-(a_1.*hstar);
a_2_head = 1-(a_2.*hstar);
b = 1;
p_1 = -1./m1.*(c_0_1 - c_2_1.*(v_0).^2);
p_2 = -1./m2.*(c_0_2 - c_2_2.*(v_0).^2);
x = [x(1);x(2);x(3);x(4)];
A = [0 a_1_head 0 0;
0 0 0 0;
0 (a_2_head - 1) 0 a_2_head;
0 0 0 0
];
B = [-b.*hstar 0;
b 0;
0 -b.*hstar;
-b b
];
% U_t = [f1; f2;];
W = [((a_1 - 1).*v_0) - (p_1.*hstar);
0;
((a_2 - 1).*v_0) - (p_2.*hstar);
((a_1 - 1).*v_0) - (p_1.*hstar);
];
Q = [ 1.6*10^-3 0 0 0;
0 1 0 0;
0 0 1.6*10^-3 0;
0 0 0 1;];
R = [2.38*10^-11 0;
0 1.096*10^-11;];
K = lqr(A,B,Q,R);
display(K);
K_matrix = [K];
U_t = -(K_matrix*x);
dx = (A*x) + (B*U_t) + W;
end
and this is the simulation
clear all, close all
tspan = [0:1:100];
x0 = [0; 0; 10; 0];
[t,x] = ode45(@trainmodelcontrol,tspan,x0);
plot(t,x)
legend('x1','x2','x3','x4')
title('Non Linear Model')
xlabel('Waktu(s)')
ylabel('Jarak(m)')
figure(2)
subplot(2,1,1);
hax1 = plot(t,x(:,1),t,x(:,3))
title('Posisi Rangkaian Kereta')
xlabel('Waktu(s)')
ylabel('Jarak(m)')
legend('x_1','x_3')
subplot(2,1,2);
hax2 = plot(t,x(:,2),t,x(:,4))
title('Kecepatan Rangkaian Kereta')
xlabel('Waktu(s)')
ylabel('Kecepatan(m/s)')
legend('x_2','x_4')
after i run the simulation , the plot it takes a long time to appear, why like that?

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