HW1_2

The Reaction Wheel Pendulum is a physical pendulum with a symmetric disk attached to the end which is free to spin about an axis parallel to the axis of rotation of the pendulum. The disk is actuated by a DC-motor and the coupling torque generated by the angular acceleration of the disk can be used to actively control the system. in this simulation We show that the system is locally feedback linearizable by a local diffeomorphism in state space and nonlinear feedback. in this simultion q1 is the pendulum angle, q2 is the disk angle,
taoh is the motor torque input

使用Matlab编写的GUI程序，可以通过滑动条调整图片对比度，方便新手学习(Written using Matlab GUI program, you can adjust the picture contrast slider to facilitate novice learning)

说明：  双PI闭环PWM整流器，可完美运行,网侧THD3.8%，直流侧电压启动超调量1%左右(Double PI closed-loop PWM rectifier, perfect operation, thd3.8% at grid side, 1% of DC side voltage start-up overshoot)

说明：  实现点云地图ICP算法匹配和EKF定位，通过将十帧点云数据进行拟合生成一张融合地图(ICP algorithm matching and EKF positioning of point cloud map are realized, and a fusion map is generated by fitting ten frames of point cloud data)

该代码实现了在鼠标框定区域内的Harris Corner的检测(This code deals with the detecting of harris corners with matlab)

The source code used here is useful for evaluating the degree of the bspline

对倒立摆系统采用非线性控制方法进行研究的仿真实验结果，取得了预期的效果，程序运行正确。(right inverted pendulum system uses nonlinear control methods to conduct studies on the experimental results, and achieved the desired results, procedures correctly.)

Matlab code to encode given strings of letters using arithmetic coding and decode strings from the given tag values

用MATLAB实现基于PCNN的图像分割(PCNN with MATLAB-based image segmentation)

脑功能近红外光谱的运动伪迹移除方法三次方样条插值方法(Brain functional near infrared spectroscopy Motion artifact removal method cubic spline interpolation method)