原理

Matlab 实现

function [F, z] = lugref(z, v, Fc, Fs, vs, sigma_0, sigma_1, sigma_2, ts)
    r = -(v/vs).^2;
    g_v = (Fc + (Fs - Fc) * exp(r)) ./ sigma_0;          
    z_dot = v - abs(v) .* z ./ g_v;                      
    z = z + z_dot.* ts;
    F = sigma_0 * z + sigma_1 * z_dot + sigma_2 * v;  
end

上述各种图形的详细复现代码可见链接：
https://download.csdn.net/download/zjh2883/88945215