% Linearise a Simscape Multibody model to extract state space matrices. % This is the key step that bridges the mechanical CAD model and % the LQR/LQG control design workflow.

% [Vout,Vlsq,m_new]=visim_tomography_linearize(V,S,R,t,t_err,m0,options); function [Vout,Vlsq,m_new]=visim_tomography_linearize(V,S,R,t,t_err,m0,options); mgstat ...