I have the following situation. I have computed the linear and angular velocity which are the controls for a mobile robot, which have the form:



now, I would like to define the acceleration controls, and I know that I can do it in the following way:



I would like to do this using Matlab\Simulink. This code is inside a Matlab function clock.

my question is:

Is there a way I can compute the feedforward terms $\dot{v_d}$ and $\dot{\omega_d}$ without computing them manually?

I would like to avoid to compute them manually since their expression is really complicated and it is almost impossible to not make mistakes.


1 Answer 1


How are you calculating $v_d$ and $\omega_d$? Simulink has a derivative block, have you tried using that?


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