qd0 Reference Frame symbolic transfer matrix

symbolic calculation of transfer matrix for arbitrary reference frame

I share the MATLAB code that I wrote for symbolic calculations of the arbitrary reference frame transfer matrix. I hope you find it useful:

The code below will generate the transfer matrix to the arbitrary reference frame (Ks) for you (2:Kraus coefficients/1:Concordia coefficients):

(As you know: 2:magnitude-invariant transformation , 1: power-invariant transformation)

Now for example to calculate the term Ks.p(Ks-1) you can simply write simplify( Ks*diff(inv(Ks))) in the Command Window and your answer will be:

ans(t) =

[ 0, diff(theta(t), t), 0]

[ -diff(theta(t), t), 0, 0]

[ 0, 0, 0]

and by ω=diff(theta(t), t) we will have:

ans(t) =

[ 0, ω, 0]

[ -ω, 0, 0]

[ 0, 0, 0]

Have a nice time!

Hamed Najafi