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视频中用到的期望轨迹Xd的模型在下方链接，是MATLAB2020a版本的，如果版本低打不开，可以看看我之前的讲MATLAB Fcn的视频，专门搭建过这个，当然了，既然讲了S函数，期望轨迹用S函数来搭建也更简单，我下期的S函数补充视频开头就有讲到 ...
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