[求助]关于倒立摆设计的Matlab程序问题，不知错在哪里！！

[tongdongbing]

[求助]关于倒立摆设计的Matlab程序问题，不知错在哪里！！谢谢高手能看看！
报错“??? Undefined command/function 'sine'.”




ml=128.57/1000;
L1=0.6;
m2=190/1000;L2=0.115;
C=0.00157;km=0.02;
g=9.8;
p=(3*ml*ml+4*ml*m2)*L1*L2;
A=[0,1,0,0;0,0,-9*ml*ml*g*L1*L2/(p*L1),18*ml*L2*C/(p*L1);0,0,0,1;0,0,(18*ml*ml+6*ml*m2)*g*L1*L2/(p*L2),-(36*ml+12*m2)*L2*C/(p*L2)];
B=[0;12*ml*L1*km/(p*L1);0;-18*ml*L1*km/(p*L2)];
C=[1 0 0 0;0 0 1 0];
D=[0;0];
sys=ss(A,B,C,D);
T=0:0.01:1;
y=step(sys,T);
figure(1);
plot(T,y);
legend('水平杆偏角','垂直杆偏角');
co=ctrb(A,B);ob=obsv(A,C);
Controllability=rank(co);
Observability=rank(ob);
%x=1;y=1;
x=5000;y=100;
Q=[x 0 0 0;0 0 0 0;0 0 y 0;0 0 0 0];
R=1;
K=lqr(A,B,Q,R);
Ac=[(A-B*K)];Bc=[B];
Cc=[C];Dc=[D];
%T=0:0.1:10;
T=0:0.001:1.5;
U=0.2*ones(sine(T));
Cn=[1 0 0 0];
figure(2);
[Y,X]=lsim(Ac,Bc,Cc,Dc,U,T);
plot(T,Y)
legend('水平杆偏角','垂直杆偏角');
Nbar=-55.55;
%rscale(A,B,Cn,0,K);
Bc=[Nbar*B];
figure(3);
[Y,X]=lsim(Ac,Bc,Cc,Dc,U,T);
plot(T,Y)
legend('水平杆偏角','垂直杆偏角')

[anbcjys]

U=0.2*ones(sine(T));
改成 U=0.2*ones(sin(T));

[tongdongbing]

谢谢！但改了之后还是由问题！！

??? Error using ==> lti.lsim at 81
Error using ==> ltipack.ssdata.utCheckComputability at 47
When simulating the response of a linear system, the input data U must have as many
columns as system inputs.

Error in ==> lsim at 113
[yout,t1,x] = lsim(sys,u,t,x0);

[tongdongbing]

哈哈，找的问题所在了，sine改为size,是印刷错误

U = 0.2*ones(size(T));