基于matlab的双足机器人零动力学控制及其仿真，包括动力学及控制模块-Matlab biped robot based on the zero-dynamics control and simulation, including the dynamics and control module

在matlab与SystemGenerator的平台下实现零阶时延数字正切锁相环。此模块最终能达到与输入信号同频率。-In the matlab, and SystemGenerator the platform, zero-order delay tangent digital phase-locked loop. This module is ultimately to reach input signal with the same frequency.