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function [sys,x0,str,ts] = input(t,x,u,flag) switch flag, case 0, [sys,x0,str,ts]=mdlInitializeSizes; case 3, sys=mdlOutputs(t,x,u); case {2,4,9} sys=[]; otherwise error(['Unh

Model { Name "chap2_2sim" Version 5.0 SaveDefaultBlockParams on SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDat

function [sys,x0,str,ts]=s_function(t,x,u,flag) switch flag, case 0, [sys,x0,str,ts]=mdlInitializeSizes; case 1, sys=mdlDerivatives(t,x,u); case 3, sys=mdlOutputs(t,x,u); case {2,

close all; figure(1); subplot(211); plot(t,qd(:,1),'r',t,q(:,1),'b'); xlabel('time(s)');ylabel('position tracking of link 1'); subplot(212); plot(t,qd(:,2),'r',t,q(:,2),'b'); xlabel('time(s)'

function [lat,lon,h]=xyz2ell2(X,Y,Z,a,e2) % XYZ2ELL2 Converts cartesian coordinates to ellipsoidal. % Uses iterative alogithm with Bowring height formula % to improve convergence rate (see B.R. B

integer coltype, left_coltype, right_coltype ! Vector type used on origin call MPI_TYPE_VECTOR( 1, ny, nx+2, MPI_DOUBLE_PRECISION, & coltype, ierr ) call MPI_TYPE_COMMIT(

### uVision2 Project, (C) Keil Software ### Do not modify ! Target (Target 1), 0x0000 // Tools: 'MCS-51' Group (Source Group 1) File 1,1, 0x0 Options 1,0,0 // Ta

### uVision2 Project, (C) Keil Software ### Do not modify ! Target (Target 1), 0x0000 // Tools: 'MCS-51' Group (Source Group 1) File 1,2, 0x0 File 1,2,

### uVision2 Project, (C) Keil Software ### Do not modify ! Target (Target 1), 0x0000 // Tools: 'MCS-51' Group (Source Group 1) File 1,2, 0x0 File 1,1,