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chap2_2adapt.m
function [sys,x0,str,ts]=para_estimate(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 {
chap2_2ctrl.m
function [sys,x0,str,ts] = control_strategy(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
chap2_2ctrlnew.m
function [sys,x0,str,ts] = control_strategy(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);
c
chap2_2input.m
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
chap2_2sim.mdl
Model {
Name "chap2_2sim"
Version 5.0
SaveDefaultBlockParams on
SampleTimeColors off
LibraryLinkDisplay "none"
WideLines off
ShowLineDimensions off
ShowPortDat
chap2_2plant.m
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,
chap2_2plot.m
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)'
pow2_try2.cpp
/*
* This file contains code from "C++ Primer, Fourth Edition", by Stanley B.
* Lippman, Jose Lajoie, and Barbara E. Moo, and is covered under the
* copyright and warranty notices given in that