dynamical simulation.m

使用Matlab仿真模糊控制一级倒立摆程序示例

clear;
t0=0;
tspan=0.006;
y0=[0 0 0.1 0];
n=5000;
for i=1:n
    F=0;
    tf=t0+tspan;
    [t,y]=ode45(@xprime10,[t0 tf],y0',[],F);
    t0=tf;
    y1=y(end,1);
    y2=y(end,2);
    y3=y(end,3);
    y4=y(end,4);
    y0=[y1 y2 y3 y4];
    h(i,1)=y1;
    h(i,2)=y2;
    h(i,3)=y3;
    h(i,4)=y4;
    h;
end 
     T=0.006:0.006:30;
     figure(1)
     plot(T,h(:,1),':b')
     legend('小车位移');
     figure (2)
     plot(T,h(:,3),'-r')
     legend('摆杆摆角');