truck_s.m

FISMAT accommodates different arithmetic operators, fuzzification and defuzzification algorithm, imp

function [ret,x0,str]=truck_s(t,x,u,flag);
%TRUCK_S	is the M-file description of the SIMULINK system named TRUCK_S.
%	The block-diagram can be displayed by typing: TRUCK_S.
%
%	SYS=TRUCK_S(T,X,U,FLAG) returns depending on FLAG certain
%	system values given time point, T, current state vector, X,
%	and input vector, U.
%	FLAG is used to indicate the type of output to be returned in SYS.
%
%	Setting FLAG=1 causes TRUCK_S to return state derivatives, FLAG=2
%	discrete states, FLAG=3 system outputs and FLAG=4 next sample
%	time. For more information and other options see SFUNC.
%
%	Calling TRUCK_S with a FLAG of zero:
%	[SIZES]=TRUCK_S([],[],[],0),  returns a vector, SIZES, which
%	contains the sizes of the state vector and other parameters.
%		SIZES(1) number of states
%		SIZES(2) number of discrete states
%		SIZES(3) number of outputs
%		SIZES(4) number of inputs.
%	For the definition of other parameters in SIZES, see SFUNC.
%	See also, TRIM, LINMOD, LINSIM, EULER, RK23, RK45, ADAMS, GEAR.

% Note: This M-file is only used for saving graphical information;
%       after the model is loaded into memory an internal model
%       representation is used.

% the system will take on the name of this mfile:
sys = mfilename;
new_system(sys)
simver(1.2)
if(0 == (nargin + nargout))
     set_param(sys,'Location',[100,100,600,400])
     open_system(sys)
end;
set_param(sys,'algorithm',		'RK-23')
set_param(sys,'Start time',	'0.0')
set_param(sys,'Stop time',		'200')
set_param(sys,'Min step size',	'0.0001')
set_param(sys,'Max step size',	'0.1')
set_param(sys,'Relative error','1e-3')
set_param(sys,'Return vars',	'')

add_block('built-in/Note',[sys,'/',['Backing up a truck using a fuzzy controller. (Kong,Kosko 1992) . Fuzzy Toolbox O.Wolkenhauer 29-April 1994',13,'Execute truck_a.m from workspace to run the simulation.']])
set_param([sys,'/',['Backing up a truck using a fuzzy controller. (Kong,Kosko 1992) . Fuzzy Toolbox O.Wolkenhauer 29-April 1994',13,'Execute truck_a.m from workspace to run the simulation.']],...
		'position',[286,375,287,376])

add_block('built-in/Note',[sys,'/',['*)  Subsystem function name: FUZZY21 und Function parameters: ''truckc1'',Ts',13,'see truck_d.m and  truck_a.m for more details.']])
set_param([sys,'/',['*)  Subsystem function name: FUZZY21 und Function parameters: ''truckc1'',Ts',13,'see truck_d.m and  truck_a.m for more details.']],...
		'position',[257,315,258,316])

add_block('built-in/S-function',[sys,'/',['''truck_c1'',Ts']])
set_param([sys,'/',['''truck_c1'',Ts']],...
		'function name','fuzzy21',...
		'parameters','''truck_c1'',Ts',...
		'position',[145,140,205,180])

add_block('built-in/Mux',[sys,'/','Mux'])
set_param([sys,'/','Mux'],...
		'inputs','2',...
		'position',[100,140,130,175])

add_block('built-in/Gain',[sys,'/','Kx'])
set_param([sys,'/','Kx'],...
		'position',[50,130,70,150])

add_block('built-in/Gain',[sys,'/','Kphi'])
set_param([sys,'/','Kphi'],...
		'position',[50,180,70,200])

add_block('built-in/Note',[sys,'/','*)'])
set_param([sys,'/','*)'],...
		'position',[170,195,171,196])


%     Subsystem  'Truck Simulation'.

new_system([sys,'/','Truck Simulation'])
set_param([sys,'/','Truck Simulation'],'Location',[4,42,628,468])

add_block('built-in/Outport',[sys,'/','Truck Simulation/out_1'])
set_param([sys,'/','Truck Simulation/out_1'],...
		'position',[400,80,420,100])

add_block('built-in/Note',[sys,'/','Truck Simulation/theta'])
set_param([sys,'/','Truck Simulation/theta'],...
		'position',[70,140,71,141])

add_block('built-in/Inport',[sys,'/','Truck Simulation/in_1'])
set_param([sys,'/','Truck Simulation/in_1'],...
		'position',[20,150,40,170])

add_block('built-in/Unit Delay',[sys,'/','Truck Simulation/initial phi'])
set_param([sys,'/','Truck Simulation/initial phi'],...
		'orientation',2,...
		'x0','IPHI*pi/180',...
		'Sample time','Ts',...
		'position',[50,65,100,85])

add_block('built-in/Sum',[sys,'/','Truck Simulation/Sum2'])
set_param([sys,'/','Truck Simulation/Sum2'],...
		'position',[105,117,125,173])

add_block('built-in/Note',[sys,'/','Truck Simulation/y-position'])
set_param([sys,'/','Truck Simulation/y-position'],...
		'position',[350,190,351,191])

add_block('built-in/Sum',[sys,'/','Truck Simulation/Sum1'])
set_param([sys,'/','Truck Simulation/Sum1'],...
		'position',[295,182,315,238])

add_block('built-in/Fcn',[sys,'/','Truck Simulation/Fcn1'])
set_param([sys,'/','Truck Simulation/Fcn1'],...
		'position',[235,185,275,205])

add_block('built-in/Fcn',[sys,'/','Truck Simulation/Fcn'])
set_param([sys,'/','Truck Simulation/Fcn'],...
		'Expr','cos(u[1])',...
		'position',[240,65,280,85])

add_block('built-in/Sum',[sys,'/','Truck Simulation/Sum'])
set_param([sys,'/','Truck Simulation/Sum'],...
		'position',[295,64,315,111])

add_block('built-in/Note',[sys,'/','Truck Simulation/x-position'])
set_param([sys,'/','Truck Simulation/x-position'],...
		'position',[350,65,351,66])

add_block('built-in/Unit Delay',[sys,'/','Truck Simulation/initial x '])
set_param([sys,'/','Truck Simulation/initial x '],...
		'orientation',2,...
		'x0','IXPOS',...
		'Sample time','Ts',...
		'position',[270,140,320,160])

add_block('built-in/Note',[sys,'/','Truck Simulation/phi'])
set_param([sys,'/','Truck Simulation/phi'],...
		'position',[190,135,191,136])

add_block('built-in/Gain',[sys,'/','Truck Simulation/movdis  '])
set_param([sys,'/','Truck Simulation/movdis  '],...
		'Gain','MOVDIS',...
		'position',[195,185,215,205])

add_block('built-in/Gain',[sys,'/','Truck Simulation/movdis'])
set_param([sys,'/','Truck Simulation/movdis'],...
		'Gain','MOVDIS',...
		'position',[195,65,215,85])

add_block('built-in/Fcn',[sys,'/','Truck Simulation/Fcn2'])
set_param([sys,'/','Truck Simulation/Fcn2'],...
		'Expr','(u[1]>=100) + (u[1]<=0)',...
		'position',[445,140,485,160])

add_block('built-in/Stop simulation',[sys,'/',['Truck Simulation/Stop simulation',13,'if non-zero',13,'']])
set_param([sys,'/',['Truck Simulation/Stop simulation',13,'if non-zero',13,'']],...
		'position',[510,134,555,166])

add_block('built-in/Outport',[sys,'/','Truck Simulation/out_2'])
set_param([sys,'/','Truck Simulation/out_2'],...
		'Port','2',...
		'position',[405,200,425,220])

add_block('built-in/Unit Delay',[sys,'/','Truck Simulation/initial y '])
set_param([sys,'/','Truck Simulation/initial y '],...
		'orientation',2,...
		'x0','IYPOS',...
		'Sample time','Ts',...
		'position',[270,265,320,285])

add_block('built-in/Fcn',[sys,'/','Truck Simulation/Fcn3'])
set_param([sys,'/','Truck Simulation/Fcn3'],...
		'Expr','(u[1]<=0) + (u[1]>=100)',...
		'position',[445,265,485,285])

add_block('built-in/Stop simulation',[sys,'/',['Truck Simulation/Stop simulation',13,'if non-zero',13,'1']])
set_param([sys,'/',['Truck Simulation/Stop simulation',13,'if non-zero',13,'1']],...
		'position',[510,259,555,291])

add_block('built-in/Note',[sys,'/','Truck Simulation/Truck and dock simulation'])
set_param([sys,'/','Truck Simulation/Truck and dock simulation'],...
		'position',[300,15,301,16])

add_block('built-in/Gain',[sys,'/','Truck Simulation/Rad -> Deg'])
set_param([sys,'/','Truck Simulation/Rad -> Deg'],...
		'Gain','180/pi',...
		'position',[205,310,225,330])

add_block('built-in/Outport',[sys,'/','Truck Simulation/out_3'])
set_param([sys,'/','Truck Simulation/out_3'],...
		'Port','3',...
		'position',[260,310,280,330])
add_line([sys,'/','Truck Simulation'],[45,75;25,75;25,130;95,130])
add_line([sys,'/','Truck Simulation'],[265,275;250,275;250,225;285,225])
add_line([sys,'/','Truck Simulation'],[265,150;250,150;250,100;285,100])
add_line([sys,'/','Truck Simulation'],[320,90;375,90;375,150;330,150])
add_line([sys,'/','Truck Simulation'],[280,195;285,195])
add_line([sys,'/','Truck Simulation'],[285,75;285,75])
add_line([sys,'/','Truck Simulation'],[45,160;95,160])
add_line([sys,'/','Truck Simulation'],[375,90;390,90])
add_line([sys,'/','Truck Simulation'],[220,75;230,75])
add_line([sys,'/','Truck Simulation'],[220,195;225,195])
add_line([sys,'/','Truck Simulation'],[130,145;170,145;170,75;110,75])
add_line([sys,'/','Truck Simulation'],[170,75;185,75])
add_line([sys,'/','Truck Simulation'],[170,145;170,195;185,195])
add_line([sys,'/','Truck Simulation'],[490,150;500,150])
add_line([sys,'/','Truck Simulation'],[490,275;500,275])
add_line([sys,'/','Truck Simulation'],[375,150;435,150])
add_line([sys,'/','Truck Simulation'],[320,210;370,210;370,275;330,275])
add_line([sys,'/','Truck Simulation'],[370,210;395,210])
add_line([sys,'/','Truck Simulation'],[370,275;435,275])
add_line([sys,'/','Truck Simulation'],[170,195;170,320;195,320])
add_line([sys,'/','Truck Simulation'],[230,320;250,320])


%     Finished composite block 'Truck Simulation'.

set_param([sys,'/','Truck Simulation'],...
		'position',[280,132,310,188])

add_block('built-in/Note',[sys,'/','Fuzzy-Controller'])
set_param([sys,'/','Fuzzy-Controller'],...
		'position',[171,115,172,116])

add_block('built-in/Gain',[sys,'/','Deg -> Rad'])
set_param([sys,'/','Deg -> Rad'],...
		'Gain','pi/180',...
		'position',[240,150,260,170])

add_block('built-in/Outport',[sys,'/','x-Position'])
set_param([sys,'/','x-Position'],...
		'position',[380,80,400,100])

add_block('built-in/Outport',[sys,'/','theta'])
set_param([sys,'/','theta'],...
		'Port','4',...
		'position',[380,40,400,60])

add_block('built-in/Outport',[sys,'/','phi'])
set_param([sys,'/','phi'],...
		'Port','3',...
		'position',[385,230,405,250])

add_block('built-in/Outport',[sys,'/','y-Position'])
set_param([sys,'/','y-Position'],...
		'Port','2',...
		'position',[385,150,405,170])
add_line(sys,[135,160;135,160])
add_line(sys,[75,140;90,150])
add_line(sys,[75,190;90,165])
add_line(sys,[210,160;230,160])
add_line(sys,[265,160;270,160])
add_line(sys,[315,140;340,140;340,90;370,90])
add_line(sys,[340,90;20,90;20,140;40,140])
add_line(sys,[315,180;335,180;335,240;20,240;20,190;40,190])
add_line(sys,[335,240;375,240])
add_line(sys,[220,160;220,50;370,50])
add_line(sys,[315,160;375,160])

% Return any arguments.
if (nargin | nargout)
	% Must use feval here to access system in memory
	if (nargin > 3)
		if (flag == 0)
			eval(['[ret,x0,str]=',sys,'(t,x,u,flag);'])
		else
			eval(['ret =', sys,'(t,x,u,flag);'])
		end
	else
		[ret,x0,str] = feval(sys);
	end
end