penfuz_s.m

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

function [ret,x0,str]=penfuz_s(t,x,u,flag);
%PENFUZ_S	is the M-file description of the SIMULINK system named PENFUZ_S.
%	The block-diagram can be displayed by typing: PENFUZ_S.
%
%	SYS=PENFUZ_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 PENFUZ_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 PENFUZ_S with a FLAG of zero:
%	[SIZES]=PENFUZ_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',[0,38,624,464])
     open_system(sys)
end;
set_param(sys,'algorithm',		'RK-45')
set_param(sys,'Start time',	'0')
set_param(sys,'Stop time',		'20')
set_param(sys,'Min step size',	'0.0001')
set_param(sys,'Max step size',	'10')
set_param(sys,'Relative error','1e-3')
set_param(sys,'Return vars',	'')

add_block('built-in/Note',[sys,'/',['Inverted pendulum on cart ',13,'(Double click on the "?" for more info)']])
set_param([sys,'/',['Inverted pendulum on cart ',13,'(Double click on the "?" for more info)']],...
		'position',[276,20,277,21])

add_block('built-in/Sum',[sys,'/','Sum3'])
set_param([sys,'/','Sum3'],...
		'hide name',0,...
		'position',[85,160,105,180])

add_block('built-in/Constant',[sys,'/','Constant'])
set_param([sys,'/','Constant'],...
		'Value','-3',...
		'position',[10,215,60,235])

add_block('built-in/Signal Generator',[sys,'/','Signal Gen.'])
set_param([sys,'/','Signal Gen.'],...
		'hide name',0,...
		'Peak','3.000000',...
		'Peak Range','0.000000',...
		'Freq','0.314000',...
		'Freq Range','1.000000',...
		'Wave','Sqr',...
		'Units','Rads')
open_system([sys,'/','Signal Gen.'])
set_param([sys,'/','Signal Gen.'],...
		'position',[10,148,55,182])


%     Subsystem  'More Info'.

new_system([sys,'/','More Info'])
set_param([sys,'/','More Info'],'Location',[233,85,693,328])

add_block('built-in/Note',[sys,'/',['More Info/This system simulates a cart carying an inverted pendulum',13,'and displays an animation.']])
set_param([sys,'/',['More Info/This system simulates a cart carying an inverted pendulum',13,'and displays an animation.']],...
		'position',[205,30,206,31])

add_block('built-in/Note',[sys,'/',['More Info/The animation is created using Matlab''s Handle Graphics.',13,'The animation block is just a masked S-function.']])
set_param([sys,'/',['More Info/The animation is created using Matlab''s Handle Graphics.',13,'The animation block is just a masked S-function.']],...
		'position',[205,80,206,81])

add_block('built-in/Note',[sys,'/',['More Info/For more information on what the S_function does,',13,'use type pendan.c, type pend0, and type pendsets.']])
set_param([sys,'/',['More Info/For more information on what the S_function does,',13,'use type pendan.c, type pend0, and type pendsets.']],...
		'position',[200,155,201,156])
set_param([sys,'/','More Info'],...
		'Mask Display','?')


%     Finished composite block 'More Info'.

set_param([sys,'/','More Info'],...
		'hide name',0,...
		'Drop Shadow',4,...
		'position',[430,20,457,45])

add_block('built-in/Constant',[sys,'/','Constant1'])
set_param([sys,'/','Constant1'],...
		'Value','0',...
		'position',[80,235,100,255])

add_block('built-in/Sum',[sys,'/','Sum2'])
set_param([sys,'/','Sum2'],...
		'hide name',0,...
		'inputs','-++',...
		'position',[140,152,160,188])


%     Subsystem  'Fuzzy Controller1'.

new_system([sys,'/','Fuzzy Controller1'])
set_param([sys,'/','Fuzzy Controller1'],'Location',[4,135,628,400])

add_block('built-in/Inport',[sys,'/','Fuzzy Controller1/in_12'])
set_param([sys,'/','Fuzzy Controller1/in_12'],...
		'Port','2',...
		'position',[20,130,40,150])

add_block('built-in/Note',[sys,'/','Fuzzy Controller1/x cart'])
set_param([sys,'/','Fuzzy Controller1/x cart'],...
		'position',[70,120,71,121])

add_block('built-in/Note',[sys,'/','Fuzzy Controller1/xe=r-x'])
set_param([sys,'/','Fuzzy Controller1/xe=r-x'],...
		'position',[85,65,86,66])

add_block('built-in/Inport',[sys,'/','Fuzzy Controller1/in_11'])
set_param([sys,'/','Fuzzy Controller1/in_11'],...
		'position',[20,80,40,100])

add_block('built-in/Note',[sys,'/','Fuzzy Controller1/Fuzzy-Controller'])
set_param([sys,'/','Fuzzy Controller1/Fuzzy-Controller'],...
		'position',[391,65,392,66])

add_block('built-in/S-function',[sys,'/','Fuzzy Controller1/S-function'])
set_param([sys,'/','Fuzzy Controller1/S-function'],...
		'function name','fuzzy21',...
		'parameters','''pen_pos'',0.04',...
		'position',[360,90,420,130])

add_block('built-in/Outport',[sys,'/','Fuzzy Controller1/out_11'])
set_param([sys,'/','Fuzzy Controller1/out_11'],...
		'position',[510,100,530,120])

add_block('built-in/Gain',[sys,'/','Fuzzy Controller1/Gain4'])
set_param([sys,'/','Fuzzy Controller1/Gain4'],...
		'Gain','0',...
		'position',[445,100,465,120])

add_block('built-in/Unit Delay',[sys,'/','Fuzzy Controller1/Unit Delay'])
set_param([sys,'/','Fuzzy Controller1/Unit Delay'],...
		'Sample time','0.04',...
		'position',[70,187,120,203])

add_block('built-in/Sum',[sys,'/','Fuzzy Controller1/Sum'])
set_param([sys,'/','Fuzzy Controller1/Sum'],...
		'inputs','+-',...
		'position',[175,135,195,155])

add_block('built-in/Gain',[sys,'/','Fuzzy Controller1/Gain2'])
set_param([sys,'/','Fuzzy Controller1/Gain2'],...
		'Gain','10',...
		'position',[225,135,245,155])

add_block('built-in/Gain',[sys,'/','Fuzzy Controller1/Gain'])
set_param([sys,'/','Fuzzy Controller1/Gain'],...
		'Gain','1/6',...
		'position',[225,80,245,100])

add_block('built-in/Mux',[sys,'/','Fuzzy Controller1/Mux1'])
set_param([sys,'/','Fuzzy Controller1/Mux1'],...
		'inputs','2',...
		'position',[290,90,320,125])
add_line([sys,'/','Fuzzy Controller1'],[425,110;435,110])
add_line([sys,'/','Fuzzy Controller1'],[470,110;500,110])
add_line([sys,'/','Fuzzy Controller1'],[325,110;350,110])
add_line([sys,'/','Fuzzy Controller1'],[250,90;280,100])
add_line([sys,'/','Fuzzy Controller1'],[250,145;280,115])
add_line([sys,'/','Fuzzy Controller1'],[45,90;215,90])
add_line([sys,'/','Fuzzy Controller1'],[45,140;165,140])
add_line([sys,'/','Fuzzy Controller1'],[200,145;215,145])
add_line([sys,'/','Fuzzy Controller1'],[125,195;125,150;165,150])
add_line([sys,'/','Fuzzy Controller1'],[45,140;45,195;60,195])


%     Finished composite block 'Fuzzy Controller1'.

set_param([sys,'/','Fuzzy Controller1'],...
		'position',[185,158,215,202])

add_block('built-in/Sum',[sys,'/','Sum1'])
set_param([sys,'/','Sum1'],...
		'position',[265,168,280,217])


%     Subsystem  'Fuzzy Controller2'.

new_system([sys,'/','Fuzzy Controller2'])
set_param([sys,'/','Fuzzy Controller2'],'Location',[4,107,628,296])

add_block('built-in/Outport',[sys,'/','Fuzzy Controller2/out_21'])
set_param([sys,'/','Fuzzy Controller2/out_21'],...
		'position',[485,50,505,70])

add_block('built-in/Gain',[sys,'/','Fuzzy Controller2/Gain4'])
set_param([sys,'/','Fuzzy Controller2/Gain4'],...
		'Gain','10',...
		'position',[445,50,465,70])

add_block('built-in/S-function',[sys,'/','Fuzzy Controller2/S-function'])
set_param([sys,'/','Fuzzy Controller2/S-function'],...
		'function name','fuzzy21',...
		'parameters','''pen_ang'',0.04',...
		'position',[360,40,420,80])

add_block('built-in/Gain',[sys,'/','Fuzzy Controller2/Gain'])
set_param([sys,'/','Fuzzy Controller2/Gain'],...
		'Gain','1/20',...
		'position',[230,30,250,50])

add_block('built-in/Mux',[sys,'/','Fuzzy Controller2/Mux1'])
set_param([sys,'/','Fuzzy Controller2/Mux1'],...
		'inputs','2',...
		'position',[300,40,330,75])

add_block('built-in/Gain',[sys,'/','Fuzzy Controller2/Gain2'])
set_param([sys,'/','Fuzzy Controller2/Gain2'],...
		'Gain','2',...
		'position',[230,85,250,105])

add_block('built-in/Sum',[sys,'/','Fuzzy Controller2/Sum'])
set_param([sys,'/','Fuzzy Controller2/Sum'],...
		'inputs','+-',...
		'position',[185,85,205,105])

add_block('built-in/Unit Delay',[sys,'/','Fuzzy Controller2/Unit Delay'])
set_param([sys,'/','Fuzzy Controller2/Unit Delay'],...