penfuz_s.m

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

		'Sample time','0.04',...
		'position',[80,127,130,143])

add_block('built-in/Inport',[sys,'/','Fuzzy Controller2/in_21'])
set_param([sys,'/','Fuzzy Controller2/in_21'],...
		'position',[30,30,50,50])

add_block('built-in/Inport',[sys,'/','Fuzzy Controller2/in_22'])
set_param([sys,'/','Fuzzy Controller2/in_22'],...
		'Port','2',...
		'position',[30,80,50,100])

add_block('built-in/Note',[sys,'/','Fuzzy Controller2/angle'])
set_param([sys,'/','Fuzzy Controller2/angle'],...
		'position',[80,70,81,71])

add_block('built-in/Note',[sys,'/','Fuzzy Controller2/Fuzzy-Controller'])
set_param([sys,'/','Fuzzy Controller2/Fuzzy-Controller'],...
		'position',[386,15,387,16])
add_line([sys,'/','Fuzzy Controller2'],[425,60;435,60])
add_line([sys,'/','Fuzzy Controller2'],[470,60;475,60])
add_line([sys,'/','Fuzzy Controller2'],[335,60;350,60])
add_line([sys,'/','Fuzzy Controller2'],[255,40;290,50])
add_line([sys,'/','Fuzzy Controller2'],[255,95;290,65])
add_line([sys,'/','Fuzzy Controller2'],[55,40;220,40])
add_line([sys,'/','Fuzzy Controller2'],[55,90;175,90])
add_line([sys,'/','Fuzzy Controller2'],[55,90;55,135;70,135])
add_line([sys,'/','Fuzzy Controller2'],[135,135;150,135;150,100;175,100])
add_line([sys,'/','Fuzzy Controller2'],[210,95;220,95])


%     Finished composite block 'Fuzzy Controller2'.

set_param([sys,'/','Fuzzy Controller2'],...
		'position',[325,182,355,233])

add_block('built-in/Saturation',[sys,'/','Saturation'])
set_param([sys,'/','Saturation'],...
		'Lower Limit','-10',...
		'Upper Limit','10',...
		'position',[385,200,410,220])


%     Subsystem  'Pendulum'.

new_system([sys,'/','Pendulum'])
set_param([sys,'/','Pendulum'],'Location',[97,238,630,546])

add_block('built-in/Fcn',[sys,'/','Pendulum/Fcn2'])
set_param([sys,'/','Pendulum/Fcn2'],...
		'hide name',0,...
		'Expr','(-u[1]*cos(u[3])/m + (M+m)*g*sin(u[3])/m - l*power(u[2],2)*sin(u[3])*cos(u[3]))/(l*(M/m + power(sin(u[3]),2)))',...
		'position',[210,175,250,195])

add_block('built-in/Integrator',[sys,'/','Pendulum/Integrator4'])
set_param([sys,'/','Pendulum/Integrator4'],...
		'position',[305,90,325,110])

add_block('built-in/Mux',[sys,'/','Pendulum/Mux1'])
set_param([sys,'/','Pendulum/Mux1'],...
		'hide name',0,...
		'inputs','3',...
		'position',[140,84,170,116])

add_block('built-in/Fcn',[sys,'/','Pendulum/Fcn1'])
set_param([sys,'/','Pendulum/Fcn1'],...
		'hide name',0,...
		'Expr','(u[1]/m - g*sin(u[3])*cos(u[3]) + l*power(u[2],2)*sin(u[3]))/(M/m + power(sin(u[3]),2))',...
		'position',[210,90,250,110])

add_block('built-in/Mux',[sys,'/','Pendulum/Mux'])
set_param([sys,'/','Pendulum/Mux'],...
		'hide name',0,...
		'inputs','3',...
		'position',[140,169,170,201])

add_block('built-in/Integrator',[sys,'/','Pendulum/Integrator1'])
set_param([sys,'/','Pendulum/Integrator1'],...
		'position',[385,90,405,110])

add_block('built-in/Integrator',[sys,'/','Pendulum/Integrator3'])
set_param([sys,'/','Pendulum/Integrator3'],...
		'position',[305,175,325,195])

add_block('built-in/Integrator',[sys,'/','Pendulum/Integrator2'])
set_param([sys,'/','Pendulum/Integrator2'],...
		'position',[385,175,405,195])

add_block('built-in/Inport',[sys,'/','Pendulum/in_1'])
set_param([sys,'/','Pendulum/in_1'],...
		'position',[15,80,35,100])

add_block('built-in/Outport',[sys,'/','Pendulum/out_1'])
set_param([sys,'/','Pendulum/out_1'],...
		'position',[470,90,490,110])

add_block('built-in/Outport',[sys,'/','Pendulum/out_2'])
set_param([sys,'/','Pendulum/out_2'],...
		'Port','2',...
		'position',[470,105,490,125])
add_line([sys,'/','Pendulum'],[410,185;450,185;450,115;460,115])
add_line([sys,'/','Pendulum'],[430,185;430,235;75,235;75,195;130,195])
add_line([sys,'/','Pendulum'],[330,185;375,185])
add_line([sys,'/','Pendulum'],[355,185;355,215;105,215;105,185;130,185])
add_line([sys,'/','Pendulum'],[420,185;420,130;100,130;100,110;130,110])
add_line([sys,'/','Pendulum'],[40,90;130,90])
add_line([sys,'/','Pendulum'],[40,90;45,175;130,175])
add_line([sys,'/','Pendulum'],[347,185;347,150;85,150;85,100;130,100])
add_line([sys,'/','Pendulum'],[330,100;375,100])
add_line([sys,'/','Pendulum'],[255,100;295,100])
add_line([sys,'/','Pendulum'],[175,100;200,100])
add_line([sys,'/','Pendulum'],[175,185;200,185])
add_line([sys,'/','Pendulum'],[255,185;295,185])
add_line([sys,'/','Pendulum'],[410,100;460,100])
set_param([sys,'/','Pendulum'],...
		'Mask Display','',...
		'Mask Type','Inverted pendulum on cart')
set_param([sys,'/','Pendulum'],...
		'Mask Dialogue','Unmask and double-click to see dynamics|Mass of cart (kg):|Mass of pendulum (kg):|Distance to pendulum center of mass(m):|Acceleration of gravity (m/s^2):')
set_param([sys,'/','Pendulum'],...
		'Mask Translate','M=@1; m=@2; l=@3; g=@4;',...
		'Mask Help','Nonlinear dynamics of inverted pendulum on cart.',...
		'Mask Entries','0.455\/0.21\/0.61/2\/9.8\/')


%     Finished composite block 'Pendulum'.

set_param([sys,'/','Pendulum'],...
		'position',[435,182,465,233])

add_block('built-in/Gain',[sys,'/','Rad -> Deg'])
set_param([sys,'/','Rad -> Deg'],...
		'orientation',2,...
		'Gain','180/pi',...
		'position',[485,280,505,300])

add_block('built-in/Note',[sys,'/','angle'])
set_param([sys,'/','angle'],...
		'position',[485,205,486,206])

add_block('built-in/Note',[sys,'/','cart-position'])
set_param([sys,'/','cart-position'],...
		'position',[460,160,461,161])

add_block('built-in/Mux',[sys,'/','Mux'])
set_param([sys,'/','Mux'],...
		'inputs','5',...
		'position',[545,62,575,118])


%     Subsystem  'Graph Scope1'.

new_system([sys,'/','Graph Scope1'])
set_param([sys,'/','Graph Scope1'],'Location',[0,0,274,193])

add_block('built-in/S-function',[sys,'/',['Graph Scope1/S-function',13,'M-file which plots',13,'lines',13,'']])
set_param([sys,'/',['Graph Scope1/S-function',13,'M-file which plots',13,'lines',13,'']],...
		'function name','sfuny',...
		'parameters','ax, color',...
		'position',[130,55,180,75])

add_block('built-in/Inport',[sys,'/','Graph Scope1/x'])
set_param([sys,'/','Graph Scope1/x'],...
		'position',[65,55,85,75])
add_line([sys,'/','Graph Scope1'],[90,65;120,65])
set_param([sys,'/','Graph Scope1'],...
		'Mask Display','plot(0,0,100,100,[90,10,10,10,90,90,10],[65,65,90,40,40,90,90],[90,78,69,54,40,31,25,10],[77,60,48,46,56,75,81,84])',...
		'Mask Type','Graph scope.')
set_param([sys,'/','Graph Scope1'],...
		'Mask Dialogue','Graph scope using MATLAB graph window.\nEnter plotting ranges and line type.|Time range:|y-min:|y-max:|Line type (rgbw-:*):',...
		'Mask Translate','color = @4; ax = [0, @1, @2, @3];')
set_param([sys,'/','Graph Scope1'],...
		'Mask Help','This block plots to the MATLAB graph window and can be used as an improved version of the Scope block. Look at the m-file sfuny.m to see how it works.')
set_param([sys,'/','Graph Scope1'],...
		'Mask Entries','10\/-10\/10\/''y-''\/')


%     Finished composite block 'Graph Scope1'.

set_param([sys,'/','Graph Scope1'],...
		'Drop Shadow',4,...
		'position',[325,305,355,345])

add_block('built-in/To Workspace',[sys,'/','         y'])
set_param([sys,'/','         y'],...
		'orientation',1,...
		'mat-name','y',...
		'position',[552,170,608,190])

add_block('built-in/Clock',[sys,'/','Clock'])
set_param([sys,'/','Clock'],...
		'position',[20,335,40,355])

add_block('built-in/To Workspace',[sys,'/','To Workspace1'])
set_param([sys,'/','To Workspace1'],...
		'mat-name','t',...
		'position',[125,337,175,353])

add_block('built-in/Note',[sys,'/','Reference signal'])
set_param([sys,'/','Reference signal'],...
		'position',[40,125,41,126])
add_line(sys,[60,165;75,165])
add_line(sys,[65,225;65,175;75,175])
add_line(sys,[110,170;110,70;535,70])
add_line(sys,[45,345;115,345])
add_line(sys,[580,90;580,160])
add_line(sys,[470,220;515,220;515,90;535,90])
add_line(sys,[285,195;315,195])
add_line(sys,[415,210;425,210])
add_line(sys,[165,170;175,170])
add_line(sys,[360,210;375,210])
add_line(sys,[220,180;255,180])
add_line(sys,[110,170;130,170])
add_line(sys,[105,245;120,245;120,185;130,180])
add_line(sys,[515,220;525,220;525,290;515,290])
add_line(sys,[480,290;240,290;240,205;255,205])
add_line(sys,[290,290;290,220;315,220])
add_line(sys,[360,210;360,100;535,100])
add_line(sys,[470,195;495,195;495,80;535,80])
add_line(sys,[290,290;290,325;315,325])
add_line(sys,[495,80;120,80;120,160;130,160])
add_line(sys,[240,290;150,290;150,200;175,190])
add_line(sys,[235,180;235,110;535,110])

% 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