pensim_s.m

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

%     Subsystem  ['Limited ',13,'Integrator'].

new_system([sys,'/',['Limited ',13,'Integrator']])
set_param([sys,'/',['Limited ',13,'Integrator']],'Location',[0,0,791,233])

add_block('built-in/Saturation',[sys,'/',['Limited ',13,'Integrator/Saturation']])
set_param([sys,'/',['Limited ',13,'Integrator/Saturation']],...
		'Lower Limit','lb',...
		'Upper Limit','ub',...
		'position',[630,121,675,149])

add_block('built-in/Fcn',[sys,'/',['Limited ',13,'Integrator/Fcn']])
set_param([sys,'/',['Limited ',13,'Integrator/Fcn']],...
		'Expr','u[2]*((((u[1]>lb)+(u[2]>=0))>0) * (((u[1]<ub)+(u[2]<=0))>0))',...
		'position',[150,116,520,154])

add_block('built-in/Inport',[sys,'/',['Limited ',13,'Integrator/In_1']])
set_param([sys,'/',['Limited ',13,'Integrator/In_1']],...
		'position',[20,130,40,150])

add_block('built-in/Outport',[sys,'/',['Limited ',13,'Integrator/Out_1']])
set_param([sys,'/',['Limited ',13,'Integrator/Out_1']],...
		'position',[720,125,740,145])

add_block('built-in/Integrator',[sys,'/',['Limited ',13,'Integrator/Integrator']])
set_param([sys,'/',['Limited ',13,'Integrator/Integrator']],...
		'Initial','xi',...
		'position',[540,126,585,144])

add_block('built-in/Mux',[sys,'/',['Limited ',13,'Integrator/Mux']])
set_param([sys,'/',['Limited ',13,'Integrator/Mux']],...
		'inputs','2',...
		'position',[85,116,115,149])
add_line([sys,'/',['Limited ',13,'Integrator']],[680,135;710,135])
add_line([sys,'/',['Limited ',13,'Integrator']],[45,140;75,140])
add_line([sys,'/',['Limited ',13,'Integrator']],[120,135;140,135])
add_line([sys,'/',['Limited ',13,'Integrator']],[525,135;530,135])
add_line([sys,'/',['Limited ',13,'Integrator']],[590,135;620,135])
add_line([sys,'/',['Limited ',13,'Integrator']],[600,135;600,35;55,35;55,125;75,125])
set_param([sys,'/',['Limited ',13,'Integrator']],...
		'Mask Display','plot(-1,-0.2,3.5,1.2,[0.05,1,2,2.9],[0,0,1,1]); 1/s    ',...
		'Mask Type','Limited integrator.')
set_param([sys,'/',['Limited ',13,'Integrator']],...
		'Mask Dialogue','Limited integrator|Lower bound:|Upper bound:|Initial condition',...
		'Mask Translate','lb = @1; ub = @2; xi = @3;')
set_param([sys,'/',['Limited ',13,'Integrator']],...
		'Mask Help','Implements a limited integrator with \nan expression of the form:\n\nif(x<=lb and u<0) or (x>=ub and u>0)\n\txdot=0\nelse\n\txdot=u.',...
		'Mask Entries','-5\/5\/0\/')


%     Finished composite block ['Limited ',13,'Integrator'].

set_param([sys,'/',['Limited ',13,'Integrator']],...
		'position',[250,148,285,182])

add_block('built-in/Sum',[sys,'/','Sum2'])
set_param([sys,'/','Sum2'],...
		'hide name',0,...
		'inputs','-+',...
		'position',[140,155,160,175])

add_block('built-in/Gain',[sys,'/',['Integral',13,'gain']])
set_param([sys,'/',['Integral',13,'gain']],...
		'Gain','0.06',...
		'position',[185,147,230,183])


%     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/Gain',[sys,'/','Proportional gain'])
set_param([sys,'/','Proportional gain'],...
		'Gain','-9.4',...
		'position',[200,92,245,128])

add_block('built-in/Transfer Fcn',[sys,'/','Feedforward gain'])
set_param([sys,'/','Feedforward gain'],...
		'Numerator','[7.12 0]',...
		'Denominator','[1 2]',...
		'position',[190,217,245,253])

add_block('built-in/Mux',[sys,'/','Mux'])
set_param([sys,'/','Mux'],...
		'inputs','3',...
		'position',[550,64,580,96])

add_block('built-in/To Workspace',[sys,'/','To Workspace1'])
set_param([sys,'/','To Workspace1'],...
		'mat-name','t',...
		'position',[655,137,705,153])

add_block('built-in/Clock',[sys,'/','Clock'])
set_param([sys,'/','Clock'],...
		'position',[600,135,620,155])

add_block('built-in/To Workspace',[sys,'/','To Workspace'])
set_param([sys,'/','To Workspace'],...
		'mat-name','y',...
		'position',[655,70,710,90])

add_block('built-in/Saturation',[sys,'/','Saturation'])
set_param([sys,'/','Saturation'],...
		'hide name',0,...
		'Lower Limit','-10',...
		'Upper Limit','10',...
		'position',[405,160,430,180])

add_block('built-in/Sum',[sys,'/','Sum1'])
set_param([sys,'/','Sum1'],...
		'inputs','+++',...
		'position',[305,139,325,191])

add_block('built-in/Sum',[sys,'/','Sum'])
set_param([sys,'/','Sum'],...
		'inputs','+-',...
		'position',[365,143,385,192])

add_block('built-in/Note',[sys,'/',['Start simulation to simulate system .',13,'',13,'']])
set_param([sys,'/',['Start simulation to simulate system .',13,'',13,'']],...
		'position',[400,340,401,341])

add_block('built-in/Step Fcn',[sys,'/','Step Fcn'])
set_param([sys,'/','Step Fcn'],...
		'Time','0',...
		'After','-8',...
		'position',[305,90,325,110])

add_block('built-in/Derivative',[sys,'/','Derivative'])
set_param([sys,'/','Derivative'],...
		'position',[685,285,715,305])


%     Subsystem  'Graph Scope'.

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

add_block('built-in/Inport',[sys,'/','Graph Scope/x'])
set_param([sys,'/','Graph Scope/x'],...
		'position',[65,55,85,75])

add_block('built-in/S-function',[sys,'/',['Graph Scope/S-function',13,'M-file which plots',13,'lines',13,'']])
set_param([sys,'/',['Graph Scope/S-function',13,'M-file which plots',13,'lines',13,'']],...
		'function name','sfuny',...
		'parameters','ax, color',...
		'position',[130,55,180,75])
add_line([sys,'/','Graph Scope'],[90,65;120,65])
set_param([sys,'/','Graph Scope'],...
		'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 Scope'],...
		'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 Scope'],...
		'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.',...
		'Mask Entries','20\/-10\/10\/''y-''\/')


%     Finished composite block 'Graph Scope'.

set_param([sys,'/','Graph Scope'],...
		'Drop Shadow',4,...
		'position',[585,276,615,314])
add_line(sys,[485,180;535,180;535,230;590,230])
add_line(sys,[485,155;555,155;555,205;590,205])
add_line(sys,[635,220;650,220])
add_line(sys,[485,155;485,80;125,80;125,160;130,160])
add_line(sys,[110,170;130,170])
add_line(sys,[60,165;75,165])
add_line(sys,[65,225;65,175;75,175])
add_line(sys,[110,170;110,235;180,235])
add_line(sys,[390,170;395,170])
add_line(sys,[165,165;165,110;190,110])
add_line(sys,[235,165;240,165])
add_line(sys,[165,165;175,165])
add_line(sys,[110,170;110,70;540,70])
add_line(sys,[500,155;500,80;540,80])
add_line(sys,[520,180;520,90;540,90])
add_line(sys,[625,145;645,145])
add_line(sys,[585,80;645,80])
add_line(sys,[290,165;295,165])
add_line(sys,[250,110;280,110;295,150])
add_line(sys,[250,235;280,235;295,180])
add_line(sys,[730,220;745,220;745,265;350,265;350,180;355,180])
add_line(sys,[330,165;355,155])
add_line(sys,[435,170;440,170])
add_line(sys,[110,235;110,295;575,295])

% 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