pend.fis

二阶倒立摆的simulink模型建模仿真。以及初始化代码

[System]
Name='pend'
Type='mamdani'
Version=2.0
NumInputs=5
NumOutputs=1
NumRules=39
AndMethod='min'
OrMethod='max'
ImpMethod='min'
AggMethod='max'
DefuzzMethod='centroid'

[Input1]
Name='theta1'
Range=[-0.3 0.3]
NumMFs=6
MF1='NL':'trimf',[-0.422 -0.302 -0.182]
MF2='NM':'trimf',[-0.3 -0.18 -0.06]
MF3='NS':'trimf',[-0.178 -0.0584 0.0616]
MF4='PS':'trimf',[-0.06 0.06 0.18]
MF5='PM':'trimf',[0.06 0.18 0.3]
MF6='PL':'trimf',[0.18 0.3 0.42]

[Input2]
Name='theta1Dot'
Range=[-1 1]
NumMFs=5
MF1='NL':'trimf',[-1.5 -1 -0.5]
MF2='NM':'trimf',[-1 -0.5 0]
MF3='ZR':'trimf',[-0.5 0 0.5]
MF4='PM':'trimf',[0 0.5 1]
MF5='PL':'trimf',[0.5 1 1.5]

[Input3]
Name='theta1-theta2'
Range=[-0.5 0.5]
NumMFs=7
MF1='NL':'trimf',[-0.6667 -0.5 -0.3333]
MF2='NM':'trimf',[-0.5 -0.3333 -0.1667]
MF3='NS':'trimf',[-0.3333 -0.1667 -2.776e-017]
MF4='ZR':'trimf',[-0.0759 0.00289 0.0715]
MF5='PS':'trimf',[-2.776e-017 0.1667 0.3333]
MF6='PM':'trimf',[0.1667 0.3333 0.5]
MF7='PL':'trimf',[0.335 0.49 0.657]

[Input4]
Name='pos-targetpos'
Range=[-3 3]
NumMFs=3
MF1='NL':'gbellmf',[0.976 1.37 -2.89]
MF2='PL':'gbellmf',[1.2 2.16 2.49]
MF3='ZR':'gbellmf',[0.169 2.5 5.55e-017]

[Input5]
Name='posDot'
Range=[-3 3]
NumMFs=5
MF1='NL':'trimf',[-4.5 -3 -1.5]
MF2='NM':'trimf',[-3 -1.5 0]
MF3='ZR':'trimf',[-1.5 0 1.5]
MF4='PM':'trimf',[0 1.5 3]
MF5='PL':'trimf',[1.5 3 4.5]

[Output1]
Name='output1-u'
Range=[-200 200]
NumMFs=7
MF1='NL':'trimf',[-280 -200 -120]
MF2='NM':'trimf',[-200 -120 -40]
MF3='NS':'trimf',[-120 -40 40]
MF4='PS':'trimf',[-40 40 120]
MF5='PM':'trimf',[40 120 200]
MF6='PL':'trimf',[120 200 280]
MF7='ZR':'trimf',[-38.64 1.06 39.68]

[Rules]
0 0 3 0 0, 4 (1) : 1
0 0 2 0 0, 5 (1) : 1
0 0 1 0 0, 6 (1) : 1
0 0 5 0 0, 3 (1) : 1
0 0 6 0 0, 2 (1) : 1
0 0 7 0 0, 1 (1) : 1
3 3 4 0 0, 3 (1) : 1
2 3 4 0 0, 2 (1) : 1
1 3 4 0 0, 1 (1) : 1
4 3 4 0 0, 4 (1) : 1
5 3 4 0 0, 5 (1) : 1
6 3 4 0 0, 6 (1) : 1
3 2 4 0 0, 2 (1) : 1
2 2 4 0 0, 1 (1) : 1
1 2 4 0 0, 1 (1) : 1
4 2 4 0 0, 3 (1) : 1
5 2 4 0 0, 4 (1) : 1
6 2 4 0 0, 5 (1) : 1
3 1 4 0 0, 1 (1) : 1
2 1 4 0 0, 1 (1) : 1
1 1 4 0 0, 1 (1) : 1
4 1 4 0 0, 2 (1) : 1
5 1 4 0 0, 3 (1) : 1
6 1 4 0 0, 4 (1) : 1
3 4 4 0 0, 4 (1) : 1
2 4 4 0 0, 3 (1) : 1
1 4 4 0 0, 2 (1) : 1
4 4 4 0 0, 5 (1) : 1
5 4 4 0 0, 6 (1) : 1
6 4 4 0 0, 6 (1) : 1
3 5 4 0 0, 5 (1) : 1
2 5 4 0 0, 4 (1) : 1
1 5 4 0 0, 3 (1) : 1
4 5 4 0 0, 6 (1) : 1
5 5 4 0 0, 6 (1) : 1
6 5 4 0 0, 6 (1) : 1
0 0 0 2 0, 5 (1) : 1
0 0 0 1 0, 2 (1) : 1
0 0 0 3 0, 7 (1) : 1