example4.m

自适应控制的一些MATLAB例子

function [ret,x0,str,ts,xts]=example4(t,x,u,flag);
%EXAMPLE4	is the M-file description of the SIMULINK system named EXAMPLE4.
%	The block-diagram can be displayed by typing: EXAMPLE4.
%
%	SYS=EXAMPLE4(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 EXAMPLE4 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 EXAMPLE4 with a FLAG of zero:
%	[SIZES]=EXAMPLE4([],[],[],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
%		SIZES(5) number of roots (currently unsupported)
%		SIZES(6) direct feedthrough flag
%		SIZES(7) number of sample times
%
%	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(1.3)
if (0 == (nargin + nargout))
     set_param(sys,'Location',[4,58,672,527])
     open_system(sys)
end;
set_param(sys,'algorithm',     'RK-45')
set_param(sys,'Start time',    '0.0')
set_param(sys,'Stop time',     '40')
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',   '')
set_param(sys,'AssignWideVectorLines','on');


%     Subsystem  'Text'.

new_system([sys,'/','Text'])
set_param([sys,'/','Text'],'Location',[147,145,576,495])

add_block('built-in/Note',[sys,'/','Text/4) The noise level (the gain in the Noise Source block)'])
set_param([sys,'/','Text/4) The noise level (the gain in the Noise Source block)'],...
		'position',[225,250,230,255])

add_block('built-in/Note',[sys,'/',['Text/3) The transfer function W(s) in the receiver and in the',13,'Estimator block']])
set_param([sys,'/',['Text/3) The transfer function W(s) in the receiver and in the',13,'Estimator block']],...
		'position',[225,210,230,215])

add_block('built-in/Note',[sys,'/','Text/2) The normalization gain alpha in the Estimator block'])
set_param([sys,'/','Text/2) The normalization gain alpha in the Estimator block'],...
		'position',[225,170,230,175])

add_block('built-in/Note',[sys,'/','Text/1) The adaptive gain (gain_a1, gain_a2 in the Estimator block)'])
set_param([sys,'/','Text/1) The adaptive gain (gain_a1, gain_a2 in the Estimator block)'],...
		'position',[255,135,260,140])

add_block('built-in/Note',[sys,'/',['Text/You can use Start//Stop in the Simulation pull-down',13,'menu to run the program. Or you can change the',13,'following parameters to see how they affect the',13,'simulation results:',13,'']])
set_param([sys,'/',['Text/You can use Start//Stop in the Simulation pull-down',13,'menu to run the program. Or you can change the',13,'following parameters to see how they affect the',13,'simulation results:',13,'']],...
		'position',[220,60,225,65])

add_block('built-in/Note',[sys,'/',['Text/This program simulates the estimation algorithm',13,'discussed in Example 4.3.1. Please refer to page',13,'181 of the textbook for details. ']])
set_param([sys,'/',['Text/This program simulates the estimation algorithm',13,'discussed in Example 4.3.1. Please refer to page',13,'181 of the textbook for details. ']],...
		'position',[215,0,220,5])
set_param([sys,'/','Text'],...
		'Mask Display','Double click here\nfor help to run\nthe simulation')


%     Finished composite block 'Text'.

set_param([sys,'/','Text'],...
		'Drop Shadow',4,...
		'position',[387,310,520,386])


%     Subsystem  'Signal Reconstruction'.

new_system([sys,'/','Signal Reconstruction'])
set_param([sys,'/','Signal Reconstruction'],'Location',[14,79,489,361])

add_block('built-in/Fcn',[sys,'/','Signal Reconstruction/Phase'])
set_param([sys,'/','Signal Reconstruction/Phase'],...
		'Expr','acos(u(1)/sqrt(u(1)*u(1)+u(2)*u(2)))',...
		'Mask Display','P',...
		'position',[65,120,105,140])

add_block('built-in/Fcn',[sys,'/','Signal Reconstruction/magnitude'])
set_param([sys,'/','Signal Reconstruction/magnitude'],...
		'Expr','sqrt(u(1)*u(1)+u(2)*u(2))',...
		'Mask Display','A',...
		'position',[65,22,105,48])

add_block('built-in/Outport',[sys,'/','Signal Reconstruction/est_mag'])
set_param([sys,'/','Signal Reconstruction/est_mag'],...
		'BackGround',2,...
		'position',[395,25,415,45])

add_block('built-in/Outport',[sys,'/','Signal Reconstruction/est_phase'])
set_param([sys,'/','Signal Reconstruction/est_phase'],...
		'BackGround',2,...
		'Port','2',...
		'position',[400,85,420,105])

add_block('built-in/Inport',[sys,'/','Signal Reconstruction/theta'])
set_param([sys,'/','Signal Reconstruction/theta'],...
		'BackGround',3,...
		'position',[10,65,30,85])

add_block('built-in/Fcn',[sys,'/','Signal Reconstruction/hat_y'])
set_param([sys,'/','Signal Reconstruction/hat_y'],...
		'Expr','u(1)*sin(2*u(3)+u(2))',...
		'Mask Display','Asin(wt+p)',...
		'position',[310,151,370,179])

add_block('built-in/Outport',[sys,'/','Signal Reconstruction/est_signal'])
set_param([sys,'/','Signal Reconstruction/est_signal'],...
		'BackGround',2,...
		'Port','3',...
		'position',[405,155,425,175])

add_block('built-in/Mux',[sys,'/','Signal Reconstruction/Mux2'])
set_param([sys,'/','Signal Reconstruction/Mux2'],...
		'inputs','3',...
		'Mask Display','',...
		'position',[235,145,275,185])

add_block('built-in/Clock',[sys,'/','Signal Reconstruction/Clock1'])
set_param([sys,'/','Signal Reconstruction/Clock1'],...
		'position',[195,210,215,230])
add_line([sys,'/','Signal Reconstruction'],[280,165;305,165])
add_line([sys,'/','Signal Reconstruction'],[220,220;230,180])
add_line([sys,'/','Signal Reconstruction'],[35,75;50,75;60,130])
add_line([sys,'/','Signal Reconstruction'],[110,130;150,130;150,165;230,165])
add_line([sys,'/','Signal Reconstruction'],[110,35;165,35;165,150;230,150])
add_line([sys,'/','Signal Reconstruction'],[150,130;150,95;395,95])
add_line([sys,'/','Signal Reconstruction'],[165,35;390,35])
add_line([sys,'/','Signal Reconstruction'],[50,75;60,35])
add_line([sys,'/','Signal Reconstruction'],[375,165;400,165])
set_param([sys,'/','Signal Reconstruction'],...
		'Mask Display','plot(sin([0.0:0.1:6.3]))')


%     Finished composite block 'Signal Reconstruction'.

set_param([sys,'/','Signal Reconstruction'],...
		'Drop Shadow',4,...
		'position',[425,154,485,206])

add_block('built-in/Clock',[sys,'/','Clock'])
set_param([sys,'/','Clock'],...
		'orientation',1,...
		'position',[520,80,540,100])

add_block('built-in/Mux',[sys,'/','Mux'])
set_param([sys,'/','Mux'],...
		'inputs','5',...
		'position',[565,98,605,172])

add_block('built-in/To Workspace',[sys,'/','To Workspace'])
set_param([sys,'/','To Workspace'],...
		'mat-name','yout',...
		'buffer','5000',...
		'position',[630,118,685,152])


%     Subsystem  'Estimator'.

new_system([sys,'/','Estimator'])
set_param([sys,'/','Estimator'],'Location',[14,110,696,615])

add_block('built-in/Outport',[sys,'/','Estimator/estimates_'])
set_param([sys,'/','Estimator/estimates_'],...
		'position',[615,110,635,130])

add_block('built-in/Gain',[sys,'/','Estimator/gain_a2'])
set_param([sys,'/','Estimator/gain_a2'],...
		'position',[405,130,430,160])

add_block('built-in/Integrator',[sys,'/','Estimator/int_a2'])
set_param([sys,'/','Estimator/int_a2'],...
		'position',[460,126,485,164])

add_block('built-in/Fcn',[sys,'/','Estimator/ns'])
set_param([sys,'/','Estimator/ns'],...
		'Expr','u(1)*u(1)+u(2)*u(2)',...
		'Mask Display','phi ''phi',...
		'position',[155,314,210,346])

add_block('built-in/Demux',[sys,'/','Estimator/Demux'])
set_param([sys,'/','Estimator/Demux'],...
		'outputs','2',...
		'position',[80,85,120,120])

add_block('built-in/Product',[sys,'/','Estimator/Product1'])
set_param([sys,'/','Estimator/Product1'],...
		'position',[340,127,370,158])

add_block('built-in/Gain',[sys,'/','Estimator/gain_a1'])
set_param([sys,'/','Estimator/gain_a1'],...
		'position',[405,65,430,95])

add_block('built-in/Product',[sys,'/','Estimator/Product'])
set_param([sys,'/','Estimator/Product'],...
		'position',[340,63,370,92])

add_block('built-in/Demux',[sys,'/','Estimator/Demux1'])
set_param([sys,'/','Estimator/Demux1'],...
		'outputs','2',...
		'position',[85,215,125,250])

add_block('built-in/Inport',[sys,'/','Estimator/z'])
set_param([sys,'/','Estimator/z'],...
		'position',[15,195,35,215])

add_block('built-in/Inport',[sys,'/','Estimator/phi'])
set_param([sys,'/','Estimator/phi'],...
		'Port','2',...
		'position',[15,245,35,265])

add_block('built-in/Transfer Fcn',[sys,'/','Estimator/W(s)'])
set_param([sys,'/','Estimator/W(s)'],...
		'Numerator','[2]',...
		'Denominator','[1 2]',...
		'position',[220,218,255,252])

add_block('built-in/Sum',[sys,'/','Estimator/Sum'])
set_param([sys,'/','Estimator/Sum'],...
		'inputs','+--',...
		'position',[290,218,315,252])

add_block('built-in/Transfer Fcn',[sys,'/','Estimator/W(s)_'])
set_param([sys,'/','Estimator/W(s)_'],...