example8.m

自适应控制的一些MATLAB例子

function [ret,x0,str,ts,xts]=example8(t,x,u,flag);
%EXAMPLE8	is the M-file description of the SIMULINK system named EXAMPLE8.
%	The block-diagram can be displayed by typing: EXAMPLE8.
%
%	SYS=EXAMPLE8(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 EXAMPLE8 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 EXAMPLE8 with a FLAG of zero:
%	[SIZES]=EXAMPLE8([],[],[],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',[8,58,736,591])
     open_system(sys)
end;
set_param(sys,'algorithm',     'RK-45')
set_param(sys,'Start time',    '0.0')
set_param(sys,'Stop time',     '20')
set_param(sys,'Min step size', '0.001')
set_param(sys,'Max step size', '10')
set_param(sys,'Relative error','1e-3')
set_param(sys,'Return vars',   '')
set_param(sys,'AssignWideVectorLines','on');

add_block('built-in/Constant',[sys,'/','mu'])
set_param([sys,'/','mu'],...
		'Value','0.25',...
		'position',[40,152,70,178])


%     Subsystem  'Plant Model'.

new_system([sys,'/','Plant Model'])
set_param([sys,'/','Plant Model'],'Location',[164,92,632,351])

add_block('built-in/Inport',[sys,'/','Plant Model/mu'])
set_param([sys,'/','Plant Model/mu'],...
		'Port','2',...
		'position',[10,122,35,148])

add_block('built-in/Inport',[sys,'/','Plant Model/u'])
set_param([sys,'/','Plant Model/u'],...
		'position',[10,47,35,73])

add_block('built-in/Outport',[sys,'/','Plant Model/y'])
set_param([sys,'/','Plant Model/y'],...
		'position',[440,57,465,83])


%     Subsystem  'Plant Model/Nominal Plant'.

new_system([sys,'/','Plant Model/Nominal Plant'])
set_param([sys,'/','Plant Model/Nominal Plant'],'Location',[105,234,431,373])

add_block('built-in/Integrator',[sys,'/','Plant Model/Nominal Plant/Integrator'])
set_param([sys,'/','Plant Model/Nominal Plant/Integrator'],...
		'Initial','1',...
		'position',[155,57,190,93])

add_block('built-in/Outport',[sys,'/','Plant Model/Nominal Plant/y'])
set_param([sys,'/','Plant Model/Nominal Plant/y'],...
		'position',[275,62,300,88])

add_block('built-in/Sum',[sys,'/','Plant Model/Nominal Plant/Sum'])
set_param([sys,'/','Plant Model/Nominal Plant/Sum'],...
		'position',[95,57,125,88])

add_block('built-in/Inport',[sys,'/','Plant Model/Nominal Plant/u+u_d'])
set_param([sys,'/','Plant Model/Nominal Plant/u+u_d'],...
		'position',[10,52,35,78])
add_line([sys,'/','Plant Model/Nominal Plant'],[195,75;205,75;205,120;60,120;60,80;90,80])
add_line([sys,'/','Plant Model/Nominal Plant'],[130,75;150,75])
add_line([sys,'/','Plant Model/Nominal Plant'],[40,65;90,65])
add_line([sys,'/','Plant Model/Nominal Plant'],[195,75;270,75])
set_param([sys,'/','Plant Model/Nominal Plant'],...
		'Mask Display','1/(s-a)')


%     Finished composite block 'Plant Model/Nominal Plant'.

set_param([sys,'/','Plant Model/Nominal Plant'],...
		'Drop Shadow',4,...
		'position',[325,48,405,92])

add_block('built-in/Sum',[sys,'/','Plant Model/Sum1'])
set_param([sys,'/','Plant Model/Sum1'],...
		'position',[265,52,290,83])


%     Subsystem  'Plant Model/Unmodeled Dynamics'.

new_system([sys,'/','Plant Model/Unmodeled Dynamics'])
set_param([sys,'/','Plant Model/Unmodeled Dynamics'],'Location',[508,114,1088,385])

add_block('built-in/Gain',[sys,'/','Plant Model/Unmodeled Dynamics/Gain'])
set_param([sys,'/','Plant Model/Unmodeled Dynamics/Gain'],...
		'orientation',2,...
		'position',[230,107,265,143])

add_block('built-in/Inport',[sys,'/','Plant Model/Unmodeled Dynamics/u'])
set_param([sys,'/','Plant Model/Unmodeled Dynamics/u'],...
		'position',[10,46,35,74])

add_block('built-in/Product',[sys,'/','Plant Model/Unmodeled Dynamics/Product'])
set_param([sys,'/','Plant Model/Unmodeled Dynamics/Product'],...
		'position',[205,55,230,90])

add_block('built-in/Sum',[sys,'/','Plant Model/Unmodeled Dynamics/Sum2'])
set_param([sys,'/','Plant Model/Unmodeled Dynamics/Sum2'],...
		'inputs','+-',...
		'position',[140,52,160,83])

add_block('built-in/Inport',[sys,'/','Plant Model/Unmodeled Dynamics/mu'])
set_param([sys,'/','Plant Model/Unmodeled Dynamics/mu'],...
		'Port','2',...
		'position',[10,96,35,124])

add_block('built-in/Gain',[sys,'/','Plant Model/Unmodeled Dynamics/Gain1'])
set_param([sys,'/','Plant Model/Unmodeled Dynamics/Gain1'],...
		'Gain','2',...
		'position',[65,44,95,76])

add_block('built-in/Fcn',[sys,'/','Plant Model/Unmodeled Dynamics/Fcn'])
set_param([sys,'/','Plant Model/Unmodeled Dynamics/Fcn'],...
		'Expr','1/u(1)',...
		'position',[65,97,115,123])

add_block('built-in/Outport',[sys,'/','Plant Model/Unmodeled Dynamics/u_d'])
set_param([sys,'/','Plant Model/Unmodeled Dynamics/u_d'],...
		'position',[520,56,545,84])

add_block('built-in/Sum',[sys,'/','Plant Model/Unmodeled Dynamics/Sum3'])
set_param([sys,'/','Plant Model/Unmodeled Dynamics/Sum3'],...
		'inputs','-+',...
		'position',[450,52,475,83])

add_block('built-in/Integrator',[sys,'/','Plant Model/Unmodeled Dynamics/Integrator1'])
set_param([sys,'/','Plant Model/Unmodeled Dynamics/Integrator1'],...
		'Initial','1',...
		'position',[290,57,315,93])
add_line([sys,'/','Plant Model/Unmodeled Dynamics'],[320,75;445,75])
add_line([sys,'/','Plant Model/Unmodeled Dynamics'],[235,75;285,75])
add_line([sys,'/','Plant Model/Unmodeled Dynamics'],[100,60;135,60])
add_line([sys,'/','Plant Model/Unmodeled Dynamics'],[225,125;125,125;135,75])
add_line([sys,'/','Plant Model/Unmodeled Dynamics'],[480,70;515,70])
add_line([sys,'/','Plant Model/Unmodeled Dynamics'],[435,75;380,75;380,125;270,125])
add_line([sys,'/','Plant Model/Unmodeled Dynamics'],[40,60;60,60])
add_line([sys,'/','Plant Model/Unmodeled Dynamics'],[165,70;180,70;180,65;200,65])
add_line([sys,'/','Plant Model/Unmodeled Dynamics'],[115,60;115,15;380,15;380,60;445,60])
add_line([sys,'/','Plant Model/Unmodeled Dynamics'],[40,110;60,110])
add_line([sys,'/','Plant Model/Unmodeled Dynamics'],[120,110;180,110;180,80;200,80])
set_param([sys,'/','Plant Model/Unmodeled Dynamics'],...
		'Mask Display','-2*mu*s/(1+mu*s)')


%     Finished composite block 'Plant Model/Unmodeled Dynamics'.

set_param([sys,'/','Plant Model/Unmodeled Dynamics'],...
		'Drop Shadow',4,...
		'position',[65,83,195,152])
add_line([sys,'/','Plant Model'],[410,70;435,70])
add_line([sys,'/','Plant Model'],[40,60;50,60;60,100])
add_line([sys,'/','Plant Model'],[295,70;320,70])
add_line([sys,'/','Plant Model'],[40,60;260,60])
add_line([sys,'/','Plant Model'],[200,120;200,75;260,75])
add_line([sys,'/','Plant Model'],[40,135;60,135])
set_param([sys,'/','Plant Model'],...
		'Mask Display','Plant')


%     Finished composite block 'Plant Model'.

set_param([sys,'/','Plant Model'],...
		'Drop Shadow',4,...
		'position',[150,125,225,180])

add_block('built-in/Scope',[sys,'/','Tracking error'])
set_param([sys,'/','Tracking error'],...
		'Vgain','10.000000',...
		'Hgain','20.000000',...
		'Vmax','20.000000',...
		'Hmax','40.000000',...
		'Window',[808,488,1088,708],...
		'position',[360,63,395,97])

add_block('built-in/Sum',[sys,'/','Sum'])
set_param([sys,'/','Sum'],...
		'inputs','-+',...
		'position',[270,62,300,98])


%     Subsystem  'Adaptive Law'.

new_system([sys,'/','Adaptive Law'])
set_param([sys,'/','Adaptive Law'],'Location',[4,58,688,567])


%     Subsystem  'Adaptive Law/Filters'.

new_system([sys,'/','Adaptive Law/Filters'])
set_param([sys,'/','Adaptive Law/Filters'],'Location',[91,80,542,377])

add_block('built-in/Transfer Fcn',[sys,'/','Adaptive Law/Filters/phi1 '])
set_param([sys,'/','Adaptive Law/Filters/phi1 '],...
		'Denominator','[1 2]',...
		'position',[85,7,120,43])

add_block('built-in/Outport',[sys,'/','Adaptive Law/Filters/phi_'])
set_param([sys,'/','Adaptive Law/Filters/phi_'],...
		'position',[270,60,290,80])

add_block('built-in/Inport',[sys,'/','Adaptive Law/Filters/u'])
set_param([sys,'/','Adaptive Law/Filters/u'],...
		'position',[35,15,55,35])

add_block('built-in/Inport',[sys,'/','Adaptive Law/Filters/y'])
set_param([sys,'/','Adaptive Law/Filters/y'],...
		'Port','2',...
		'position',[35,110,55,130])

add_block('built-in/Transfer Fcn',[sys,'/','Adaptive Law/Filters/phi2'])
set_param([sys,'/','Adaptive Law/Filters/phi2'],...
		'Numerator','[-1]',...
		'Denominator','[1 2]',...
		'position',[100,102,135,138])

add_block('built-in/Mux',[sys,'/','Adaptive Law/Filters/phi'])
set_param([sys,'/','Adaptive Law/Filters/phi'],...
		'inputs','2',...
		'position',[205,50,235,85])

add_block('built-in/Inport',[sys,'/','Adaptive Law/Filters/theta'])
set_param([sys,'/','Adaptive Law/Filters/theta'],...
		'Port','3',...
		'position',[40,195,60,215])

add_block('built-in/Demux',[sys,'/','Adaptive Law/Filters/Demux'])
set_param([sys,'/','Adaptive Law/Filters/Demux'],...
		'outputs','2',...
		'position',[120,185,160,220])

add_block('built-in/Transfer Fcn',[sys,'/','Adaptive Law/Filters/z '])
set_param([sys,'/','Adaptive Law/Filters/z '],...
		'Numerator','[ 1 0]',...
		'Denominator','[1 2]',...
		'position',[110,257,145,293])

add_block('built-in/Mux',[sys,'/','Adaptive Law/Filters/mux'])
set_param([sys,'/','Adaptive Law/Filters/mux'],...
		'inputs','5',...
		'position',[255,172,285,228])

add_block('built-in/Fcn',[sys,'/','Adaptive Law/Filters/Fcn'])
set_param([sys,'/','Adaptive Law/Filters/Fcn'],...
		'Expr','u(5)-u(1)*u(3)-u(2)*u(4)',...
		'position',[310,190,350,210])

add_block('built-in/Outport',[sys,'/','Adaptive Law/Filters/epsl'])
set_param([sys,'/','Adaptive Law/Filters/epsl'],...
		'Port','2',...
		'position',[390,190,410,210])
add_line([sys,'/','Adaptive Law/Filters'],[355,200;385,200])
add_line([sys,'/','Adaptive Law/Filters'],[290,200;305,200])
add_line([sys,'/','Adaptive Law/Filters'],[150,275;225,275;225,220;250,220])
add_line([sys,'/','Adaptive Law/Filters'],[165,210;250,210])
add_line([sys,'/','Adaptive Law/Filters'],[165,195;235,195;235,200;250,200])
add_line([sys,'/','Adaptive Law/Filters'],[140,120;235,120;235,190;250,190])
add_line([sys,'/','Adaptive Law/Filters'],[125,25;170,25;170,180;250,180])
add_line([sys,'/','Adaptive Law/Filters'],[60,120;75,120;75,275;105,275])
add_line([sys,'/','Adaptive Law/Filters'],[65,205;115,205])
add_line([sys,'/','Adaptive Law/Filters'],[240,70;265,70])
add_line([sys,'/','Adaptive Law/Filters'],[140,120;160,120;160,75;200,75])
add_line([sys,'/','Adaptive Law/Filters'],[125,25;170,25;170,60;200,60])
add_line([sys,'/','Adaptive Law/Filters'],[60,120;95,120])
add_line([sys,'/','Adaptive Law/Filters'],[60,25;80,25])
set_param([sys,'/','Adaptive Law/Filters'],...
		'Mask Display','phi\nepsilon')


%     Finished composite block 'Adaptive Law/Filters'.

set_param([sys,'/','Adaptive Law/Filters'],...
		'Drop Shadow',4,...
		'position',[80,130,150,190])

add_block('built-in/Fcn',[sys,'/','Adaptive Law/Fcn'])
set_param([sys,'/','Adaptive Law/Fcn'],...
		'orientation',2,...
		'Expr','u(1)-0.05',...
		'position',[445,180,485,200])

add_block('built-in/Gain',[sys,'/','Adaptive Law/Adapt_gain_'])
set_param([sys,'/','Adaptive Law/Adapt_gain_'],...
		'position',[395,229,425,261])

add_block('built-in/Inport',[sys,'/','Adaptive Law/u'])
set_param([sys,'/','Adaptive Law/u'],...
		'Port','2',...
		'position',[0,197,25,223])

add_block('built-in/Inport',[sys,'/','Adaptive Law/y'])
set_param([sys,'/','Adaptive Law/y'],...
		'position',[0,102,25,128])


%     Subsystem  'Adaptive Law/theta_dot'.

new_system([sys,'/','Adaptive Law/theta_dot'])
set_param([sys,'/','Adaptive Law/theta_dot'],'Location',[142,85,574,358])

add_block('built-in/Sum',[sys,'/','Adaptive Law/theta_dot/Sum'])
set_param([sys,'/','Adaptive Law/theta_dot/Sum'],...
		'inputs','-+',...
		'position',[280,62,315,98])

add_block('built-in/Product',[sys,'/','Adaptive Law/theta_dot/Product'])
set_param([sys,'/','Adaptive Law/theta_dot/Product'],...
		'inputs','3',...
		'position',[180,72,205,108])

add_block('built-in/Inport',[sys,'/','Adaptive Law/theta_dot/phi'])
set_param([sys,'/','Adaptive Law/theta_dot/phi'],...
		'Port','2',...
		'position',[20,20,50,50])

add_block('built-in/Inport',[sys,'/','Adaptive Law/theta_dot/epsilon'])
set_param([sys,'/','Adaptive Law/theta_dot/epsilon'],...
		'Port','3',...
		'position',[20,74,50,106])

add_block('built-in/Inport',[sys,'/','Adaptive Law/theta_dot/normalization'])
set_param([sys,'/','Adaptive Law/theta_dot/normalization'],...
		'Port','4',...
		'position',[20,139,50,171])

add_block('built-in/Outport',[sys,'/','Adaptive Law/theta_dot/theta_dot'])
set_param([sys,'/','Adaptive Law/theta_dot/theta_dot'],...
		'position',[355,64,385,96])

add_block('built-in/Inport',[sys,'/','Adaptive Law/theta_dot/sigma_switching'])
set_param([sys,'/','Adaptive Law/theta_dot/sigma_switching'],...
		'position',[175,5,205,35])
add_line([sys,'/','Adaptive Law/theta_dot'],[55,90;175,90])
add_line([sys,'/','Adaptive Law/theta_dot'],[320,80;350,80])
add_line([sys,'/','Adaptive Law/theta_dot'],[210,20;210,70;275,70])
add_line([sys,'/','Adaptive Law/theta_dot'],[210,90;275,90])
add_line([sys,'/','Adaptive Law/theta_dot'],[55,35;120,35;120,80;175,80])
add_line([sys,'/','Adaptive Law/theta_dot'],[55,155;120,155;120,100;175,100])
set_param([sys,'/','Adaptive Law/theta_dot'],...
		'Mask Display','theta_dot')


%     Finished composite block 'Adaptive Law/theta_dot'.

set_param([sys,'/','Adaptive Law/theta_dot'],...
		'Drop Shadow',4,...
		'position',[195,131,265,184])

add_block('built-in/Demux',[sys,'/','Adaptive Law/Demux'])
set_param([sys,'/','Adaptive Law/Demux'],...
		'outputs','2',...
		'position',[280,142,330,178])

add_block('built-in/Gain',[sys,'/','Adaptive Law/Adapt_gain'])
set_param([sys,'/','Adaptive Law/Adapt_gain'],...
		'position',[360,95,390,125])

add_block('built-in/Integrator',[sys,'/','Adaptive Law/est_b'])
set_param([sys,'/','Adaptive Law/est_b'],...