example8.m

自适应控制的一些MATLAB例子

		'Initial','2',...
		'position',[500,123,530,167])

add_block('built-in/Switch',[sys,'/','Adaptive Law/Switch'])
set_param([sys,'/','Adaptive Law/Switch'],...
		'position',[445,104,475,136])

add_block('built-in/Constant',[sys,'/','Adaptive Law/Constant'])
set_param([sys,'/','Adaptive Law/Constant'],...
		'Value','0',...
		'position',[405,145,425,165])

add_block('built-in/Mux',[sys,'/','Adaptive Law/Mux1'])
set_param([sys,'/','Adaptive Law/Mux1'],...
		'inputs','2',...
		'position',[565,170,595,205])

add_block('built-in/Outport',[sys,'/','Adaptive Law/theta'])
set_param([sys,'/','Adaptive Law/theta'],...
		'position',[645,177,670,203])


%     Subsystem  'Adaptive Law/Normalization'.

new_system([sys,'/','Adaptive Law/Normalization'])
set_param([sys,'/','Adaptive Law/Normalization'],'Location',[41,79,584,335])

add_block('built-in/Fcn',[sys,'/','Adaptive Law/Normalization/Fcn'])
set_param([sys,'/','Adaptive Law/Normalization/Fcn'],...
		'Expr','u(1)*u(1)+u(2)*u(2)',...
		'position',[130,49,185,81])

add_block('built-in/Sum',[sys,'/','Adaptive Law/Normalization/Sum2'])
set_param([sys,'/','Adaptive Law/Normalization/Sum2'],...
		'inputs','+-',...
		'position',[220,57,240,88])

add_block('built-in/Mux',[sys,'/','Adaptive Law/Normalization/Mux'])
set_param([sys,'/','Adaptive Law/Normalization/Mux'],...
		'inputs','2',...
		'position',[70,46,100,79])

add_block('built-in/Inport',[sys,'/','Adaptive Law/Normalization/u'])
set_param([sys,'/','Adaptive Law/Normalization/u'],...
		'position',[5,7,30,33])

add_block('built-in/Inport',[sys,'/','Adaptive Law/Normalization/y'])
set_param([sys,'/','Adaptive Law/Normalization/y'],...
		'Port','2',...
		'position',[5,87,30,113])

add_block('built-in/Integrator',[sys,'/','Adaptive Law/Normalization/Integrator1'])
set_param([sys,'/','Adaptive Law/Normalization/Integrator1'],...
		'position',[265,50,290,100])

add_block('built-in/Outport',[sys,'/','Adaptive Law/Normalization/1//m'])
set_param([sys,'/','Adaptive Law/Normalization/1//m'],...
		'position',[485,62,510,88])

add_block('built-in/Fcn',[sys,'/','Adaptive Law/Normalization/Fcn1'])
set_param([sys,'/','Adaptive Law/Normalization/Fcn1'],...
		'Expr','1/(1+u(1))',...
		'Mask Display','1/(1+m*m)',...
		'position',[335,53,425,97])
add_line([sys,'/','Adaptive Law/Normalization'],[430,75;480,75])
add_line([sys,'/','Adaptive Law/Normalization'],[295,75;330,75])
add_line([sys,'/','Adaptive Law/Normalization'],[245,75;260,75])
add_line([sys,'/','Adaptive Law/Normalization'],[190,65;215,65])
add_line([sys,'/','Adaptive Law/Normalization'],[315,75;315,140;190,140;190,80;215,80])
add_line([sys,'/','Adaptive Law/Normalization'],[105,65;125,65])
add_line([sys,'/','Adaptive Law/Normalization'],[35,20;50,20;50,55;65,55])
add_line([sys,'/','Adaptive Law/Normalization'],[35,100;50,100;50,70;65,70])
set_param([sys,'/','Adaptive Law/Normalization'],...
		'Mask Display','Normalization')


%     Finished composite block 'Adaptive Law/Normalization'.

set_param([sys,'/','Adaptive Law/Normalization'],...
		'Drop Shadow',4,...
		'position',[75,290,175,345])

add_block('built-in/Integrator',[sys,'/','Adaptive Law/est_a'])
set_param([sys,'/','Adaptive Law/est_a'],...
		'Initial','-2',...
		'position',[480,224,510,266])


%     Subsystem  'Adaptive Law/Modification'.

new_system([sys,'/','Adaptive Law/Modification'])
set_param([sys,'/','Adaptive Law/Modification'],'Location',[47,69,594,333])

add_block('built-in/Product',[sys,'/','Adaptive Law/Modification/Product'])
set_param([sys,'/','Adaptive Law/Modification/Product'],...
		'position',[395,47,430,83])

add_block('built-in/Inport',[sys,'/','Adaptive Law/Modification/theta'])
set_param([sys,'/','Adaptive Law/Modification/theta'],...
		'position',[20,59,50,91])

add_block('built-in/Switch',[sys,'/','Adaptive Law/Modification/Switch'])
set_param([sys,'/','Adaptive Law/Modification/Switch'],...
		'position',[305,94,330,126])

add_block('built-in/Fcn',[sys,'/','Adaptive Law/Modification/Fcn'])
set_param([sys,'/','Adaptive Law/Modification/Fcn'],...
		'Expr','400-u(1)*u(1)-u(2)*u(2)',...
		'position',[170,94,225,126])

add_block('built-in/Fcn',[sys,'/','Adaptive Law/Modification/Fcn1'])
set_param([sys,'/','Adaptive Law/Modification/Fcn1'],...
		'Expr','0.2*(sqrt(u(1)*u(1)+u(2)*u(2))/20-1)',...
		'position',[170,139,225,171])

add_block('built-in/Constant',[sys,'/','Adaptive Law/Modification/no_modification'])
set_param([sys,'/','Adaptive Law/Modification/no_modification'],...
		'Value','0',...
		'position',[170,34,220,66])

add_block('built-in/Outport',[sys,'/','Adaptive Law/Modification/switching_theta'])
set_param([sys,'/','Adaptive Law/Modification/switching_theta'],...
		'position',[490,50,520,80])
add_line([sys,'/','Adaptive Law/Modification'],[230,110;300,110])
add_line([sys,'/','Adaptive Law/Modification'],[225,50;275,50;275,100;300,100])
add_line([sys,'/','Adaptive Law/Modification'],[230,155;275,155;275,120;300,120])
add_line([sys,'/','Adaptive Law/Modification'],[55,75;95,75;95,110;165,110])
add_line([sys,'/','Adaptive Law/Modification'],[95,105;95,155;165,155])
add_line([sys,'/','Adaptive Law/Modification'],[335,110;365,110;365,75;390,75])
add_line([sys,'/','Adaptive Law/Modification'],[95,75;95,20;365,20;365,55;390,55])
add_line([sys,'/','Adaptive Law/Modification'],[435,65;485,65])
set_param([sys,'/','Adaptive Law/Modification'],...
		'Mask Display','Switching-Sigma')


%     Finished composite block 'Adaptive Law/Modification'.

set_param([sys,'/','Adaptive Law/Modification'],...
		'orientation',2,...
		'Drop Shadow',4,...
		'position',[220,25,355,95])
add_line([sys,'/','Adaptive Law'],[430,245;475,245])
add_line([sys,'/','Adaptive Law'],[215,60;180,60;190,135])
add_line([sys,'/','Adaptive Law'],[30,115;55,115;55,160;75,160])
add_line([sys,'/','Adaptive Law'],[270,160;275,160])
add_line([sys,'/','Adaptive Law'],[535,145;535,190;490,190])
add_line([sys,'/','Adaptive Law'],[440,190;395,190;395,120;440,120])
add_line([sys,'/','Adaptive Law'],[430,155;440,130])
add_line([sys,'/','Adaptive Law'],[335,150;345,150;355,110])
add_line([sys,'/','Adaptive Law'],[155,175;180,175;190,165])
add_line([sys,'/','Adaptive Law'],[155,145;180,145;190,150])
add_line([sys,'/','Adaptive Law'],[535,145;550,145;560,180])
add_line([sys,'/','Adaptive Law'],[515,245;550,245;560,195])
add_line([sys,'/','Adaptive Law'],[30,210;45,210;45,140;75,140])
add_line([sys,'/','Adaptive Law'],[45,210;45,330;70,330])
add_line([sys,'/','Adaptive Law'],[180,320;190,180])
add_line([sys,'/','Adaptive Law'],[335,170;345,170;345,245;390,245])
add_line([sys,'/','Adaptive Law'],[395,110;440,110])
add_line([sys,'/','Adaptive Law'],[600,190;640,190])
add_line([sys,'/','Adaptive Law'],[615,190;615,60;360,60])
add_line([sys,'/','Adaptive Law'],[615,190;615,285;65,285;75,180])
add_line([sys,'/','Adaptive Law'],[480,120;485,120;495,145])
add_line([sys,'/','Adaptive Law'],[55,160;70,305])
set_param([sys,'/','Adaptive Law'],...
		'Mask Display','Adaptation')


%     Finished composite block 'Adaptive Law'.

set_param([sys,'/','Adaptive Law'],...
		'Drop Shadow',4,...
		'position',[345,124,455,186])


%     Subsystem  'Controller'.

new_system([sys,'/','Controller'])
set_param([sys,'/','Controller'],'Location',[4,58,534,353])

add_block('built-in/Inport',[sys,'/','Controller/p0'])
set_param([sys,'/','Controller/p0'],...
		'Port','3',...
		'position',[30,172,55,198])

add_block('built-in/Gain',[sys,'/','Controller/Gain'])
set_param([sys,'/','Controller/Gain'],...
		'Gain','2',...
		'position',[145,157,175,183])

add_block('built-in/Sum',[sys,'/','Controller/Sum1'])
set_param([sys,'/','Controller/Sum1'],...
		'inputs','-+',...
		'position',[205,161,230,194])

add_block('built-in/Transfer Fcn',[sys,'/','Controller/Transfer Fcn1'])
set_param([sys,'/','Controller/Transfer Fcn1'],...
		'Denominator','[1 2]',...
		'position',[180,72,215,108])

add_block('built-in/Product',[sys,'/','Controller/Product1'])
set_param([sys,'/','Controller/Product1'],...
		'position',[275,92,305,123])

add_block('built-in/Transfer Fcn',[sys,'/','Controller/Transfer Fcn'])
set_param([sys,'/','Controller/Transfer Fcn'],...
		'orientation',2,...
		'Numerator','[2]',...
		'Denominator','[1 2]',...
		'position',[360,147,395,183])

add_block('built-in/Outport',[sys,'/','Controller/out_1'])
set_param([sys,'/','Controller/out_1'],...
		'position',[465,96,490,124])

add_block('built-in/Inport',[sys,'/','Controller/p1'])
set_param([sys,'/','Controller/p1'],...
		'Port','2',...
		'position',[30,97,55,123])

add_block('built-in/Sum',[sys,'/','Controller/Sum'])
set_param([sys,'/','Controller/Sum'],...
		'inputs','--+',...
		'position',[365,92,385,128])

add_block('built-in/Product',[sys,'/','Controller/Product'])
set_param([sys,'/','Controller/Product'],...
		'position',[185,24,215,51])

add_block('built-in/Inport',[sys,'/','Controller/error'])
set_param([sys,'/','Controller/error'],...
		'position',[30,17,55,43])
add_line([sys,'/','Controller'],[390,110;460,110])
add_line([sys,'/','Controller'],[390,110;435,110;435,165;400,165])
add_line([sys,'/','Controller'],[355,165;320,165;320,120;360,120])
add_line([sys,'/','Controller'],[60,30;180,30])
add_line([sys,'/','Controller'],[60,110;150,110;150,45;180,45])
add_line([sys,'/','Controller'],[60,185;200,185])
add_line([sys,'/','Controller'],[180,170;200,170])
add_line([sys,'/','Controller'],[220,40;340,40;340,100;360,100])
add_line([sys,'/','Controller'],[310,110;360,110])
add_line([sys,'/','Controller'],[125,30;125,90;175,90])
add_line([sys,'/','Controller'],[125,110;125,170;140,170])
add_line([sys,'/','Controller'],[220,90;250,90;250,100;270,100])
add_line([sys,'/','Controller'],[235,180;250,180;250,115;270,115])
set_param([sys,'/','Controller'],...
		'Mask Display','Controller')


%     Finished composite block 'Controller'.

set_param([sys,'/','Controller'],...
		'orientation',2,...
		'Drop Shadow',4,...
		'position',[190,239,265,291])


%     Subsystem  'C-parameters'.

new_system([sys,'/','C-parameters'])
set_param([sys,'/','C-parameters'],'Location',[239,163,576,360])

add_block('built-in/Outport',[sys,'/','C-parameters/p_0'])
set_param([sys,'/','C-parameters/p_0'],...
		'Port','2',...
		'position',[275,109,305,141])

add_block('built-in/Fcn',[sys,'/','C-parameters/Fcn1'])
set_param([sys,'/','C-parameters/Fcn1'],...
		'Expr','1/u(1)',...
		'position',[185,109,240,141])

add_block('built-in/Fcn',[sys,'/','C-parameters/Fcn'])
set_param([sys,'/','C-parameters/Fcn'],...
		'Expr','(2-u(2))/u(1)',...
		'position',[185,52,240,88])

add_block('built-in/Outport',[sys,'/','C-parameters/p1'])
set_param([sys,'/','C-parameters/p1'],...
		'position',[275,54,305,86])

add_block('built-in/Inport',[sys,'/','C-parameters/theta'])
set_param([sys,'/','C-parameters/theta'],...
		'position',[60,79,90,111])
add_line([sys,'/','C-parameters'],[245,70;270,70])
add_line([sys,'/','C-parameters'],[245,125;270,125])
add_line([sys,'/','C-parameters'],[95,95;140,95;140,125;180,125])
add_line([sys,'/','C-parameters'],[140,95;140,70;180,70])
set_param([sys,'/','C-parameters'],...
		'Mask Display','Controller\nparameter\ncalculation')


%     Finished composite block 'C-parameters'.

set_param([sys,'/','C-parameters'],...
		'orientation',2,...
		'Drop Shadow',4,...
		'position',[350,235,455,295])

add_block('built-in/To Workspace',[sys,'/','To Workspace'])
set_param([sys,'/','To Workspace'],...
		'mat-name','yout',...
		'position',[535,88,605,122])

add_block('built-in/Mux',[sys,'/','Mux'])
set_param([sys,'/','Mux'],...
		'inputs','2',...
		'position',[470,85,500,125])

add_block('built-in/Clock',[sys,'/','Clock'])
set_param([sys,'/','Clock'],...
		'orientation',1,...
		'position',[445,25,465,45])


%     Subsystem  'Text'.

new_system([sys,'/','Text'])
set_param([sys,'/','Text'],'Location',[169,65,608,511])

add_block('built-in/Note',[sys,'/',['Text/3) The parameter for the switching-sigmal modification',13,'in the Adaptation//Modification block']])
set_param([sys,'/',['Text/3) The parameter for the switching-sigmal modification',13,'in the Adaptation//Modification block']],...
		'position',[200,330,205,335])

add_block('built-in/Note',[sys,'/',['Text/2) The normalization parameter in the Adaptation//Normalization',13,'block']])
set_param([sys,'/',['Text/2) The normalization parameter in the Adaptation//Normalization',13,'block']],...
		'position',[230,290,235,295])

add_block('built-in/Note',[sys,'/','Text/1) The adaptive gains in the Adaptation block'])
set_param([sys,'/','Text/1) The adaptive gains in the Adaptation block'],...
		'position',[170,260,175,265])

add_block('built-in/Note',[sys,'/',['Text/You can also change the following parameters',13,' of the adaptive controller to see how they affect',13,'the overall control performance:',13,'']])
set_param([sys,'/',['Text/You can also change the following parameters',13,' of the adaptive controller to see how they affect',13,'the overall control performance:',13,'']],...
		'position',[180,190,185,195])

add_block('built-in/Note',[sys,'/',['Text/To see the effects of unmodeled dynamics on the ',13,'performance of the closed loop adaptive control ',13,'scheme, change the parameter mu']])
set_param([sys,'/',['Text/To see the effects of unmodeled dynamics on the ',13,'performance of the closed loop adaptive control ',13,'scheme, change the parameter mu']],...
		'position',[185,130,190,135])

add_block('built-in/Note',[sys,'/',['Text/The switching sigma modification and projection',13,'algorithm are used. Please refer to Chapter 9',13,'of the textbook for details of the problem and algorithm.']])
set_param([sys,'/',['Text/The switching sigma modification and projection',13,'algorithm are used. Please refer to Chapter 9',13,'of the textbook for details of the problem and algorithm.']],...
		'position',[195,70,200,75])

add_block('built-in/Note',[sys,'/',['Text/This program simulates the robust pole placement',13,'adaptive control scheme for a first order plant with',13,'unmodeled dynamics discussed in Example 9.5.1.',13,' ']])
set_param([sys,'/',['Text/This program simulates the robust pole placement',13,'adaptive control scheme for a first order plant with',13,'unmodeled dynamics discussed in Example 9.5.1.',13,' ']],...
		'position',[195,0,200,5])
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',[432,332,575,411])

add_block('built-in/Constant',[sys,'/','Tracking Sigmal'])
set_param([sys,'/','Tracking Sigmal'],...
		'Mask Display','Constant',...
		'position',[40,46,115,94])
add_line(sys,[185,265;110,265;110,140;145,140])
add_line(sys,[460,155;470,155;460,265])
add_line(sys,[455,50;465,95])
add_line(sys,[505,105;530,105])
add_line(sys,[120,70;265,70])
add_line(sys,[75,165;145,165])
add_line(sys,[305,80;355,80])
add_line(sys,[315,80;315,250;270,250])
add_line(sys,[230,155;305,155;305,140;340,140])
add_line(sys,[110,195;305,195;305,170;340,170])
add_line(sys,[250,155;250,90;265,90])
add_line(sys,[345,250;325,250;325,265;270,265])
add_line(sys,[345,280;270,280])
add_line(sys,[305,140;305,115;465,115])

drawnow

% 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,ts,xts]=',sys,'(t,x,u,flag);'])
		else
			eval(['ret =', sys,'(t,x,u,flag);'])
		end
	else
		[ret,x0,str,ts,xts] = feval(sys);
	end
else
	drawnow % Flash up the model and execute load callback
end