exampl10.m

自适应控制的一些MATLAB例子

function [ret,x0,str,ts,xts]=exampl10(t,x,u,flag);
%EXAMPL10	is the M-file description of the SIMULINK system named EXAMPL10.
%	The block-diagram can be displayed by typing: EXAMPL10.
%
%	SYS=EXAMPL10(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 EXAMPL10 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 EXAMPL10 with a FLAG of zero:
%	[SIZES]=EXAMPL10([],[],[],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',[4,58,776,655])
     open_system(sys)
end;
set_param(sys,'algorithm',     'RK-45')
set_param(sys,'Start time',    '0.0')
set_param(sys,'Stop time',     '10000')
set_param(sys,'Min step size', '0.01')
set_param(sys,'Max step size', '10')
set_param(sys,'Relative error','1e-2')
set_param(sys,'Return vars',   '')
set_param(sys,'AssignWideVectorLines','on');

add_block('built-in/Sum',[sys,'/','Sum1'])
set_param([sys,'/','Sum1'],...
		'position',[125,147,150,178])


%     Subsystem  'Controller'.

new_system([sys,'/','Controller'])
set_param([sys,'/','Controller'],'Location',[87,58,620,394])

add_block('built-in/Inport',[sys,'/','Controller/theta'])
set_param([sys,'/','Controller/theta'],...
		'position',[15,37,40,63])

add_block('built-in/Inport',[sys,'/','Controller/omega'])
set_param([sys,'/','Controller/omega'],...
		'Port','2',...
		'position',[15,111,40,139])

add_block('built-in/Demux',[sys,'/','Controller/Demux1'])
set_param([sys,'/','Controller/Demux1'],...
		'outputs','2',...
		'position',[75,106,115,139])

add_block('built-in/Demux',[sys,'/','Controller/Demux'])
set_param([sys,'/','Controller/Demux'],...
		'outputs','2',...
		'position',[75,31,115,64])

add_block('built-in/Mux',[sys,'/','Controller/Mux'])
set_param([sys,'/','Controller/Mux'],...
		'position',[220,57,250,103])

add_block('built-in/Fcn',[sys,'/','Controller/theta*omega'])
set_param([sys,'/','Controller/theta*omega'],...
		'Expr','u(1)*u(3)+u(2)*u(4)',...
		'position',[290,67,340,93])

add_block('built-in/Inport',[sys,'/','Controller/epsilon'])
set_param([sys,'/','Controller/epsilon'],...
		'Port','3',...
		'position',[15,181,40,209])

add_block('built-in/Transfer Fcn',[sys,'/','Controller/(s+1)//(tau*s)'])
set_param([sys,'/','Controller/(s+1)//(tau*s)'],...
		'Numerator','[1 1]',...
		'Denominator','[0.5 0]',...
		'position',[105,172,165,218])

add_block('built-in/Gain',[sys,'/','Controller/Gain'])
set_param([sys,'/','Controller/Gain'],...
		'position',[225,177,260,213])

add_block('built-in/Sum',[sys,'/','Controller/Sum'])
set_param([sys,'/','Controller/Sum'],...
		'inputs','+-',...
		'position',[390,127,420,163])

add_block('built-in/Outport',[sys,'/','Controller/u'])
set_param([sys,'/','Controller/u'],...
		'position',[490,131,515,159])
add_line([sys,'/','Controller'],[255,80;285,80])
add_line([sys,'/','Controller'],[45,50;70,50])
add_line([sys,'/','Controller'],[45,125;70,125])
add_line([sys,'/','Controller'],[120,40;195,40;195,65;215,65])
add_line([sys,'/','Controller'],[120,55;185,55;185,75;215,75])
add_line([sys,'/','Controller'],[120,115;185,115;185,85;215,85])
add_line([sys,'/','Controller'],[120,130;195,130;195,95;215,95])
add_line([sys,'/','Controller'],[45,195;100,195])
add_line([sys,'/','Controller'],[170,195;220,195])
add_line([sys,'/','Controller'],[345,80;365,80;365,135;385,135])
add_line([sys,'/','Controller'],[265,195;365,195;365,155;385,155])
add_line([sys,'/','Controller'],[425,145;485,145])
set_param([sys,'/','Controller'],...
		'Mask Display','Controller\n(Modified MRAC)')


%     Finished composite block 'Controller'.

set_param([sys,'/','Controller'],...
		'orientation',2,...
		'Drop Shadow',4,...
		'position',[125,227,260,293])


%     Subsystem  'Plant Model'.

new_system([sys,'/','Plant Model'])
set_param([sys,'/','Plant Model'],'Location',[131,119,495,333])

add_block('built-in/Outport',[sys,'/','Plant Model/y'])
set_param([sys,'/','Plant Model/y'],...
		'position',[290,72,315,98])

add_block('built-in/Sum',[sys,'/','Plant Model/Sum'])
set_param([sys,'/','Plant Model/Sum'],...
		'position',[120,67,140,103])

add_block('built-in/Inport',[sys,'/','Plant Model/u+d'])
set_param([sys,'/','Plant Model/u+d'],...
		'position',[15,62,40,88])

add_block('built-in/Integrator',[sys,'/','Plant Model/Integrator'])
set_param([sys,'/','Plant Model/Integrator'],...
		'position',[170,60,205,110])
add_line([sys,'/','Plant Model'],[145,85;165,85])
add_line([sys,'/','Plant Model'],[210,85;235,85;235,155;80,155;80,95;115,95])
add_line([sys,'/','Plant Model'],[235,85;285,85])
add_line([sys,'/','Plant Model'],[45,75;115,75])
set_param([sys,'/','Plant Model'],...
		'Mask Display','Plant')


%     Finished composite block 'Plant Model'.

set_param([sys,'/','Plant Model'],...
		'Drop Shadow',4,...
		'position',[160,138,245,192])

add_block('built-in/Transfer Fcn',[sys,'/','Reference Model'])
set_param([sys,'/','Reference Model'],...
		'Denominator','[1 1]',...
		'position',[300,15,365,65])


%     Subsystem  'Adaptive Law'.

new_system([sys,'/','Adaptive Law'])
set_param([sys,'/','Adaptive Law'],'Location',[71,83,590,256])

add_block('built-in/Inport',[sys,'/','Adaptive Law/epsilon'])
set_param([sys,'/','Adaptive Law/epsilon'],...
		'position',[15,27,40,53])

add_block('built-in/Product',[sys,'/','Adaptive Law/Product'])
set_param([sys,'/','Adaptive Law/Product'],...
		'position',[80,65,105,85])

add_block('built-in/Demux',[sys,'/','Adaptive Law/Demux'])
set_param([sys,'/','Adaptive Law/Demux'],...
		'outputs','2',...
		'position',[140,56,180,89])

add_block('built-in/Integrator',[sys,'/','Adaptive Law/Integrator1'])
set_param([sys,'/','Adaptive Law/Integrator1'],...
		'position',[330,87,360,133])

add_block('built-in/Gain',[sys,'/','Adaptive Law/Gain1'])
set_param([sys,'/','Adaptive Law/Gain1'],...
		'Gain','-10',...
		'position',[240,94,270,126])

add_block('built-in/Gain',[sys,'/','Adaptive Law/Gain'])
set_param([sys,'/','Adaptive Law/Gain'],...
		'Gain','-10',...
		'position',[240,19,275,51])

add_block('built-in/Integrator',[sys,'/','Adaptive Law/Integrator'])
set_param([sys,'/','Adaptive Law/Integrator'],...
		'position',[330,14,360,56])

add_block('built-in/Mux',[sys,'/','Adaptive Law/Mux'])
set_param([sys,'/','Adaptive Law/Mux'],...
		'inputs','2',...
		'position',[410,56,440,89])

add_block('built-in/Outport',[sys,'/','Adaptive Law/theta'])
set_param([sys,'/','Adaptive Law/theta'],...
		'position',[480,62,505,88])

add_block('built-in/Inport',[sys,'/','Adaptive Law/omega'])