example7.m

自适应控制的一些MATLAB例子

function [ret,x0,str,ts,xts]=example7(t,x,u,flag);
%EXAMPLE7	is the M-file description of the SIMULINK system named EXAMPLE7.
%	The block-diagram can be displayed by typing: EXAMPLE7.
%
%	SYS=EXAMPLE7(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 EXAMPLE7 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 EXAMPLE7 with a FLAG of zero:
%	[SIZES]=EXAMPLE7([],[],[],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',[5,58,704,519])
     open_system(sys)
end;
set_param(sys,'algorithm',     'RK-45')
set_param(sys,'Start time',    '0.0')
set_param(sys,'Stop time',     '50')
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','0.2',...
		'position',[20,129,50,161])


%     Subsystem  'Text'.

new_system([sys,'/','Text'])
set_param([sys,'/','Text'],'Location',[181,87,640,471])

add_block('built-in/Note',[sys,'/',['Text/3) the normalization parameter in the Adaptation//Normalizaton',13,'block ']])
set_param([sys,'/',['Text/3) the normalization parameter in the Adaptation//Normalizaton',13,'block ']],...
		'position',[220,260,225,265])

add_block('built-in/Note',[sys,'/',['Text/2) the switching_sigma in the Adaptation//Modification',13,'block']])
set_param([sys,'/',['Text/2) the switching_sigma in the Adaptation//Modification',13,'block']],...
		'position',[190,220,195,225])

add_block('built-in/Note',[sys,'/','Text/1) the adaptive gain in the Adaptation block'])
set_param([sys,'/','Text/1) the adaptive gain in the Adaptation block'],...
		'position',[155,180,160,185])

add_block('built-in/Note',[sys,'/',['Text/To see how the parameters in the adaptive controller',13,'affect the system performance, one can change ']])
set_param([sys,'/',['Text/To see how the parameters in the adaptive controller',13,'affect the system performance, one can change ']],...
		'position',[195,130,200,135])

add_block('built-in/Note',[sys,'/',['Text/To see the effects of unmodeled dynamics on the',13,'adaptive control performance, change mu in the ',13,'contant block marked with mu.',13,' ']])
set_param([sys,'/',['Text/To see the effects of unmodeled dynamics on the',13,'adaptive control performance, change mu in the ',13,'contant block marked with mu.',13,' ']],...
		'position',[190,75,195,80])

add_block('built-in/Note',[sys,'/',['Text/This program simulates the robust model reference',13,'adaptive control scheme discussed in Example 9.3.2.',13,'Please refer to Chapter 9 for more details of the ',13,'problem and algorithm']])
set_param([sys,'/',['Text/This program simulates the robust model reference',13,'adaptive control scheme discussed in Example 9.3.2.',13,'Please refer to Chapter 9 for more details of the ',13,'problem and algorithm']],...
		'position',[190,0,195,5])
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',[435,302,575,386])

add_block('built-in/To Workspace',[sys,'/','To Workspace'])
set_param([sys,'/','To Workspace'],...
		'mat-name','yout',...
		'position',[550,168,605,192])

add_block('built-in/Mux',[sys,'/','Mux'])
set_param([sys,'/','Mux'],...
		'inputs','3',...
		'position',[480,164,510,196])

add_block('built-in/Clock',[sys,'/','Clock'])
set_param([sys,'/','Clock'],...
		'orientation',1,...
		'position',[455,130,475,150])

add_block('built-in/Scope',[sys,'/','y'])
set_param([sys,'/','y'],...
		'Vgain','1.000000',...
		'Hgain','50.000000',...
		'Vmax','2.000000',...
		'Hmax','100.000000',...
		'Window',[864,440,1186,820],...
		'position',[270,65,305,105])


%     Subsystem  'Controller'.

new_system([sys,'/','Controller'])
set_param([sys,'/','Controller'],'Location',[119,140,486,365])

add_block('built-in/Inport',[sys,'/','Controller/y'])
set_param([sys,'/','Controller/y'],...
		'position',[35,27,60,53])

add_block('built-in/Outport',[sys,'/','Controller/u'])
set_param([sys,'/','Controller/u'],...
		'position',[300,62,325,88])

add_block('built-in/Gain',[sys,'/','Controller/Gain'])
set_param([sys,'/','Controller/Gain'],...
		'Gain','-1',...
		'position',[225,59,260,91])

add_block('built-in/Product',[sys,'/','Controller/theta*y'])
set_param([sys,'/','Controller/theta*y'],...
		'position',[130,57,175,88])

add_block('built-in/Inport',[sys,'/','Controller/theta'])
set_param([sys,'/','Controller/theta'],...
		'Port','2',...
		'position',[35,92,60,118])
add_line([sys,'/','Controller'],[180,75;220,75])
add_line([sys,'/','Controller'],[265,75;295,75])
add_line([sys,'/','Controller'],[65,40;105,40;105,65;125,65])
add_line([sys,'/','Controller'],[65,105;105,105;105,80;125,80])
set_param([sys,'/','Controller'],...
		'Mask Display','Controller\nu=-theta*y')


%     Finished composite block 'Controller'.

set_param([sys,'/','Controller'],...
		'orientation',2,...
		'Drop Shadow',4,...
		'position',[130,196,220,254])


%     Subsystem  'Adaptive Law'.

new_system([sys,'/','Adaptive Law'])
set_param([sys,'/','Adaptive Law'],'Location',[47,58,728,479])

add_block('built-in/Product',[sys,'/','Adaptive Law/Product1'])
set_param([sys,'/','Adaptive Law/Product1'],...
		'inputs','3',...
		'position',[305,127,330,163])

add_block('built-in/Sum',[sys,'/','Adaptive Law/Sum2'])
set_param([sys,'/','Adaptive Law/Sum2'],...
		'inputs','-+',...
		'position',[355,122,380,153])


%     Subsystem  'Adaptive Law/Switching_sigma'.

new_system([sys,'/','Adaptive Law/Switching_sigma'])
set_param([sys,'/','Adaptive Law/Switching_sigma'],'Location',[54,130,506,460])

add_block('built-in/Switch',[sys,'/','Adaptive Law/Switching_sigma/switching_sigma'])
set_param([sys,'/','Adaptive Law/Switching_sigma/switching_sigma'],...
		'position',[205,59,245,101])

add_block('built-in/Inport',[sys,'/','Adaptive Law/Switching_sigma/theta'])
set_param([sys,'/','Adaptive Law/Switching_sigma/theta'],...
		'position',[0,64,30,96])

add_block('built-in/Fcn',[sys,'/','Adaptive Law/Switching_sigma/theta_norm'])
set_param([sys,'/','Adaptive Law/Switching_sigma/theta_norm'],...
		'Expr','25-u(1)*u(1)',...
		'position',[75,67,120,93])

add_block('built-in/Constant',[sys,'/','Adaptive Law/Switching_sigma/no_modification'])
set_param([sys,'/','Adaptive Law/Switching_sigma/no_modification'],...
		'Value','0',...
		'position',[80,9,110,41])

add_block('built-in/Fcn',[sys,'/','Adaptive Law/Switching_sigma/sigma_s'])
set_param([sys,'/','Adaptive Law/Switching_sigma/sigma_s'],...
		'Expr','0.2*(u(1)/5-1)',...
		'position',[75,136,120,164])

add_block('built-in/Outport',[sys,'/','Adaptive Law/Switching_sigma/Modification'])
set_param([sys,'/','Adaptive Law/Switching_sigma/Modification'],...
		'position',[390,74,420,106])

add_block('built-in/Product',[sys,'/','Adaptive Law/Switching_sigma/Product2'])
set_param([sys,'/','Adaptive Law/Switching_sigma/Product2'],...
		'position',[310,72,340,108])
add_line([sys,'/','Adaptive Law/Switching_sigma'],[250,80;305,80])
add_line([sys,'/','Adaptive Law/Switching_sigma'],[125,80;200,80])
add_line([sys,'/','Adaptive Law/Switching_sigma'],[345,90;385,90])
add_line([sys,'/','Adaptive Law/Switching_sigma'],[35,80;70,80])
add_line([sys,'/','Adaptive Law/Switching_sigma'],[115,25;170,25;170,65;200,65])
add_line([sys,'/','Adaptive Law/Switching_sigma'],[125,150;170,150;170,95;200,95])
add_line([sys,'/','Adaptive Law/Switching_sigma'],[50,80;50,150;70,150])
add_line([sys,'/','Adaptive Law/Switching_sigma'],[50,150;50,185;270,185;270,100;305,100])
set_param([sys,'/','Adaptive Law/Switching_sigma'],...
		'Mask Display','Modification')


%     Finished composite block 'Adaptive Law/Switching_sigma'.

set_param([sys,'/','Adaptive Law/Switching_sigma'],...
		'orientation',2,...
		'Drop Shadow',4,...
		'position',[390,35,490,95])

add_block('built-in/Inport',[sys,'/','Adaptive Law/y'])
set_param([sys,'/','Adaptive Law/y'],...
		'position',[20,87,45,113])


%     Subsystem  'Adaptive Law/Normalization'.

new_system([sys,'/','Adaptive Law/Normalization'])
set_param([sys,'/','Adaptive Law/Normalization'],'Location',[91,142,551,356])

add_block('built-in/Inport',[sys,'/','Adaptive Law/Normalization/y'])
set_param([sys,'/','Adaptive Law/Normalization/y'],...
		'position',[0,46,25,74])

add_block('built-in/Inport',[sys,'/','Adaptive Law/Normalization/u'])
set_param([sys,'/','Adaptive Law/Normalization/u'],...
		'Port','2',...
		'position',[0,111,25,139])

add_block('built-in/Mux',[sys,'/','Adaptive Law/Normalization/Mux'])
set_param([sys,'/','Adaptive Law/Normalization/Mux'],...
		'inputs','2',...
		'position',[60,81,90,114])

add_block('built-in/Integrator',[sys,'/','Adaptive Law/Normalization/Integrator1'])
set_param([sys,'/','Adaptive Law/Normalization/Integrator1'],...
		'position',[270,92,295,128])

add_block('built-in/Outport',[sys,'/','Adaptive Law/Normalization/1//m'])
set_param([sys,'/','Adaptive Law/Normalization/1//m'],...
		'position',[420,96,445,124])

add_block('built-in/Fcn',[sys,'/','Adaptive Law/Normalization/Fcn1'])
set_param([sys,'/','Adaptive Law/Normalization/Fcn1'],...
		'Expr','1/(1+u(1))',...
		'position',[340,97,395,123])

add_block('built-in/Sum',[sys,'/','Adaptive Law/Normalization/Sum2'])
set_param([sys,'/','Adaptive Law/Normalization/Sum2'],...
		'inputs','+-',...
		'position',[210,92,235,128])

add_block('built-in/Fcn',[sys,'/','Adaptive Law/Normalization/u*u+y*y'])