example7.m

自适应控制的一些MATLAB例子

set_param([sys,'/','Adaptive Law/Normalization/u*u+y*y'],...
		'Expr','u(1)*u(1)+u(2)*u(2)',...
		'position',[125,84,175,116])

add_block('built-in/Gain',[sys,'/','Adaptive Law/Normalization/Gain'])
set_param([sys,'/','Adaptive Law/Normalization/Gain'],...
		'orientation',2,...
		'position',[235,158,270,192])
add_line([sys,'/','Adaptive Law/Normalization'],[180,100;205,100])
add_line([sys,'/','Adaptive Law/Normalization'],[240,110;265,110])
add_line([sys,'/','Adaptive Law/Normalization'],[400,110;415,110])
add_line([sys,'/','Adaptive Law/Normalization'],[300,110;335,110])
add_line([sys,'/','Adaptive Law/Normalization'],[30,60;45,60;55,90])
add_line([sys,'/','Adaptive Law/Normalization'],[30,125;45,125;55,105])
add_line([sys,'/','Adaptive Law/Normalization'],[95,100;120,100])
add_line([sys,'/','Adaptive Law/Normalization'],[315,110;315,175;275,175])
add_line([sys,'/','Adaptive Law/Normalization'],[230,175;185,175;185,120;205,120])
set_param([sys,'/','Adaptive Law/Normalization'],...
		'Mask Display','1/m')


%     Finished composite block 'Adaptive Law/Normalization'.

set_param([sys,'/','Adaptive Law/Normalization'],...
		'Drop Shadow',4,...
		'position',[80,265,160,320])

add_block('built-in/Inport',[sys,'/','Adaptive Law/u'])
set_param([sys,'/','Adaptive Law/u'],...
		'Port','2',...
		'position',[5,177,30,203])

add_block('built-in/Transfer Fcn',[sys,'/','Adaptive Law/filter'])
set_param([sys,'/','Adaptive Law/filter'],...
		'Denominator','[1 2]',...
		'position',[80,172,115,208])

add_block('built-in/Sum',[sys,'/','Adaptive Law/Sum'])
set_param([sys,'/','Adaptive Law/Sum'],...
		'inputs','+-',...
		'position',[155,127,180,158])

add_block('built-in/Transfer Fcn',[sys,'/','Adaptive Law/phi'])
set_param([sys,'/','Adaptive Law/phi'],...
		'Denominator','[1 2]',...
		'position',[140,213,185,247])

add_block('built-in/Note',[sys,'/','Adaptive Law/z'])
set_param([sys,'/','Adaptive Law/z'],...
		'position',[185,125,190,130])

add_block('built-in/Sum',[sys,'/','Adaptive Law/epsilon'])
set_param([sys,'/','Adaptive Law/epsilon'],...
		'inputs','+-',...
		'position',[215,137,245,173])

add_block('built-in/Product',[sys,'/','Adaptive Law/Product'])
set_param([sys,'/','Adaptive Law/Product'],...
		'orientation',2,...
		'position',[230,187,260,218])

add_block('built-in/Outport',[sys,'/','Adaptive Law/theta'])
set_param([sys,'/','Adaptive Law/theta'],...
		'position',[620,126,645,154])

add_block('built-in/Integrator',[sys,'/','Adaptive Law/Integrator'])
set_param([sys,'/','Adaptive Law/Integrator'],...
		'Initial','1',...
		'position',[520,118,550,162])

add_block('built-in/Gain',[sys,'/','Adaptive Law/Adaptive_gain'])
set_param([sys,'/','Adaptive Law/Adaptive_gain'],...
		'position',[430,127,460,153])
add_line([sys,'/','Adaptive Law'],[465,140;515,140])
add_line([sys,'/','Adaptive Law'],[385,140;425,140])
add_line([sys,'/','Adaptive Law'],[120,190;135,190;135,150;150,150])
add_line([sys,'/','Adaptive Law'],[50,100;135,100;135,135;150,135])
add_line([sys,'/','Adaptive Law'],[555,140;615,140])
add_line([sys,'/','Adaptive Law'],[185,145;210,145])
add_line([sys,'/','Adaptive Law'],[165,295;290,295;300,155])
add_line([sys,'/','Adaptive Law'],[335,145;350,145])
add_line([sys,'/','Adaptive Law'],[385,65;340,65;350,130])
add_line([sys,'/','Adaptive Law'],[555,140;585,140;585,65;495,65])
add_line([sys,'/','Adaptive Law'],[60,100;60,280;75,280])
add_line([sys,'/','Adaptive Law'],[35,190;75,190])
add_line([sys,'/','Adaptive Law'],[45,190;45,305;75,305])
add_line([sys,'/','Adaptive Law'],[60,230;135,230])
add_line([sys,'/','Adaptive Law'],[190,230;285,230;285,210;265,210])
add_line([sys,'/','Adaptive Law'],[555,140;585,140;585,195;265,195])
add_line([sys,'/','Adaptive Law'],[225,205;190,205;190,165;210,165])
add_line([sys,'/','Adaptive Law'],[285,210;285,145;300,145])
add_line([sys,'/','Adaptive Law'],[250,155;280,155;280,135;300,135])
set_param([sys,'/','Adaptive Law'],...
		'Mask Display','Adaptation')


%     Finished composite block 'Adaptive Law'.

set_param([sys,'/','Adaptive Law'],...
		'orientation',2,...
		'Drop Shadow',4,...
		'position',[300,154,395,221])


%     Subsystem  'Plant Model'.

new_system([sys,'/','Plant Model'])
set_param([sys,'/','Plant Model'],'Location',[156,93,656,439])


%     Subsystem  'Plant Model/Unmodeled dynamics'.

new_system([sys,'/','Plant Model/Unmodeled dynamics'])
set_param([sys,'/','Plant Model/Unmodeled dynamics'],'Location',[55,75,567,343])

add_block('built-in/Gain',[sys,'/','Plant Model/Unmodeled dynamics/Gain1'])
set_param([sys,'/','Plant Model/Unmodeled dynamics/Gain1'],...
		'Gain','2',...
		'position',[55,64,90,96])

add_block('built-in/Inport',[sys,'/','Plant Model/Unmodeled dynamics/u'])
set_param([sys,'/','Plant Model/Unmodeled dynamics/u'],...
		'position',[5,64,35,96])

add_block('built-in/Sum',[sys,'/','Plant Model/Unmodeled dynamics/Sum2'])
set_param([sys,'/','Plant Model/Unmodeled dynamics/Sum2'],...
		'inputs','+-',...
		'position',[160,72,190,103])

add_block('built-in/Fcn',[sys,'/','Plant Model/Unmodeled dynamics/Fcn'])
set_param([sys,'/','Plant Model/Unmodeled dynamics/Fcn'],...
		'Expr','1/u',...
		'position',[65,172,115,198])

add_block('built-in/Inport',[sys,'/','Plant Model/Unmodeled dynamics/mu'])
set_param([sys,'/','Plant Model/Unmodeled dynamics/mu'],...
		'Port','2',...
		'position',[5,169,35,201])

add_block('built-in/Sum',[sys,'/','Plant Model/Unmodeled dynamics/Sum3'])
set_param([sys,'/','Plant Model/Unmodeled dynamics/Sum3'],...
		'inputs','-+',...
		'position',[380,67,410,98])

add_block('built-in/Outport',[sys,'/','Plant Model/Unmodeled dynamics/u_d'])
set_param([sys,'/','Plant Model/Unmodeled dynamics/u_d'],...
		'position',[460,69,490,101])

add_block('built-in/Product',[sys,'/','Plant Model/Unmodeled dynamics/Product'])
set_param([sys,'/','Plant Model/Unmodeled dynamics/Product'],...
		'position',[240,71,270,104])

add_block('built-in/Integrator',[sys,'/','Plant Model/Unmodeled dynamics/Integrator1'])
set_param([sys,'/','Plant Model/Unmodeled dynamics/Integrator1'],...
		'position',[305,65,340,115])
add_line([sys,'/','Plant Model/Unmodeled dynamics'],[95,80;155,80])
add_line([sys,'/','Plant Model/Unmodeled dynamics'],[345,90;375,90])
add_line([sys,'/','Plant Model/Unmodeled dynamics'],[40,80;50,80])
add_line([sys,'/','Plant Model/Unmodeled dynamics'],[415,85;455,85])
add_line([sys,'/','Plant Model/Unmodeled dynamics'],[345,90;345,140;145,140;155,95])
add_line([sys,'/','Plant Model/Unmodeled dynamics'],[275,90;300,90])
add_line([sys,'/','Plant Model/Unmodeled dynamics'],[195,90;215,90;215,80;235,80])
add_line([sys,'/','Plant Model/Unmodeled dynamics'],[120,185;220,185;220,95;235,95])
add_line([sys,'/','Plant Model/Unmodeled dynamics'],[40,185;60,185])
add_line([sys,'/','Plant Model/Unmodeled dynamics'],[125,80;125,25;350,25;350,75;375,75])
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',[115,144,255,206])

add_block('built-in/Sum',[sys,'/','Plant Model/Sum1'])
set_param([sys,'/','Plant Model/Sum1'],...
		'position',[300,154,325,181])


%     Subsystem  'Plant Model/Nominal plant'.

new_system([sys,'/','Plant Model/Nominal plant'])
set_param([sys,'/','Plant Model/Nominal plant'],'Location',[175,229,504,414])

add_block('built-in/Sum',[sys,'/','Plant Model/Nominal plant/Sum'])
set_param([sys,'/','Plant Model/Nominal plant/Sum'],...
		'position',[90,65,110,85])

add_block('built-in/Inport',[sys,'/','Plant Model/Nominal plant/u+u_d'])
set_param([sys,'/','Plant Model/Nominal plant/u+u_d'],...
		'position',[15,60,35,80])

add_block('built-in/Outport',[sys,'/','Plant Model/Nominal plant/y'])
set_param([sys,'/','Plant Model/Nominal plant/y'],...
		'position',[225,65,245,85])

add_block('built-in/Integrator',[sys,'/','Plant Model/Nominal plant/Integrator'])
set_param([sys,'/','Plant Model/Nominal plant/Integrator'],...
		'Initial','1',...
		'position',[150,52,175,98])
add_line([sys,'/','Plant Model/Nominal plant'],[180,75;220,75])
add_line([sys,'/','Plant Model/Nominal plant'],[200,75;200,125;60,125;60,80;85,80])
add_line([sys,'/','Plant Model/Nominal plant'],[115,75;145,75])
add_line([sys,'/','Plant Model/Nominal plant'],[40,70;85,70])
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',[345,147,410,193])

add_block('built-in/Outport',[sys,'/','Plant Model/y'])
set_param([sys,'/','Plant Model/y'],...
		'position',[440,157,465,183])

add_block('built-in/Inport',[sys,'/','Plant Model/u'])
set_param([sys,'/','Plant Model/u'],...
		'position',[25,107,50,133])

add_block('built-in/Inport',[sys,'/','Plant Model/mu'])
set_param([sys,'/','Plant Model/mu'],...
		'Port','2',...
		'position',[25,177,50,203])
add_line([sys,'/','Plant Model'],[330,170;340,170])
add_line([sys,'/','Plant Model'],[415,170;435,170])
add_line([sys,'/','Plant Model'],[55,190;110,190])
add_line([sys,'/','Plant Model'],[55,120;265,120;265,160;295,160])
add_line([sys,'/','Plant Model'],[260,175;295,175])
add_line([sys,'/','Plant Model'],[85,120;85,160;110,160])
set_param([sys,'/','Plant Model'],...
		'Mask Display','Plant model')


%     Finished composite block 'Plant Model'.

set_param([sys,'/','Plant Model'],...
		'Drop Shadow',4,...
		'position',[130,100,220,160])
add_line(sys,[515,180;545,180])
add_line(sys,[465,155;475,170])
add_line(sys,[125,225;85,225;85,115;125,115])
add_line(sys,[85,225;85,265;425,265;425,205;400,205])
add_line(sys,[225,130;245,130;245,210;225,210])
add_line(sys,[295,190;285,190;285,240;225,240])
add_line(sys,[55,145;125,145])
add_line(sys,[245,130;425,130;425,170;400,170])
add_line(sys,[425,170;425,180;475,180])
add_line(sys,[425,205;425,190;475,190])
add_line(sys,[245,130;245,85;265,85])

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