example6.m

自适应控制的一些MATLAB例子

function [ret,x0,str,ts,xts]=example6(t,x,u,flag);
%EXAMPLE6	is the M-file description of the SIMULINK system named EXAMPLE6.
%	The block-diagram can be displayed by typing: EXAMPLE6.
%
%	SYS=EXAMPLE6(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 EXAMPLE6 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 EXAMPLE6 with a FLAG of zero:
%	[SIZES]=EXAMPLE6([],[],[],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',[4,58,816,631])
     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/Scope',[sys,'/','Tracking error'])
set_param([sys,'/','Tracking error'],...
		'Vgain','15.000000',...
		'Hgain','50.000000',...
		'Vmax','30.000000',...
		'Hmax','100.000000',...
		'Window',[808,616,1130,996],...
		'position',[725,83,760,117])

add_block('built-in/Sum',[sys,'/','Sum1'])
set_param([sys,'/','Sum1'],...
		'inputs','-+',...
		'position',[655,82,685,118])

add_block('built-in/Transfer Fcn',[sys,'/','Reference Model'])
set_param([sys,'/','Reference Model'],...
		'position',[330,43,410,87])


%     Subsystem  'Estimator'.

new_system([sys,'/','Estimator'])
set_param([sys,'/','Estimator'],'Location',[4,58,752,551])

add_block('built-in/Integrator',[sys,'/','Estimator/Integrator1'])
set_param([sys,'/','Estimator/Integrator1'],...
		'Initial','18',...
		'position',[405,117,435,163])

add_block('built-in/Demux',[sys,'/','Estimator/Demux'])
set_param([sys,'/','Estimator/Demux'],...
		'position',[260,144,300,186])

add_block('built-in/Product',[sys,'/','Estimator/Product'])
set_param([sys,'/','Estimator/Product'],...
		'position',[210,147,240,183])

add_block('built-in/Inport',[sys,'/','Estimator/e1'])
set_param([sys,'/','Estimator/e1'],...
		'position',[30,47,55,73])

add_block('built-in/Inport',[sys,'/','Estimator/omega'])
set_param([sys,'/','Estimator/omega'],...
		'Port','2',...
		'position',[25,162,50,188])

add_block('built-in/Gain',[sys,'/','Estimator/Gain1'])
set_param([sys,'/','Estimator/Gain1'],...
		'Gain','-1',...
		'position',[345,125,370,155])

add_block('built-in/Mux',[sys,'/','Estimator/Mux'])
set_param([sys,'/','Estimator/Mux'],...
		'position',[570,77,600,123])

add_block('built-in/Integrator',[sys,'/','Estimator/Integrator'])
set_param([sys,'/','Estimator/Integrator'],...
		'Initial','3',...
		'position',[405,16,435,64])

add_block('built-in/Gain',[sys,'/','Estimator/Gain'])
set_param([sys,'/','Estimator/Gain'],...
		'Gain','-1',...
		'position',[350,27,375,53])

add_block('built-in/Demux',[sys,'/','Estimator/Demux1'])
set_param([sys,'/','Estimator/Demux1'],...
		'position',[390,369,430,411])

add_block('built-in/Integrator',[sys,'/','Estimator/Integrator3'])
set_param([sys,'/','Estimator/Integrator3'],...
		'Initial','3',...
		'position',[405,300,435,350])

add_block('built-in/Gain',[sys,'/','Estimator/Gain3'])
set_param([sys,'/','Estimator/Gain3'],...
		'Gain','-1',...
		'position',[340,310,370,340])

add_block('built-in/Mux',[sys,'/','Estimator/Mux1'])
set_param([sys,'/','Estimator/Mux1'],...
		'inputs','8',...
		'position',[565,217,595,303])

add_block('built-in/Integrator',[sys,'/','Estimator/Integrator2'])
set_param([sys,'/','Estimator/Integrator2'],...
		'Initial','-8',...
		'position',[405,195,435,245])

add_block('built-in/Gain',[sys,'/','Estimator/Gain2'])
set_param([sys,'/','Estimator/Gain2'],...
		'Gain','-1',...
		'position',[345,207,370,233])

add_block('built-in/Fcn',[sys,'/','Estimator/theta_dot*phi'])
set_param([sys,'/','Estimator/theta_dot*phi'],...
		'Expr','u(1)*u(2)+u(3)*u(4)+u(5)*u(6)+u(7)*u(8)',...
		'position',[630,250,670,270])

add_block('built-in/Outport',[sys,'/','Estimator/u_a'])
set_param([sys,'/','Estimator/u_a'],...
		'Port','2',...
		'position',[720,250,740,270])


%     Subsystem  'Estimator/phi'.

new_system([sys,'/','Estimator/phi'])
set_param([sys,'/','Estimator/phi'],'Location',[40,60,508,384])

add_block('built-in/Transfer Fcn',[sys,'/','Estimator/phi/F(s)'])
set_param([sys,'/','Estimator/phi/F(s)'],...
		'Denominator','[1 1]',...
		'position',[230,22,285,58])

add_block('built-in/Transfer Fcn',[sys,'/','Estimator/phi/F(s)1'])
set_param([sys,'/','Estimator/phi/F(s)1'],...
		'Denominator','[1 1]',...
		'position',[230,77,285,113])

add_block('built-in/Transfer Fcn',[sys,'/','Estimator/phi/F(s)2'])
set_param([sys,'/','Estimator/phi/F(s)2'],...
		'Denominator','[1 1]',...
		'position',[230,142,290,178])

add_block('built-in/Transfer Fcn',[sys,'/','Estimator/phi/F(s)3'])
set_param([sys,'/','Estimator/phi/F(s)3'],...
		'Denominator','[1 1]',...
		'position',[230,212,290,248])

add_block('built-in/Demux',[sys,'/','Estimator/phi/Demux'])
set_param([sys,'/','Estimator/phi/Demux'],...
		'position',[95,98,155,142])

add_block('built-in/Mux',[sys,'/','Estimator/phi/Mux'])
set_param([sys,'/','Estimator/phi/Mux'],...
		'position',[370,100,405,150])

add_block('built-in/Outport',[sys,'/','Estimator/phi/phi'])
set_param([sys,'/','Estimator/phi/phi'],...
		'position',[435,112,460,138])

add_block('built-in/Inport',[sys,'/','Estimator/phi/omega'])
set_param([sys,'/','Estimator/phi/omega'],...
		'position',[25,107,50,133])
add_line([sys,'/','Estimator/phi'],[55,120;90,120])
add_line([sys,'/','Estimator/phi'],[160,115;215,115;225,95])
add_line([sys,'/','Estimator/phi'],[160,105;205,105;205,40;225,40])
add_line([sys,'/','Estimator/phi'],[160,125;215,125;225,160])
add_line([sys,'/','Estimator/phi'],[160,135;205,135;205,230;225,230])
add_line([sys,'/','Estimator/phi'],[295,160;340,160;340,130;365,130])
add_line([sys,'/','Estimator/phi'],[295,230;350,230;350,140;365,140])
add_line([sys,'/','Estimator/phi'],[290,95;340,95;340,120;365,120])
add_line([sys,'/','Estimator/phi'],[290,40;350,40;350,110;365,110])
add_line([sys,'/','Estimator/phi'],[410,125;430,125])
set_param([sys,'/','Estimator/phi'],...
		'Mask Display','Regression \nvector')


%     Finished composite block 'Estimator/phi'.

set_param([sys,'/','Estimator/phi'],...
		'Drop Shadow',4,...
		'position',[70,146,170,204])

add_block('built-in/Outport',[sys,'/','Estimator/theta'])
set_param([sys,'/','Estimator/theta'],...
		'position',[695,90,715,110])
add_line([sys,'/','Estimator'],[380,40;400,40])
add_line([sys,'/','Estimator'],[375,140;400,140])
add_line([sys,'/','Estimator'],[375,220;400,220])
add_line([sys,'/','Estimator'],[375,325;400,325])
add_line([sys,'/','Estimator'],[55,175;65,175])
add_line([sys,'/','Estimator'],[605,100;690,100])
add_line([sys,'/','Estimator'],[440,140;515,140;515,95;565,95])
add_line([sys,'/','Estimator'],[440,40;460,40;460,85;565,85])
add_line([sys,'/','Estimator'],[380,40;380,110;445,110;445,235;560,235])
add_line([sys,'/','Estimator'],[375,220;375,275;560,275])
add_line([sys,'/','Estimator'],[600,260;625,260])
add_line([sys,'/','Estimator'],[675,260;715,260])
add_line([sys,'/','Estimator'],[175,175;205,175])
add_line([sys,'/','Estimator'],[60,60;185,60;185,155;205,155])
add_line([sys,'/','Estimator'],[245,165;255,165])
add_line([sys,'/','Estimator'],[305,170;330,170;340,220])
add_line([sys,'/','Estimator'],[305,160;330,160;340,140])
add_line([sys,'/','Estimator'],[305,150;320,150;320,40;345,40])
add_line([sys,'/','Estimator'],[305,180;320,180;320,325;335,325])
add_line([sys,'/','Estimator'],[435,375;470,375;470,225;560,225])
add_line([sys,'/','Estimator'],[435,385;480,385;480,245;560,245])
add_line([sys,'/','Estimator'],[435,395;490,395;490,265;560,265])
add_line([sys,'/','Estimator'],[435,405;500,405;500,285;560,285])
add_line([sys,'/','Estimator'],[175,175;175,390;385,390])
add_line([sys,'/','Estimator'],[375,140;375,185;490,185;490,255;560,255])
add_line([sys,'/','Estimator'],[440,220;525,220;525,105;565,105])
add_line([sys,'/','Estimator'],[375,325;375,295;560,295])
add_line([sys,'/','Estimator'],[440,325;535,325;535,115;565,115])
set_param([sys,'/','Estimator'],...
		'Mask Display','Estimator\n(generates theta\nand u_a)')


%     Finished composite block 'Estimator'.

set_param([sys,'/','Estimator'],...
		'orientation',2,...
		'Drop Shadow',4,...
		'position',[380,264,505,326])

add_block('built-in/Transfer Fcn',[sys,'/','Plant Model'])
set_param([sys,'/','Plant Model'],...
		'Denominator','[1  3 -10]',...
		'position',[510,161,595,209])


%     Subsystem  'Controller'.

new_system([sys,'/','Controller'])
set_param([sys,'/','Controller'],'Location',[113,108,624,447])

add_block('built-in/Inport',[sys,'/','Controller/omega'])
set_param([sys,'/','Controller/omega'],...
		'position',[15,32,50,68])

add_block('built-in/Inport',[sys,'/','Controller/theta'])