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📄 yjlqgctr1.err

📁 本例采用最优控制的方法,利用二次型性能指标,保证小车所滑过的距离和整个过程所花费的能量达到最优值.程序包括initial.m,yjlqgctr.m,cartoon.m,simlqgyj.slk等文件
💻 ERR
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	      IncludeMdlTerminateFcn  on
	      CombineOutputUpdateFcns off
	      SuppressErrorStatus     off
	      IncludeFileDelimiter    "Auto"
	      ERTCustomFileBanners    off
	      SupportAbsoluteTime     on
	      LogVarNameModifier      "rt_"
	      MatFileLogging	      on
	      MultiInstanceERTCode    off
	      SupportNonFinite	      on
	      SupportComplex	      on
	      PurelyIntegerCode	      off
	      SupportContinuousTime   on
	      SupportNonInlinedSFcns  on
	      ExtMode		      off
	      ExtModeStaticAlloc      off
	      ExtModeTesting	      off
	      ExtModeStaticAllocSize  1000000
	      ExtModeTransport	      0
	      ExtModeMexFile	      "ext_comm"
	      RTWCAPISignals	      off
	      RTWCAPIParams	      off
	      RTWCAPIStates	      off
	      GenerateASAP2	      off
	    }
	    PropName		    "Components"
	  }
	}
	PropName		"Components"
      }
      Name		      "Configuration"
      SimulationMode	      "normal"
      CurrentDlgPage	      "Solver"
    }
    PropName		    "ConfigurationSets"
  }
  Simulink.ConfigSet {
    $PropName		    "ActiveConfigurationSet"
    $ObjectID		    1
  }
  BlockDefaults {
    Orientation		    "right"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
  }
  BlockParameterDefaults {
    Block {
      BlockType		      Constant
      Value		      "1"
      VectorParams1D	      on
      OutDataTypeMode	      "Inherit from 'Constant value'"
      OutDataType	      "sfix(16)"
      ConRadixGroup	      "Use specified scaling"
      OutScaling	      "2^0"
      SampleTime	      "inf"
    }
    Block {
      BlockType		      Gain
      Gain		      "1"
      Multiplication	      "Element-wise(K.*u)"
      ParameterDataTypeMode   "Same as input"
      ParameterDataType	      "sfix(16)"
      ParameterScalingMode    "Best Precision: Matrix-wise"
      ParameterScaling	      "2^0"
      OutDataTypeMode	      "Same as input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Integrator
      ExternalReset	      "none"
      InitialConditionSource  "internal"
      InitialCondition	      "0"
      LimitOutput	      off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
      ZeroCross		      on
    }
    Block {
      BlockType		      Scope
      Floating		      off
      ModelBased	      off
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      StateSpace
      A			      "1"
      B			      "1"
      C			      "1"
      D			      "1"
      X0		      "0"
      AbsoluteTolerance	      "auto"
      Realization	      "auto"
    }
    Block {
      BlockType		      SubSystem
      ShowPortLabels	      on
      Permissions	      "ReadWrite"
      PermitHierarchicalResolution "All"
      SystemSampleTime	      "-1"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      SimViewingDevice	      off
      DataTypeOverride	      "UseLocalSettings"
      MinMaxOverflowLogging   "UseLocalSettings"
    }
    Block {
      BlockType		      Sum
      IconShape		      "rectangular"
      Inputs		      "++"
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "yjlqgctr1"
    Location		    [2, 78, 1022, 717]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "A4"
    PaperUnits		    "centimeters"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      SubSystem
      Name		      "Atomic Subsystem"
      Ports		      []
      Position		      [290, 424, 390, 466]
      OpenFcn		      "yjlqgctr1"
      FontSize		      10
      TreatAsAtomicUnit	      on
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      MaskDisplay	      "disp('初始化')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"Atomic Subsystem"
	Location		[106, 342, 608, 695]
	Open			on
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
      }
    }
    Block {
      BlockType		      Constant
      Name		      "Constant"
      Position		      [85, 190, 115, 220]
      Value		      "[0;sf]"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain"
      Position		      [510, 195, 540, 225]
      Gain		      "B"
      Multiplication	      "Matrix(K*u)"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain1"
      Position		      [790, 195, 820, 225]
      Gain		      "C"
      Multiplication	      "Matrix(K*u)"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain2"
      Position		      [645, 280, 675, 310]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Gain		      "A"
      Multiplication	      "Matrix(K*u)"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Integrator
      Name		      "Integrator"
      Ports		      [1, 1]
      Position		      [655, 195, 685, 225]
      InitialCondition	      "z0"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1]
      Position		      [935, 194, 965, 226]
      Location		      [1, 50, 1025, 737]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      StateSpace
      Name		      "State-Space1"
      Position		      [280, 188, 340, 222]
      A			      "A1"
      B			      "B1"
      C			      "C1"
      D			      "D1"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [580, 200, 600, 220]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [165, 195, 185, 215]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|-+"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Line {
      SrcBlock		      "Integrator"
      SrcPort		      1
      Points		      [-5, 0; 45, 0]
      Branch {
	DstBlock		"Gain1"
	DstPort			1
      }
      Branch {
	Points			[0, 85]
	DstBlock		"Gain2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "Integrator"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain2"
      SrcPort		      1
      Points		      [-50, 0]
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Gain"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain1"
      SrcPort		      1
      Points		      [0, 0; 50, 0]
      Branch {
	DstBlock		"Scope"
	DstPort			1
      }
      Branch {
	Points			[0, 115; -700, 0]
	DstBlock		"Sum1"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Constant"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      DstBlock		      "State-Space1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "State-Space1"
      SrcPort		      1
      Points		      [75, 0; 0, 5]
      DstBlock		      "Gain"
      DstPort		      1
    }
  }
}

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