lab5.m

xnsy算法的matlab实现

function [ret,x0,str,ts,xts]=lab5(t,x,u,flag);
%LAB5	is the M-file description of the SIMULINK system named LAB5.
%	The block-diagram can be displayed by typing: LAB5.
%
%	SYS=LAB5(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 LAB5 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 LAB5 with a FLAG of zero:
%	[SIZES]=LAB5([],[],[],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',[182,110,596,422])
     open_system(sys)
end;
set_param(sys,'algorithm',     'RK-45')
set_param(sys,'Start time',    '0')
set_param(sys,'Stop time',     '10')
set_param(sys,'Min step size', '0.0001')
set_param(sys,'Max step size', '0.1')
set_param(sys,'Relative error','1e-3')
set_param(sys,'Return vars',   '')

add_block('built-in/Scope',[sys,'/','示波器'])
set_param([sys,'/','示波器'],...
		'Font Size',11,...
		'Vgain','2.000000',...
		'Hgain','10.000000',...
		'Vmax','4.000000',...
		'Hmax','20.000000',...
		'Window',[594,181,769,319])
open_system([sys,'/','示波器'])
set_param([sys,'/','示波器'],...
		'Mask Display','',...
		'position',[370,67,390,93])


%     Subsystem  ['Double click here',13,'to show bode plot ',13,'of controller'].

new_system([sys,'/',['Double click here',13,'to show bode plot ',13,'of controller']])
set_param([sys,'/',['Double click here',13,'to show bode plot ',13,'of controller']],'Location',[2,439,106,512])
set_param([sys,'/',['Double click here',13,'to show bode plot ',13,'of controller']],...
		'Mask Display','Nyquist 图',...
		'Mask Dialogue','eval(''nyquist1;'')')


%     Finished composite block ['Double click here',13,'to show bode plot ',13,'of controller'].

set_param([sys,'/',['Double click here',13,'to show bode plot ',13,'of controller']],...
		'ForeGround',4,...
		'hide name',0,...
		'Drop Shadow',4,...
		'position',[180,165,260,201])


%     Subsystem  ['Double click here',13,'to show bode plot ',13,'of controller2'].

new_system([sys,'/',['Double click here',13,'to show bode plot ',13,'of controller2']])
set_param([sys,'/',['Double click here',13,'to show bode plot ',13,'of controller2']],'Location',[2,439,106,512])
set_param([sys,'/',['Double click here',13,'to show bode plot ',13,'of controller2']],...
		'Mask Display','Nichols图',...
		'Mask Dialogue','eval(''figure;nichols(N,D);grid;set(gcf,''''name'''',''''开环Nichols图'''');figure(gcf)'')')


%     Finished composite block ['Double click here',13,'to show bode plot ',13,'of controller2'].

set_param([sys,'/',['Double click here',13,'to show bode plot ',13,'of controller2']],...
		'ForeGround',4,...
		'hide name',0,...
		'Drop Shadow',4,...
		'position',[290,165,370,201])


%     Subsystem  ['Double click here',13,'to show bode plot ',13,'of controller1'].

new_system([sys,'/',['Double click here',13,'to show bode plot ',13,'of controller1']])
set_param([sys,'/',['Double click here',13,'to show bode plot ',13,'of controller1']],'Location',[2,439,106,512])
set_param([sys,'/',['Double click here',13,'to show bode plot ',13,'of controller1']],...
		'Mask Display','Bode图')
set_param([sys,'/',['Double click here',13,'to show bode plot ',13,'of controller1']],...
		'Mask Dialogue','eval(''figure;[x,y,w]=bode(N,D);subplot(211); semilogx(w,20*log10(x));grid;subplot(212); semilogx(w,y(:,1));grid;subplot(111);set(gcf,''''name'''',''''开环伯德图'''');figure(gcf)'')')


%     Finished composite block ['Double click here',13,'to show bode plot ',13,'of controller1'].

set_param([sys,'/',['Double click here',13,'to show bode plot ',13,'of controller1']],...
		'ForeGround',4,...
		'hide name',0,...
		'Drop Shadow',4,...
		'position',[70,225,145,261])


%     Subsystem  ['Double click here',13,'to start loading data',13,'and mu-syn design'].

new_system([sys,'/',['Double click here',13,'to start loading data',13,'and mu-syn design']])
set_param([sys,'/',['Double click here',13,'to start loading data',13,'and mu-syn design']],'Location',[2,439,106,512])
set_param([sys,'/',['Double click here',13,'to start loading data',13,'and mu-syn design']],...
		'Mask Display','初始化',...
		'Mask Dialogue','eval(''clc; clear all;N=[1] ; D=[1 1 0] ;printsys(N,D)'')')


%     Finished composite block ['Double click here',13,'to start loading data',13,'and mu-syn design'].

set_param([sys,'/',['Double click here',13,'to start loading data',13,'and mu-syn design']],...
		'ForeGround',4,...
		'hide name',0,...
		'Drop Shadow',4,...
		'position',[70,165,145,201])

add_block('built-in/Transfer Fcn',[sys,'/','被控对象'])
set_param([sys,'/','被控对象'],...
		'Font Size',11,...
		'Numerator','N',...
		'Denominator','D',...
		'position',[205,65,265,95])

add_block('built-in/Step Fcn',[sys,'/','阶跃函数'])
set_param([sys,'/','阶跃函数'],...
		'Font Size',11,...
		'Time','0',...
		'position',[35,65,55,85])

add_block('built-in/Sum',[sys,'/','加法器'])
set_param([sys,'/','加法器'],...
		'Font Size',11,...
		'inputs','+-',...
		'position',[115,70,135,90])


%     Subsystem  ['Double click here',13,'to show bode plot',13,'of closed-loop3'].

new_system([sys,'/',['Double click here',13,'to show bode plot',13,'of closed-loop3']])
set_param([sys,'/',['Double click here',13,'to show bode plot',13,'of closed-loop3']],'Location',[2,439,106,512])
set_param([sys,'/',['Double click here',13,'to show bode plot',13,'of closed-loop3']],...
		'Mask Display','闭环幅频特性')
set_param([sys,'/',['Double click here',13,'to show bode plot',13,'of closed-loop3']],...
		'Mask Dialogue','eval(''[N1,D1]=cloop(N,D,-1); figure;[x,y,w]=bode(N1,D1);subplot(211); semilogx(w,x);grid; subplot(212); semilogx(w,y(:,1));grid;subplot(111);set(gcf,''''name'''',''''闭环幅相特性'''');figure(gcf)'')')


%     Finished composite block ['Double click here',13,'to show bode plot',13,'of closed-loop3'].

set_param([sys,'/',['Double click here',13,'to show bode plot',13,'of closed-loop3']],...
		'ForeGround',4,...
		'hide name',0,...
		'Drop Shadow',4,...
		'position',[180,225,260,261])

add_block('built-in/Note',[sys,'/','频域分析窗口'])
set_param([sys,'/','频域分析窗口'],...
		'ForeGround',4,...
		'Font Size',16,...
		'position',[210,10,215,15])


%     Subsystem  ['Double click here',13,'to show bode plot ',13,'of controller3'].

new_system([sys,'/',['Double click here',13,'to show bode plot ',13,'of controller3']])
set_param([sys,'/',['Double click here',13,'to show bode plot ',13,'of controller3']],'Location',[2,439,106,512])
set_param([sys,'/',['Double click here',13,'to show bode plot ',13,'of controller3']],...
		'Mask Display','margin',...
		'Mask Dialogue','eval(''[mag,phase,w]=bode(N,D);[GM,PM,Wg,Wc]=margin(mag,phase,w);GM=20*log10(GM),Wg,PM,Wc,'')')


%     Finished composite block ['Double click here',13,'to show bode plot ',13,'of controller3'].

set_param([sys,'/',['Double click here',13,'to show bode plot ',13,'of controller3']],...
		'ForeGround',4,...
		'hide name',0,...
		'Drop Shadow',4,...
		'position',[290,225,370,261])
add_line(sys,[270,80;365,80])
add_line(sys,[60,75;110,75])
add_line(sys,[140,80;200,80])
add_line(sys,[270,80;320,80;320,125;85,125;85,85;110,85])

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