zishiying.mdl

运用模型参考的方法实现自适应控制的!采用lypanuov稳定性理论来设计参数的调节

      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1]
      Position		      [825, 104, 855, 136]
      ShowName		      off
      Location		      [1, 56, 1025, 737]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      List {
	ListType		SelectedSignals
	axes1			""
      }
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope1"
      Ports		      [2]
      Position		      [825, 51, 855, 84]
      ShowName		      off
      Location		      [1, 56, 1025, 737]
      Open		      off
      NumInputPorts	      "2"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
	axes2			"%<SignalLabel>"
      }
      List {
	ListType		SelectedSignals
	axes1			""
	axes2			""
      }
      YMin		      "-5~-5"
      YMax		      "5~5"
      SaveName		      "ScopeData1"
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope2"
      Ports		      [1]
      Position		      [825, 149, 855, 181]
      ShowName		      off
      Location		      [5, 60, 1029, 741]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      List {
	ListType		SelectedSignals
	axes1			""
      }
      SaveName		      "ScopeData2"
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [15, 140, 45, 170]
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [3, 1]
      Position		      [330, 141, 365, 179]
      ShowName		      off
      Inputs		      "|+--"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [630, 110, 650, 130]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "-+"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [2, 1]
      Position		      [530, 445, 550, 465]
      Orientation	      "down"
      NamePlacement	      "alternate"
      ShowName		      off
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum3"
      Ports		      [2, 1]
      Position		      [625, 440, 645, 460]
      Orientation	      "down"
      NamePlacement	      "alternate"
      ShowName		      off
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum4"
      Ports		      [2, 1]
      Position		      [405, 435, 425, 455]
      Orientation	      "down"
      NamePlacement	      "alternate"
      ShowName		      off
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum5"
      Ports		      [2, 1]
      Position		      [570, 555, 590, 575]
      Orientation	      "down"
      NamePlacement	      "alternate"
      ShowName		      off
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum6"
      Ports		      [2, 1]
      Position		      [265, 145, 285, 165]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [775, 235, 835, 265]
      ShowName		      off
      VariableName	      "e"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Structure"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn"
      Position		      [370, 42, 430, 78]
      Numerator		      "[1 1]"
      Denominator	      "[1 3 6]"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn1"
      Position		      [460, 142, 520, 178]
      ShowName		      off
      Numerator		      "[1 2]"
      Denominator	      "[1 -5 6]"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn2"
      Position		      [375, 205, 435, 245]
      Orientation	      "down"
      NamePlacement	      "alternate"
      ShowName		      off
      Denominator	      "[1 2]"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn3"
      Position		      [490, 210, 550, 250]
      Orientation	      "down"
      NamePlacement	      "alternate"
      ShowName		      off
      Denominator	      "[1 2]"
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      Points		      [35, 0]
      Branch {
	DstBlock		"Transfer Fcn1"
	DstPort			1
      }
      Branch {
	DstBlock		"Transfer Fcn2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Step"
      SrcPort		      1
      Points		      [10, 0]
      Branch {
	Points			[0, -95]
	DstBlock		"Transfer Fcn"
	DstPort			1
      }
      Branch {
	Points			[0, -10]
	DstBlock		"Product1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Transfer Fcn"
      SrcPort		      1
      Points		      [205, 0]
      Branch {
	DstBlock		"Sum1"
	DstPort			1
      }
      Branch {
	Points			[115, 0]
	Branch {
	  DstBlock		  "Scope1"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 115]
	  DstBlock		  "Mux"
	  DstPort		  2
	}
      }
    }
    Line {
      SrcBlock		      "Transfer Fcn1"
      SrcPort		      1
      Points		      [50, 0]
      Branch {
	Points			[0, 35]
	DstBlock		"Transfer Fcn3"
	DstPort			1
      }
      Branch {
	Points			[65, 0]
	Branch {
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Branch {
	  DstBlock		  "Product3"
	  DstPort		  2
	}
	Branch {
	  Points		  [75, 0]
	  Branch {
	    Points		    [0, 310]
	    DstBlock		    "Dot Product3"
	    DstPort		    2
	  }
	  Branch {
	    Points		    [0, -85; 60, 0]
	    Branch {
	      DstBlock		      "Scope1"
	      DstPort		      2
	    }
	    Branch {
	      Points		      [0, 80]
	      DstBlock		      "Mux"
	      DstPort		      1
	    }
	  }
	}
      }
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      Points		      [85, 0]
      Branch {
	DstBlock		"Scope"
	DstPort			1
      }
      Branch {
	Points			[0, 130]
	Branch {
	  Points		  [0, 35; -130, 0]
	  Branch {
	    Points		    [-65, 0]
	    Branch {
	      DstBlock		      "Product2"
	      DstPort		      2
	    }
	    Branch {
	      Points		      [-120, 0]
	      Branch {
		DstBlock		"Product"
		DstPort			2
	      }
	      Branch {
		Points			[-340, 0]
		DstBlock		"Product1"
		DstPort			2
	      }
	    }
	  }
	  Branch {
	    Points		    [0, 15]
	    DstBlock		    "Product3"
	    DstPort		    1
	  }
	}
	Branch {
	  DstBlock		  "To Workspace"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Transfer Fcn2"
      SrcPort		      1
      Points		      [0, 10]
      Branch {
	DstBlock		"Product"
	DstPort			1
      }
      Branch {
	Points			[-55, 0; 0, 220]
	DstBlock		"Dot Product2"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Transfer Fcn3"
      SrcPort		      1
      Points		      [0, 15]
      Branch {
	DstBlock		"Product2"
	DstPort			1
      }
      Branch {
	Points			[-30, 0; 0, 205]
	DstBlock		"Dot Product1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Product2"
      SrcPort		      1
      DstBlock		      "Integrator"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Integrator"
      SrcPort		      1
      DstBlock		      "Sum2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Constant"
      SrcPort		      1
      Points		      [-5, 0]
      DstBlock		      "Sum2"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum2"
      SrcPort		      1
      DstBlock		      "Dot Product1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Product"
      SrcPort		      1
      Points		      [-5, 0]
      DstBlock		      "Integrator2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Integrator2"
      SrcPort		      1
      DstBlock		      "Sum4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Constant2"
      SrcPort		      1
      DstBlock		      "Sum4"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum4"
      SrcPort		      1
      DstBlock		      "Dot Product2"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Product3"
      SrcPort		      1
      DstBlock		      "Integrator3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Integrator3"
      SrcPort		      1
      DstBlock		      "Sum3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Constant3"
      SrcPort		      1
      Points		      [-5, 0]
      DstBlock		      "Sum3"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum3"
      SrcPort		      1
      DstBlock		      "Dot Product3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Dot Product1"
      SrcPort		      1
      Points		      [0, 5; 40, 0]
      DstBlock		      "Sum5"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Dot Product3"
      SrcPort		      1
      Points		      [0, 10; -60, 0]
      DstBlock		      "Sum5"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Dot Product2"
      SrcPort		      1
      Points		      [-95, 0]
      DstBlock		      "Sum"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Sum5"
      SrcPort		      1
      Points		      [-285, 0; 0, -415]
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Integrator1"
      SrcPort		      1
      DstBlock		      "Gain"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain"
      SrcPort		      1
      DstBlock		      "Sum6"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Constant1"
      SrcPort		      1
      Points		      [5, 0]
      DstBlock		      "Sum6"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum6"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Product1"
      SrcPort		      1
      DstBlock		      "Integrator1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "Scope2"
      DstPort		      1
    }
  }
}