chap_1plant.m

确定性机械手的PD+前馈控制的Ｓ函数的控制程序

function[sys,x0,str,ts] = spacemodel(t,x,u,flag)
switch flag,
    case 0,
        [sys,x0,str,ts]=mdlInitializeSizes;
    case 1,
        sys=mdlDerivatives(t,x,u);
    case 3,
        sys=mdlOutputs(t,x,u);
    case{2,4,9}
        sys=[];
    otherwise
        error(['Unhandled flag = ',num2str(flag)]);
end

function[sys,x0,str,ts] = mdlInitializeSizes
sizes = simsizes;
sizes.NumContStates =2;
sizes.NumDiscStates =0;
sizes.NumOutputs    =2;
sizes.NumInputs    =1;
sizes.DirFeedthrough =0;
sizes.NumSampleTimes =1;
sys = simsizes(sizes);
x0 = [0;0];
str = [];
ts = [0 0];

function sys=mdlDerivatives(t,x,u)

g=9.8;
m=1;
l=0.25;
d=2.0;
I=4/3*m*l^2;

tol=u;
sys(1)=x(2);
sys(2)=1/I*(-d*x(2)-m*g*l*cos(x(1))+tol);

function sys=mdlOutputs(t,x,u)
sys(1)=x(1);
sys(2)=x(2);