chap5_3s.m

偶编写的倒立摆系统的MATlab关于模糊自适应控制的对象和控制器S函数

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  = 50;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 3;
sizes.NumInputs      = 2;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 0;
sys = simsizes(sizes);
x0  = [0.1*ones(50,1)];
str = [];
ts  = [];

function sys=mdlDerivatives(t,x,u)
gama1=50;
gama2=1;

r=0.1*sin(t);
dr=0.1*cos(t);
ddr=-0.1*sin(t);

e=u(1);
de=u(2);
x1=r-e;
x2=de-dr;

k1=2;
k2=1;
k=[k2;k1];
E=[e,de]';

for i=1:1:25
    thtaf(i,1)=x(i);
end
for i=1:1:25
    thtag(i,1)=x(i+25);
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
A=[0 -k2;
   1 -k1];
Q=[10 0;0 10];
P=lyap(A,Q);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FS1=0;
for l1=1:1:5
   gs1=-[(x1+pi/6-(l1-1)*pi/12)/(pi/24)]^2;
	u1(l1)=exp(gs1);
end

for l2=1:1:5
   gs2=-[(x2+pi/6-(l2-1)*pi/12)/(pi/24)]^2;
	u2(l2)=exp(gs2);
end

for l1=1:1:5
	for l2=1:1:5
		FS2(5*(l1-1)+l2)=u1(l1)*u2(l2);
		FS1=FS1+u1(l1)*u2(l2);
	end
end

FS=FS2/(FS1+0.001);

fx1=thtaf'*FS';
gx1=thtag'*FS'+0.001;

ut=1/gx1*(-fx1+ddr+k'*E);
   
b=[0;1];
S1=-gama1*E'*P*b*FS;
S2=-gama2*E'*P*b*FS*ut;

for i=1:1:25
    sys(i)=S1(i);
end
for j=26:1:50
    sys(j)=S2(j-25);
end
 
function sys=mdlOutputs(t,x,u)
r=0.1*sin(t);
dr=0.1*cos(t);
ddr=-0.1*sin(t);

e=u(1);
de=u(2);
x1=r-e;
x2=de-dr;

k1=2;
k2=1;
k=[k2;k1];
E=[e,de]';

for i=1:1:25
    thtaf(i,1)=x(i);
end
for i=1:1:25
    thtag(i,1)=x(i+25);
end

FS1=0;
for l1=1:1:5
   gs1=-[(x1+pi/6-(l1-1)*pi/12)/(pi/24)]^2;
	u1(l1)=exp(gs1);
end

for l2=1:1:5
   gs2=-[(x2+pi/6-(l2-1)*pi/12)/(pi/24)]^2;
	u2(l2)=exp(gs2);
end

for l1=1:1:5
	for l2=1:1:5
		FS2(5*(l1-1)+l2)=u1(l1)*u2(l2);
		FS1=FS1+u1(l1)*u2(l2);
	end
end
FS=FS2/(FS1+0.001);

fx1=thtaf'*FS';
gx1=thtag'*FS'+0.001;

ut=1/gx1*(-fx1+ddr+k'*E);

sys(1)=ut;
sys(2)=fx1;
sys(3)=gx1;