chap5_3plant.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

%S-function for continuous state equation
function [sys,x0,str,ts]=s_function(t,x,u,flag)

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

function [sys,x0,str,ts]=mdlInitializeSizes
sizes = simsizes;
sizes.NumContStates  = 2;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 3;
sizes.NumInputs      = 1;
sizes.DirFeedthrough = 0;
sizes.NumSampleTimes = 0;

sys=simsizes(sizes);
x0=[pi/60 0];
str=[];
ts=[];

function sys=mdlDerivatives(t,x,u)
g=9.8;
mc=1.0;
m=0.1;
l=0.5;

S=l*(4/3-m*(cos(x(1)))^2/(mc+m));
fx=g*sin(x(1))-m*l*x(2)^2*cos(x(1))*sin(x(1))/(mc+m);
fx=fx/S;
gx=cos(x(1))/(mc+m);
gx=gx/S;

sys(1)=x(2);
sys(2)=fx+gx*u;
function sys=mdlOutputs(t,x,u)
g=9.8;
mc=1.0;
m=0.1;
l=0.5;

S=l*(4/3-m*(cos(x(1)))^2/(mc+m));
fx=g*sin(x(1))-m*l*x(2)^2*cos(x(1))*sin(x(1))/(mc+m);
fx=fx/S;
gx=cos(x(1))/(mc+m);
gx=gx/S;

sys(1)=x(1);
sys(2)=fx;
sys(3)=gx;