chap5_7plant.m

采用滑模控制和RBF网络来控制对象

%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

%mdlInitializeSizes
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=[0,0];
str=[];
ts=[];

function sys=mdlDerivatives(t,x,u)

fp=-25*x(2);
f=fp-5*sin(t)*x(2);
Gp=133;
G=Gp+15*sin(t);

b=0.05;c=2;
dt=50*exp(-(t-c)^2/(2*b^2));   %rbf_func.m

sys(1)=x(2);
sys(2)=f+G*u+dt;
function sys=mdlOutputs(t,x,u)
b=0.05;c=2;
dt=50*exp(-(t-c)^2/(2*b^2));   %rbf_func.m

sys(1)=x(1);
sys(2)=x(2);
sys(3)=dt;