chap5_7s.m

采用滑模控制和RBF网络来控制对象

function [sys,x0,str,ts] = spacemodel(t,x,u,flag)

switch flag,
case 0,
    [sys,x0,str,ts]=mdlInitializeSizes;
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  = 0;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 3;
sizes.NumInputs      = 3;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 0;
sys = simsizes(sizes);
x0  = [];
str = [];
ts  = [];

function sys=mdlOutputs(t,x,u)
persistent w w_1 w_2 m b

Gp=133;
Gmax=150;
Gmin=100;
alfa=sqrt(Gmax/Gmin)+1;

r=1;dr=0;ddr=0;

e=u(1);
de=u(2)-dr;
c=5;
s=c*e+de;

fp=-25*u(2);
F=5*abs(u(2));

D=50;

Up=-fp-c*de+ddr;
ueq=1/Gp*Up;

xite=0.50;

M=1;
switch M
case 1
   K=alfa*(F+D+xite+(alfa-1)*abs(Up));
case 2    %Using RBF

if t==0
	w=30*ones(3,1);
	m=3*ones(2,3);
   b=5*ones(3,1);
	w_1=w;
	w_2=w_1;
end

	ds=u(3);
	xi=[s;ds];
for j=1:1:3
    h(j)=exp(-norm(xi-m(:,j))^2/(2*b(j)*b(j)));
end
	ym=w'*h';
	K=abs(ym);
	dyu=1.0;

	xite1=0.80;
	alfa1=0.05;
	d_w=xite1*e*dyu*1/Gp*sign(s)*h'*sign(ym);
	w=w_1+d_w+alfa1*(w_1-w_2);
end
un=-1/Gp*K*sign(s);
ut=ueq+un;

sys(1)=ut;
sys(2)=K;
sys(3)=s;