lineariz_vztah.m

NelinSys_app xiang guan neirong,da jia ke yi can kao yi xia .

function [sys,x0,str,ts] = lineariz_vztah(t,x,u,flag,n,vzorec)

% NelinSys - a program tool for analysis and synthesis of nonlinear control systems
%            based on MATLAB/Simulink 5.2
%
% (C) 2002-2005, Martin Ondera ([e-mail]) ([e-mail])

% This program is free software; you can redistribute it and/or
% modify it under the terms of the GNU General Public License
% as published by the Free Software Foundation; either version 2
% of the License, or (at your option) any later version.
%
% This program is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with this program; if not, write to the Free Software
% Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
%
% Please, see the LICENSE.TXT file to read the full license.

switch flag,

% =========================== Inicializacna cast s-funkcie  ============================== %
case 0

   % Definicia stavov, vstupov a vystupov systemu %
   sizes = simsizes;
   sizes.NumContStates = 0;
   sizes.NumDiscStates = 0;
   sizes.NumOutputs = 1;
   sizes.NumInputs = n+1;
   sizes.DirFeedthrough = 1;
   sizes.NumSampleTimes = 1;
   sys = simsizes(sizes);

   % Inicializacia pociatocnych podmienok %
   x0 = [];

   % Inicializacia "str" ako prazdna matica %
   str = [];
   
   % Sample times in TS %
   ts = [0 0];

% ========================== Vypocet podla linearizacnej rovnice ======================== %
case 3
   sys = eval(sym(vzorec));
   
   if ~isreal(sys)
      error(['At the time instant t = ',num2str(t),'s, the linearizing control law is not defined! Cannot continue the simulation!']);
      % sys = 0;
   end

% ================================= Nepouzite priznaky ================================== %
case {1, 2, 4, 9}
   sys = [];
   
% ================================= Spracovanie chyby =================================== %
otherwise
   error(['Unknown flag = ',num2str(flag)]);
end