preprocess_exact.m

Fuzzy Precompensated Control

function [sys,x0,str,ts] = preprocess(t,x,u,flag)
% Dispatch the flag. The switch function controls the calls to 
% S-function routines at each simulation stage.
switch flag,

   case 0
     [sys,x0,str,ts] = mdlInitializeSizes; % Initialization

   case 3
     sys = mdlOutputs(t,x,u); % Calculate outputs

   case { 1, 2, 4, 9 }
     sys = []; % Unused flags

   otherwise
     error(['Unhandled flag = ',num2str(flag)]); % Error handling
end;
function [sys,x0,str,ts] = mdlInitializeSizes
% Call function simsizes to create the sizes structure.
sizes = simsizes;
% Load the sizes structure with the initialization information.
sizes.NumContStates= 0;
sizes.NumDiscStates= 0;
sizes.NumOutputs=    6;
sizes.NumInputs=     6;
sizes.DirFeedthrough=1;
sizes.NumSampleTimes=1;
% Load the sys vector with the sizes information.
sys = simsizes(sizes);
%
x0 = []; % No continuous states
% 
str = []; % No state ordering
% 
ts = [-1 0]; % Inherited sample time
function sys = mdlOutputs(t,x,u)
sys = tramnmx(u,[-1.0000   -3.1416   -9.8696   -0.8000   -2.5133   -7.8957]',[1.0000    3.1416    9.8696    0.8000    2.5133    7.8957]');

% End of mdlOutputs.