tsfuzzyp39.asv

Fuzzy Control Systems Design and Analysis [TANAKA& HUA O. WANG] CH1

clc;
clear;

g=9.8;
m=2;
M=8;
l=0.5;
a=1/(m+M);

x=[(15*pi)/180 ; 0];

ff=4*l;
cc=ff/3;
dd=a*m*l;
bb=cos((88*pi)/180);

A1=[0 1 ;(g/(cc-dd)) 0];
B1=[0 ; -(a/(cc-dd))];

A2=[0 1 ; (  (2*g)/(  ( pi*(cc-(dd*bb*bb)) )  )) 0 ];
B2=[0  ; -(  (a*bb) /(cc-(dd*bb*bb))  )  ] ;


F1=[-120.6667 -22.6667];
F2=[-2551.6 -764.0];


ts=0.020;

for k=1:1:1000
    
    time(k)=k*ts;
    
    M1=tr(x(1),-pi/2,0,pi/2);
    M2=vmbf(x(1),-pi/2,0,pi/2);
    u(k)=-(((M1*F1*x(1:2)+M2*F2*x(1:2))/(M1+M2)));
    %u(k)=-F1*x;
    ko=((M1*(A1*x(1:2)+B1*u(k)))+(M2*(A2*x(1:2)+B2*u(k))) )/(M1+M2);
    x=x+ts*ko;
    x1(k)=x(1);
    
end
    

fi1=figure;set(fi1,'color','white');set(fi1,'name',datestr(now,30));
plot(time,(x1*180)/pi,'r','LineWidth',2.5)
axis([0 5 0 90])



fi1=figure;set(fi1,'color','white');set(fi1,'name',datestr(now,30));
plot(time,u,'r','LineWidth',2.5)
axis([0 5 -inf inf ])




y=-pi/2:0.01:pi/2

 m1= tr(y,-pi/2,0,pi/2);
 m2=vmbf(y,-pi/2,0,pi/2);

 fi1=figure;set(fi1,'color','white');set(fi1,'name',datestr(now,30));
plot(y,m1,'r',y,m2,'b','LineWidth',2.5)
axis([-pi/2  pi/2 -inf inf ])