tsfuzzyp39_4rules.asv

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

clc;
clear;

g=9.8;
m=2;
M=8;
l=0.25;
a=1/(m+M);

x=[(*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))  )  ] ;


A3=[0 1 ; (  (2*g)/(  ( pi*(cc-(dd*bb*bb)) )  )) 0 ];
B3=[0  ; (  (a*bb) /(cc-(dd*bb*bb))  )  ] ;


A4=[0 1 ; 0 0 ];
B4=[0 ; a/(cc-dd)];



F1=[-120.6667 -22.6667];
F2=[-2551.6 -764.0];
F3=[2551.6 764.0];
F4=[22.6667 22.6667];

ts=0.020;

for k=1:1:1000
    
    time(k)=k*ts;
    M1=tr(x(1),-pi/2,0,pi/2);
    M2=vmbf2(x(1),-pi/2,0,pi/2);
    M3=rule3(x(1),-pi,-pi/2,pi/2,pi);
    M4=rule4(x(1),-pi,-pi/2,pi/2,pi);
    u(k)=-(((M1*F1*x+M2*F2*x+M3*F3*x+M4*F4*x)/(M1+M2+M3+M4)));
    %u(k)=-F1*x;
    ko=( (M1*(A1*x(1:2)+B1*u(k))) + (M2*(A2*x(1:2)+B2*u(k))) + (M3*(A3*x(1:2)+B3*u(k))) + (M4*(A4*x(1:2)+B4*u(k))))/(M1+M2+M3+M4);
    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 0 180])



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