switchuk.m

这是书籍:Matlab控制系统与应用的源码,

%参数e0和de0是设定的相平面误差允许范围。
function [sys,x0,str,ts] = switchUK(t,x,u,flag,K1,K3,tempi)

switch flag,
  %%%%%%%%%%%%%%%%%%
  % Initialization %
  %%%%%%%%%%%%%%%%%%
  % Initialize the states, sample times, and state ordering strings.
  case 0
    [sys,x0,str,ts]=mdlInitializeSizes;

  %%%%%%%%%%%
  % Outputs %
  %%%%%%%%%%%
  % Return the outputs of the S-function block.
  case 3
    sys=mdlOutputs(t,x,u,K1,K3,tempi);

  %%%%%%%%%%%%%%%%%%%
  % Unhandled flags %
  %%%%%%%%%%%%%%%%%%%
  % There are no termination tasks (flag=9) to be handled.
  % Also, there are no continuous or discrete states,
  % so flags 1,2, and 4 are not used, so return an emptyu
  % matrix 
  case { 1, 2, 4, 9 }
    sys=[];

  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  % Unexpected flags (error handling)%
  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  % Return an error message for unhandled flag values.
  otherwise
    error(['Unhandled flag = ',num2str(flag)]);

end

% end timestwo

%
%=============================================================================
% mdlInitializeSizes
% Return the sizes, initial conditions, and sample times for the S-function.
%=============================================================================
%
function [sys,x0,str,ts] = mdlInitializeSizes()

sizes = simsizes;
sizes.NumContStates  = 0;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 1;  % dynamically sized
sizes.NumInputs      = 2;  % dynamically sized
sizes.DirFeedthrough = 1;   % has direct feedthrough
sizes.NumSampleTimes = 1;

sys = simsizes(sizes);
str = [];
x0  = [];
ts  = [-1 0];   % inherited sample time


% end mdlInitializeSizes

%
%=============================================================================
% mdlOutputs
% Return the output vector for the S-function
%=============================================================================
%u(1,1)为输入控制量K(t)
%u(2,1)为输入控制量U(t)
function sys = mdlOutputs(t,x,u,K1,K3,tempi)

if abs(u(1,1))>K3
    sys=u(1,1);%如果输入控制量的绝对值比较大，即误差太大。则切换到K(t)逻辑控制
    tempi=1;
elseif abs(u(1,1))<K1
    sys=u(2,1);%如果输入控制量的绝对值比较小，则切换到U(t)预测控制
    tempi=0;
else
    if  tempi==0     %如果已经是预测控制，则保持，此处保持预测控制优先
        sys=u(2,1);
    else 
       sys=u(1,1);%如果已经是逻辑控制，则保持
    end
end
% end mdlOutputs