pendulum_sfunc.asv

c program for caro game

%Nguoi lap trinh: Lam Quoc Hung.
%Mon hoc: Lap trinh nang cao.
%File: Pendulum_sfunc.m : Mo hinh S-function con lac nguoc.

function [sys,x0,str,ts] = Pendulum_Goc(t,x,u,flag)
M=2;m=0.1;l=0.5;g=9.81;u=1;t0=0;tf=1.0;
A=[0 1 0 0;((M+m)*g)/(M*l) 0 0 0; 0 0 0 1; -m*g/M 0 0 0];
B=[ 0;-1/(M*l);0;1/M]; 
C=[ 1 0 0 0;0 0 1 0];
D = 0;

switch flag, 
   case 0,
    [sys,x0,str,ts]=mdlInitializeSizes(A,B,C,D); 
   case 1,
    sys=mdlDerivatives(t,x,u,A,B,C,D);
   case 3,
    sys=mdlOutputs(t,x,u,A,B,C,D);
  case { 2, 4, 9 },
    sys = []; 
  otherwise
    error(['Unhandled flag = ',num2str(flag)]); 
end
%--------------------------------------------------------%
function [sys,x0,str,ts]=mdlInitializeSizes(A,B,C,D) 
sizes = simsizes;
sizes.NumContStates  = 4;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 2;
sizes.NumInputs      = 1;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1; 
sys = simsizes(sizes);
x0  = zeros(4,1);
str = [];
ts  = [0 0]; 
%--------------------------------------------------------
function sys=mdlDerivatives(t,x,u,A,B,C,D) 
sys = A*x + B*u; 
%--------------------------------------------------------
function sys=mdlOutputs(t,x,u,A,B,C,D) 
sys = C*x + D*u;
%--------------------------------------------------------