pendulum_xe.m

c program for caro game

function [sys,x0,str,ts] = Pendulum_Xe(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) 
K2 = 4;
sys = (A-B*[0,K2,0,0])*x + B*u; 
%--------------------------------------------------------
function sys=mdlOutputs(t,x,u,A,B,C,D) 
sys = C*x + D*u;
%--------------------------------------------------------