chap9_5plant.m

机器人控制仿真程序一书的所有源代码

function [sys,x0,str,ts]=s_function(t,x,u,flag)
switch flag,
case 0,
    [sys,x0,str,ts]=mdlInitializeSizes;
case 1,
    sys=mdlDerivatives(t,x,u);
case 3,
    sys=mdlOutputs(t,x,u);
case {2, 4, 9 }
    sys = [];
otherwise
    error(['Unhandled flag = ',num2str(flag)]);
end
function [sys,x0,str,ts]=mdlInitializeSizes
sizes = simsizes;
sizes.NumContStates  = 2;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 3;
sizes.NumInputs      = 1;
sizes.DirFeedthrough = 0;
sizes.NumSampleTimes = 0;
sys=simsizes(sizes);
x0=[0;0];
str=[];
ts=[];
function sys=mdlDerivatives(t,x,u)
ut=u(1);
b=15;
a=5;

f=5+0.15*sin(t);
ddth=-b*x(2)+a*ut-f;

sys(1)=x(2);
sys(2)=ddth;
function sys=mdlOutputs(t,x,u)
f=5+0.15*sin(t);
sys(1)=x(1);
sys(2)=x(2);
sys(3)=f;