chap5_1input.m

来自「机器人控制仿真程序一书的所有源代码」· M 代码 · 共 33 行

function [sys,x0,str,ts] = spacemodel(t,x,u,flag)
switch flag,
case 0,
    [sys,x0,str,ts]=mdlInitializeSizes;
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  = 0;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 4;
sizes.NumInputs      = 0;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1;
sys = simsizes(sizes);
x0  = [];
str = [];
ts  = [0 0];
function sys=mdlOutputs(t,x,u)
q1d=sin(3*t);
dq1d=3*cos(3*t);
q2d=cos(3*t);
dq2d=-3*sin(3*t);

sys(1)=q1d;
sys(2)=dq1d;
sys(3)=q2d;
sys(4)=dq2d;