chap5_2plant.m

机器人控制仿真程序一书的所有源代码

function [sys,x0,str,ts] = spacemodel(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     = 2;
sizes.NumInputs      = 2;
sizes.DirFeedthrough = 0;
sizes.NumSampleTimes = 1;
sys = simsizes(sizes);
x0  = [0;1];
str = [];
ts  = [0 0];
function sys=mdlDerivatives(t,x,u)
A=[-2 3;1 1];
C=[1 0;0 1];
B=[1 1;0 1];
Gama=0.95;
norm(eye(2)-C*B*Gama);  % Must be smaller than 1.0

U=[u(1);u(2)];
dx=A*x+B*U;
sys(1)=dx(1);
sys(2)=dx(2);
function sys=mdlOutputs(t,x,u)
sys(1)=x(1);
sys(2)=x(2);