chap6_8w.m

机器人控制仿真程序一书的所有源代码

function [sys,x0,str,ts] = controller2(t,x,u,flag) 
switch flag,
    case 0,
    [sys,x0,str,ts]=mdlInitializeSizes;
case 3,
    sys=mdlOutputs(t,x,u);
case {1,2,4,9}
    sys=[];
   otherwise
    error(['Unhandled flag = ',num2str(flag)]);
end
function [sys,x0,str,ts]=mdlInitializeSizes
sizes = simsizes;
sizes.NumOutputs     = 1;
sizes.NumInputs      = 2;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1; 
sys = simsizes(sizes);
x0  = [];
str = [];
ts  = [0 0];
function sys=mdlOutputs(t,x,u)
c3=50;
e=u(1);
dalfa=u(2);
w=dalfa+c3*e;
sys=w;