chap6_9u1.m

来自「机器人控制仿真程序一书的所有源代码」· M 代码 · 共 35 行

function [sys,x0,str,ts] = v_controller(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.NumContStates  = 0;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 1;
sizes.NumInputs      = 3;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1; 
sys = simsizes(sizes);
x0  = [];
str = [];
ts  = [0 0];
function sys=mdlOutputs(t,x,u)
a1=-0.05;
b1=0.25;
c1=10;

v=u(1);
vr=u(2);
dvr=u(3);
ve=vr-v;

u1=(dvr-a1*v+c1*ve)/b1;
sys=u1;