chap6_9out.m

机器人控制仿真程序一书的所有源代码

function [sys,x0,str,ts] = robot(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  = 3;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 3;
sizes.NumInputs      = 2;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1;   
sys = simsizes(sizes);
x0  = [0 0 0];
str = [];
ts  = [0 0];
function sys=mdlDerivatives(t,x,u)
v=u(1);
dx=v*cos(x(3));
dy=v*sin(x(3));
dfai=u(2);
sys = [dx,dy,dfai];
function sys=mdlOutputs(t,x,u)
v=u(1);
sys(1) = v;
sys(2) = x(1);
sys(3) = x(2);