invert_pendulum.mdl

一级倒立摆的模糊控制与神经网络控制。Simulink仿真环境。使用说明：在使用模糊控制时先把*.fis导入workspace

      SampleTime	      "-1"
      DataType		      "auto"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SignalType	      "auto"
      SamplingMode	      "auto"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
    }
    Block {
      BlockType		      Saturate
      UpperLimit	      "0.5"
      LowerLimit	      "-0.5"
      LinearizeAsGain	      on
      ZeroCross		      on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Scope
      Floating		      off
      ModelBased	      off
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      "S-Function"
      FunctionName	      "system"
      SFunctionModules	      "''"
      PortCounts	      "[]"
    }
    Block {
      BlockType		      StateSpace
      A			      "1"
      B			      "1"
      C			      "1"
      D			      "1"
      X0		      "0"
      AbsoluteTolerance	      "auto"
      Realization	      "auto"
    }
    Block {
      BlockType		      Step
      Time		      "1"
      Before		      "0"
      After		      "1"
      SampleTime	      "-1"
      VectorParams1D	      on
      ZeroCross		      on
    }
    Block {
      BlockType		      SubSystem
      ShowPortLabels	      on
      Permissions	      "ReadWrite"
      PermitHierarchicalResolution "All"
      SystemSampleTime	      "-1"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      SimViewingDevice	      off
      DataTypeOverride	      "UseLocalSettings"
      MinMaxOverflowLogging   "UseLocalSettings"
    }
    Block {
      BlockType		      Sum
      IconShape		      "rectangular"
      Inputs		      "++"
      InputSameDT	      on
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      TransferFcn
      Numerator		      "[1]"
      Denominator	      "[1 2 1]"
      AbsoluteTolerance	      "auto"
      Realization	      "auto"
    }
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "invert_pendulum"
    Location		    [2, 82, 1430, 853]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "A4"
    PaperUnits		    "centimeters"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Sum
      Name		      "Add"
      Ports		      [2, 1]
      Position		      [405, 272, 430, 323]
      Orientation	      "left"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      OutScaling	      "2^-10"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Demux
      Name		      "Demux"
      Ports		      [1, 2]
      Position		      [635, 141, 640, 179]
      BackgroundColor	      "black"
      ShowName		      off
      Outputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Reference
      Name		      "Fuzzy Logic \nController"
      Ports		      [1, 1]
      Position		      [300, 136, 360, 184]
      FontName		      "Arial"
      SourceBlock	      "fuzblock/Fuzzy Logic \nController"
      SourceType	      "FIS"
      ShowPortLabels	      on
      fis		      "fismat22"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain"
      Position		      [130, 115, 160, 145]
      Gain		      "7.3"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain1"
      Position		      [200, 190, 230, 220]
      Gain		      "8.4"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain2"
      Position		      [675, 155, 705, 185]
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain3"
      Position		      [675, 45, 705, 75]
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain4"
      Position		      [560, 255, 590, 285]
      Orientation	      "left"
      Gain		      "-24.6"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain5"
      Position		      [500, 300, 530, 330]
      Orientation	      "left"
      Gain		      "-3.1"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain6"
      Position		      [385, 145, 415, 175]
      Gain		      "1.15"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [2, 1]
      Position		      [270, 141, 275, 179]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Saturate
      Name		      "Saturation"
      Position		      [485, 145, 515, 175]
      UpperLimit	      "2"
      LowerLimit	      "-2"
    }
    Block {
      BlockType		      StateSpace
      Name		      "State-Space"
      Position		      [540, 143, 600, 177]
      A			      "[0 0 1 0;0 0 0 1;0 -33.3 -16.74 0;0 -67.48 -11."
"84 0] "
      B			      "[0;0;29.43;20.82]"
      C			      "[1 0 0 0;0 1 0 0]"
      D			      "[0;0]"
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [340, 15, 370, 45]
      Time		      "0"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [440, 150, 460, 170]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [435, 50, 455, 70]
      Orientation	      "down"
      NamePlacement	      "alternate"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|-+"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn"
      Position		      [115, 187, 175, 223]
      Numerator		      "[200 0]"
      Denominator	      "[1 200]"
    }
    Block {
      BlockType		      TransferFcn
      Name		      "Transfer Fcn1"
      Position		      [570, 297, 630, 333]
      Orientation	      "left"
      Numerator		      "[200 0]"
      Denominator	      "[1 200]"
    }
    Block {
      BlockType		      Scope
      Name		      "sita1"
      Ports		      [1]
      Position		      [745, 44, 775, 76]
      Location		      [1, 52, 1441, 869]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      SaveName		      "ScopeData1"
      DataFormat	      "StructureWithTime"
    }
    Block {
      BlockType		      Scope
      Name		      "sita2"
      Ports		      [1]
      Position		      [740, 154, 770, 186]
      Location		      [1, 52, 1441, 869]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      DataFormat	      "StructureWithTime"
    }
    Line {
      SrcBlock		      "Transfer Fcn"
      SrcPort		      1
      DstBlock		      "Gain1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain"
      SrcPort		      1
      Points		      [85, 0; 0, 20]
      DstBlock		      "Mux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "Fuzzy Logic \nController"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "Saturation"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Saturation"
      SrcPort		      1
      DstBlock		      "State-Space"
      DstPort		      1
    }
    Line {
      SrcBlock		      "State-Space"
      SrcPort		      1
      DstBlock		      "Demux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain2"
      SrcPort		      1
      DstBlock		      "sita2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      2
      Points		      [10, 0]
      Branch {
	DstBlock		"Gain2"
	DstPort			1
      }
      Branch {
	Points			[0, 100]
	Branch {
	  DstBlock		  "Gain4"
	  DstPort		  1
	}
	Branch {
	  Points		  [0, 45]
	  DstBlock		  "Transfer Fcn1"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Gain3"
      SrcPort		      1
      DstBlock		      "sita1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      1
      Points		      [5, 0; 0, -90]
      Branch {
	DstBlock		"Gain3"
	DstPort			1
      }
      Branch {
	DstBlock		"Sum1"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Step"
      SrcPort		      1
      Points		      [70, 0]
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      Points		      [0, 15; -375, 0; 0, 40]
      Branch {
	Points			[0, 75]
	DstBlock		"Transfer Fcn"
	DstPort			1
      }
      Branch {
	DstBlock		"Gain"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Transfer Fcn1"
      SrcPort		      1
      DstBlock		      "Gain5"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain4"
      SrcPort		      1
      Points		      [-55, 0; 0, 15]
      DstBlock		      "Add"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain5"
      SrcPort		      1
      Points		      [-25, 0; 0, -5]
      DstBlock		      "Add"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Add"
      SrcPort		      1
      Points		      [0, -85; 50, 0]
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Gain1"
      SrcPort		      1
      Points		      [15, 0; 0, -35]
      DstBlock		      "Mux"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Fuzzy Logic \nController"
      SrcPort		      1
      DstBlock		      "Gain6"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain6"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      1
    }
  }
}