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Raspberry Pi 的代码
chap5_7input.m
function [sys,x0,str,ts] = spacemodel(t,x,u,flag)
switch flag,
case 0,
[sys,x0,str,ts]=mdlInitializeSizes;
case 3,
sys=mdlOutputs(t,x,u);
case {2,4,9}
sys=[];
otherwise
error(['Unhandl
chap4_2ctrl.m
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
chap4_8ctrl.m
function [sys,x0,str,ts] = MIMO_Tong_s(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 {
chap4_11input.m
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
chap4_2mf.m
clear all;
close all;
L1=-pi/6;
L2=pi/6;
L=L2-L1;
T=L*1/1000;
x=L1:T:L2;
figure(1);
for i=1:1:5
gs=-[(x+pi/6-(i-1)*pi/12)/(pi/24)].^2;
u=exp(gs);
hold on;
plot(x,u);
end
xla
chap4_7mf.m
%From SMC book: chap4_6mf.m
clear all;
close all;
L1=-pi/6;
L2=pi/6;
L=L2-L1;
T=L*1/1000;
x=L1:T:L2;
figure(1);
for i=1:1:5
gs=-[(x+pi/6-(i-1)*pi/12)/(pi/24)].^2;
u=exp(gs);
ho
chap4_12input.m
function [sys,x0,str,ts] = input(t,x,u,flag)
switch flag,
case 0,
[sys,x0,str,ts]=mdlInitializeSizes;
case 3,
sys=mdlOutputs(t,x,u);
case {2,4,9}
sys=[];
otherwise
error(['Unh
chap4_12plant.m
function [sys,x0,str,ts]=s_function(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,
chap3_6input.m
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
chap2_2input.m
function [sys,x0,str,ts] = input(t,x,u,flag)
switch flag,
case 0,
[sys,x0,str,ts]=mdlInitializeSizes;
case 3,
sys=mdlOutputs(t,x,u);
case {2,4,9}
sys=[];
otherwise
error(['Unh