S-Function函数.docxVIP

被控对象S的函数：chap2_1ctrl.mfunction[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([‘Unhandled flag= ’,num2str(flag)]);endfunction[sys,x0,str,ts]=mdlInitializeSizessizes=simsizes;sizes.NumContStates=0;输入连续状态数目sizes.NumDiscStates=0;离散状态数目sizes.NumOutputs=3;输出数目sizes.NumInputs=3;输入数目sizes.DirFeedthrough=1;size.NumSampleTimes=0;sys=simsizes(sizes);x0=[];str=[];ts=[];function sys=mdlOutputs(t,x,u)thd=u(1);dthd=cos(t);ddthd=-sin(t);th=u(2);dth=u(3);c=0.5;e=th-thd;de=dth-dthd;s=c*e+de;J=10;xite=0.50;ut=J*(-c*de+ddthd-xite*sign(s));sys(1)=u(t);sys(2)=e;sys(3)=de被控对象S的函数：chap2_1plant.mfunction[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 {2,4,9} sys=[];otherwise error([‘Unhandled flag= ’,num2str(flag)]);endfunction[sys,x0,str,ts]=mdlInitializeSizessizes=simsizes;sizes.NumContStates=2;sizes.NumDiscStates=0;sizes.NumOutputs=2;sizes.NumInputs=1;sizes.DirFeedthrough=0;size.NumSampleTimes=0;sys=simsizes(sizes);x0=[0.5 1.0];str=[];ts=[];sfunction sys=mdlDerivatives (t,x,u)sJ=10;sys(1)=x(2);sys(2)=1/J*u;function sys=mdlOutputs(t,x,u)sys(1)=x(1);sys(2)=x(2);作图程序：chap2_1plot.mclose all;figure(1);subplot(211);plot(t,y(:,1),’k’,t,y(:,2),’r:’,’linewidth’,2);legend(‘Ideal position signal’, ’Position tracking’);xlabel(‘time(s)’);ylabel(‘Angle response’);subplot(212);plot(t,cos(t),’k’,t,y(:,3),’r:’,’linewidth’,2);legend(‘Ideal speed signal’, ’Speed tracking’);xlabel(‘time(s)’);ylabel(‘Angle speed response’);figure(2)plot(t,u(:,1),’k’,’linewidth’,0.01);xlabel(‘time(s)’);ylabel(‘Control input’);c=0.5figure(3)plot(e,de,’r’,e,-c’.*e,’k’,’linewidth’,2);xlabel(‘e’);ylabel(‘de’);legend(‘s change ‘,’ s=0’);title(‘phase trajectory’);function [sys,x0,str,ts] = xiuMS(t,x,u,flag)%SFUNTMPL General M-file S-function template% With M-file S-functions, you can define you o