?? chap6_4s2.m
字號(hào):
%S-function for continuous state equation
function [sys,x0,str,ts]=s_function(t,x,u,flag)
switch flag,
%Initialization
case 0,
[sys,x0,str,ts]=mdlInitializeSizes;
%Outputs
case 3,
sys=mdlOutputs(t,x,u);
%Unhandled flags
case {2, 4, 9 }
sys = [];
%Unexpected flags
otherwise
error(['Unhandled flag = ',num2str(flag)]);
end
%mdlInitializeSizes
function [sys,x0,str,ts]=mdlInitializeSizes
sizes = simsizes;
sizes.NumContStates = 0;
sizes.NumDiscStates = 0;
sizes.NumOutputs = 2;
sizes.NumInputs = 4;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 0;
sys=simsizes(sizes);
x0=[];
str=[];
ts=[];
function sys=mdlOutputs(t,x,u)
persistent s0
Bn=25/133;
Jn=1/133;
lamt=Bn/Jn;
Jm=1/163;JM=1/103;
Bm=15/163;BM=35/103;
dM=1.0;
K=20;
e=u(1);
de=u(2);
nu=u(3);
v=u(4);
s1=de+lamt*e;
if t==0
e0=e;de0=de;
s0=de0+lamt*e0;
end
temp0=(1/Jn)*nu-lamt*v;
Ja=1/2*(JM+Jm);
Ba=1/2*(BM+Bm);
xite=10;
ft=s0*exp(-xite*t);
s=s1-ft;
H=dM+1/2*(JM-Jm)*abs(temp0)+1/2*(BM-Bm)*abs(v)+JM*xite*abs(s0)*exp(-xite*t);
ut=-K*s-H*sign(s)+Ja*((1/Jn)*nu-lamt*v)+Ba*v;
sys(1)=ut;
sys(2)=s;
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