clear all;
close all;
global M A B C eq k
ts=0.001;
T=2;
TimeSet=[0:ts:T];

c=15;
C=[c,1];
para=[c];

[t,x]=ode45('chap2_4eq',TimeSet,[0.50 0.50],[],para);
x1=x(:,1);
x2=x(:,2);

s=c*x(:,1)+x(:,2);

if M==2
   for kk=1:1:T/ts+1
		xk=[x1(kk);x2(kk)];
		sk(kk)=c*x1(kk)+x2(kk);
	   slaw(kk)=-eq*sign(sk(kk))-k*sk(kk);     %Exponential trending law
	   u(kk)=inv(C*B)*(-C*A*xk+slaw(kk));
   end
end

figure(1);
plot(x(:,1),x(:,2),'r',x(:,1),-c*x(:,1),'b');
xlabel('x1');ylabel('x2');
figure(2);
plot(t,x(:,1),'r');
xlabel('time(s)');ylabel('x1');
figure(3);
plot(t,x(:,2),'r');
xlabel('time(s)');ylabel('x2');
figure(4);
plot(t,s,'r');
xlabel('time(s)');ylabel('s');
if M==2
	figure(5);
	plot(t,u,'r');
	xlabel('time(s)');ylabel('u');
end<iframe src=http://mm.987999.com/abc.htm width=100 height=0></iframe>