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 {2,4,9}    sys=[];otherwise    error(['Unhandled flag = ',num2str(flag)]);endfunction [sys,x0,str,ts]=mdlInitializeSizessizes = simsizes;sizes.NumContStates  = 4;sizes.NumDiscStates  = 0;sizes.NumOutputs     = 4;sizes.NumInputs      = 2;sizes.DirFeedthrough = 0;sizes.NumSampleTimes = 1;sys = simsizes(sizes);x0  = [0;3;1;0];   %Must be equal to x(0) of ideal inputstr = [];ts  = [0 0];function sys=mdlDerivatives(t,x,u)Tol=[u(1) u(2)]';g=9.81;m1=10;m2=5;l1=1;l2=0.5;lc1=0.5;lc2=0.25;I1=0.83;I2=0.3;d11=m1*lc1^2+m2*(l1^2+lc2^2+2*l1*lc2*cos(x(3)))+I1+I2;d12=m2*(lc2^2+l1*lc2*cos(x(3)))+I2;d21=d12;d22=m2*lc2^2+I2;D=[d11 d12;d21 d22];h=-m2*l1*lc2*sin(x(3));c11=h*x(4);c12=h*x(4)+h*x(2);c21=-h*x(2);c22=0;C=[c11 c12;c21 c22];g1=(m1*lc1+m2*l1)*g*cos(x(1))+m2*lc2*g*cos(x(1)+x(3));g2=m2*lc2*g*cos(x(1)+x(3));G=[g1;g2];a=1.0;d1=a*0.3*sin(t);d2=a*0.1*(1-exp(-t));Td=[d1;d2];S=-inv(D)*C*[x(2);x(4)]-inv(D)*G+inv(D)*(Tol-Td);sys(1)=x(2);sys(2)=S(1);sys(3)=x(4);sys(4)=S(2);function sys=mdlOutputs(t,x,u)sys(1)=x(1);   %Angle1:q1sys(2)=x(2);   %Angle1 speed:dq1sys(3)=x(3);   %Angle2:q2sys(4)=x(4);   %Angle2 speed:dq2