www.pudn.com > chap1.rar > chap1_26.m

%Filter with tracker and differentiation 
clear all; 
close all; 
 
ts=0.001; 
x=[0,0]; 
for k=1:1:3000 
time(k)=k*ts; 
 
u0=1.0*sin(1*2*pi*k*ts); 
u=u0+0.1*rands(1); 
 
r=1800; 
h=0.015; 
T=ts; 
 
delta=r*h;  
delta0=delta*h;  
y=x(1)-u+h*x(2); 
a0=sqrt(delta*delta+8*r*abs(y)); 
if abs(y)<=delta0 
    a=x(2)+y/h; 
else 
    a=x(2)+0.5*(a0-delta)*sign(y); 
end 
if abs(a)<=delta 
    fst2=-r*a/delta; 
else 
    fst2=-r*sign(a); 
 end 
      
x(1)=x(1)+T*x(2); 
x(2)=x(2)+T*fst2; 
 
rin0(k)=u0; 
rin(k)=u; 
x1(k)=x(1); 
end 
figure(1); 
plot(time,rin,'k',time,x1,'k'); 
xlabel('time(s)');ylabel('rin,x1'); 
figure(2); 
plot(time,rin0,'k',time,x1,'k'); 
xlabel('time(s)');ylabel('rin0,x1');