www.pudn.com > slidingmode3.rar > chap4_2.asv

clear all; 
close all; 
%%%%%%%% Fuzzy System Design %%%%%%%%%%% 
a=newfis('fuzz'); 
 
k1=1.0; 
a=addvar(a,'input','s',[-3*k1,3*k1]); 
a=addmf(a,'input',1,'NB','zmf',[-3*k1,-1*k1]); 
a=addmf(a,'input',1,'Z','trimf',[-2*k1,0,2*k1]); 
a=addmf(a,'input',1,'PB','smf',[1*k1,3*k1]); 
 
k2=1.0; 
a=addvar(a,'input','ds',[-3*k2,3*k2]); 
a=addmf(a,'input',2,'NB','zmf',[-3*k2,-1*k2]); 
a=addmf(a,'input',2,'Z','trimf',[-2*k2,0,2*k2]); 
a=addmf(a,'input',2,'PB','smf',[1*k2,3*k2]); 
 
k3=1.0; 
a=addvar(a,'output','eq',[-3*k3,3*k3]); 
a=addmf(a,'output',1,'NB','zmf',[-3*k3,-1*k3]); 
a=addmf(a,'output',1,'Z','trimf',[-2*k3,0,2*k3]); 
a=addmf(a,'output',1,'PB','smf',[1*k3,3*k3]); 
 
rulelist=[1 1 1 1 1;   % Edit rule base 
          1 2 1 1 1; 
          1 3 2 1 1; 
    
          2 1 1 1 1; 
          2 2 2 1 1; 
          2 3 2 1 1; 
           
          3 1 2 1 1; 
          3 2 2 1 1; 
          3 3 3 1 1]; 
           
a=addrule(a,rulelist); 
%showrule(a)                        % Show fuzzy rule base 
%ruleview(a) 
a1=setfis(a,'DefuzzMethod','centroid');  % Defuzzy 
writefis(a1,'fuzz'); 
a2=readfis('fuzz'); 
 
%%%%%%%% Fuzzy SMC Control %%%%%%%%%%% 
ts=0.001; 
A1=[0,1;0,-25]; 
B1=[0;133]; 
C1=[1,0]; 
D1=0; 
[A,B,C,D]=c2dm(A1,B1,C1,D1,ts,'z'); 
 
x=[0;0]; 
r_1=0;r_2=0; 
 
c=10; 
q=30; 
Ce=[c,1]; 
es_1=0; 
 
for k=1:1:1000 
    
	time(k)=k*ts; 
   r(k)=1.0; 
    
   %Using Waitui method    
   dr(k)=(r(k)-r_1)/ts; 
   dr_1=(r_1-r_2)/ts; 
   r1(k)=2*r(k)-r_1; 
   dr1(k)=2*dr(k)-dr_1; 
   
R=[r(k);dr(k)]; 
R1=[r1(k);dr1(k)]; 
    
E=R-x; 
e(k)=E(1); 
de(k)=E(2); 
    
s(k)=Ce*E; 
  
es(k)=s(k); 
des(k)=es(k)-es_1;  
 
fs(k)=evalfis([es(k) des(k)],a2);     %Using fuzzy inference 
    
M=2; 
if M==1      %EXP trending law with fixed eq 
	eq(k)=5.0; 
elseif M==2  %EXP trending law with adaptive eq 
	eq(k)=abs(fs(k)); 
end 
 
ds(k)=-eq(k)*ts*sign(s(k))-q*ts*s(k); 
u(k)=inv(Ce*B)*(Ce*R1-Ce*A*x-s(k)-ds(k)); 
    
if u(k)>=10 
   u(k)=10; 
end 
if u(k)<=-10 
   u(k)=-10; 
end 
 
x=A*x+B*(u(k)+0.1); 
y(k)=x(1); 
 
%Update Parameters 
r_2=r_1; 
r_1=r(k); 
es_1=es(k); 
end 
figure(1) 
plot(time,r,'r',time,y,'b'); 
xlabel('Time(second)');ylabel('Step response'); 
 
figure(2) 
plot(e,de,'r',e,-c*e,'b'); 
xlabel('e');ylabel('de'); 
 
figure(3) 
plot(time,u,'r'); 
xlabel('Time(second)');ylabel('u'); 
 
figure(4) 
plot(time,eq,'r'); 
xlabel('time(s)');ylabel('adaptive eq'); 
 
% figure(5); 
% plotmf(a2,'input',1); 
% figure(6); 
% plotmf(a2,'input',2); 
% figure(7); 
% plotmf(a2,'output',1);