www.pudn.com > slidingmode3.rar > chap4_4s.m

%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     = 3; 
sizes.NumInputs      = 3; 
sizes.DirFeedthrough = 1; 
sizes.NumSampleTimes = 0; 
 
sys=simsizes(sizes); 
x0=[]; 
str=[]; 
ts=[]; 
 
function sys=mdlOutputs(t,x,u) 
persistent s0 
 
e=u(1); 
de=u(2); 
 
c=150; 
if t==0 
   e0=e;de0=de; 
	s0=c*e0+de0; 
end 
 
r=1*sin(0.5*2*pi*t); 
dr=1*2*pi*0.5*cos(0.5*2*pi*t); 
ddr=-1*(2*pi*0.5)^2*sin(0.5*2*pi*t); 
%r=1.0;dr=0;ddr=0; 
 
x1=r-e; 
x2=dr-de; 
 
fx=-25*x2; 
b=133; 
 
nmn=10; 
Ft=s0*exp(-nmn*t); 
dFt=-s0*nmn*exp(-nmn*t); 
 
s=c*e+de-Ft; 
 
D=250; 
xite=1.0; 
 
M=2; 
if M==1 
   K=D+xite; 
elseif M==2    %Estimation for K with fuzzy 
   K=abs(u(3))+xite; 
end 
 
ut=1/b*(-fx+ddr+c*de+K*sign(s)-dFt); 
%ut=50*e+0.01*de; 
 
sys(1)=ut; 
sys(2)=s; 
sys(3)=K;