www.pudn.com > slidingmode3.rar > chap4_5s.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     = 2; 
sizes.NumInputs      = 2; 
sizes.DirFeedthrough = 1; 
sizes.NumSampleTimes = 0; 
 
sys=simsizes(sizes); 
x0=[]; 
str=[]; 
ts=[]; 
 
function sys=mdlOutputs(t,x,u) 
persistent a2 
 
if t==0 
a=newfis('fuzz_smc'); 
 
a=addvar(a,'input','s',5*[-25,25]); 
a=addmf(a,'input',1,'N','trapmf',5*[-25,-25,-3,0]); 
a=addmf(a,'input',1,'Z','trimf',5*[-3,0,3]); 
a=addmf(a,'input',1,'B','trapmf',5*[0,3,25,25]); 
 
a=addvar(a,'output','u',20*[-5,5]); 
a=addmf(a,'output',1,'N','trapmf',20*[-5,-5,-3,0]); 
a=addmf(a,'output',1,'Z','trimf',20*[-3,0,3]); 
a=addmf(a,'output',1,'B','trapmf',20*[0,3,5,5]); 
 
rulelist=[1 3 1 1; 
          2 2 1 1; 
          3 3 1 1]; 
           
a=addrule(a,rulelist); 
%showrule(a)                         %Show fuzzy rule base 
 
a1=setfis(a,'DefuzzMethod','centroid');  %Defuzzy 
writefis(a1,'fsmc');                 %Save fuzzy system as "fsmc.fis" 
a2=readfis('fsmc'); 
 
F=1; 
	if F==1 
		figure(1); 
		plotmf(a,'input',1); 
		figure(2); 
		plotmf(a,'output',1); 
	end 
end 
 
r=sin(2*pi*t); 
dr=2*pi*cos(2*pi*t); 
ddr=-(2*pi)^2*sin(2*pi*t); 
 
e=u(1); 
de=u(2); 
 
c=25; 
s=c*e+de; 
 
x2=dr-de; 
f=-25*x2; 
b=133; 
 
ueq=1/b*(c*de+ddr-f); 
D=200; 
xite=D+150; 
usw=1/b*xite*sign(s); 
 
M=2; 
if M==1 
   miu=1.0; 
elseif M==2 
	miu=evalfis([s],a2);     %Using fuzzy inference 
end 
ut=ueq+miu*usw; 
 
sys(1)=ut; 
sys(2)=miu;