www.pudn.com > slidingmode3.rar > chap4_6s.m

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)]); 
end 
 
function [sys,x0,str,ts]=mdlInitializeSizes 
global M 
 
sizes = simsizes; 
sizes.NumContStates  = 50; 
sizes.NumDiscStates  = 0; 
sizes.NumOutputs     = 3; 
sizes.NumInputs      = 2; 
sizes.DirFeedthrough = 1; 
sizes.NumSampleTimes = 0; 
sys = simsizes(sizes); 
x0  = [0.2*ones(50,1)]; 
str = []; 
ts  = []; 
 
M=2; 
function sys=mdlDerivatives(t,x,u) 
global M 
 
r=0.1*sin(pi*t); 
dr=0.1*pi*cos(pi*t); 
ddr=-0.1*pi*pi*sin(pi*t); 
 
e=u(1); 
de=u(2); 
 
xx(1)=r+e; 
xx(2)=dr+de; 
 
alfa=5; 
rou=de+alfa*e; 
kesi=ddr-alfa*de; 
 
if M==1 
	K=1.0; 
	R=kesi-K*sign(rou); 
elseif M==2 
	K=5; 
   delta0=0.03; 
   delta1=5; 
   delta=delta0+delta1*abs(e); 
   R=kesi-K*rou/(abs(rou)+delta); 
end 
 
 
for i=1:1:25 
    thtaf(i,1)=x(i); 
end 
for i=1:1:25 
    thtag(i,1)=x(i+25); 
end 
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
fsd=0; 
for l1=1:1:5 
   gs1=-[(xx(1)+pi/6-(l1-1)*pi/12)/(pi/24)]^2; 
	u1(l1)=exp(gs1); 
end 
 
for l2=1:1:5 
   gs2=-[(xx(2)+pi/6-(l2-1)*pi/12)/(pi/24)]^2; 
	u2(l2)=exp(gs2); 
end 
 
for l1=1:1:5 
	for l2=1:1:5 
		fsu(5*(l1-1)+l2)=u1(l1)*u2(l2); 
		fsd=fsd+u1(l1)*u2(l2); 
	end 
end 
 
fs=fsu/(fsd+0.001); 
 
fx1=thtaf'*fs'; 
gx1=thtag'*fs'+0.001; 
 
ut=(-fx1+R)/gx1; 
 
r1=5.0;r2=1; 
 
S1=-r1*rou*fs; 
S2=-r2*rou*fs*ut; 
 
for i=1:1:25 
    sys(i)=S1(i); 
end 
for j=26:1:50 
    sys(j)=S2(j-25); 
end 
 
function sys=mdlOutputs(t,x,u) 
global M 
 
r=0.1*sin(pi*t); 
dr=0.1*pi*cos(pi*t); 
ddr=-0.1*pi*pi*sin(pi*t); 
 
e=u(1); 
de=u(2); 
 
xx(1)=r+e; 
xx(2)=dr+de; 
 
alfa=5; 
rou=de+alfa*e; 
kesi=ddr-alfa*de; 
 
if M==1 
	K=1.0; 
	R=kesi-K*sign(rou); 
elseif M==2 
	K=5; 
   delta0=0.03; 
   delta1=5; 
   delta=delta0+delta1*abs(e); 
   R=kesi-K*rou/(abs(rou)+delta); 
end 
 
for i=1:1:25 
    thtaf(i,1)=x(i); 
end 
for i=1:1:25 
    thtag(i,1)=x(i+25); 
end 
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
fsd=0; 
for l1=1:1:5 
   gs1=-[(xx(1)+pi/6-(l1-1)*pi/12)/(pi/24)]^2; 
	u1(l1)=exp(gs1); 
end 
 
for l2=1:1:5 
   gs2=-[(xx(2)+pi/6-(l2-1)*pi/12)/(pi/24)]^2; 
	u2(l2)=exp(gs2); 
end 
  
for l1=1:1:5 
	for l2=1:1:5 
		fsu(5*(l1-1)+l2)=u1(l1)*u2(l2); 
		fsd=fsd+u1(l1)*u2(l2); 
	end 
end 
 
fs=fsu/(fsd+0.001); 
 
fx1=thtaf'*fs'; 
gx1=thtag'*fs'+0.001; 
 
ut=(-fx1+R)/gx1; 
 
sys(1)=ut; 
sys(2)=fx1; 
sys(3)=gx1;