www.pudn.com > slidingmode3.rar > chap4_7s.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 
sizes = simsizes; 
sizes.NumContStates  = 53; 
sizes.NumDiscStates  = 0; 
sizes.NumOutputs     = 3; 
sizes.NumInputs      = 2; 
sizes.DirFeedthrough = 1; 
sizes.NumSampleTimes = 0; 
sys = simsizes(sizes); 
x0  = [0.1*ones(53,1)]; 
str = []; 
ts  = []; 
 
function sys=mdlDerivatives(t,x,u) 
r1=50;r2=1;r3=10; 
 
r=0.1*sin(t); 
dr=0.1*cos(t); 
ddr=-0.1*sin(t); 
 
e=u(1); 
de=u(2); 
x1=r-e; 
x2=de-dr; 
 
k1=3; 
s=-(k1*e+de); 
 
for i=1:1:25 
    thtaf(i,1)=x(i); 
end 
for i=1:1:25 
    thtag(i,1)=x(i+25); 
end 
for i=1:1:3 
    thtah(i,1)=x(i+50); 
end 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
 
fsd1=0; 
fsd2=0; 
for l1=1:1:5 
   gs1=-[(x1+pi/6-(l1-1)*pi/12)/(pi/24)]^2; 
	u1(l1)=exp(gs1); 
end 
 
for l2=1:1:5 
   gs2=-[(x2+pi/6-(l2-1)*pi/12)/(pi/24)]^2; 
	u2(l2)=exp(gs2); 
end 
 
for l1=1:1:5 
	for l2=1:1:5 
		fsu1(5*(l1-1)+l2)=u1(l1)*u2(l2); 
		fsd1=fsd1+u1(l1)*u2(l2); 
	end 
end 
 
fs1=fsu1/(fsd1+0.001); 
 
fx1=thtaf'*fs1'; 
gx1=thtag'*fs1'+0.001; 
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
gs3=5*(s+3); 
u3(1)=1/(1+exp(gs3)); 
 
u3(2)=exp(-s^2); 
 
gs3=5*(s-3); 
u3(3)=1/(1+exp(gs3)); 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
 
fsu2=u3; 
for i=1:1:3 
   fsd2=fsd2+u3(i); 
end 
fs2=fsu2/(fsd2+0.001); 
h1=thtah'*fs2'; 
 
u=1/gx1*(-fx1+ddr-h1+k1*de); 
 
S1=r1*s*fs1; 
S2=r2*s*fs1*u; 
S3=r3*s*fs2; 
 
for i=1:1:25 
    sys(i)=S1(i); 
end 
for j=26:1:50 
    sys(j)=S2(j-25); 
end 
 
for j=51:1:53 
    sys(j)=S3(j-50); 
end 
 
function sys=mdlOutputs(t,x,u) 
r1=50;r2=1;r3=10; 
 
r=0.1*sin(t); 
dr=0.1*cos(t); 
ddr=-0.1*sin(t); 
 
e=u(1); 
de=u(2); 
x1=r-e; 
x2=de-dr; 
 
k1=3; 
s=-(k1*e+de); 
 
for i=1:1:25 
    thtaf(i,1)=x(i); 
end 
for i=1:1:25 
    thtag(i,1)=x(i+25); 
end 
for i=1:1:3 
    thtah(i,1)=x(i+50); 
end 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
 
fsd1=0; 
fsd2=0; 
for l1=1:1:5 
   gs1=-[(x1+pi/6-(l1-1)*pi/12)/(pi/24)]^2; 
	u1(l1)=exp(gs1); 
end 
 
for l2=1:1:5 
   gs2=-[(x2+pi/6-(l2-1)*pi/12)/(pi/24)]^2; 
	u2(l2)=exp(gs2); 
end 
 
for l1=1:1:5 
	for l2=1:1:5 
		fsu1(5*(l1-1)+l2)=u1(l1)*u2(l2); 
		fsd1=fsd1+u1(l1)*u2(l2); 
	end 
end 
 
fs1=fsu1/(fsd1+0.001); 
 
fx1=thtaf'*fs1'; 
gx1=thtag'*fs1'+0.001; 
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
gs3=5*(s+3); 
u3(1)=1/(1+exp(gs3)); 
 
u3(2)=exp(-s^2); 
 
gs3=5*(s-3); 
u3(3)=1/(1+exp(gs3)); 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
 
fsu2=u3; 
for i=1:1:3 
   fsd2=fsd2+u3(i); 
end 
fs2=fsu2/(fsd2+0.001); 
h1=thtah'*fs2'; 
 
ut=1/gx1*(-fx1+ddr-h1+k1*de); 
    
sys(1)=ut; 
sys(2)=fx1; 
sys(3)=gx1;