www.pudn.com > slidingmode3.rar > chap4_9s.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  = 6; 
sizes.NumDiscStates  = 0; 
sizes.NumOutputs     = 2; 
sizes.NumInputs      = 3; 
sizes.DirFeedthrough = 1; 
sizes.NumSampleTimes = 0; 
sys = simsizes(sizes); 
x0  = [0.1*ones(6,1)]; 
str = []; 
ts  = []; 
 
function sys=mdlDerivatives(t,x,u) 
r=0.2*sin(pi*t+pi/2); 
dr=0.2*pi*cos(pi*t+pi/2); 
ddr=-0.2*pi*pi*sin(pi*t+pi/2); 
 
y1=u(2); 
y2=u(3); 
 
e=y1-r; 
de=y2-dr; 
 
k1=10; 
k2=25; 
k=[k2;k1]; 
 
s=u(3)-u(1); 
for i=1:1:5 
    alfa(i,1)=x(i+1); 
end 
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
fsd=0; 
for l=1:1:5 
   gs=-[(s+pi/6-(l-1)*pi/12)/(pi/24)]^2; 
	miu(l)=exp(gs); 
end 
 
for l=1:1:5 
	 fsu(l)=miu(l); 
	 fsd=fsd+miu(l); 
end 
 
if fsd==0 
   fsd=fsd+0.01; 
end 
 
fs=fsu/fsd; 
 
ufz=alfa'*fs'; 
 
E=x(1); 
uvs=-E*sign(s); 
 
u=ufz+uvs; 
 
xite1=200; 
S1=-xite1*s*fs; 
 
xite2=0.50; 
sys(1)=xite2*abs(s); 
for i=2:1:6 
    sys(i)=S1(i-1); 
end 
 
function sys=mdlOutputs(t,x,u) 
r=0.2*sin(pi*t+pi/2); 
dr=0.2*pi*cos(pi*t+pi/2); 
ddr=-0.2*pi*pi*sin(pi*t+pi/2); 
 
y1=u(2); 
y2=u(3); 
 
e=y1-r; 
de=y2-dr; 
 
k1=10; 
k2=25; 
k=[k2;k1]; 
 
s=u(3)-u(1); 
for i=1:1:5 
    alfa(i,1)=x(i+1); 
end 
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
fsd=0; 
for l=1:1:5 
   gs=-[(s+pi/6-(l-1)*pi/12)/(pi/24)]^2; 
	miu(l)=exp(gs); 
end 
 
for l=1:1:5 
	 fsu(l)=miu(l); 
	 fsd=fsd+miu(l); 
end 
 
if fsd==0 
   fsd=fsd+0.01; 
end 
 
fs=fsu/fsd; 
 
ufz=alfa'*fs'; 
 
E=x(1); 
uvs=-E*sign(s); 
 
ut=ufz+uvs;   %FSMC 
%ut=-1500*e-150*de;  %PD 
 
sys(1)=ut; 
sys(2)=E;