www.pudn.com > slidingmode5.rar > chap6_1s.m

function [sys,x0,str,ts] = spacemodel(t,x,u,flag) 
 
switch flag, 
case 0, 
    [sys,x0,str,ts]=mdlInitializeSizes; 
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 V x0 fai 
 
sizes = simsizes; 
sizes.NumDiscStates  = 0; 
sizes.NumOutputs     = 1; 
sizes.NumInputs      = 3; 
sizes.DirFeedthrough = 1; 
sizes.NumSampleTimes = 1; 
sys = simsizes(sizes); 
x0=[]; 
str = []; 
ts = [0 0]; 
function sys=mdlOutputs(t,x,u) 
c1=35; 
c2=15; 
 
zd=u(1); 
dzd=6*pi*cos(6*pi*t); 
ddzd=-(6*pi)^2*sin(6*pi*t); 
x1=u(2); 
x2=u(3); 
 
f=-25*x2; 
b=133; 
 
z1=x1-zd; 
dz1=x2-dzd; 
 
alfa1=-c1*z1+dzd; 
z2=x2-alfa1; 
ut=(1/b)*(-f-c2*z2-z1-c1*dz1+ddzd); 
 
sys(1)=ut;