www.pudn.com > slidingmode5.rar > chap6_2s.m

function [sys,x0,str,ts] = controller(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 
sizes = simsizes; 
sizes.NumContStates  = 0; 
sizes.NumDiscStates  = 0; 
sizes.NumOutputs     = 1; 
sizes.NumInputs      = 3; 
sizes.DirFeedthrough = 1; 
sizes.NumSampleTimes = 0; 
sys = simsizes(sizes); 
x0  = []; 
str = []; 
ts  = []; 
 
function sys=mdlOutputs(t,x,u) 
c1=70; 
k1=50; 
h=20; 
beta=1.5; 
Fmax=2; 
 
Am=-25; 
Bm=133; 
 
Yd=u(1); 
dYd=2*pi*cos(2*pi*t); 
ddYd=-(2*pi)^2*sin(2*pi*t); 
 
Y=u(2); 
Xp=u(3); 
 
z1=Y-Yd; 
dz1=Xp-dYd; 
alfa1=c1*z1; 
d_alfa1=c1*dz1; 
 
z2=Xp-dYd+alfa1; 
 
rou=k1*z1+z2; 
 
ut=1/Bm*(-k1*(z2-c1*z1)-Am*(z2+dYd-alfa1)+... 
   -Fmax*sign(rou)+ddYd-d_alfa1-h*(rou+beta*sign(rou))); 
 
sys(1)=ut;