www.pudn.com > slidingmode5.rar > chap6_4s1.m

%S-function for continuous state equation 
function [sys,x0,str,ts]=s_function(t,x,u,flag) 
 
switch flag, 
%Initialization 
  case 0, 
    [sys,x0,str,ts]=mdlInitializeSizes; 
%Outputs 
  case 3, 
    sys=mdlOutputs(t,x,u); 
%Unhandled flags 
  case {2, 4, 9 } 
    sys = []; 
%Unexpected flags 
  otherwise 
    error(['Unhandled flag = ',num2str(flag)]); 
end 
 
%mdlInitializeSizes 
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) 
error=u(1); 
derror=u(2); 
 
c1=100;c2=100;n1=5; 
 
r=0.5*sin(3*2*pi*t); 
dr=0.5*3*2*pi*cos(3*2*pi*t); 
ddr=-0.5*(3*2*pi)^2*sin(3*2*pi*t); 
 
e1=u(1); 
de=u(2); 
z1=u(3); 
 
x2=dr-de; 
w=x2; 
 
wr=c1*e1+dr+n1*z1; 
 
e2=wr-w; 
 
J=1/133; 
b=25/133; 
ut=J*[(1-c1^2+n1)*e1+(c1+c2)*e2-c1*n1*z1+ddr]+b*x2; 
  
sys(1)=ut;