www.pudn.com > slidingmode5.rar > chap6_5plantn.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.NumOutputs     = 9; 
sizes.NumInputs      = 2; 
sizes.DirFeedthrough = 1; 
sizes.NumSampleTimes = 1; 
sys = simsizes(sizes); 
x0  = [3;0;0;0;0;pi]; 
str = []; 
ts  = [0 0]; 
 
function sys=mdlDerivatives(t,x,u) 
 
xe=x(1); 
ye=x(2); 
the=x(3); 
 
v=u(1); 
w=u(2); 
 
vr=1.0; 
wr=sin(t); 
thr=x(6); 
 
sys(1)=ye*w-v+vr*cos(the); 
sys(2)=-xe*w+vr*sin(the); 
sys(3)=wr-w; 
 
sys(4)=vr*cos(thr); 
sys(5)=vr*sin(thr); 
sys(6)=sin(t); 
 
function sys=mdlOutputs(t,x,u) 
xe=x(1); 
ye=x(2); 
the=x(3); 
 
vr=1.0; 
wr=sin(t); 
 
xr=x(4); 
yr=x(5); 
thr=x(6); 
 
th=thr-x(3); 
M1=[cos(th) sin(th);-sin(th) cos(th)]; 
M2=[xr;yr]-inv(M1)*[xe;ye]; 
xp=M2(1); 
yp=M2(2); 
 
sys(1)=x(1); 
sys(2)=x(2); 
sys(3)=x(3); 
sys(4)=xp; 
sys(5)=yp; 
sys(6)=th; 
sys(7)=xr; 
sys(8)=yr; 
sys(9)=thr;