www.pudn.com > slidingmode5.rar > chap6_5plot.m

close all; 
 
figure(1); 
plot(t,xe,'r'); 
xlabel('time(s)');ylabel('x error'); 
 
figure(2); 
plot(t,ye,'r'); 
xlabel('time(s)');ylabel('y error'); 
 
figure(3); 
plot(t,te,'r'); 
xlabel('time(s)');ylabel('angle error'); 
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
figure(4); 
plot(t,th(:,1),'b'); 
hold on; 
plot(t,th(:,2),'r'); 
xlabel('time(s)');ylabel('ideal and practical angle'); 
 
figure(5); 
plot(P(:,3),P(:,4),'r'); 
xlabel('xr');ylabel('yr'); 
 
hold on; 
plot(P(:,1),P(:,2),'b'); 
xlabel('x1');ylabel('x2'); 
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
figure(6); 
plot(t,q(:,1),'r'); 
xlabel('time(s)');ylabel('Control input v'); 
 
figure(7); 
plot(t,q(:,2),'r'); 
xlabel('time(s)');ylabel('Control input w');