www.pudn.com > slidingmode5.rar > chap6_5sn.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 
sizes = simsizes; 
sizes.NumOutputs     = 2; 
sizes.NumInputs      = 9; 
sizes.DirFeedthrough = 1; 
sizes.NumSampleTimes = 1; 
sys = simsizes(sizes); 
x0  = []; 
str = []; 
ts  = [0 0]; 
 
function sys=mdlOutputs(t,x,u) 
vr=1.0; 
wr=1.0; 
 
xe=u(1); 
ye=u(2); 
te=u(3); 
 
k1=10; 
k2=10; 
 
q(2)=wr+k2*sign(te); 
w=q(2); 
q(1)=vr*cos(te)+k1*xe+ye/(xe+0.01)*vr*sin(te); 
 
sys(1)=q(1); 
sys(2)=q(2);