function [sys,x0,str,ts,simStateCompliance] = sfuntmpl(t,x,u,flag)switch flag,%%%%%%%%%%%%%%%%%%% Initialization %%%%%%%%%%%%%%%%%%%case 0,[sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes;%%%%%%%%%%%%%%%% Derivatives %%%%%%%%%%%%%%%%case 1,sys=mdlDerivatives(t,x,u);%%%%%%%%%%% Update %%%%%%%%%%%case 2,sys=mdlUpdate(t,x,u);%%%%%%%%%%%% Outputs %%%%%%%%%%%%case 3,sys=mdlOutputs(t,x,u);%%%%%%%%%%%%%%%%%%%%%%%% GetTimeOfNextVarHit %%%%%%%%%%%%%%%%%%%%%%%%case 4,sys=mdlGetTimeOfNextVarHit(t,x,u);%%%%%%%%%%%%%% Terminate %%%%%%%%%%%%%%case 9,sys=mdlTerminate(t,x,u);%%%%%%%%%%%%%%%%%%%%% Unexpected flags %%%%%%%%%%%%%%%%%%%%%otherwiseDAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));end% end sfuntmpl%%=============================================================================% mdlInitializeSizes% Return the sizes, initial conditions, and sample times for the S-function.%=============================================================================%function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes%% call simsizes for a sizes structure, fill it in and convert it to a% sizes array.%% Note that in this example, the values are hard coded. This is not a% recommended practice as the characteristics of the block are typically% defined by the S-function parameters.%sizes = simsizes;sizes.NumContStates = 0;sizes.NumDiscStates = 0;sizes.NumOutputs = 0;sizes.NumInputs = 0;sizes.DirFeedthrough = 1;sizes.NumSampleTimes = 1; % at least one sample time is neededsys = simsizes(sizes);%% initialize the initial conditions%x0 = [];%% str is always an empty matrix%str = [];%% initialize the array of sample times%ts = [0 0];% Specify the block simStateCompliance. The allowed values are:% 'UnknownSimState', < The default setting; warn and assume DefaultSimState% 'DefaultSimState', < Same sim state as a built-in block% 'HasNoSimState', < No sim state% 'DisallowSimState' < Error out when saving or restoring the model sim statesimStateCompliance = 'UnknownSimState';% end mdlInitializeSizes%%=============================================================================% mdlDerivatives% Return the derivatives for the continuous states.%=============================================================================%function sys=mdlDerivatives(t,x,u)sys = [];% end mdlDerivatives%%=============================================================================% mdlUpdate% Handle discrete state updates, sample time hits, and major time step% requirements.%=============================================================================%function sys=mdlUpdate(t,x,u)sys = [];% end mdlUpdate%%=============================================================================% mdlOutputs% Return the block outputs.%=============================================================================%function sys=mdlOutputs(t,x,u)sys = [];% end mdlOutputs%%=============================================================================% mdlGetTimeOfNextVarHit% Return the time of the next hit for this block. Note that the result is% absolute time. Note that this function is only used when you specify a% variable discrete-time sample time [-2 0] in the sample time array in% mdlInitializeSizes.%=============================================================================%function sys=mdlGetTimeOfNextVarHit(t,x,u)sampleTime = 1; % Example, set the next hit to be one second later.sys = t + sampleTime;% end mdlGetTimeOfNextVarHit%%=============================================================================% mdlTerminate% Perform any end of simulation tasks.%=============================================================================%function sys=mdlTerminate(t,x,u)sys = [];% end mdlTerminate
switch flag,%%%%%%%%%%%%%%%%%%% Initialization %%%%%%%%%%%%%%%%%%%case 0,[sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes;%%%%%%%%%%%%%%%% Derivatives %%%%%%%%%%%%%%%%case 1,sys=[];%%%%%%%%%%% Update %%%%%%%%%%%case 2,sys=[];%%%%%%%%%%%% Outputs %%%%%%%%%%%%case 3,sys=mdlOutputs(t,x,u);%%%%%%%%%%%%%%%%%%%%%%%% GetTimeOfNextVarHit %%%%%%%%%%%%%%%%%%%%%%%%case 4,sys=[];%%%%%%%%%%%%%% Terminate %%%%%%%%%%%%%%case 9,sys=[];%%%%%%%%%%%%%%%%%%%%% Unexpected flags %%%%%%%%%%%%%%%%%%%%%otherwiseDAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));end% end sfuntmpl
%%=============================================================================% mdlInitializeSizes% Return the sizes, initial conditions, and sample times for the S-function.%=============================================================================%function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes%% call simsizes for a sizes structure, fill it in and convert it to a% sizes array.%% Note that in this example, the values are hard coded. This is not a% recommended practice as the characteristics of the block are typically% defined by the S-function parameters.%sizes = simsizes;%状态节点数sizes.NumContStates = 0;sizes.NumDiscStates = 0;%输出节点数sizes.NumOutputs = 5;%输入节点数sizes.NumInputs = 3;%一般设置为1sizes.DirFeedthrough = 1;%采样时间数sizes.NumSampleTimes = 0; % at least one sample time is neededsys = simsizes(sizes);%% initialize the initial conditions%x0 = [];%% str is always an empty matrix%str = [];%% initialize the array of sample times%连续系统，采样时间不设置ts = [];% Specify the block simStateCompliance. The allowed values are:% 'UnknownSimState', < The default setting; warn and assume DefaultSimState% 'DefaultSimState', < Same sim state as a built-in block% 'HasNoSimState', < No sim state% 'DisallowSimState' < Error out when saving or restoring the model sim statesimStateCompliance = 'UnknownSimState';
%%=============================================================================% mdlOutputs% Return the block outputs.%=============================================================================%function sys=mdlOutputs(t,x,u)%因为thd=sin(t),所以dthd=cos(t)thd=u(1);th=u(2);dth=u(3);dthd=cos(t);ddthd=-sin(t);b=133;epsilon=5;k=0;c=15;e=thd-th;de=dthd-dth;s=c*e+de;f_th=25*dth% f(th,t)=25dthsys(1)=1/b*(epsilon*sign(s)+k*s+c*(dthd-u(3))+ddthd+f_th);sys(2)=e;sys(3)=de;sys(4)=s;sys(5)=k;% end mdlOutputs
switch flag,%%%%%%%%%%%%%%%%%%% Initialization %%%%%%%%%%%%%%%%%%%case 0,[sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes;%%%%%%%%%%%%%%%% Derivatives %%%%%%%%%%%%%%%%case 1,sys=mdlDerivatives(t,x,u);%%%%%%%%%%% Update %%%%%%%%%%%case 2,sys=[];%%%%%%%%%%%% Outputs %%%%%%%%%%%%case 3,sys=mdlOutputs(t,x,u);%%%%%%%%%%%%%%%%%%%%%%%% GetTimeOfNextVarHit %%%%%%%%%%%%%%%%%%%%%%%%case 4,sys=[];%%%%%%%%%%%%%% Terminate %%%%%%%%%%%%%%case 9,sys=[];%%%%%%%%%%%%%%%%%%%%% Unexpected flags %%%%%%%%%%%%%%%%%%%%%otherwiseDAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));end% end sfuntmpl
%%=============================================================================% mdlInitializeSizes% Return the sizes, initial conditions, and sample times for the S-function.%=============================================================================%function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes%% call simsizes for a sizes structure, fill it in and convert it to a% sizes array.%% Note that in this example, the values are hard coded. This is not a% recommended practice as the characteristics of the block are typically% defined by the S-function parameters.%sizes = simsizes;sizes.NumContStates = 2;sizes.NumDiscStates = 0;sizes.NumOutputs = 2;sizes.NumInputs = 1;sizes.DirFeedthrough = 0;sizes.NumSampleTimes = 0; % at least one sample time is neededsys = simsizes(sizes);%% initialize the initial conditions%x0 = [-0.15 -0.15];%% str is always an empty matrix%str = [];%% initialize the array of sample times%ts = [];% Specify the block simStateCompliance. The allowed values are:% 'UnknownSimState', < The default setting; warn and assume DefaultSimState% 'DefaultSimState', < Same sim state as a built-in block% 'HasNoSimState', < No sim state% 'DisallowSimState' < Error out when saving or restoring the model sim statesimStateCompliance = 'UnknownSimState';% end mdlInitializeSizes
%%=============================================================================% mdlDerivatives% Return the derivatives for the continuous states.%=============================================================================%function sys=mdlDerivatives(t,x,u)f_th=25*x(2);b=133;sys(1)=x(2);sys(2)=-f_th+b*u;% end mdlDerivatives
%%=============================================================================% mdlOutputs% Return the block outputs.%=============================================================================%function sys=mdlOutputs(t,x,u)sys(1)=x(1);sys(2)=x(2);% end mdlOutputs
figure(1),plot(t,th,'r',t,thd,'k','linewidth',2);legend('theta','theta target');title('theta and theta target');figure(2),subplot(211)plot(t,e,'r','linewidth',2);title('e')subplot(212)plot(t,de,'r','linewidth',2);title('de');figure(3),plot(t,s,'linewidth',2);title('s');figure(4),c=15;plot(e,de,'r',e,-c*e,'k','linewidth',2);legend('s change','s=0')xlabel('e');ylabel('de');title('phase trajectory');
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提取码：8cky
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