基于Matlab实现PD鲁棒自适应控制（源码）.rar

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 = 0; sizes.NumDiscStates = 0; sizes.NumOutputs = 6; sizes.NumInputs = 0; sizes.DirFeedthrough = 0; sizes.NumSampleTimes = 1; sys = simsizes(sizes); x0 = []; str = []; ts = [0 0]; function sys=mdlOutputs(t,x,u) S=2; if S==1 qd0=[0;0]; qdtf=[1;2]; td=1; if t<1 qd1=qd0(1)+(-2*t.^3/td^3+3*t.^2/td^2)*(qdtf(1)-qd0(1)); qd2=qd0(2)+(-2*t.^3/td^3+3*t.^2/td^2)*(qdtf(2)-qd0(2)); d_qd1=(-6*t.^2/td^3+6*t./td^2)*(qdtf(1)-qd0(1)); d_qd2=(-6*t.^2/td^3+6*t./td^2)*(qdtf(2)-qd0(2)); dd_qd1=(-12*t/td^3+6/td^2)*(qdtf(1)-qd0(1)); dd_qd2=(-12*t/td^3+6/td^2)*(qdtf(2)-qd0(2)); else qd1=qdtf(1); qd2=qdtf(2); d_qd1=0; d_qd2=0; dd_qd1=0; dd_qd2=0; end elseif S==2 qd1=0.5*sin(pi*t); d_qd1=0.5*pi*cos(pi*t); dd_qd1=-0.5*pi*pi*sin(pi*t); qd2=sin(pi*t); d_qd2=pi*cos(pi*t); dd_qd2=-pi*pi*sin(pi*t); end sys(1)=qd1; sys(2)=d_qd1; sys(3)=dd_qd1; sys(4)=qd2; sys(5)=d_qd2; sys(6)=dd_qd2;