滑模变结构控制MATLAB仿真（第3版）：基本理论与设计方法 仿真程序

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 = 53; sizes.NumDiscStates = 0; sizes.NumOutputs = 3; sizes.NumInputs = 5; sizes.DirFeedthrough = 1; sizes.NumSampleTimes = 0; sys = simsizes(sizes); x0 = [0.1*ones(53,1)]; str = []; ts = []; function sys=mdlDerivatives(t,x,u) r1=50;r2=1;r3=10; xd=0.1*sin(t); dxd=0.1*cos(t); ddxd=-0.1*sin(t); x1=u(2); x2=u(3); e=x1-xd; de=x2-dxd; k1=3; s=k1*e+de; for i=1:1:25 thtaf(i,1)=x(i); end for i=1:1:25 thtag(i,1)=x(i+25); end for i=1:1:3 thtah(i,1)=x(i+50); end %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% fsd1=0; fsd2=0; for l1=1:1:5 gs1=-[(x1+pi/6-(l1-1)*pi/12)/(pi/24)]^2; u1(l1)=exp(gs1); end for l2=1:1:5 gs2=-[(x2+pi/6-(l2-1)*pi/12)/(pi/24)]^2; u2(l2)=exp(gs2); end for l1=1:1:5 for l2=1:1:5 fsu1(5*(l1-1)+l2)=u1(l1)*u2(l2); fsd1=fsd1+u1(l1)*u2(l2); end end fs1=fsu1/(fsd1+0.001); fx1=thtaf'*fs1'; gx1=thtag'*fs1'+0.001; %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% gs3=5*(s+3); u3(1)=1/(1+exp(gs3)); u3(2)=exp(-s^2); gs3=5*(s-3); u3(3)=1/(1+exp(gs3)); %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% fsu2=u3; for i=1:1:3 fsd2=fsd2+u3(i); end fs2=fsu2/(fsd2+0.001); h1=thtah'*fs2'; ut=1/gx1*(-fx1-k1*de+ddxd-h1); S1=r1*s*fs1; S2=r2*s*fs1*ut; S3=r3*s*fs2; for i=1:1:25 sys(i)=S1(i); end for j=26:1:50 sys(j)=S2(j-25); end for j=51:1:53 sys(j)=S3(j-50); end function sys=mdlOutputs(t,x,u) xd=0.1*sin(t); dxd=0.1*cos(t); ddxd=-0.1*sin(t); x1=u(2); x2=u(3); e=x1-xd; de=x2-dxd; k1=3; s=k1*e+de; for i=1:1:25 thtaf(i,1)=x(i); end for i=1:1:25 thtag(i,1)=x(i+25); end for i=1:1:3 thtah(i,1)=x(i+50); end %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% fsd1=0; fsd2=0; for l1=1:1:5 gs1=-[(x1+pi/6-(l1-1)*pi/12)/(pi/24)]^2; u1(l1)=exp(gs1); end for l2=1:1:5 gs2=-[(x2+pi/6-(l2-1)*pi/12)/(pi/24)]^2; u2(l2)=exp(gs2); end for l1=1:1:5 for l2=1:1:5 fsu1(5*(l1-1)+l2)=u1(l1)*u2(l2); fsd1=fsd1+u1(l1)*u2(l2); end end fs1=fsu1/(fsd1+0.001); fx1=thtaf'*fs1'; gx1=thtag'*fs1'+0.001; %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% gs3=5*(s+3); u3(1)=1/(1+exp(gs3)); u3(2)=exp(-s^2); gs3=5*(s-3); u3(3)=1/(1+exp(gs3)); %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% fsu2=u3; for i=1:1:3 fsd2=fsd2+u3(i); end fs2=fsu2/(fsd2+0.001); h1=thtah'*fs2'; ut=1/gx1*(-fx1-k1*de+ddxd-h1); sys(1)=ut; sys(2)=fx1; sys(3)=gx1;