滑模MATLAB/simulink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 = 0; sizes.NumDiscStates = 0; sizes.NumOutputs = 1; sizes.NumInputs = 3; sizes.DirFeedthrough = 1; sizes.NumSampleTimes = 0; sys = simsizes(sizes); x0 = []; str = []; ts = []; function sys=mdlOutputs(t,x,u) J=2; thd=u(1); th=u(2); dth=u(3); e=th-thd; de=dth; c=10; s=c*e+de; xite=1.1; k=0; k=10; ut=J*(-c*dth-1/J*(k*s+xite*sign(s))); sys(1)=ut;