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;
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