ADRC自抗扰控制simulink仿真程序

function [sys,x0,str,ts]=s_function(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 = 3; sizes.NumDiscStates = 0; sizes.NumOutputs = 3; sizes.NumInputs = 2; sizes.DirFeedthrough = 1; sizes.NumSampleTimes = 0; sys=simsizes(sizes); x0=[0;0;0]; str=[]; ts=[]; function sys=mdlDerivatives(t,x,u) %ESO Parameters beta1=100;beta2=300;beta3=1000; delta1=0.0025; alfa1=0.5;alfa2=0.25; x1=u(1); ut=u(2); e=x(1)-x1; if abs(e)>delta1 fal1=abs(e)^alfa1*sign(e); else fal1=e/(delta1^(1-alfa1)); end if abs(e)>delta1 fal2=abs(e)^alfa2*sign(e); else fal2=e/(delta1^(1-alfa2)); end b=133; sys(1)=x(2)-beta1*e; sys(2)=x(3)-beta2*fal1+b*ut; sys(3)=-beta3*fal2; function sys=mdlOutputs(t,x,u) sys(1)=x(1); sys(2)=x(2); sys(3)=x(3);