ADRC的m函数版本，离散化后的公式，用matlab-function写的

/* * File : timestwo.c * Abstract: * An example C-file S-function for multiplying an input by 2, * y = 2*u * * Simulink Coder note: * This file can be used as is (noninlined) with Simulink Coder * C rapid prototyping targets, or it can be inlined using the Target * Language Compiler technology and used with any target. See * matlabroot/toolbox/simulink/simdemos/simfeatures/tlc_c/timestwo.tlc * the TLC code to inline the S-function. * * Copyright 1990-2013 The MathWorks, Inc. */ #define S_FUNCTION_NAME eso #define S_FUNCTION_LEVEL 2 #include "simstruc.h" #include "math.h" /*================* * Build checking * *================*/ const real_T *numParam[6]; int b01=0,b02=0,b03=0; float b0=0.0,h=0.0,theta; /* Function: mdlInitializeSizes =============================================== * Abstract: * Setup sizes of the various vectors. */ static void mdlInitializeSizes(SimStruct *S) { ssSetNumSFcnParams(S, 6); //参数个数 if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) { return; /* Parameter mismatch will be reported by Simulink */ } ssSetNumContStates(S, 0); ssSetNumDiscStates(S, 0); for(int i=0;i<ssGetNumSFcnParams(S);i++) { numParam[i]=mxGetPr(ssGetSFcnParam(S,i)); } b0 = *numParam[0]; b01 = *numParam[1]; b02 = *numParam[2]; b03 = *numParam[3]; h = *numParam[4]; theta= *numParam[5]; if (!ssSetNumInputPorts(S, 1)) return; ssSetInputPortWidth(S, 0, 2);//输入个数 ssSetInputPortDirectFeedThrough(S, 0, 1); if (!ssSetNumOutputPorts(S,1)) return; ssSetOutputPortWidth(S, 0, 3);//输出个数 ssSetNumDWork(S,1); ssSetDWorkWidth(S,0,3); ssSetNumSampleTimes(S, 1); /* specify the sim state compliance to be same as a built-in block */ ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE); ssSetOptions(S, SS_OPTION_WORKS_WITH_CODE_REUSE | SS_OPTION_EXCEPTION_FREE_CODE | SS_OPTION_USE_TLC_WITH_ACCELERATOR); } /* Function: mdlInitializeSampleTimes ========================================= * Abstract: * Specifiy that we inherit our sample time from the driving block. */ static void mdlInitializeSampleTimes(SimStruct *S) { //CONTINUOUS_SAMPLE_TIME ssSetSampleTime(S, 0, INHERITED_SAMPLE_TIME); //ssSetSampleTime(S, 0, 0.001);//设置采样时间 ssSetOffsetTime(S, 0, 0.0); ssSetModelReferenceSampleTimeDefaultInheritance(S); } #define MDL_INITIALIZE_CONDITIONS static void mdlInitializeConditions(SimStruct *S) { real_T *x = (real_T*)ssGetDWork(S,0); x[0]=0.0; x[1]=0.0; x[2]=0.0; } int sign(float x) { int out=0; out = x>0?1:x<0?-1:0; return out; } float fal(float e,float a,float theta) { float result=0; int s=0; s=(sign(e+theta)-sign(e-theta))/2; result = e*s*pow(theta,a-1)+(1-s)*pow(fabs(e),a)*sign(e); return result; } /* Function: mdlOutputs ======================================================= * Abstract: * y = 2*u */ static void mdlOutputs(SimStruct *S, int_T tid) { int_T i; InputRealPtrsType uPtrs = ssGetInputPortRealSignalPtrs(S,0); real_T *y = ssGetOutputPortRealSignal(S,0); real_T *x = (real_T*)ssGetDWork(S,0); int_T width = ssGetOutputPortWidth(S,0); float e=0.0,fe=0.0,fe1=0.0; e=x[0]-(*uPtrs[1]); fe=fal(e,0.5,theta); fe1=fal(e,0.25,theta); y[0]=x[0]+h*(x[1]-b01*e); y[1]=x[1]+h*(x[2]-b02*fe+b0*(*uPtrs[0])); y[2]=x[2]+h*(-b03*fe1); for (i=0; i<width; i++) { x[i] = y[i]; } /* * This example does not implement complex signal handling. * To find out see an example about how to handle complex signal in * S-function, see sdotproduct.c for details. */ /*for (i=0; i<width; i++) { *y++ = (*uPtrs[i]); }*/ } /* Function: mdlTerminate ===================================================== * Abstract: * No termination needed, but we are required to have this routine. */ static void mdlTerminate(SimStruct *S) { } #ifdef MATLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */ #include "simulink.c" /* MEX-file interface mechanism */ #else #include "cg_sfun.h" /* Code generation registration function */ #endif