MVC，matlab程序

/* * sfuntmpl_basic.c: Basic 'C' template for a level 2 S-function. * * Copyright 1990-2013 The MathWorks, Inc. */ /* * You must specify the S_FUNCTION_NAME as the name of your S-function * (i.e. replace sfuntmpl_basic with the name of your S-function). */ #define S_FUNCTION_NAME mvc1 #define S_FUNCTION_LEVEL 2 #include "simstruc.h" #include "math.h" #include "stdlib.h" float a[3]={1, -1.7, 0.7}; float b[2]={1, 0.5}; float c[2]={1, 0.2}; int u[5]; int uk[5] ; int yk[2] ; int yrk[1] ; int xik[1] ; int srk[1]; int sk[2]; int d=4 ; int na=2; int nb=1; int nc=1; int nf=4; float e[4]={1, 1.9, 2.53, 2.971}; float f[5]={1, 2.4, 3.48, 4.236, 1.4855}; float g[2]={3.2797, -2.0797}; double yk1[2]; double uk1[5]; double yrk1[2]; double uu; /* * Need to include simstruc.h for the definition of the SimStruct and * its associated macro definitions. */ /* Error handling * -------------- * * You should use the following technique to report errors encountered within * an S-function: * * ssSetErrorStatus(S,"Error encountered due to ..."); * return; * * Note that the 2nd argument to ssSetErrorStatus must be persistent memory. * It cannot be a local variable. For example the following will cause * unpredictable errors: * * mdlOutputs() * { * char msg[256]; {ILLEGAL: to fix use "static char msg[256];"} * sprintf(msg,"Error due to %s", string); * ssSetErrorStatus(S,msg); * return; * } * */ /*====================* * S-function methods * *====================*/ /* Function: mdlInitializeSizes =============================================== * Abstract: * The sizes information is used by Simulink to determine the S-function * block's characteristics (number of inputs, outputs, states, etc.). */ static void mdlInitializeSizes(SimStruct *S) { ssSetNumSFcnParams(S, 0); /* Number of expected parameters */ if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) { /* Return if number of expected != number of actual parameters */ return; } ssSetNumContStates(S, 0); ssSetNumDiscStates(S, 0); if (!ssSetNumInputPorts(S, 2)) return; ssSetInputPortWidth(S, 0, 1); ssSetInputPortWidth(S, 1, 1); ssSetInputPortRequiredContiguous(S, 0, true); ssSetInputPortRequiredContiguous(S, 1, true); /*direct input signal access*/ /* * Set direct feedthrough flag (1=yes, 0=no). * A port has direct feedthrough if the input is used in either * the mdlOutputs or mdlGetTimeOfNextVarHit functions. */ ssSetInputPortDirectFeedThrough(S, 0, 1); ssSetInputPortDirectFeedThrough(S, 1, 1); if (!ssSetNumOutputPorts(S, 1)) return; ssSetOutputPortWidth(S, 0, 1); ssSetNumSampleTimes(S, 1); ssSetNumRWork(S, 0); ssSetNumIWork(S, 0); ssSetNumPWork(S, 0); ssSetNumModes(S, 0); ssSetNumNonsampledZCs(S, 0); /* Specify the sim state compliance to be same as a built-in block */ // ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE); ssSetOptions(S, 0); } /* Function: mdlInitializeSampleTimes ========================================= * Abstract: * This function is used to specify the sample time(s) for your * S-function. You must register the same number of sample times as * specified in ssSetNumSampleTimes. */ static void mdlInitializeSampleTimes(SimStruct *S) { ssSetSampleTime(S, 0, -1); ssSetOffsetTime(S, 0, 0.0); } #define MDL_INITIALIZE_CONDITIONS /* Change to #undef to remove function */ #if defined(MDL_INITIALIZE_CONDITIONS) /* Function: mdlInitializeConditions ======================================== * Abstract: * In this function, you should initialize the continuous and discrete * states for your S-function block. The initial states are placed * in the state vector, ssGetContStates(S) or ssGetRealDiscStates(S). * You can also perform any other initialization activities that your * S-function may require. Note, this routine will be called at the * start of simulation and if it is present in an enabled subsystem * configured to reset states, it will be call when the enabled subsystem * restarts execution to reset the states. */ static void mdlInitializeConditions(SimStruct *S) { } #endif /* MDL_INITIALIZE_CONDITIONS */ #define MDL_START /* Change to #undef to remove function */ #if defined(MDL_START) /* Function: mdlStart ======================================================= * Abstract: * This function is called once at start of model execution. If you * have states that should be initialized once, this is the place * to do it. */ static void mdlStart(SimStruct *S) {int i,j,u,q; for (i=0;i<d+nb+1;i++) uk1[i]=0; for (j=0;j<nb+1;j++) yk1[j]=0; for (u=0;u<nc+1;u++) yrk1[u]=0; for (q=0;q<nc+1;q++) xik[q]=0; } #endif /* MDL_START */ /* Function: mdlOutputs ======================================================= * Abstract: * In this function, you compute the outputs of your S-function * block. */ static void mdlOutputs(SimStruct *S, int_T tid) { const real_T *yk = (const real_T*) ssGetInputPortSignal(S,0); const real_T *yrk= (const real_T*) ssGetInputPortSignal(S,1); real_T *uk = ssGetOutputPortSignal(S,0); // { int k; // for (k=1;k<400;k++) // { // u[k]=-2.4*uk1[1]-3.48*uk1[2]-4.236*uk1[3]-1.4855*uk1[4]+yrk1[4]+0.2*yrk1[3]-3.2797*yk1[0]+2.0797*yk1[1]; // } uu = -2.4*uk1[0]-3.48*uk1[1]-4.236*uk1[2]-1.4855*uk1[3]+yrk1[3]+0.2*yrk1[2]-3.2797*yk1[0]+2.0797*yk1[1]; int p,l,m; uk[0] = uu; for (p=1;p<5;p++) {uk1[p]=uk1[p-1];} uk1[0]=uk[0]; for (l=1;l<5;l++) {yk1[l]=yk1[l-1];} yk1[0]=yk[0]; // for (m=nc;m<3;m--) // {yrk1[m]=yrk1[m-1]; // xik[m]=xik[m-1];} // // if(nc>0) // {yrk1[1]=yrk1[0]; // xik[1]=xik[0]; // } } #define MDL_UPDATE /* Change to #undef to remove function */ #if defined(MDL_UPDATE) /* Function: mdlUpdate ====================================================== * Abstract: * This function is called once for every major integration time step. * Discrete states are typically updated here, but this function is useful * for performing any tasks that should only take place once per * integration step. */ static void mdlUpdate(SimStruct *S, int_T tid) { } #endif /* MDL_UPDATE */ #define MDL_DERIVATIVES /* Change to #undef to remove function */ #if defined(MDL_DERIVATIVES) /* Function: mdlDerivatives ================================================= * Abstract: * In this function, you compute the S-function block's derivatives. * The derivatives are placed in the derivative vector, ssGetdX(S). */ static void mdlDerivatives(SimStruct *S) { } #endif /* MDL_DERIVATIVES */ /* Function: mdlTerminate ===================================================== * Abstract: * In this function, you should perform any actions that are necessary * at the termination of a simulation. For example, if memory was * allocated in mdlStart, this is the place to free it. */ static void mdlTerminate(SimStruct *S) { } /*=============================* * Required S-function trailer * *=============================*/ #ifdef MATLAB_MEX_FILE /* Is this file being compiled a