二级摆LQR.rar_LQR 二级摆_lqr_lqr自己写_s函数_二级倒立摆lqr控制

function [sys,x0,str,ts]=erjibai(t,x,u,flag) switch flag, case 0, [sys,x0,str,ts]=mdlInitializeSizes; case 1, sys=mdlDerivatives(t,x,u); case 2, sys=mdlUpdata(t,x,u); case 3, sys=mdlOutputs(t,x,u); case 4; sys=mdlGetTimeOfNextVarHit(t,x,u); case 9; sys=mdlTerminate(t,x,u); otherwise error(['Unhandled flag=',num2str(flag)]); end function [sys,x0,str,ts]=mdlInitializeSizes sizes=simsizes; sizes.NumContStates=6; sizes.NumDiscStates=0; sizes.NumOutputs=6; sizes.NumInputs=1; sizes.DirFeedthrough=0; sizes.NumSampleTimes=1; sys=simsizes(sizes); str=[]; x0=[0;0;0;0;0;0]; ts=[0 0]; function sys=mdlDerivatives(t,x,u,A,B) A=[ 0 0 0 1 0 0;0 0 0 0 1 0;0 0 0 0 0 1;0 0 0 0 0 0;0 77.731 -30.1447 0 0 0;0 -70.5906 67.2505 0 0 0]; B=[ 0;0;0;1;4.8508;-0.3510]; sys=A*x+B*u; function sys=mdlOutputs(t,x,u) sys=[x(1);x(2);x(3);x(4);x(5);x(6)]; function sys=mdlUpdata(t,x,u) sys=[]; function sys=mdlGetTimeOfNextVarHit(t,x,u) sampleTime=1; sys=t+sampleTime; function sys=mdlTerminate(t,x,u) sys=[];