sliding-mode-funda.rar_sliding mode_sliding-mode-funda_theory

%S-function for continuous state equation function [sys,x0,str,ts]=s_function(t,x,u,flag) switch flag, %Initialization case 0, [sys,x0,str,ts]=mdlInitializeSizes; %Outputs case 3, sys=mdlOutputs(t,x,u); %Unhandled flags case {2, 4, 9 } sys = []; %Unexpected flags otherwise error(['Unhandled flag = ',num2str(flag)]); end %mdlInitializeSizes function [sys,x0,str,ts]=mdlInitializeSizes sizes = simsizes; sizes.NumContStates = 0; sizes.NumDiscStates = 0; sizes.NumOutputs = 1; sizes.NumInputs = 1; sizes.DirFeedthrough = 1; sizes.NumSampleTimes = 0; sys=simsizes(sizes); x0=[]; str=[]; ts=[]; function sys=mdlOutputs(t,x,u) persistent a1 if t==0 a=newfis('smc_fuzz'); f1=5;%500/3; a=addvar(a,'input','sds',[-3*f1,3*f1]); % Parameter e a=addmf(a,'input',1,'NB','zmf',[-3*f1,-1*f1]); a=addmf(a,'input',1,'NM','trimf',[-3*f1,-2*f1,0]); a=addmf(a,'input',1,'Z','trimf',[-2*f1,0,2*f1]); a=addmf(a,'input',1,'PM','trimf',[0,2*f1,3*f1]); a=addmf(a,'input',1,'PB','smf',[1*f1,3*f1]); f2=0.5;%0.5;%200/3; a=addvar(a,'output','dk',[-3*f2,3*f2]); %Parameter u a=addmf(a,'output',1,'NB','zmf',[-3*f2,-1*f2]); a=addmf(a,'output',1,'NM','trimf',[-2*f2,-1*f2,0]); a=addmf(a,'output',1,'Z','trimf',[-1*f2,0,1*f2]); a=addmf(a,'output',1,'PM','trimf',[0,1*f2,2*f2]); a=addmf(a,'output',1,'PB','smf',[1*f2,3*f2]); rulelist=[1 1 1 1; %Edit rule base 2 2 1 1; 3 3 1 1; 4 4 1 1; 5 5 1 1]; a1=addrule(a,rulelist); a1=setfis(a1,'DefuzzMethod','centroid'); %Defuzzy writefis(a1,'smc_fuzz'); a1=readfis('smc_fuzz'); flag=1; if flag==1 figure(1); plotmf(a1,'input',1); figure(2); plotmf(a1,'output',1); end end sys(1)=evalfis([u(1)],a1);