fichierspoursimulation.zip_lyapunov稳定性_巡航_汽车 稳定_汽车巡航_自动巡航

function J=sys_deri(xx,par,nx,np,v) % kappa beta a12 a21 tau1 tau2 tau_s %%%% ks ksl kv kvl tau J=[]; if length(nx)==1 & length(np)==0 & isempty(v) % first order derivatives wrt state variables if nx==0 % derivative wrt x(t) J(1,2)=1; J(2,2)=0; elseif nx==1 % derivative wrt x(t-tau) J(2,1)=-(par(1)+par(2)); J(2,2)=-(par(3)+par(4)); end; %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% elseif length(nx)==0 & length(np)==1 & isempty(v) % first order derivatives wrt parameters if np==1 % derivative wrt kappa (notre cas ks) J(1,1)=0; J(2,1)=-xx(1,2); elseif np==2 % derivative wrt beta (notre cas ksl) J(1,1)=0; J(2,1)=-xx(1,2); elseif np==3 % derivative wrt a12 (notre cas kv) J(1,1)=0; J(2,1)=-xx(2,2); elseif np==4 % derivative wrt a21 (notre cas kvl) J(1,1)=0; J(2,1)=-xx(2,2); elseif np==5 % derivative wrt tau (tj tau pas ext mais in var) J=zeros(2,1); %(la encore) end; %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% elseif length(nx)==1 & length(np)==1 & isempty(v) % mixed state, parameter derivatives if nx==0 % derivative wrt x(t) J=zeros(2); %end; elseif nx==1 % derivative wrt x(t-tau) if np==1 % derivative wrt ks J(2,1)=-1; J(2,2)=0; elseif np==2 % dervivative wrt ksl J(2,1)=-1; J(2,2)=0; elseif np==3 % dervivative wrt kv J(2,1)=0; J(2,2)=-1; elseif np==4 % dervivative wrt kvl J(2,1)=0; J(2,2)=-1; else J=zeros(2); end; % end des np else J=zeros(2); end; %end du nx dans mixed %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% elseif length(nx)==2 & length(np)==0 & ~isempty(v) % second order derivatives wrt state variables if nx(1)==0 % first derivative wrt x(t) J=zeros(2); %(la encore) elseif nx(1)==1 % first derivative wrt x(t-tau) J=zeros(2); end; end; if isempty(J) err=[nx np size(v)] error('SYS_DERI: requested derivative could not be computed!'); end; return;