adaptivefuzzyVSScontrol.rar_sliding mode fuzzy_变结构控制_模糊控制_模糊滑模m

function [sys,x0,str,ts] = spacemodel(t,x,u,flag) switch flag, case 0, [sys,x0,str,ts]=mdlInitializeSizes; case 1, sys=mdlDerivatives(t,x,u); case 3, sys=mdlOutputs(t,x,u); case {2,4,9} sys=[]; otherwise error(['Unhandled flag = ',num2str(flag)]); end function [sys,x0,str,ts]=mdlInitializeSizes global M sizes = simsizes; sizes.NumContStates = 50; sizes.NumDiscStates = 0; sizes.NumOutputs = 3; sizes.NumInputs = 2; sizes.DirFeedthrough = 1; sizes.NumSampleTimes = 0; sys = simsizes(sizes); x0 = [0.2*ones(50,1)]; str = []; ts = []; M=2; function sys=mdlDerivatives(t,x,u) global M r=0.1*sin(pi*t); dr=0.1*pi*cos(pi*t); ddr=-0.1*pi*pi*sin(pi*t); e=u(1); de=u(2); xx(1)=r+e; xx(2)=dr+de; alfa=5; rou=de+alfa*e; kesi=ddr-alfa*de; if M==1 K=1.0; R=kesi-K*sign(rou); elseif M==2 K=5; delta0=0.03; delta1=5; delta=delta0+delta1*abs(e); R=kesi-K*rou/(abs(rou)+delta); end for i=1:1:25 thtaf(i,1)=x(i); end for i=1:1:25 thtag(i,1)=x(i+25); end %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% fsd=0; for l1=1:1:5 gs1=-[(xx(1)+pi/6-(l1-1)*pi/12)/(pi/24)]^2; u1(l1)=exp(gs1); end for l2=1:1:5 gs2=-[(xx(2)+pi/6-(l2-1)*pi/12)/(pi/24)]^2; u2(l2)=exp(gs2); end for l1=1:1:5 for l2=1:1:5 fsu(5*(l1-1)+l2)=u1(l1)*u2(l2); fsd=fsd+u1(l1)*u2(l2); end end fs=fsu/(fsd+0.001); fx1=thtaf'*fs'; gx1=thtag'*fs'+0.001; ut=(-fx1+R)/gx1; r1=5.0;r2=1; S1=-r1*rou*fs; S2=-r2*rou*fs*ut; for i=1:1:25 sys(i)=S1(i); end for j=26:1:50 sys(j)=S2(j-25); end function sys=mdlOutputs(t,x,u) global M r=0.1*sin(pi*t); dr=0.1*pi*cos(pi*t); ddr=-0.1*pi*pi*sin(pi*t); e=u(1); de=u(2); xx(1)=r+e; xx(2)=dr+de; alfa=5; rou=de+alfa*e; kesi=ddr-alfa*de; if M==1 K=1.0; R=kesi-K*sign(rou); elseif M==2 K=5; delta0=0.03; delta1=5; delta=delta0+delta1*abs(e); R=kesi-K*rou/(abs(rou)+delta); end for i=1:1:25 thtaf(i,1)=x(i); end for i=1:1:25 thtag(i,1)=x(i+25); end %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% fsd=0; for l1=1:1:5 gs1=-[(xx(1)+pi/6-(l1-1)*pi/12)/(pi/24)]^2; u1(l1)=exp(gs1); end for l2=1:1:5 gs2=-[(xx(2)+pi/6-(l2-1)*pi/12)/(pi/24)]^2; u2(l2)=exp(gs2); end for l1=1:1:5 for l2=1:1:5 fsu(5*(l1-1)+l2)=u1(l1)*u2(l2); fsd=fsd+u1(l1)*u2(l2); end end fs=fsu/(fsd+0.001); fx1=thtaf'*fs'; gx1=thtag'*fs'+0.001; ut=(-fx1+R)/gx1; sys(1)=ut; sys(2)=fx1; sys(3)=gx1;