基于LMI的滑模控制.zip_LMI滑模_MATLAB LMI_fixgrl_基于LMI的_滑模

function [sys,x0,str,ts] = spacemodel(t,x,u,flag) switch flag, case 0, [sys,x0,str,ts]=mdlInitializeSizes; 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 sizes = simsizes; sizes.NumContStates = 0; sizes.NumDiscStates = 0; sizes.NumOutputs = 2; sizes.NumInputs = 4; sizes.DirFeedthrough = 1; sizes.NumSampleTimes = 1; sys = simsizes(sizes); x0 = []; str = []; ts = [0 0]; function sys=mdlOutputs(t,x,u) g=9.8;M=1.0;m=0.1;L=0.5; I=1/12*m*L^2; l=1/2*L; t1=m*(M+m)*g*l/[(M+m)*I+M*m*l^2]; t2=-m^2*g*l^2/[(m+M)*I+M*m*l^2]; t3=-m*l/[(M+m)*I+M*m*l^2]; t4=(I+m*l^2)/[(m+M)*I+M*m*l^2]; A=[0,1,0,0; t1,0,0,0; 0,0,0,1; t2,0,0,0]; B=[0;t3;0;t4]; % P is solved by LMI P=[7.4496 1.2493 1.0782 1.1384; 1.2493 0.3952 0.2108 0.3252; 1.0782 0.2108 0.3854 0.2280; 1.1384 0.3252 0.2280 0.4286]; deltaf=0.30; epc0=0.5; x=[u(1) u(2) u(3) u(4)]'; s=B'*P*x; ueq=-inv(B'*P*B)*B'*P*A*x; M=2; if M==1 un=-inv(B'*P*B)*(norm(B'*P*B)*deltaf+epc0)*sign(s); elseif M==2 %Saturated function delta=0.05; kk=1/delta; if abs(s)>delta sats=sign(s); else sats=kk*s; end un=-inv(B'*P*B)*(norm(B'*P*B)*deltaf+epc0)*sats; end ut=un+ueq; sys(1)=ut; sys(2)=s;