Control of 2-DOF manipulator_observerbased_观测器_Matlab代码_基于LMI的_L

function [sys,x0,str,ts]= NDO(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 sizes = simsizes; sizes.NumContStates = 1; sizes.NumDiscStates = 0; sizes.NumOutputs = 1; sizes.NumInputs = 4; sizes.DirFeedthrough = 1; sizes.NumSampleTimes = 0; sys=simsizes(sizes); x0=[0]; str=[]; ts=[]; function sys=mdlDerivatives(t,x,u) J=1/133;C=25/133;G=0; tol=u(1); dth=u(3); z=x(1); X=1; L=inv(X)*inv(J); p=inv(X)*dth; d=z+p; dz=L*(C*dth+G-tol)-L*d; sys(1)=dz; function sys=mdlOutputs(t,x,u) dth=u(3); z=x(1); X=1; p=inv(X)*dth; d=z+p; sys(1)=d;