function [sys,x0,str,ts,simStateCompliance] = Controller_2_1(t,x,u,flag)
switch flag,
case 0,
[sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes;
case 1,
sys=mdlDerivatives(t,x,u);
case 2,
sys=mdlUpdate(t,x,u);
case 3,
sys=mdlOutputs(t,x,u);
case 4,
sys=mdlGetTimeOfNextVarHit(t,x,u);
case 9,
sys=mdlTerminate(t,x,u);
otherwise
DAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));
end
function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes
sizes = simsizes;
sizes.NumContStates = 0;
sizes.NumDiscStates = 0;
sizes.NumOutputs = 4;
sizes.NumInputs = 3;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1; % at least one sample time is needed
sys = simsizes(sizes);
x0 = [];
str = [];
ts = [0 0];
simStateCompliance = 'UnknownSimState';
function sys=mdlDerivatives(t,x,u)
sys = [];
function sys=mdlUpdate(t,x,u)
sys = [];
function sys=mdlOutputs(t,x,u)
thetad = u(1);%理想位置信号θd
dthetad = cos(t);%θd'
ddthetad = -sin(t);%θd''
theta = u(2);
dtheta = u(3);
e = thetad-theta;%跟踪误差
de = dthetad-dtheta;
c = 15;
epsilon = 5;k = 10;%调节参数
s = c*e+de;%滑模面
ut = (epsilon*sign(s)+k*s+c*de+ddthetad+25*dtheta)/133;%控制律/滑模控制器
sys = [ut;dthetad;e;de];
function sys=mdlGetTimeOfNextVarHit(t,x,u)
sampleTime = 1; % Example, set the next hit to be one second later.
sys = t + sampleTime;
function sys=mdlTerminate(t,x,u)
sys = [];
