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;
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