【实例简介】

【实例截图】

【核心代码】

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.NumOutputs = 2;

sizes.NumInputs = 6;

sizes.DirFeedthrough = 1;

sizes.NumSampleTimes = 1;

sys = simsizes(sizes);

x0 = [];

str = [];

ts = [0 0];

function sys=mdlOutputs(t,x,u)

R1=u(1);dr1=0;

R2=u(2);dr2=0;

x(1)=u(3);

x(2)=u(4);

x(3)=u(5);

x(4)=u(6);

e1=R1-x(1);

e2=R2-x(3);

e=[e1;e2];

de1=dr1-x(2);

de2=dr2-x(4);

de=[de1;de2];

Kp=[50 0;0 50];

Kd=[50 0;0 50];

tol=Kp*e Kd*de;

sys(1)=tol(1);

sys(2)=tol(2);