From 0d1fe882e9b5d119705e226d01d7d2d75192ea88 Mon Sep 17 00:00:00 2001
From: iHoney725 <60086881+ohmyjesus@users.noreply.github.com>
Date: Mon, 4 Jan 2021 10:34:35 +0800
Subject: [PATCH] Delete CRP_i.m

---
 CRP_i.m | 90 ---------------------------------------------------------
 1 file changed, 90 deletions(-)
 delete mode 100644 CRP_i.m

diff --git a/CRP_i.m b/CRP_i.m
deleted file mode 100644
index 59672ea..0000000
--- a/CRP_i.m
+++ /dev/null
@@ -1,90 +0,0 @@
-function [sys,x0,str,ts] = CRP_i(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     = 1;
-sizes.NumInputs      = 24;
-sizes.DirFeedthrough = 1;
-sizes.NumSampleTimes = 0;
-sys = simsizes(sizes);
-x0  = [];
-str = [];
-ts  = [];
-
-function sys=mdlOutputs(t,x,u)
-% 角速度跟踪指令
-dqd1 =  0.1*pi*cos(pi*t);
-dqd2 =  0.1*pi*cos(pi*t);
-dqd3 =  0.1*pi*cos(pi*t);
-dqd4 =  0.1*pi*cos(pi*t);
-dqd5 =  0.1*pi*cos(pi*t);
-dqd6 =  0.1*pi*cos(pi*t);
-
-% 角加速度跟踪指令
-ddqd1 = -0.1*pi*pi*sin(pi*t);
-ddqd2 = -0.1*pi*pi*sin(pi*t);
-ddqd3 = -0.1*pi*pi*sin(pi*t);
-ddqd4 = -0.1*pi*pi*sin(pi*t);
-ddqd5 = -0.1*pi*pi*sin(pi*t);
-ddqd6 = -0.1*pi*pi*sin(pi*t);
-qd1 = u(1);
-qd2 = u(2);   
-qd3 = u(3);
-qd4 = u(4); 
-qd5 = u(5);
-qd6 = u(6); 
-
-q1 = u(7);
-q2 = u(8);
-q3 = u(9);
-q4 = u(10);
-q5 = u(11);
-q6 = u(12);
-
-dq1 = u(13);
-dq2 = u(14);
-dq3 = u(15);
-dq4 = u(16);
-dq5 = u(17);
-dq6 = u(18);
-
-e1 = qd1 - q1;      % e = qd - q
-e2 = qd2 - q2;
-e3 = qd3 - q3;      % e = qd - q
-e4 = qd4 - q4;
-e5 = qd5 - q5;      % e = qd - q
-e6 = qd6 - q6;
-
-de1 = dqd1 - dq1;
-de2 = dqd2 - dq2;
-de3 = dqd3 - dq3;
-de4 = dqd4 - dq4;
-de5 = dqd5 - dq5;
-de6 = dqd6 - dq6;
-
-e = [e1; e2; e3; e4; e5; e6];
-de = [de1; de2; de3; de4; de5; de6];
-
-dq = [dq1; dq2; dq3; dq4; dq5; dq6];
-q = [q1; q2; q3; q4; q5; q6];
-dqd = [dqd1; dqd2; dqd3; dqd4; dqd5; dqd6;];
-ddqd = [ddqd1; ddqd2; ddqd3; ddqd4; ddqd5; ddqd6];
-
-% 参数的定义
-xite = 5.0*eye(6);  % xite>0
-
-s = xite * e + de;
-
-sys(1) = s(1);
\ No newline at end of file