固定时间控制

ctrl1_zuo.m

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+function [sys,x0,str,ts] = ctrl1_zuo(t,x,u,flag)
+switch flag
+      case 0
+    [sys,x0,str,ts]=mdlInitializeSizes;
+      case {1,2,4,9}
+    sys=[];
+      case 3
+    sys=mdlOutputs(t,x,u);
+      otherwise
+    DAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));
+
+end
+function [sys,x0,str,ts]=mdlInitializeSizes
+sizes = simsizes;
+sizes.NumContStates  = 0;
+sizes.NumDiscStates  = 0;
+sizes.NumOutputs     = 2;
+sizes.NumInputs      = 5;
+sizes.DirFeedthrough = 1;
+sizes.NumSampleTimes = 0;  
+sys = simsizes(sizes);
+x0  = [];
+str = [];
+ts  = [];
+
+function sys=mdlOutputs(t,x,u)
+% 跟踪轨迹
+% dr = 0.5*pi*cos(0.5*pi*t);
+% ddr = -0.25*pi*pi*sin(0.5*pi*t);
+r = u(1);
+dr = u(2);
+ddr = u(3);
+z1 = u(4);
+z2 = u(5);
+
+% 参数的定义
+belta = 1;
+q = 3;
+p = 5;
+
+d = sin(10*z1)+cos(z2); %干扰
+g = 9.8;
+mc = 1;
+m = 0.1;
+l = 0.5;
+lg = 2;
+xite = 10;
+
+M = mc + m;
+% e = z1 - r;
+% de = z2 - dr;
+e = r - z1;
+de = dr - z2;
+v1 = g*sin(z1)- m*l*(z2)^2*cos(z1)*sin(z1)/M;
+v2 = l*(4/3-(m*cos(z1)*cos(z1))/M);
+f = v1/v2;
+v3 = cos(z1)/M;
+v4 = v2;
+g = v3/v4;
+
+% 滑模面
+s = -e + 1/belta*abs(-de)^(p/q)*sign(-de);
+
+% 控制器的设计
+ut = -1/g*(belta*q/p* (abs(-de)^(2-p/q)*sign(-de)) + f+(lg+xite)*sign(s));
+
+temp = (-de)^(p-q)^(1/q);
+sys(1) = ut;
+sys(2) = temp;
+
+

plant1_zuo.m

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+function [sys,x0,str,ts] = plant1_zuo(t,x,u,flag)
+switch flag
+  case 0
+    [sys,x0,str,ts]=mdlInitializeSizes;
+  case 1
+    sys=mdlDerivatives(t,x,u);
+  case {2,4,9}
+    sys=[];
+  case 3
+    sys=mdlOutputs(t,x,u);
+  otherwise
+    DAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));
+end
+function [sys,x0,str,ts]=mdlInitializeSizes
+sizes = simsizes;
+sizes.NumContStates  = 2;
+sizes.NumDiscStates  = 0;
+sizes.NumOutputs     = 2;
+sizes.NumInputs      = 1;
+sizes.DirFeedthrough = 0;
+sizes.NumSampleTimes = 0;   
+sys = simsizes(sizes);
+x0  = [1 0.5];
+str = [];
+ts  = [];
+
+function sys=mdlDerivatives(t,x,u)
+% 收敛控制
+d = sin(10*x(1))+cos(x(2)); %干扰
+ut = u(1);
+z1 = x(1);
+z2 = x(2);
+
+% 参数的定义
+g = 9.8;
+mc = 1;
+m = 0.1;
+l = 0.5;
+
+M = mc + m;
+v1 = g*sin(z1)- m*l*(z2)^2*cos(z1)*sin(z1)/M;
+v2 = l*(4/3-(m*cos(z1)*cos(z1))/M);
+f = v1/v2;
+v3 = cos(z1)/M;
+v4 = v2;
+g = v3/v4;
+
+sys(1) = x(2);
+sys(2) = f + g*ut + d;
+
+function sys=mdlOutputs(t,x,u)
+
+sys(1) = x(1);
+sys(2) = x(2);
+
+
+
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