function?[sysx0strts]?=?a5_control（txuflag）

switch?flag
case?0
????[sysx0strts]=mdlInitializeSizes;
case?3
????sys=mdlOutputs（txu）;
case?{249}
????sys=[];
otherwise
????error（[‘Unhandled?flag?=?‘num2str（flag）]）;
end

function?[sysx0strts]=mdlInitializeSizes
sizes?=?simsizes;
sizes.NumContStates??=?0;
sizes.NumDiscStates??=?0;
sizes.NumOutputs?????=?5;
sizes.NumInputs??????=?10;
sizes.DirFeedthrough?=?1;
sizes.NumSampleTimes?=?1;
sys?=?simsizes（sizes）;
x0??=?[];
str?=?[];
ts??=?[0?0];

function?sys=mdlOutputs（txu）

if?t<=5
sys（1）=0;
sys（2）=0;
sys（3）=0;
sys（4）=0;
sys（5）=0;
else
a1=35;
b1=7;
c1=12;
d1=3;
r1=0.5;
A1=[-a1?a1?0?1;?b1?c1?0?0;0?0?-d1?0;0?0?0?r1];
A2=[-a1?a1?0?1;?b1?c1?0?0;0?0?-d1?0;0?0?0?r1];
w=10;
r=1;
C=[021-1];
K=[1;1;0;1];
x1=u（1）;
dx1=u（2）;
ddx1=u（3）;
dddx1=u（4）;
y1=u（5）;
dy1=u（6）;
ddy1=u（7）;
dddy1=u（8）;
fair=u（9）;
inta=u（10）;
x=[x1;dx1;ddx1;dddx1];
e1=y1-x1;
e2=dy1-dx1;
e3=ddy1-ddx1;
e4=dddy1-dddx1;
E=[e1;e2;e3;e4];
s=C*E;
f1=[0;-x1*ddx1;x1*dx1;dx1*ddx1];
f2=[0;-y1*ddy1;y1*dy1;dy1*ddy1];
Fxy=f2-f1-（A1-A2）*x;
vt=-（inv（C*K））*（C*A2*E+norm（Cinf）*fair*sign（s）+norm（Cinf）*inta*sign（s）+r*s+w*sign（s））;
%%wt=-（（2*d+2）*e1+（2*（c-2））*e2-r*e4-（b+1）*e3-0.2*sin（50*t）+s+10*sign（s））;
du?=K*vt-Fxy;
sys（1）=du（1）;
sys（2）=du（2）;
sys（3）=du（3）;
sys（4）=du（4）;
sys（5）=s;
end

?屬性????????????大小?????日期????時(shí)間???名稱
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?????文件???????1394??2013-04-07?10:12??自適應(yīng)滑膜同步\a5_control.asv

?????文件???????1417??2013-04-18?20:16??自適應(yīng)滑膜同步\a5_control.m

?????文件????????908??2012-10-29?18:59??自適應(yīng)滑膜同步\a5_master.asv

?????文件????????909??2013-04-09?14:33??自適應(yīng)滑膜同步\a5_master.m

?????文件????????934??2012-10-29?18:59??自適應(yīng)滑膜同步\a5_slave.asv

?????文件????????931??2013-04-09?14:45??自適應(yīng)滑膜同步\a5_slave.m

?????文件????????971??2013-04-08?09:34??自適應(yīng)滑膜同步\adaptive.asv

?????文件????????985??2013-04-18?20:03??自適應(yīng)滑膜同步\adaptive.m

?????文件??????82666??2013-04-09?21:14??自適應(yīng)滑膜同步\e.fig

?????文件?????160761??2013-04-10?21:11??自適應(yīng)滑膜同步\law1.fig

?????文件??????17331??2013-04-09?21:13??自適應(yīng)滑膜同步\law2.fig

?????文件????????710??2013-03-26?19:07??自適應(yīng)滑膜同步\tiaoshi.m

?????文件??????41266??2013-04-18?18:01??自適應(yīng)滑膜同步\wuchaquxian.mdl

?????文件??????57662??2013-04-09?20:59??自適應(yīng)滑膜同步\同步1狀態(tài).fig

?????文件??????57919??2013-04-09?21:07??自適應(yīng)滑膜同步\同步2狀態(tài).fig

?????文件??????57736??2013-04-10?20:59??自適應(yīng)滑膜同步\同步3狀態(tài).fig

?????文件??????58487??2013-04-10?21:07??自適應(yīng)滑膜同步\同步4狀態(tài).fig

?????目錄??????????0??2014-06-12?17:33??自適應(yīng)滑膜同步

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???????????????542987????????????????????18