video_flag?=?0;?%?choose?1?if?you?want?to?save?a?video?file?of?plot?animation
l=0.25;Ts=0.01;
T_final?=?10;
%%?Make?video
if?video_flag?==?1
????%?Video?file?open
????makeVideo?=?VideoWriter（‘仿真‘）;
????%?frame?Rate?-?frames?per?second
????makeVideo.frameRate?=?100;
????%?Quality?-??（0?~?100）
????makeVideo.Quality?=?80;
????open（makeVideo）;
end

%%?Plot
Time?=?[0:Ts:T_final]‘;
X_result?=?zeros（size（Time1）4）;
F_save?=?zeros（size（Time1）1）;
u_save?=?zeros（size（Time1）2）;
j=1;
for?i=1:size（x1）
????if?x（i1）==Time（j）?||?x（i1）Time（j）?||?x（i1）>Time（j）?
????????X_result（j1）=x（i2）;
????????X_result（j2）=x（i3）;
????????X_result（j3）=q（i2）;
????????X_result（j4）=q（i3）;
????????F_save（j）=u（i2）;
????????u_save（j1:2）=u（i3:4）;
????????j=j+1;
????????if?（x（i1）-Time（j-1））>Ts
????????????X_result（j:）=X_result（j-1:）;
????????????F_save（j）=F_save（j-1）;
????????????u_save（j:）=u_save（j-1:）;
????????????j=j+1;
????????end
????end
end

figure（1）
axis_limit?=?1;
for?i=1:size（X_result1）????
????cart_position_x?=?X_result（i1）;
????pend_position_x?=?X_result（i1）?-?l*sin（X_result（i3））;
????pend_position_y?=?l*cos（X_result（i3））;
????
????hold?off
????plot（pend_position_x?pend_position_y?‘ok‘?‘MarkerSize‘?25?‘MarkerFaceColor‘[0.2?0.9?0.2]）???%?pendulum
????hold?on
????plot（cart_position_x?0?‘sk‘?‘MarkerSize‘?50?‘MarkerFaceColor‘[0.8?0.8?0.8]）????%?cart
????hold?on????
????if?cart_position_x?>?pend_position_x
????????plot（linspace（cart_position_xpend_position_x2）?linspace（0pend_position_y2）?‘k‘?‘LineWidth‘?3）???%?rod
????else
????????plot（linspace（cart_position_xpend_position_x2）?linspace（0pend_position_y2）?‘r‘?‘LineWidth‘?3）???%?rod
????end
????grid?on
????xlabel（‘[m]‘）
????ylabel（‘[m]‘）
????axis（[-axis_limit?axis_limit?-0.5?0.5]）
????sim_status?=?sprintf（‘Simulation?time:?%5.2f?s‘Time（i））;
????title（sim_status‘FontSize‘13）
????
????if?video_flag?==?1?&&?rem（Time（i）0.01）?==?0
????????frame?=?getframe（gcf）;
????????writeVideo（makeVideoframe）;
????end
????
????pause（Ts）;
end

if?video_flag?==?1
????close（makeVideo）;
end

figure（2）
subplot（311）
plot（Time?X_result（:1:2））
grid?on
xlabel（‘Time?[s]‘）
legend（‘cart?position?[m]‘?‘cart?velocity?[m/s]‘）

subplot（312）
plot（Time?X_result（:3:4）*180/pi）
grid?on
xlabel（‘Time?[s]‘）
legend（‘pendulum?angle?[deg]‘?‘pendulum?velocity?[deg/s]‘）

subplot（313）
plot（Time?F_save）
hold?on
plot（Time?u_save（:1）‘r‘）
plot（Time?u_save（:2）‘c‘）
grid?on
xlabel（‘Time?[s]‘）
ylabel（‘Force?[N]‘）
legend（‘Input?force‘?‘u_x‘?‘u_q‘）

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????64468??2020-05-16?09:25??pendulum_new.mdl

?????文件??????64460??2020-05-16?09:24??pendulum_pre.mdl

?????文件???????1005??2020-05-13?23:00??PID_fuzzy.fis

?????文件??????58823??2020-05-13?22:54??PID_pendulum.mdl

?????文件???????1612??2020-04-20?00:25??position_fuzzy.fis

?????文件????1391330??2020-05-16?10:16??改進仿真.avi

?????文件????1367497??2020-08-28?09:06??模糊控制實驗報告.docx

?????文件????1405318??2020-05-16?09:17??原始仿真.avi

?????文件????????392??2020-05-12?17:03??slprj\sim\varcache\pendulum\checksumOfCache.mat

?????文件????????312??2020-05-12?17:03??slprj\sim\varcache\pendulum\tmwinternal\simulink_cache.xml

?????文件????????320??2020-05-12?17:03??slprj\sim\varcache\pendulum\varInfo.mat

?????文件????????392??2020-05-16?16:16??slprj\sim\varcache\pendulum_2new\checksumOfCache.mat

?????文件????????312??2020-05-16?16:16??slprj\sim\varcache\pendulum_2new\tmwinternal\simulink_cache.xml

?????文件????????664??2020-05-16?16:16??slprj\sim\varcache\pendulum_2new\varInfo.mat

?????文件????????392??2020-05-16?21:59??slprj\sim\varcache\pendulum_2new2\checksumOfCache.mat

?????文件????????312??2020-05-16?21:59??slprj\sim\varcache\pendulum_2new2\tmwinternal\simulink_cache.xml

?????文件???????2040??2020-05-16?21:59??slprj\sim\varcache\pendulum_2new2\varInfo.mat

?????文件???????2363??2020-05-16?20:41??slprj\_sfprj\EMLReport\emlReportAccessInfo.mat

?????文件??????14583??2020-05-16?10:12??slprj\_sfprj\EMLReport\s2cS8aOCnfFkWWBtyflfeVC.mat

?????文件??????14573??2020-05-16?11:56??slprj\_sfprj\EMLReport\s2JP2xM81RXNbnBJZiDImbB.mat

?????文件??????14574??2020-05-16?11:46??slprj\_sfprj\EMLReport\s2Zd5Y6kpxZNJM8M6fBm9PH.mat

?????文件???????6449??2020-05-16?11:16??slprj\_sfprj\EMLReport\s5NjuhFR8roNxtZGaWTUBFD.mat

?????文件???????6448??2020-05-16?19:32??slprj\_sfprj\EMLReport\s5QwqOylGP1Gsno409od8tE.mat

?????文件???????6448??2020-05-16?11:46??slprj\_sfprj\EMLReport\s7euX1V622nJNySW8lXnBcH.mat

?????文件???????6444??2020-05-16?11:56??slprj\_sfprj\EMLReport\s7Fa2ZKmu4ndF1EWaaabbcF.mat

?????文件???????6445??2020-05-16?21:59??slprj\_sfprj\EMLReport\s7qRqmqTNNHaB4gwGZ1KcM.mat

?????文件???????6963??2020-05-16?19:04??slprj\_sfprj\EMLReport\sAR473TyTGvkEIWvZWHnjQH.mat

?????文件???????6396??2020-05-12?19:51??slprj\_sfprj\EMLReport\sArpARZMncimKInzIkHmFEH.mat

?????文件??????14564??2020-05-12?19:51??slprj\_sfprj\EMLReport\sciq4AmpmyeAJEqt7EVstPH.mat

?????文件??????14583??2020-05-16?19:35??slprj\_sfprj\EMLReport\sCRhMaj9Jw23XNYPAiUfbiC.mat

............此處省略215個文件信息