function?[sysx0strts]=s_function（txuflag）
switch?flag
case?0
????[sysx0strts]=mdlInitializeSizes;
case?3
????sys=mdlOutputs（txu）;
case?{12?4?9?}
????sys?=?[];
otherwise
????error（[‘Unhandled?flag?=?‘num2str（flag）]）;
end
function?[sysx0strts]=mdlInitializeSizes
sizes?=?simsizes;
sizes.NumContStates??=?0;
sizes.NumDiscStates??=?0;
sizes.NumOutputs?????=?1;
sizes.NumInputs??????=?2;
sizes.DirFeedthrough?=?1;
sizes.NumSampleTimes?=?1;
sys=simsizes（sizes）;
x0=[];
str=[];
ts=[0?0];
function?sys=mdlOutputs（txu）
e1=u（1）;
e2=u（2）;
%NPID?Parameters
delta0=0.02;
alfa01=3/4;alfa02=3/2;???%0beta01=6.0;beta02=1.5;
kp=beta01;kd=beta02;

if?abs（e1）>delta0
????fal1=abs（e1）^alfa01*sign（e1）;
else
????fal1=e1/（delta0^（1-alfa01））;
end
i

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

?????文件??????17308??2016-11-04?16:43??ADRC\ADRCsim.slx

?????文件????????941??2016-11-04?11:45??ADRC\ADRC_ctrl.m

?????文件???????1062??2016-11-04?11:45??ADRC\ADRC_eso.m

?????文件????????528??2017-01-12?17:22??ADRC\ADRC_input.m

?????文件????????762??2016-11-04?11:46??ADRC\ADRC_levant.m

?????文件????????810??2016-11-04?11:46??ADRC\ADRC_plant.m

?????文件????????728??2016-11-04?16:45??ADRC\ADRC_plot.m

?????目錄??????????0??2016-11-04?16:43??ADRC

-----------?---------??----------?-----??----

????????????????22139????????????????????8