function?[sysx0strts]?=?spacemodel（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.NumOutputs?????=2;
sizes.NumInputs??????=10;
sizes.DirFeedthrough?=?1;
sizes.NumSampleTimes?=?0;
sys?=?simsizes（sizes）;
x0??=?[];
str?=?[];
ts??=?[];
function?sys=mdlOutputs（txu）
v=13.33;m1=8.98;m2=8.75;g=9.8;
q1=u（7）;q2=u（8）;
q=[q1?q2]‘;
dq1=u（9）;dq2=u（10）;
dq=[dq1?dq2]‘;

M=[v+m1+2*m2*cos（q2）?m1+m2*cos（q2）;
???m1+m2*cos（q2）?m1];
C=[-m2*dq2*sin（q2）?-m2*（dq1+dq2）*sin（q2）;
????m2*dq1*sin（q2）??0];
G=[15*g*cos（q1）+8.75*g*cos（q1+q2）;
???8.75*g*cos（q1+q2）];
k2=1;niu=1200;rou2=1.5;

sn=[u（1）?u（2）]‘;
S=sign（sn）;
we=[u（3）?u（4）]‘;
dwd=[u（5）?u（6）]‘;
tol=M*（dwd+k2*we）+C*dq+C*sn+G+niu*sn+rou2*S;

sys（1）=tol（1）;
sys（2）=tol（2）;

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件????????424??2006-07-20?22:38??chap7_1plot.m

?????文件??????11281??2007-08-11?20:34??chap7_1sim.mdl

?????文件????????996??2006-07-20?21:51??chap7_2ctrl.m

?????文件????????970??2006-07-20?21:51??chap7_2plant.m

?????文件????????276??2006-07-20?21:51??chap7_2plot.m

?????文件??????11803??2007-08-11?20:40??chap7_2sim.mdl

?????文件???????1228??2006-07-20?22:06??chap7_3ctrl.m

?????文件???????1420??2006-07-20?22:06??chap7_3plant.m

?????文件????????771??2006-07-20?22:06??chap7_3plot.m

?????文件??????11689??2007-08-11?20:41??chap7_3sim.mdl

?????文件???????1516??2007-05-15?17:00??chap7_4ctrl.m

?????文件???????1359??2007-05-15?09:38??chap7_4plant.m

?????文件????????426??2007-05-15?09:44??chap7_4plot.m

?????文件??????11291??2007-08-11?20:42??chap7_4sim.mdl

?????文件???????2095??2007-05-21?08:32??chap7_5ctrl.m

?????文件????????730??2007-05-20?22:46??chap7_5input.m

?????文件???????1350??2007-08-11?20:43??chap7_5plant.m

?????文件????????666??2007-05-20?23:28??chap7_5plot.m

?????文件???????9198??2007-08-11?20:43??chap7_5sim.mdl

?????文件????????834??2006-07-23?08:18??chap7_6master.m

?????文件????????655??2006-07-23?08:18??chap7_6pid.m

?????文件????????380??2006-07-23?08:18??chap7_6plot.m

?????文件??????17183??2007-08-11?20:45??chap7_6sim.mdl

?????文件???????1056??2006-07-23?08:18??chap7_6slave.m

?????文件???????1015??2006-07-23?08:18??chap7_6smc.m

?????文件???????2938??2008-02-27?11:31??chap7_7ctrl.m

?????文件???????1363??2007-04-02?15:16??chap7_7plant.m

?????文件????????810??2007-01-09?10:30??chap7_7plot.m

?????文件??????11104??2007-08-11?20:47??chap7_7sim.mdl

?????文件???????1563??2006-10-16?19:06??chap7_8adapt.m

............此處省略40個(gè)文件信息