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二自由度的機器人機械臂控制,屬于多變量控制系統(tǒng),PD,PID等控制方法

代碼片段和文件信息
/*?Include?files?*/
#include?“blascompat32.h“
#include?“myImpe_controlwith_insidePD_sfun.h“
#include?“c1_myImpe_controlwith_insidePD.h“
#include?“mwmathutil.h“
#define?CHARTINSTANCE_CHARTNUMBER??????(chartInstance->chartNumber)
#define?CHARTINSTANCE_INSTANCENUMBER???(chartInstance->instanceNumber)
#include?“myImpe_controlwith_insidePD_sfun_debug_macros.h“
/*?Type?Definitions?*/
/*?Named?Constants?*/
/*?Variable?Declarations?*/
/*?Variable?Definitions?*/
static?const?char?*c1_debug_family_names[4]?=?{?“nargin“?“nargout“?“Q“?“y“?};
/*?Function?Declarations?*/
static?void?initialize_c1_myImpe_controlwith_insidePD
??(SFc1_myImpe_controlwith_insidePDInstanceStruct?*chartInstance);
static?void?initialize_params_c1_myImpe_controlwith_insidePD
??(SFc1_myImpe_controlwith_insidePDInstanceStruct?*chartInstance);
static?void?enable_c1_myImpe_controlwith_insidePD
??(SFc1_myImpe_controlwith_insidePDInstanceStruct?*chartInstance);
static?void?disable_c1_myImpe_controlwith_insidePD
??(SFc1_myImpe_controlwith_insidePDInstanceStruct?*chartInstance);
static?void?c1_update_debugger_state_c1_myImpe_controlwith_insidePD
??(SFc1_myImpe_controlwith_insidePDInstanceStruct?*chartInstance);
static?const?mxArray?*get_sim_state_c1_myImpe_controlwith_insidePD
??(SFc1_myImpe_controlwith_insidePDInstanceStruct?*chartInstance);
static?void?set_sim_state_c1_myImpe_controlwith_insidePD
??(SFc1_myImpe_controlwith_insidePDInstanceStruct?*chartInstance?const?mxArray?*
???c1_st);
static?void?finalize_c1_myImpe_controlwith_insidePD
??(SFc1_myImpe_controlwith_insidePDInstanceStruct?*chartInstance);
static?void?sf_c1_myImpe_controlwith_insidePD
??(SFc1_myImpe_controlwith_insidePDInstanceStruct?*chartInstance);
static?void?compInitSubchartSimstructsFcn_c1_myImpe_controlwith_insidePD
??(SFc1_myImpe_controlwith_insidePDInstanceStruct?*chartInstance);
static?void?init_script_number_translation(uint32_T?c1_machineNumber?uint32_T
??c1_chartNumber);
static?real_T?c1_norm(SFc1_myImpe_controlwith_insidePDInstanceStruct
??????????????????????*chartInstance?real_T?c1_x[4]);
static?void?c1_eml_warning(SFc1_myImpe_controlwith_insidePDInstanceStruct
??*chartInstance);
static?void?c1_b_eml_warning(SFc1_myImpe_controlwith_insidePDInstanceStruct
??*chartInstance?real_T?c1_varargin_3);
static?const?mxArray?*c1_sf_marshall(void?*chartInstanceVoid?void?*c1_u);
static?const?mxArray?*c1_b_sf_marshall(void?*chartInstanceVoid?void?*c1_u);
static?void?c1_info_helper(c1_ResolvedFunctionInfo?c1_info[34]);
static?const?mxArray?*c1_c_sf_marshall(void?*chartInstanceVoid?void?*c1_u);
static?void?c1_emlrt_marshallIn(SFc1_myImpe_controlwith_insidePDInstanceStruct
??*chartInstance?const?mxArray?*c1_y?const?char_T?*c1_name?real_T?c1_b_y[4]);
static?uint8_T?c1_b_emlrt_marshallIn
??(SFc1_myImpe_controlwith_insidePDInstanceStruct?*chartInstance?const?mxArray?*
???c1_b_is_active_c1_myImpe_controlwith_insidePD?const?char_T?*c1_name);
static?void?ini
?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件?????146308??2013-04-20?23:55??A0104432X\myAdaptive_control.mdl
?????文件?????162436??2013-04-21?17:05??A0104432X\myImpe_controlwith_insidePD.mdl
?????文件?????154309??2015-04-20?21:36??A0104432X\myImpe_controlwith_insidePD.mdl.autosave
?????文件?????262144??2015-04-19?11:06??A0104432X\myImpe_controlwith_insidePD_sfun.mexw32
?????文件?????121499??2013-04-21?16:09??A0104432X\myPDcontrol.mdl
?????文件?????253440??2015-04-19?10:58??A0104432X\myPDcontrol_sfun.mexw32
?????文件???????1276??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\info\binfo.mat
?????文件???????1612??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\info\chart1_intiV9kafh0AnVz90CBFUB.mat
?????文件???????1620??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\info\chart2_Pa4vXBAAiR2a4Z1yJ3qJWE.mat
?????文件??????47623??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\c1_myImpe_controlwith_insidePD.c
?????文件???????1156??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\c1_myImpe_controlwith_insidePD.h
?????文件??????30389??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\c1_myImpe_controlwith_insidePD.obj
?????文件??????30270??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\c2_myImpe_controlwith_insidePD.c
?????文件???????1156??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\c2_myImpe_controlwith_insidePD.h
?????文件??????19660??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\c2_myImpe_controlwith_insidePD.obj
?????文件????????384??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\lccstub.obj
?????文件?????????83??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun.bat
?????文件???????7563??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun.c
?????文件?????????69??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun.exp
?????文件????????992??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun.h
?????文件???????2956??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun.lib
?????文件???????2259??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun.lmk
?????文件????????771??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun.lmko
?????文件???????6521??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun.obj
?????文件??????18465??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun_debug_macros.h
?????文件???????7121??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun_registry.c
?????文件??????36067??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun_registry.obj
?????文件???????8881??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\rtwtypes.h
?????文件???????1075??2015-04-19?11:06??A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\rtwtypeschksum.mat
?????文件???????1114??2015-04-19?10:58??A0104432X\slprj\_sfprj\myPDcontrol\_self\sfun\info\binfo.mat
............此處省略39個文件信息
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