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

switch?flag

??%%%%%%%%%%%%%%%%%%
??%?Initialization?%
??%%%%%%%%%%%%%%%%%%
??case?0
????[sysx0strts]=mdlInitializeSizes;

??%%%%%%%%%%%%%%%
??%?Derivatives?%
??%%%%%%%%%%%%%%%
??case?1
????sys=mdlDerivatives（txu）;

??%%%%%%%%%%
??%?Update?%
??%%%%%%%%%%
??case?2
????sys=mdlUpdate（txu）;

??%%%%%%%%%%%
??%?Outputs?%
??%%%%%%%%%%%
??case?3
????sys=mdlOutputs（txu）;

??%%%%%%%%%%%%%%%%%%%%%%%
??%?GetTimeOfNextVarHit?%
??%%%%%%%%%%%%%%%%%%%%%%%
??case?4
????sys=mdlGetTimeOfNextVarHit（txu）;

??%%%%%%%%%%%%%
??%?Terminate?%
??%%%%%%%%%%%%%
??case?9
????sys=mdlTerminate（txu）;

??%%%%%%%%%%%%%%%%%%%%
??%?Unexpected?flags?%
??%%%%%%%%%%%%%%%%%%%%
??otherwise
????DAStudio.error（‘Simulink:blocks:unhandledFlag‘?num2str（flag））;

end

%?end?sfuntmpl

%
%=============================================================================
%?mdlInitializeSizes
%?Return?the?sizes?initial?conditions?and?sample?times?for?the?S-function.
%=============================================================================
%
function?[sysx0strts]=mdlInitializeSizes

sizes?=?simsizes;

sizes.NumContStates??=?0;
sizes.NumDiscStates??=?0;
sizes.NumOutputs?????=?1;
sizes.NumInputs??????=?6;
sizes.DirFeedthrough?=?1;
sizes.NumSampleTimes?=?1;???%?at?least?one?sample?time?is?needed

sys?=?simsizes（sizes）;


%
%?initialize?the?initial?conditions
%
x0??=?[];

%
%?str?is?always?an?empty?matrix
%
str?=?[];

%
%?initialize?the?array?of?sample?times
%
ts??=?[0?0];

%?Specify?the?block?simStateComliance.?The?allowed?values?are:
%????‘UnknownSimState‘?%????‘DefaultSimState‘?%????‘HasNoSimState‘???%????‘DisallowSimState‘?simStateCompliance?=?‘UnknownSimState‘;
%?end?mdlInitializeSizes

%
%=============================================================================
%?mdlDerivatives
%?Return?the?derivatives?for?the?continuous?states.
%=============================================================================
%
function?sys=mdlDerivatives（txu）

sys?=?[];

%?end?mdlDerivatives

%
%=============================================================================
%?mdlUpdate
%?Handle?discrete?state?updates?sample?time?hits?and?major?time?step
%?requirements.
%=============================================================================
%
function?sys=mdlUpdate（txu）

sys?=?[];

%?end?mdlUpdate

%=============================================================================
%?mdlOutputs
%?Return?the?block?outputs.
%=============================================================================
%
function?sys=mdlOutputs（txu）
U=u;
if?U（2）>pi?&&?U（2）<2*pi;
????angle2?=?2*pi-U（2）;
else
????angle2?=?U（2）;
end
if?U（3）>pi?&&?U（3）<2*pi;
?

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

?????文件??????20047??2011-04-06?20:39??Inverted?pendulum?into?the?second-order\cyj.mdl

?????文件???????4064??2011-04-06?20:34??Inverted?pendulum?into?the?second-order\Identify_cyj.m

?????文件???????1775??2011-04-06?14:27??Inverted?pendulum?into?the?second-order\LQR_cyj.m

?????文件???????1680??2011-04-06?14:22??Inverted?pendulum?into?the?second-order\object_cyj.m

?????文件???????1776??2011-04-06?14:24??Inverted?pendulum?into?the?second-order\SMC_cyj.m

?????目錄??????????0??2011-07-09?21:48??Inverted?pendulum?into?the?second-order

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

????????????????29342????????????????????6