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?????=?1;
sizes.NumInputs??????=?7;
sizes.DirFeedthrough?=?1;
sizes.NumSampleTimes?=?1;
sys?=?simsizes（sizes）;
x0??=?[];
str?=?[];
ts??=?[0?0];
function?sys=mdlOutputs（txu）
thd=u（1）;
dthd=0;
ddthd=0;

th=u（2）;
q1=u（3）;
q2=u（4）;

dth=u（5）;
dq1=u（6）;
dq2=u（7）;

q=[q1?q2]‘;
dq=[dq1?dq2]‘;
e=th-thd;

kp=100;
kd=1000;
xite=4.0;
xite=0;
ut=-kp*e-kd*dth-xite*sign（dth）;

sys（1）=ut;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2013-01-13?17:40??chap7\
?????文件?????????737??2010-07-02?21:11??chap7\chap7_1ctrl.m
?????文件????????1237??2010-07-02?21:11??chap7\chap7_1plant.m
?????文件?????????746??2010-04-08?20:32??chap7\chap7_1plot.m
?????文件???????18299??2010-07-23?08:58??chap7\chap7_1sim.mdl
?????文件????????1299??2010-07-02?21:24??chap7\chap7_2ctrl.m
?????文件?????????829??2008-08-18?15:54??chap7\chap7_2i.m
?????文件????????1427??2006-04-04?10:08??chap7\chap7_2input.m
?????文件????????1118??2008-08-19?08:55??chap7\chap7_2plant.m
?????文件?????????984??2010-04-08?15:52??chap7\chap7_2plot.m
?????文件???????21052??2010-07-23?08:59??chap7\chap7_2sim.mdl
?????文件?????????662??2010-04-09?09:06??chap7\chap7_3ctrl.m
?????文件?????????453??2010-08-01?10:36??chap7\chap7_3plot.m
?????文件???????24816??2010-07-24?08:41??chap7\chap7_3sim.mdl
?????文件?????????828??2010-04-09?09:00??chap7\chap7_3xite.m
?????文件????????1153??2010-07-24?09:03??chap7\chap7_4.m
?????文件?????????615??2010-07-16?11:08??chap7\chap7_4plant.m
?????文件?????????981??2010-07-16?11:23??chap7\chap7_5adapt.m
?????文件?????????623??2009-03-28?22:19??chap7\chap7_5ctrl.m
?????文件?????????801??2010-07-24?08:59??chap7\chap7_5model.m
?????文件?????????742??2010-07-16?11:10??chap7\chap7_5plant.m
?????文件?????????624??2010-04-08?17:07??chap7\chap7_5plot.m
?????文件???????19008??2010-07-24?09:07??chap7\chap7_5sim.mdl