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.NumContStates??=?0;
sizes.NumDiscStates??=?0;
sizes.NumOutputs?????=?1;
sizes.NumInputs??????=?4;
sizes.DirFeedthrough?=?1;
sizes.NumSampleTimes?=?1;
sys?=?simsizes（sizes）;
x0??=?[];
str?=?[];
ts??=?[0?0];
function?sys=mdlOutputs（txu）
q1d=u（1）;dq1d=u（2）;

q1=u（3）;dq1=u（4）;

e1=q1d-q1;
de1=dq1d-dq1;

%Kp=2;臨界震蕩
Kp=0.5;
Kd=0;

M=2;
if?M==1
????Tol=Kd*de1;???????%D?Type
elseif?M==2
????Tol=Kp*e1+Kd*de1;??%PD?Type
elseif?M==3
????Tol=Kd*exp（0.8*t）*de1;??%Exponential?Gain?D?Type
end
sys=Tol;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2019-03-23?09:30??ILC_openedloop\
?????文件?????????841??2011-04-13?19:16??ILC_openedloop\ctrl.m
?????文件?????????599??2011-04-13?15:21??ILC_openedloop\input.m
?????文件?????????702??2019-03-20?10:38??ILC_openedloop\main.m
?????文件???????22230??2011-04-14?20:02??ILC_openedloop\simulation.mdl
?????文件????????4501??2019-03-17?13:39??ILC_openedloop\simulation.slxc
?????目錄???????????0??2019-03-17?13:39??ILC_openedloop\slprj\
?????目錄???????????0??2019-03-17?13:39??ILC_openedloop\slprj\sim\
?????目錄???????????0??2019-03-17?13:39??ILC_openedloop\slprj\sim\varcache\
?????目錄???????????0??2019-03-17?13:39??ILC_openedloop\slprj\sim\varcache\simulation\
?????文件?????????392??2019-03-17?13:39??ILC_openedloop\slprj\sim\varcache\simulation\checksumOfCache.mat
?????目錄???????????0??2019-03-17?13:39??ILC_openedloop\slprj\sim\varcache\simulation\tmwinternal\
?????文件?????????249??2019-03-17?13:39??ILC_openedloop\slprj\sim\varcache\simulation\tmwinternal\simulink_cache.xml
?????文件????????1696??2019-03-17?13:39??ILC_openedloop\slprj\sim\varcache\simulation\varInfo.mat