%S-function?for?continuous?state?equation
function?[sysx0strts]=s_function（txuflag）

switch?flag
%Initialization
??case?0
????[sysx0strts]=mdlInitializeSizes;
case?1
????sys=mdlDerivatives（txu）;
%Outputs
??case?3
????sys=mdlOutputs（txu）;
%Unhandled?flags
??case?{2?4?9?}
????sys?=?[];
%Unexpected?flags
??otherwise
????error（[‘Unhandled?flag?=?‘num2str（flag）]）;
end

%mdlInitializeSizes
function?[sysx0strts]=mdlInitializeSizes
global?p?g
sizes?=?simsizes;
sizes.NumContStates??=?4;
sizes.NumDiscStates??=?0;
sizes.NumOutputs?????=?4;
sizes.NumInputs??????=2;
sizes.DirFeedthrough?=?0;
sizes.NumSampleTimes?=?0;
sys=simsizes（sizes）;
x0=[0?0?0?0];
str=[];
ts=[];

p=[2.9?0.76?0.87?3.04?0.87];
g=9.8;
function?sys=mdlDerivatives（txu）
global?p?g

D0=[p（1）+p（2）+2*p（3）*cos（x（3））?p（2）+p（3）*cos（x（3））;
????p（2）+p（3）*cos（x（3））?p（2）];
C0=[-p（3）*x（4）*sin（x（3））?-p（3）*（x（2）+x（4））*sin（x（3））;
?????p（3）*x（2）*sin（x（3））??0];
tol=u（1:2）;
dq=[x（2）;x（4）];

S=inv（D0）*（tol-C0*dq）;

sys（1）=x（2）;
sys（2）=S（1）;
sys（3）=x（4）;
sys（4）=S（2）;
function?sys=mdlOutputs（txu）
sys（1）=x（1）;
sys（2）=x（2）;
sys（3）=x（3）;
sys（4）=x（4）;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2012-03-28?09:16??predictive?control\
?????文件????????1180??2012-03-06?14:55??predictive?control\2.2.m
?????文件?????????550??2011-05-22?19:07??predictive?control\a.m
?????文件?????????387??2011-05-22?10:53??predictive?control\b1.m
?????文件?????????404??2011-05-22?10:55??predictive?control\b2.m
?????文件?????????613??2011-05-22?11:00??predictive?control\c1.m
?????文件?????????613??2011-05-22?11:06??predictive?control\c2.m
?????文件?????????620??2011-05-22?10:40??predictive?control\c3.m
?????文件?????????616??2011-05-22?11:14??predictive?control\c4.m
?????文件?????????705??2011-05-22?10:21??predictive?control\c5.m
?????文件?????????722??2011-05-22?11:16??predictive?control\c6.m
?????文件?????????674??2011-05-22?11:18??predictive?control\d1.m
?????文件?????????696??2011-05-22?11:21??predictive?control\d2.m
?????文件????????3641??2011-06-21?20:57??predictive?control\fuzzycontroller.asv
?????文件????????3642??2011-06-21?21:54??predictive?control\fuzzycontroller.m
?????文件????????3734??2011-07-05?21:10??predictive?control\guangyi.m
?????文件??????????80??2011-10-04?11:49??predictive?control\plot1.asv
?????文件?????????112??2011-10-04?11:59??predictive?control\plot1.m
?????文件?????????693??2011-04-28?09:12??predictive?control\Untitled.m
?????文件?????????866??2011-06-23?10:33??predictive?control\Untitled2.fis
?????文件?????????785??2011-04-28?09:14??predictive?control\Untitled2.m
?????文件?????????783??2011-05-22?11:26??predictive?control\Untitled3.m
?????文件?????????940??2011-05-22?11:26??predictive?control\Untitled4.m
?????文件?????????613??2011-05-22?20:09??predictive?control\Untitled5.m