%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%?倒立擺平衡控制問題
%?模糊控制器（S函數）
%?2009/06
%?栗麗英（20081135）
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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;
%?連續狀態個數
sizes.NumContStates??=0;
%?離散狀態個數
sizes.NumDiscStates??=0;
%?輸出值個數
sizes.NumOutputs?????=1;
%?輸入值個數
sizes.NumInputs??????=2;
sizes.DirFeedthrough?=1;
%?采樣時間
sizes.NumSampleTimes?=1;
sys=simsizes（sizes）;
x0=[];
str=[];
ts=[0?0];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

function?sys=mdlOutputs（txu）
x=[u（1）;u（2）];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%load?K_file;%
K1=[357.4135???45.3333];
K2=[341.4135???45.3333];
K3=[662.5861??102.6667];
K4=[680.4563??109.5949];
K5=[680.4563??95.7385];

ut1=K1*x;
ut2=K2*x;
ut3=K3*x;
ut4=K4*x;
ut5=K5*x;
%?輔初始值
h40=0;
h41=0;
h30=0;
h31=0;?
h40=0;
h41=0;
h50=0;
h51=0;
h10=0;
h11=0;
h20=0;
h21=0;

L1=-pi/2;
L2=pi/2;
L=L2-L1;

N=2;
for?i=1:N+1
????e（i）=（L1+L/N*（i-1））;
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%?定義模糊規則
h10=trimf（u（1）[e（1）e（2）e（3）]）;???%The?middle
h11=trimf（u（2）[e（1）e（2）e（3）]）;???%The?middle

if?????x（1）<0??x（2）>0
???h50=trimf（x（1）[e（1）e（1）e（2）]）;???%The?last
????h51=trimf（x（2）[e（2）e（2）e（3）]）;???%The?last
elseif??x（1）>0??x（2）<0
????h50=trimf（x（1）[e（2）e（2）e（3）]）;
????h51=trimf（x（1）[e（1）e（1）e（2）]）;
end
if???x（1）>0??x（2）>0??
????h40=trimf（x（1）[e（2）e（3）e（3）]）;???%The?last
????h41=trimf（x（2）[e（2）e（3）e（3）]）;???%The?last
????elseif??x（1）<0???x（2）<0
????????h40=trimf（x（1）[e（1）e（1）e（2）]）;???%The?last
????h41=trimf（x（2）[e（1）e（1）e（2）]）;???%The?last
end

if??x（1）>0???x（2）=0?
????h30=trimf（x（1）[e（2）e（3）e（3）]）;???%The?last
????h31=trimf（x（2）[e（1）e（2）e（3）]）;???%The?last
????elseif??x（1）<0??x（2）=0
????????h30=trimf（x（1）[e（1）e（1）e（2）]）;???%The?last
????h31=trimf（x（2）[e（1）e（2）e（3）]）;???%The?last
end

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%h1+h2
ut=h10*h11*ut1+h30*h31*ut3+h40*h41*ut4+h50*h51*ut5;

%ut=ut1+ut2+ut3+ut4+ut5
%ut=ut1*5/13+ut2*2/13+ut3*2/13+ut4*2/13+ut5*2/13
sys（1）=8*ut;

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

?????文件??????10280??2009-06-15?13:11??6.倒立擺\chap4_10sim.mdl

?????文件???????2793??2009-06-28?21:49??6.倒立擺\Control.m

?????文件??????17427??2009-06-29?16:05??6.倒立擺\daolibai.mdl

?????文件???????1426??2009-06-28?21:50??6.倒立擺\Plant.m

????..A.SH.??????5120??2009-06-29?18:29??6.倒立擺\Thumbs.db

?????文件?????254464??2009-06-29?19:17??6.倒立擺\倒立擺.ppt

?????目錄??????????0??2009-08-20?12:33??6.倒立擺

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

???????????????291510????????????????????7