MATLAB编写S函数，C语言版本

#define S_FUNCTION_NAME MFAC // phi(k)=…=phi(k+p)
#define S_FUNCTION_LEVEL 2

#define N 2 // \tau_bar=N-1, the control prediction horizon U[0:N-1]

//#define SAMPLETIME 0.01

/*

• Need to include simstruc.h for the definition of the SimStruct and
• its associated macro definitions.
  */
  #include “simstruc.h”

/*====================*

• S-function methods *
  *====================*/

double rho, lambda; //eta0, mu0, phik0,

/* Function: mdlInitializeSizes ===============================================

• Abstract:
• The sizes information is used by Simulink to determine the S-function
• block’s characteristics (number of inputs, outputs, states, etc.).
  */
  static void mdlInitializeSizes(SimStruct S)
  {
  / See sfuntmpl_doc.c for more details on the macros below */

ssSetNumSFcnParams(S, 0);  /* Number of expected parameters */
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
    /* Return if number of expected != number of actual parameters */
    return;
}

ssSetNumContStates(S, 0);
ssSetNumDiscStates(S, 0);

if (!ssSetNumInputPorts(S, 1)) return;
ssSetInputPortWidth(S, 0, 1+1+1+N+1);  // timestamp/ phik/ yk/ r(k+1),...,r(k+tau_bar+1) / u(k-1)
ssSetInputPortRequiredContiguous(S, 0, true); 
/*
* Set direct feedthrough flag (1=yes, 0=no).
* A port