我太难了………………干啥啥不行
1.PID控制器设计
代码如下:
function [sys,x0,str,ts,simStateCompliance] = my_pid_ctrl(t,x,u,flag,Kp,Kd)
switch flag,
case 0,
[sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes;
case 1,
sys=mdlDerivatives(t,x,u);
case 2,
sys=mdlUpdate(t,x,u);
case 3,
sys=mdlOutputs(t,x,u,Kp,Kd);
case 4,
sys=mdlGetTimeOfNextVarHit(t,x,u);
case 9,
sys=mdlTerminate(t,x,u);
otherwise
DAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));
end
function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes
sizes = simsizes;
sizes.NumContStates = 0;
sizes.NumDiscStates = 0;
sizes.NumOutputs = 2;
sizes.NumInputs = 6;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1;
sys = simsizes(sizes);
x0 = [];
str = [];
ts = [0,0];
simStateCompliance = 'UnknownSimState';
function sys=mdlDerivatives(t,x,u)
sys = [];
function sys=mdlU