全网最强滑模控制（SMC）matlab s-function函数实现（1），滑模控制几种趋近律总结（文末附实例下载）

最新推荐文章于 2025-03-27 19:12:11 发布

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最新推荐文章于 2025-03-27 19:12:11 发布

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分类专栏：控制算法

本文链接：https://blog.csdn.net/weixin_42887138/article/details/115080567

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这篇博客提供了全网最强的滑模控制（SMC）MATLAB S-Function实现教程，详细介绍了滑模控制的几种趋近律，并附带了代码下载链接，供读者实践操作。

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function [sys,x0,str,ts,simStateCompliance] = sfuntmpl(t,x,u,flag)
switch flag,
  %%%%%%%%%%%%%%%%%%
  % Initialization %
  %%%%%%%%%%%%%%%%%%
  case 0,
    [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes;
  %%%%%%%%%%%%%%%
  % Derivatives %
  %%%%%%%%%%%%%%%
  case 1,
    sys=mdlDerivatives(t,x,u);
  %%%%%%%%%%
  % Update %
  %%%%%%%%%%
  case 2,
    sys=mdlUpdate(t,x,u);
  %%%%%%%%%%%
  % Outputs %
  %%%%%%%%%%%
  case 3,
    sys=mdlOutputs(t,x,u);
  %%%%%%%%%%%%%%%%%%%%%%%
  % GetTimeOfNextVarHit %
  %%%%%%%%%%%%%%%%%%%%%%%
  case 4,
    sys=mdlGetTimeOfNextVarHit(t,x,u);
  %%%%%%%%%%%%%
  % Terminate %
  %%%%%%%%%%%%%
  case 9,
    sys=mdlTerminate(t,x,u);
  %%%%%%%%%%%%%%%%%%%%
  % Unexpected flags %
  %%%%%%%%%%%%%%%%%%%%
  otherwise
    DAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));
end
% end sfuntmpl
%
%=============================================================================
% mdlInitializeSizes
% Return the sizes, initial conditions, and sample times for the S-function.
%=============================================================================
%
function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes
%
% call simsizes for a sizes structure, fill it in and convert it to a
% sizes array.
%
% Note that in this example, the values are hard coded.  This is not a
% recommended practice as the characteristics of the block are typically
% defined by the S-function parameters.
%
sizes = simsizes;
sizes.NumContStates  = 0;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 0;
sizes.NumInputs      = 0;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1;   % at least one sample time is needed
sys = simsizes(sizes);
%
% initialize the initial conditions
%
x0  = [];
%
% str is always an empty matrix
%
str = [];
%
% initialize the array of sample times
%
ts  = [0 0];
% Specify the block simStateCompliance. The allowed values are:
%    'UnknownSimState', < The default setting; warn and assume DefaultSimState
%    'DefaultSimState', < Same sim state as a built-in block
%    'HasNoSimState',   < No sim state
%    'DisallowSimState' < Error out when saving or restoring the model sim state
simStateCompliance = 'UnknownSimState';
% end mdlInitializeSizes
%
%=========

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