新手学者，MATLAB里将GPC封装入s-function level2里，代码老是报错，希望大佬能帮忙看看，修改，解答，问题出在哪里。不胜感激。

function sys = cdhs(t,u,flag)

persistent num den c M Ts a b d thetae_1 na yk nb aa N1 N Nu gamma alpha E F G F1 F2 thetae P lambda Yr dUk Yk phi K ae be aae uk duk dyk w

switch flag

case 0

num = [4, 0.04];

den = [1, 0];

c = 1;

M = 2;

Ts = 1;

[a, b, d] = tflisan(num, den, M, Ts);

na = length(a) - 1;

b = [zeros(1, d - 1), b];

nb = length(b) - 1;

aa = conv(a, [1, -1]);

naa = na + 1;

N1 = d;

N = 80;

Nu = 80;

gamma = eye(Nu);

alpha = 0.7;

P = 10^6 * eye(na + nb - d + 2);

lambda = 1;

uk = zeros(d + nb, 1);

duk = zeros(d + nb, 1);

dyk = zeros(na, 1);

thetae_1 = 0.001 * ones(na + nb - d + 2, 1);

yk=zeros(na,1); %输出初值

[E, F, G] = multidiophantine(aa, b, c, N);

G = G(N1:N, :);

F1 = zeros(N - N1 + 1,Nu);

F2 = zeros(N - N1 + 1, nb);

for i = 1:N - N1 + 1

for j = 1:min(i, Nu)

F1(i, j) = F(i + N1 - 1, i + N1 - 1 - j + 1);

end

for j = 1:nb

F2(i, j) = F(i + N1 - 1, i + N1 - 1 + j);

end

end

sys = [];

sys.NumContStates = 5;

sys.NumDiscStates = 0;

sys.numInputs = 1;

sys.numOutputs = 1;

sys.DirFeedthrough = 1;

sys.NumSampleTimes = 1;

case 2

for k = 1:t

w = u(k); % 修改：直接从输入参数 u 中获取 w 的值

dy(k) = -a(2:na + 1) * dyk(1:na) + b * duk(1:nb + 1); % +xi(k);

y(k) = yk(1) + dy(k); % +xi(k); %采集输出数据

Yk = [y(k); yk(1:na)]; %构建向量Y(k)

dUk = duk(1:nb); %构建向量ΔU(k-j)

yr(k) = y(k);

for i = 1:N

yr(k + i) = alpha * yr(k + i - 1) + (1 -alpha) * w(k + d);

end

Yr = (yr(k + N1):k + N1 + N - 1)';

phi = [-dyk(1:na); duk(d:nb + 1)];

K = P * phi / (lambda + phi' * P *phi);

thetae(:, k) = thetae_1 + K * (dy(k) - phi' * thetae_1);

P = (eye(na + nb - d + 2) - K * phi') * P /lambda;

ae = [1, thetae(1:na, k)];

be = [zeros(1, d - 1), thetae(na + 1:na + nb - d + 2, k)];

aae = conv(ae, [1, -1]);

% 求控制量

dU = inv(F1' * F1 + gamma) * F1' * (Yr - F2 * dUk - G * Yk); % ΔU

du(k) = dU(1);

u(k) = uk(1) + du(k);

% 更新数据

thetae_1 = thetae(:, k);

for i = 1 + nb:-1:2

uk(i) = uk(i - 1);

duk(i) = duk(i - 1);

end

uk(1) = u(k);

duk(1) = du(k);

for i = na:-1:2

yk(i) = yk(i - 1);

dyk(i) = dyk(i - 1);

end

yk(1) = y(k);

dyk(1) = dy(k);

end

case 3

sys = y(t);

case {1,4,9}

sys=[];

otherwise

error('Unexpected flag value');

end

end