无人驾驶车辆模型预测控制-2.1.2车辆动力学模型验证

验证模型：
输入：

1. 车速-t
   
2. 前轮偏角-t
   
   输出：

1 纵向坐标-t

2 航向角-t

function [ sys,x0,str,ts ] = fun_2_1_2( t,x,u,flag )
%UNTITLED2 此处显示有关此函数的摘要
%   此处显示详细说明
switch flag,
 case 0
  [sys,x0,str,ts] = mdlInitializeSizes; % Initialization
  
 case 1
  sys = mdlDerivatives(t,x,u); % Update discrete states
  
 case 3
 sys = mdlOutputs(t,x,u); % Calculate outputs
 
%  case 4
%   sys = mdlGetTimeOfNextVarHit(t,x,u); % Get next sample time 

 case {2,4,9} % Unused flags
  sys = [];
  
 otherwise
  error(['unhandled flag = ',num2str(flag)]); % Error handling
end
% End of dsfunc.

%==============================================================
% Initialization
%==============================================================

function [sys,x0,str,ts] = mdlInitializeSizes

% Call simsizes for a sizes structure, fill it in, and convert it 
% to a sizes array.

sizes = simsizes;
sizes.NumContStates  = 3; %
sizes.NumDiscStates  = 0; %
sizes.NumOutputs     = 2;
sizes.NumInputs      = 2;
sizes.DirFeedthrough = 0; % Matrix D is non-empty.
sizes.NumSampleTimes = 0;
sys = simsizes(sizes); 
x0=[0 0 0];
str = [];             % Set str to an empty matrix.
ts  = [];       % sample time: [period, offset]
%End of mdlInitializeSizes

function sys=mdlDerivatives(t,x,u)
l=2.7;
sys=[cos(x(3));sin(x(3));tan(u(2))/l]*u(1);

function sys=mdlOutputs(t,x,u)
sys = [x(2);x(3)];