ADRC的matlab仿真

adrc控制模型，有demo,可以运行，里面有详细的程序和运行过程，欢迎大家尝试。

function [sysx0strts]=NESO（txuflagwob0delta）
switch flag
    case 0
        [sysx0strts]=mdlInitializeSizes;  
    case 1
         sys=mdlDerivatives（txuwob0delta）; 
    case 3
        sys=mdlOutputs（txu）;
    case {249}
        sys=[];
    otherwise
        error（[‘Unhandled flag=‘num2str（flag）]）;
end
function [sysx0strts]=mdlInitializeSizes
sizes=simsizes;
sizes.NumContStates=3;
sizes.NumDiscStates=0;
sizes.NumOutputs=3;
sizes.NumInputs=2;
sizes.DirFeedthrough=1;%必须置1
sizes.NumSampleTimes=0;
sys=simsizes（sizes）;
x0=[0 0 0];
str=[];
ts=[];
function sys=mdlDerivatives（txuwob0delta）
b0=23;
delta=0.005;
beta01=1/（1/wo）;
beta02=1/1.6/（1/wo）^1.5;
beta03=1/8.6/（1/wo）^2.2;

uu=u（1）;y=u（2）;z1=x（1）;z2=x（2）;z3=x（3）;
e=z1-y;
s=（sign（e+delta）-sign（e-delta））/2;
fe=e/（delta^（1-0.5））*s+（abs（e））^0.5*sign（e）*（1-s）;
fe1=e/（delta^（1-0.25））*s+（abs（e））^0.25*sign（e）*（1-s）;

sys（1）=z2-beta01*e;
sys（2）=z3+b0*uu-beta02*fe;
sys（3）=-beta03*fe1;


function sys=mdlOutputs（txu）
sys（1） =x（1）;
sys（2）=x（2）; 
sys（3）=x（3）;







        

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

     文件      52924  2016-09-01 09:03  ADRC_Simulation_with_s_function\NADRC1.mdl

     文件     284672  2016-09-01 08:08  ADRC_Simulation_with_s_function\NADRC1_sfun.mexw64

     文件       1112  2016-09-01 09:02  ADRC_Simulation_with_s_function\NESO.m

     文件        921  2016-09-01 08:51  ADRC_Simulation_with_s_function\Plant.m

     文件       1839  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\info\binfo.mat

     文件       3476  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\info\chart2_K2GhnSLU51WBTthAxkmuBB.mat

     文件      42466  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\src\c2_NADRC1.c

     文件       1058  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\src\c2_NADRC1.h

     文件      42769  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\src\c2_NADRC1.obj

     文件       3073  2016-11-05 12:54  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\src\mexopts.bat

     文件         46  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\src\NADRC1_sfun.bat

     文件       6771  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\src\NADRC1_sfun.c

     文件        733  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\src\NADRC1_sfun.exp

     文件       1362  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\src\NADRC1_sfun.h

     文件       1862  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\src\NADRC1_sfun.lib

     文件       3628  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\src\NADRC1_sfun.mak

     文件     172109  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\src\NADRC1_sfun.map

     文件        618  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\src\NADRC1_sfun.mexw64.manifest

     文件         58  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\src\NADRC1_sfun.mol

     文件       9160  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\src\NADRC1_sfun.obj

     文件      16596  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\src\NADRC1_sfun_debug_macros.h

     文件       7371  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\src\NADRC1_sfun_registry.c

     文件      51783  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\src\NADRC1_sfun_registry.obj

     文件       8881  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\src\rtwtypes.h

     文件       1102  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\src\rtwtypeschksum.mat

     文件         89  2016-09-01 09:03  ADRC_Simulation_with_s_function\tuning.m

     目录          0  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\html\chart2_K2GhnSLU51WBTthAxkmuBB

     目录          0  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\html

     目录          0  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\info

     目录          0  2016-09-01 08:08  ADRC_Simulation_with_s_function\slprj\_sfprj\NADRC1\_self\sfun\src

............此处省略9个文件信息