帮忙看下程序
下面这个程序是在x=,u=I的条件下的滑模变结构控制，要想把其更改为在x=,u=条件下的话，这个程序应该如何修改？谢谢大家了！clear all;
close all;
a=25;b=133;
ts=0.001;
A1=;
B1=;
C1=;
D1=0;
=c2dm(A1,B1,C1,D1,ts,'z');
x=[-0.8;-0.5];
r_1=0;r_2=0;
c=20;
eq=5;
q=30;
Ce=;
for k=1:1:2000
time(k)=k*ts;
r(k)=1.0;
%Using Waitui method
dr(k)=(r(k)-r_1)/ts;
dr_1=(r_1-r_2)/ts;
r1(k)=2*r(k)-r_1;
dr1(k)=2*dr(k)-dr_1;
R=;
R1=;
E=R-x;
e(k)=E(1);
de(k)=E(2);
s(k)=Ce*E;
X1=abs(e(k))+abs(de(k));
M=3;
if M==1 %EXP reaching law
ds(k)=-eq*ts*sign(s(k))-q*ts*s(k);
u(k)=inv(Ce*B)*(Ce*R1-Ce*A*x-s(k)-ds(k));
elseif M==2 %Variable rate reachine law
ds(k)=-eq*ts*X1*sign(s(k));
u(k)=inv(Ce*B)*(Ce*R1-Ce*A*x-s(k)-ds(k));
elseif M==3 %Coposite reaching law
k0=0.60;
if X1>k0 %EXP reachine law
ds(k)=-eq*ts*sign(s(k))-q*ts*s(k);
u(k)=inv(Ce*B)*(Ce*R1-Ce*A*x-s(k)-ds(k));
elseif X1<=k0 %Variable rate reachine law
ds(k)=-eq*ts*X1*sign(s(k));
u(k)=inv(Ce*B)*(Ce*R1-Ce*A*x-s(k)-ds(k));
end
end
if u(k)>=10
u(k)=10;
end
if u(k)<=-10
u(k)=-10;
end
x=A*x+B*u(k);
y(k)=x(1);
%Update Parameters
r_2=r_1;
r_1=r(k);
end
figure(1)
plot(time,r,'r',time,y,'b');
xlabel('Time(second)');ylabel('Position tracking');
figure(2)
plot(time,s,'r');
xlabel('Time(second)');ylabel('Switch function s');
figure(3)
plot(e,de,'r',e,-c*e,'b');
axis();
xlabel('e');ylabel('de');
figure(4)
plot(time,u,'r');
xlabel('Time(second)');ylabel('u');
{:3_48:}{:3_48:}
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