程序如下,错误处已用红色标出,请问各位怎样改正,谢谢!! Z4 y( W8 L6 s: B/ }; z Y' o! r" ^+ D1 _; _clear all; `! V6 V3 f! n* D, \8 m* Y/ ~ Iclose all;$ X0 s# Y( [: o4 z3 u
a=59.36;b=7.42;m=2374.46;n=296.92; ! J1 W; H7 u" c. S- L$ T: E# Mts=0.001; m& U' l) g! k
A1=[0,0,1,0;0,0,0,1;a,-b,0,0;b,-a,0,0]; 5 S8 m2 o! d A6 V+ h4 tB1=[0,0;0,0;m,-n;n,-m];" x2 O2 b& w2 A; X' u& S& |, K& S" ~
C1=[1,0,0,0]; - ]5 N' j4 M7 w) z8 d5 K, mD1=[0,0]; 3 G# O+ P) r4 ^' ]" s5 B[A,B,C,D]=c2dm(A1,B1,C1,D1,ts,'z');/ S2 g' T$ `3 L# N2 f# j2 F
x=[0;0;0;0];8 R. Z) D/ P u- _/ U' d3 @
r_1=0;r_2=0;g_1=0;g_2=0;$ [. \4 s0 i2 V, V- `1 q
c1=5.0;c2=5.0;1 R+ ~+ o* e0 k- H Q8 \& T
eq=5;. X8 @' h! @, S; G, A7 i
q=30;, z) I" g* y" b! t5 Y; l
Ce=[c1,0,1,0;0,c2,0,1]; . @( b+ Z5 m; K" ^9 Mfor k=1:1:2000 5 Z( y% y0 r, Q+ K/ _, O* B+ jtime(k)=k*ts;7 E, n9 F6 @( `2 P% S+ C9 T/ r
r(k)=1.0;- t! i9 a- g3 h
g(k)=1.0; , Z5 F6 ~* l x U C/ l. V/ l4 p* T, |' ?# _
%Using Waitui method 3 T+ @6 }) n' k# v dr(k)=(r(k)-r_1)/ts; ' n0 [ {" S) O7 I& X dg(k)=(g(k)-g_1)/ts; ! r; R) h$ w7 B' ? dr_1=(r_1-r_2)/ts; W- ?& t9 \! [) A& K
dg_1=(g_1-g_2)/ts;0 g2 z, p. q4 ~, j2 z0 ?9 h( d1 y
r1(k)=2*r(k)-r_1;4 q& a6 J$ S$ U8 [
g1(k)=2*g(k)-g_1; 8 k7 [& \4 d# R, f( J dr1(k)=2*dr(k)-dr_1; 7 R# `- m" W8 Z2 z& d. }8 {& y dg1(k)=2*dg(k)-dg_1; ' j9 t0 {$ j" U4 n. z& B2 R 7 Z% A# W5 y# F
R=[r(k);g(k);dr(k);dg(k)];* I5 V2 K$ W. E# V& \& ?
R1=[r1(k);g1(k);dr1(k);dg1(k)];6 T2 t, k8 t3 ?7 l6 X
7 D3 e( E1 @9 H6 V; } E=R-x;5 M6 c# c% @# H$ S) O
e(k)=E(1); 4 C6 q# g, q Y, x* L3 O, M0 J de(k)=E(2);6 N* |. w/ X" o" ^. ]5 I! z
# k4 E* k/ ^% H1 k. A s(k)=Ce*E; % A K" }2 A* X+ f' L, G+ @! o X1=abs(e(k))+abs(de(k)); " }* O0 u; e0 b% a& e2 |; O: Z 5 N0 e6 ^3 j0 B) [, j% Z
M=3; - M7 j3 X z8 b( I( b# t7 H0 ]* }* ^if M==1 %EXP reaching law$ o% O ?4 Y, a7 u4 K8 x; `8 m" C
ds(k)=-eq*ts*sign(s(k))-q*ts*s(k);3 g& B+ `9 ]- |* s) F
u(k)=inv(Ce*B)*(Ce*R1-Ce*A*x-s(k)-ds(k)); $ R/ r, ?( g/ c$ z9 H7 O& Q% Helseif M==2 %Variable rate reachine law- Z A1 w+ B, b9 u0 I0 \6 B
ds(k)=-eq*ts*X1*sign(s(k)); ' |' i4 a2 W8 H+ t& L* D u(k)=inv(Ce*B)*(Ce*R1-Ce*A*x-s(k)-ds(k));) \ W; u1 b3 d4 ]+ }9 ~
elseif M==3 %Coposite reaching law/ _6 S1 S7 D/ K0 @
k0=0.60;5 e& Q* W, K% O
if X1>k0 %EXP reachine law $ q" B5 ?* k; y, c9 _# t$ N9 q7 q/ s' r ds(k)=-eq*ts*sign(s(k))-q*ts*s(k);' P6 d$ A V3 E6 A
u(k)=inv(Ce*B)*(Ce*R1-Ce*A*x-s(k)-ds(k));- U% P* W8 u) {8 h; j9 l# U
elseif X1<=k0 %Variable rate reachine law- R) k& a+ [* t
ds(k)=-eq*ts*X1*sign(s(k));7 d) e: `1 |& [, b
u(k)=inv(Ce*B)*(Ce*R1-Ce*A*x-s(k)-ds(k));- @* ~) G% p H4 J7 [+ r" p: e$ o( H
end$ d0 h4 X" V4 i( F q. \
end . }. ?& V: L2 e$ d' O" Nif u(k)>=10 j$ B5 } i Q9 \8 K* m8 C8 r
u(k)=10; - ?$ z; D% w1 y% b* nend, p9 `, \8 Y$ {
if u(k)<=-10 , C5 D4 r* |: v u(k)=-10;4 `" b: L# m2 `8 Y0 I) G
end ( e7 D' ]: p. w* [3 U$ |$ G+ N, |x=A*x+B*u(k); ! u8 b7 f1 f$ d1 h$ L3 v$ \y(k)=x(1);4 c: T% ]" ~7 |& \& }1 [
%Update Parameters# z" R' }+ ~) R
r_2=r_1;, X* A8 w. Z& l6 }6 V3 |
r_1=r(k); - L( U" C+ L# c- Oend, y* F y, ]0 J
figure(1)9 U/ k3 z, p: @9 V! H8 W
plot(time,r,'r',time,y,'b'); 3 j: m, ]( I4 F, ]xlabel('Time(second)');ylabel('Position tracking');. ]8 i5 R1 S$ J; _* C
figure(2) y: j: i9 X& p5 vplot(time,s,'r'); % H9 l" T0 Z/ U0 O4 \( [xlabel('Time(second)');ylabel('Switch function s');% U( ~* k0 N; a" h, l* T& r0 D
figure(3) $ Z7 Q: [: }; X9 iplot(e,de,'r',e,-c*e,'b'); , I3 v7 L' w. a, z) M. }3 K2 Y& `axis([0,0.001,-0.01,0]); , O& c5 n) F1 j7 E. ? _xlabel('e');ylabel('de');( g; G1 B" l4 }) W1 r
figure(4) 5 A4 U/ G! \5 N, s8 ?0 Splot(time,u,'r');1 v' f/ F; b5 \9 _& ?
xlabel('Time(second)');ylabel('u');. }7 L5 y0 _* s: z: C3 `
, Y8 |& n& [5 g- `0 a??? In an assignment A(I) = B, the number of elements in B and 0 v3 A* k7 Z4 fI must be the same. # @! y0 b; d- O1 x! `; j! L; qError in ==> matlab02 at 40 % s: h! j: ^6 b+ _ s(k)=Ce*E;