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怎样改正这个错误

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deven1985

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	开心 2011-12-5 23:03

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发表于 2011-9-17 15:48 |只看该作者 |正序浏览

|招呼Ta 关注Ta

程序如下，错误处已用红色标出，请问各位怎样改正，谢谢！！

clear all;
close all;
a=59.36;b=7.42;m=2374.46;n=296.92;
ts=0.001;
A1=[0,0,1,0;0,0,0,1;a,-b,0,0;b,-a,0,0];
B1=[0,0;0,0;m,-n;n,-m];
C1=[1,0,0,0];
D1=[0,0];
[A,B,C,D]=c2dm(A1,B1,C1,D1,ts,'z');
x=[0;0;0;0];
r_1=0;r_2=0;g_1=0;g_2=0;
c1=5.0;c2=5.0;
eq=5;
q=30;
Ce=[c1,0,1,0;0,c2,0,1];
for k=1:1:2000
time(k)=k*ts;
r(k)=1.0;
g(k)=1.0;

%Using Waitui method
dr(k)=(r(k)-r_1)/ts;
dg(k)=(g(k)-g_1)/ts;
dr_1=(r_1-r_2)/ts;
dg_1=(g_1-g_2)/ts;
r1(k)=2*r(k)-r_1;
g1(k)=2*g(k)-g_1;
dr1(k)=2*dr(k)-dr_1;
dg1(k)=2*dg(k)-dg_1;

R=[r(k);g(k);dr(k);dg(k)];
R1=[r1(k);g1(k);dr1(k);dg1(k)];

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([0,0.001,-0.01,0]);
xlabel('e');ylabel('de');
figure(4)
plot(time,u,'r');
xlabel('Time(second)');ylabel('u');

???  In an assignment  A(I) = B, the number of elements in B and
I must be the same.
Error in ==> matlab02 at 40
s(k)=Ce*E;

zan