程序如下,错误处已用红色标出,请问各位怎样改正,谢谢!!8 I1 c2 X! D) _$ l. x
: Y! j3 U* e# I& Z
clear all;. v8 |; Y1 B7 H& t
close all; % ~+ ~4 L$ k+ g1 wa=59.36;b=7.42;m=2374.46;n=296.92; 7 m# V) I( x) mts=0.001; ! P% f+ v" n- | J5 a( s/ cA1=[0,0,1,0;0,0,0,1;a,-b,0,0;b,-a,0,0]; + T/ V6 j! F& h( [B1=[0,0;0,0;m,-n;n,-m]; ! A- q4 W8 V& a% GC1=[1,0,0,0];# w8 \0 _; S b7 f1 }- r5 f
D1=[0,0]; ( p, _% u9 ]0 h: R6 ~% n5 g[A,B,C,D]=c2dm(A1,B1,C1,D1,ts,'z'); # B* v$ z; z- M, B0 Yx=[0;0;0;0]; 4 o% s, S N6 @( lr_1=0;r_2=0;g_1=0;g_2=0; 5 w) c g8 x2 Q+ `& j$ pc1=5.0;c2=5.0; * ?( D8 `! w1 Y; @; x* Xeq=5; % ?1 |( ^/ s# iq=30; " G6 R' C U0 V7 Q/ T( H4 Y! nCe=[c1,0,1,0;0,c2,0,1]; m! j7 d! c0 z; a9 D' B2 ufor k=1:1:2000' q3 @1 o2 L: u0 G+ }
time(k)=k*ts;) {: l$ G3 `0 ~6 B& J. o
r(k)=1.0; o$ l3 b f8 x$ l
g(k)=1.0;1 [' p% z. v+ p3 a& v: W6 f/ y
3 a5 a8 z* `) ^) ` %Using Waitui method ' V% W' i u X3 G. t' N
dr(k)=(r(k)-r_1)/ts;1 `6 e) F6 e+ n1 w% I* _
dg(k)=(g(k)-g_1)/ts; % X' x* }2 E4 K. F; p g0 {; c; D dr_1=(r_1-r_2)/ts; 2 k4 r1 W5 G( {6 |* k dg_1=(g_1-g_2)/ts;6 c9 g. I# N' Z
r1(k)=2*r(k)-r_1; : P1 \, `8 K9 {+ } g1(k)=2*g(k)-g_1;( ~+ `$ _4 f0 A0 h
dr1(k)=2*dr(k)-dr_1; 1 n! F u# ~% R W/ q& y dg1(k)=2*dg(k)-dg_1; 3 F& c) _% u- w5 q- V / S5 t% `# @! R! E& {6 D) p+ J R=[r(k);g(k);dr(k);dg(k)]; # z7 w2 Q7 {( I" g. T% Z) j R1=[r1(k);g1(k);dr1(k);dg1(k)];1 T# c! j, x1 ?& `( F$ ^% c
1 Q$ b3 ]8 k7 Y) n' H( E E=R-x; ( c3 {8 X: j5 J d e(k)=E(1); ; {2 ~- j% w$ U% X9 M3 J. j m- }! p de(k)=E(2);9 J3 q M4 V+ P( k4 N5 L; t6 y
0 l7 {9 W6 z9 m s(k)=Ce*E; % P: g. w' o$ h) j X1=abs(e(k))+abs(de(k));0 D4 t$ _! o3 l( {' d% ^& p5 y
- D. y" f- |+ s" Z0 i) ?6 `
M=3; 3 B# v5 k x) ] H# g wif M==1 %EXP reaching law' I3 N, I! i8 j! U& ]2 S' Y
ds(k)=-eq*ts*sign(s(k))-q*ts*s(k); 7 L8 G- m4 c5 @2 h6 Q u(k)=inv(Ce*B)*(Ce*R1-Ce*A*x-s(k)-ds(k));. A9 O( Z( A5 i# v% k4 b8 S6 ?
elseif M==2 %Variable rate reachine law 0 d5 _5 G! E, k7 @- M8 E ds(k)=-eq*ts*X1*sign(s(k));9 X/ J7 [' U1 |) `* I B$ h6 e
u(k)=inv(Ce*B)*(Ce*R1-Ce*A*x-s(k)-ds(k));, S9 g b {+ K3 Q3 ^& i
elseif M==3 %Coposite reaching law' r- m f5 D$ l) ?6 i2 x
k0=0.60; * x+ Q' q' ^. V3 W, x/ x if X1>k0 %EXP reachine law * V1 v) x0 b+ D) H. D" g ds(k)=-eq*ts*sign(s(k))-q*ts*s(k); * U* M7 F) ?2 I. F$ f) L% [ u(k)=inv(Ce*B)*(Ce*R1-Ce*A*x-s(k)-ds(k)); 4 C$ t6 `, V& y* |0 | elseif X1<=k0 %Variable rate reachine law % F$ ^/ a( |! q( z8 t% ] y ds(k)=-eq*ts*X1*sign(s(k));/ T. ^% T' W9 Z6 J* [6 n
u(k)=inv(Ce*B)*(Ce*R1-Ce*A*x-s(k)-ds(k)); : r/ d9 E# h2 H end 3 B" {( p+ Y1 w7 G+ Y* }end 2 h" L$ c9 N& l& R* {2 {. wif u(k)>=10 * p1 Y ?5 D2 ] u(k)=10; 7 t2 K( z0 U+ j. O- R. Zend - i) h- x; b! b4 @8 u3 I* Aif u(k)<=-10 3 {3 a/ M. m5 h6 Z! R" l3 z* S( O u(k)=-10;& t5 N8 M5 \2 I+ v+ T7 ~( E- U
end & c$ R- y" f+ Wx=A*x+B*u(k);# x# _- o& k- ?2 [4 n$ f9 ~9 v- y
y(k)=x(1); 2 c: Q0 J3 ]8 u! I%Update Parameters1 { w- Z6 `# A5 V6 l6 g0 E7 R
r_2=r_1; b- ^( w O" `! }: r% {0 R Mr_1=r(k); 1 J" k& v, M( H- B1 ?4 H5 wend0 J; J4 }# x$ H2 i ^2 o
figure(1) * J8 p b6 ]1 [" bplot(time,r,'r',time,y,'b'); 4 \5 p& m- K3 P# _, P6 \' B5 U5 h& Xxlabel('Time(second)');ylabel('Position tracking'); N p# a% K# o6 i7 c z) C. V
figure(2) ) a; M+ W! O$ ]8 Splot(time,s,'r');+ Y9 Y9 Z( z* l9 W8 h$ z
xlabel('Time(second)');ylabel('Switch function s');- S! y. J) ?" n) V8 v
figure(3)% B7 y W( D# W t
plot(e,de,'r',e,-c*e,'b');$ X. p! i$ A# m: L0 F
axis([0,0.001,-0.01,0]);8 \7 F7 Y' W1 G* J
xlabel('e');ylabel('de'); & i5 q( x9 X4 Mfigure(4) # m W* L6 B. W. Bplot(time,u,'r');3 T/ {4 T; R" F$ U
xlabel('Time(second)');ylabel('u'); F! d. b7 m6 W" h5 B9 l
9 G) c. U: y0 [4 C??? In an assignment A(I) = B, the number of elements in B and k% N; x( Y e* O3 H& M3 h
I must be the same. G, K/ p7 [2 GError in ==> matlab02 at 405 h& | d# W+ ?$ e2 ^
s(k)=Ce*E;