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%λÖøú×ÙÎÊÌâ
clear all
clc
%ÉèÖòÎÊý
alfa=500
beta=10
c=30
%³õʼ״̬
xx=[0 0]

k=0
for ti=0:0.1:20
    k=k+1
   
    s=1
    if s==1
        rin=1     
        drin=0
        ddrin=0
    elseif s==2
        rin=0.5*sin(6*pi*ti)
        drin=3*pi*cos(6*pi*ti)
        ddrin=-18*pi*pi*sin(6*pi*ti)
    end
   
    %ϵͳ״̬·½³ÌÖвÎÊýÉèÖÃ
    a=25+5*sin(6*pi*ti)
    b=133+50*sin(2*pi*ti)
    A=[0 1;0 -a]
    B=[0;b]
   
    e1(k)=rin-xx(1)
    e2(k)=drin-xx(2)
   

    s(k)=c*e1(k)+e2(k)
     

    u=(alfa*abs(e1(k))+beta*abs(e2(k)))*sign(s(k))

    %ϵͳ״̬·½³Ì
    dx(1)=xx(2)
    dx(2)=-a*xx(2)+b*u
   
    %¶¨Òåϵͳ״̬Îó²î
    e1(k)=rin-xx(1)
    e2(k)=drin-xx(2)
    %ϵͳ±Õ»··½³Ì
    de1=e2
    e1=e1+0.1*de1
    de2=ddrin-dx(2)
    e2=e2+0.1*de2
   
    x1(k+1)=xx(1)
    x2(k+1)=xx(2)
end

figure(1)
plot(ti,e1,'r')
axis([0 20 -2 2])




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lele_719

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