function?[sysx0strts]=s_function（txuflag）
switch?flag
case?0
????[sysx0strts]=mdlInitializeSizes;
case?1
????sys=mdlDerivatives（txu）;
case?3
????sys=mdlOutputs（txu）;
case?{2?4?9?}
????sys?=?[];?
otherwise
????error（[‘Unhandled?flag?=?‘num2str（flag）]）;
end
function?[sysx0strts]=mdlInitializeSizes
sizes?=?simsizes;
sizes.NumContStates??=?1;
sizes.NumDiscStates??=?0;
sizes.NumOutputs?????=?1;
sizes.NumInputs??????=?4;
sizes.DirFeedthrough?=?1;
sizes.NumSampleTimes?=?0;
sys=simsizes（sizes）;
x0=[0];
str=[];
ts=[];
function?sys=mdlDerivatives（txu）
xd=u（1）;
dxd=cos（t）;
ddxd=-sin（t）;
x1=u（2）;
x2=u（3）;

e=x1-xd;
de=x2-dxd;

c=15;
gama=500;

s=de+c*e;
thp=x（1）;
dq=ddxd-c*de;

th_min=0.5;
th_max=1.5;

alaw=-gama*dq*s;???%Adaptive?l

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件????????761??2011-12-30?15:58??plant.m

?????文件????????548??2011-12-30?16:31??plot.m

?????文件??????25067??2011-12-30?16:43??sim.mdl

?????文件???????1052??2016-04-27?21:51??adapt.m

?????文件????????886??2016-04-27?18:34??ctrl.m

-----------?---------??----------?-----??----

????????????????28314????????????????????5