help on programming a control function for double integrator system

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lady bird 2016-8-1

Hello all,

Please could you help me out programming the following controller using matlab or simulink. I'm just beginning with matlab programming.

for the system

x1dot = x2;

x2dot = u + (2+3*sin(t));

the control input u is

u= -k1*sign(phi1)*(abs(phi1))^1/2 - integral from 0 to t (k3*sign(phi1) dt)

phi1 = x2 + k2*sign (x1)*((abs(x1))^2/3)

initial conditions :

x(1) = -1; x2(0) = 3

gains k1= 6, k2= 4; k3 = 4

Thank you so much for any help

best regards

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