function [sys,x0,str,ts] = spacemodel(t,x,u,flag)
switch flag,
case 0,
[sys,x0,str,ts]=mdlInitializeSizes;
case 3,
sys=mdlOutputs(t,x,u);
case {2,4,9}
sys=[];
otherwise
error(['Unhandled flag = ',num2str(flag)]);
end
function [sys,x0,str,ts]=mdlInitializeSizes
sizes = simsizes;
sizes.NumContStates = 0;
sizes.NumDiscStates = 0;
sizes.NumOutputs = 3;
sizes.NumInputs = 3;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 0;
sys = simsizes(sizes);
x0 = [];
str = [];
ts = [];
function sys=mdlOutputs(t,x,u)
r=u(1);
dr=cos(t);
ddr=-sin(t);
th=u(2);
dth=u(3);
c=15;
e=r-th;
de=dr-dth;
s=c*e+de;
fx=25*dth;
b=133;
epc=5;k=10;
ut=1/b*(epc*sign(s)+k*s+c*de+ddr+fx);
sys(1)=ut;
sys(2)=e;
sys(3)=de;
function [sys,x0,str,ts]=s_function(t,x,u,flag)
switch flag,
case 0,
[sys,x0,str,ts]=mdlInitializeSizes;
case 1,
sys=mdlDerivatives(t,x,u);
case 3,
sys=mdlOutputs(t,x,u);
case {2, 4, 9 }
sys = [];
otherwise
error(['Unhandled flag = ',num2str(flag)]);
end
function [sys,x0,str,ts]=mdlInitializeSizes
sizes = simsizes;
sizes.NumContStates = 2;
sizes.NumDiscStates = 0;
sizes.NumOutputs = 2;
sizes.NumInputs = 1;
sizes.DirFeedthrough = 0;
sizes.NumSampleTimes = 0;
sys=simsizes(sizes);
x0=[-0.15 -0.15];
str=[];
ts=[];
function sys=mdlDerivatives(t,x,u)
sys(1)=x(2);
sys(2)=-25*x(2)+133*u;
function sys=mdlOutputs(t,x,u)
sys(1)=x(1);
sys(2)=x(2);
close all;
figure(1);
plot(t,y(:,1),'k',t,y(:,2),'r:','linewidth',2);
legend('Ideal position signal','Position tracking');
xlabel('time(s)');ylabel('Angle response');
figure(2);
plot(t,u(:,1),'k','linewidth',0.01);
xlabel('time(s)');ylabel('Control input');
c=15;
figure(3);
plot(e,de,'r',e,-c'.*e,'k','linewidth',2);
xlabel('e');ylabel('de');
