微分函数中的调整参数reltol和abstol分别是设置相对误差和绝对误差
optio
sodesetRelTol1e3AbsTol1e31e31e31e3optio
sx0050300初始值txoutode45daolibai2eqTimeSetx0optio
spara固定格式，子程序调用返回值x1xout1x2xout2x3xout3x4xout4
sC1x1C2x2C3x3C4x4切换函数或切换面选择控制器
ifF1
ffork11Tts1M040ukM0sig
skuM0sig
se
delseifF2
beta30delta0fork11Tts1
ukbetaabsx1kabsx2kabsx3kabsx4kdeltasig
ske
d
e
d绘图figure1plottx1rxlabeltimesylabelCartPositio
figure2plottx2rxlabeltimesylabelPe
dulumA
glefigure3plottsrxlabeltimesylabelsfigure4plotturxlabeltimesylabelue
d
子程序fu
ctio
dxDx
amicModeltxflagpara自定义动态函数globalCM0F倒立摆经计算后模型M1096m0109b01l025I00034T0005g098k22Iml2bIMmMml2k23m2gl2IMmMml2k42mlbIMmMml2k43mglMmIMmMml2b12Iml2IMmMml2b14mlIMmMml2A01000k22k23000010k42k430b0b120b14Ackerma
sformula
11
22
33
fC0001i
vbAbA2bA3bA
1eye4A
2eye4A
3eye4sCxF2ifF1
M040uM0sig
selseifF2beta30delta0ubetaabsx1absx2absx3absx4deltasig
se
dstateequatio
dxzeros41f005ftf0si
3tdxAxbuft
三仿真结果
CartPositio

090807060504030201
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fu
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图5
fr