matlab-基于ADRC自抗扰控制器的simulink仿真,包括ESO，TD等模块-源码

function [sys,x0,str,ts]=han_td(t,x,u,flag,r,d) switch flag, case 0 [sys,x0,str,ts] = mdlInitializeSizes; case 1 sys = mdlDerivatives(x,u,r,d); case 3 sys = mdlOutputs(x); case {2,4,9} sys = []; % do nothing 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 = 1; sys = simsizes(sizes); x0 = [0;0]; str = []; ts = [-1 0]; function sys = mdlDerivatives(x,u,r,d) sys(1,1) = x(2); sys(2,1) = -r*fst2(x,u,r,d); function sys = mdlOutputs(x) sys = x; function f = fst2(x,u,r,d) v=x(1)-u+abs(x(2))*x(2)/(2*r); if v>=d f=sign(v); else f=v/d; end