机械臂控制

二自由度的机器人机械臂控制，属于多变量控制系统，PD，PID等控制方法

/* Include files */

#include “blascompat32.h“
#include “myImpe_controlwith_insidePD_sfun.h“
#include “c1_myImpe_controlwith_insidePD.h“
#include “mwmathutil.h“
#define CHARTINSTANCE_CHARTNUMBER      （chartInstance->chartNumber）
#define CHARTINSTANCE_INSTANCENUMBER   （chartInstance->instanceNumber）
#include “myImpe_controlwith_insidePD_sfun_debug_macros.h“

/* Type Definitions */

/* Named Constants */

/* Variable Declarations */

/* Variable Definitions */
static const char *c1_debug_family_names[4] = { “nargin“ “nargout“ “Q“ “y“ };

/* Function Declarations */
static void initialize_c1_myImpe_controlwith_insidePD
  （SFc1_myImpe_controlwith_insidePDInstanceStruct *chartInstance）;
static void initialize_params_c1_myImpe_controlwith_insidePD
  （SFc1_myImpe_controlwith_insidePDInstanceStruct *chartInstance）;
static void enable_c1_myImpe_controlwith_insidePD
  （SFc1_myImpe_controlwith_insidePDInstanceStruct *chartInstance）;
static void disable_c1_myImpe_controlwith_insidePD
  （SFc1_myImpe_controlwith_insidePDInstanceStruct *chartInstance）;
static void c1_update_debugger_state_c1_myImpe_controlwith_insidePD
  （SFc1_myImpe_controlwith_insidePDInstanceStruct *chartInstance）;
static const mxArray *get_sim_state_c1_myImpe_controlwith_insidePD
  （SFc1_myImpe_controlwith_insidePDInstanceStruct *chartInstance）;
static void set_sim_state_c1_myImpe_controlwith_insidePD
  （SFc1_myImpe_controlwith_insidePDInstanceStruct *chartInstance const mxArray *
   c1_st）;
static void finalize_c1_myImpe_controlwith_insidePD
  （SFc1_myImpe_controlwith_insidePDInstanceStruct *chartInstance）;
static void sf_c1_myImpe_controlwith_insidePD
  （SFc1_myImpe_controlwith_insidePDInstanceStruct *chartInstance）;
static void compInitSubchartSimstructsFcn_c1_myImpe_controlwith_insidePD
  （SFc1_myImpe_controlwith_insidePDInstanceStruct *chartInstance）;
static void init_script_number_translation（uint32_T c1_machineNumber uint32_T
  c1_chartNumber）;
static real_T c1_norm（SFc1_myImpe_controlwith_insidePDInstanceStruct
                      *chartInstance real_T c1_x[4]）;
static void c1_eml_warning（SFc1_myImpe_controlwith_insidePDInstanceStruct
  *chartInstance）;
static void c1_b_eml_warning（SFc1_myImpe_controlwith_insidePDInstanceStruct
  *chartInstance real_T c1_varargin_3）;
static const mxArray *c1_sf_marshall（void *chartInstanceVoid void *c1_u）;
static const mxArray *c1_b_sf_marshall（void *chartInstanceVoid void *c1_u）;
static void c1_info_helper（c1_ResolvedFunctionInfo c1_info[34]）;
static const mxArray *c1_c_sf_marshall（void *chartInstanceVoid void *c1_u）;
static void c1_emlrt_marshallIn（SFc1_myImpe_controlwith_insidePDInstanceStruct
  *chartInstance const mxArray *c1_y const char_T *c1_name real_T c1_b_y[4]）;
static uint8_T c1_b_emlrt_marshallIn
  （SFc1_myImpe_controlwith_insidePDInstanceStruct *chartInstance const mxArray *
   c1_b_is_active_c1_myImpe_controlwith_insidePD const char_T *c1_name）;
static void ini

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

     文件     146308  2013-04-20 23:55  A0104432X\myAdaptive_control.mdl

     文件     162436  2013-04-21 17:05  A0104432X\myImpe_controlwith_insidePD.mdl

     文件     154309  2015-04-20 21:36  A0104432X\myImpe_controlwith_insidePD.mdl.autosave

     文件     262144  2015-04-19 11:06  A0104432X\myImpe_controlwith_insidePD_sfun.mexw32

     文件     121499  2013-04-21 16:09  A0104432X\myPDcontrol.mdl

     文件     253440  2015-04-19 10:58  A0104432X\myPDcontrol_sfun.mexw32

     文件       1276  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\info\binfo.mat

     文件       1612  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\info\chart1_intiV9kafh0AnVz90CBFUB.mat

     文件       1620  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\info\chart2_Pa4vXBAAiR2a4Z1yJ3qJWE.mat

     文件      47623  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\c1_myImpe_controlwith_insidePD.c

     文件       1156  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\c1_myImpe_controlwith_insidePD.h

     文件      30389  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\c1_myImpe_controlwith_insidePD.obj

     文件      30270  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\c2_myImpe_controlwith_insidePD.c

     文件       1156  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\c2_myImpe_controlwith_insidePD.h

     文件      19660  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\c2_myImpe_controlwith_insidePD.obj

     文件        384  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\lccstub.obj

     文件         83  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun.bat

     文件       7563  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun.c

     文件         69  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun.exp

     文件        992  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun.h

     文件       2956  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun.lib

     文件       2259  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun.lmk

     文件        771  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun.lmko

     文件       6521  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun.obj

     文件      18465  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun_debug_macros.h

     文件       7121  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun_registry.c

     文件      36067  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\myImpe_controlwith_insidePD_sfun_registry.obj

     文件       8881  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\rtwtypes.h

     文件       1075  2015-04-19 11:06  A0104432X\slprj\_sfprj\myImpe_controlwith_insidePD\_self\sfun\src\rtwtypeschksum.mat

     文件       1114  2015-04-19 10:58  A0104432X\slprj\_sfprj\myPDcontrol\_self\sfun\info\binfo.mat

............此处省略39个文件信息