matlab simulink仿真 使用S函数写TD微分跟踪器

Question

输出的幅值跟正常的对不上

下附波形输出

系统框图如下：

S函数代码如下：

function [sys, x0, str, Ts] = TD_example(t, x, u, flag)

switch flag
  case 0
      [sys, x0, str, Ts]=mdlInitializeSizes;
  case 2
    sys=mdlUpdate(t, x, u);
  case 3
    sys=mdlOutputs(t, x, u);
  case {1, 4, 9}
    sys=[];
  otherwise
    DAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));
end

function [sys, x0, str, Ts]=mdlInitializeSizes

sizes = simsizes;
sizes.NumContStates  = 0;
sizes.NumDiscStates  = 2;
sizes.NumOutputs     = 2;
sizes.NumInputs      = 1;
sizes.DirFeedthrough = 0;
sizes.NumSampleTimes = 0;
sys = simsizes(sizes);
x0  = [0 0];
str = [];
Ts  = [];

function sys = mdlUpdate(t,x,u)

    r = 10; h = 0.01;

    d = r*h; d0 = d*h; y = x(1)-u+h*x(2);
    a0 = sqrt(d^2+8*r*abs(y));
    if (abs(y)>d0)
        a = x(2)+sign(y)*(a0-d)/2;
    else
        a = x(2)+y/h;
    end
    if (abs(a)<=d)
        f = -r*a/d;
    else
        f = -r*sign(a);
    end

    sys(1) = (x(1)+h*x(2));
    sys(2) = (x(2)+h*f);


function sys = mdlOutputs(t,x,u)

    h = 0.01;
    sys(1) = x(1);
    sys(2) = x(2);

求大神指点！

Answer 1

https://blog.csdn.net/Terrys0518/article/details/85198863