MATLAB Command History Page 1

May 7, 2019 3:46:17 PM

%-- 01/11/2018 4:53 PM --%

Parameter
figure;plot(x2dot)
%-- 02/11/2018 9:55 AM --%
t=0:5;
t=0:0.001:5;
w = 0.05*cos(2*pi*t).*sin(0.6*t)
w = 0.05*cos(2*pi*t).*sin(0.6*t);
figure;plot(t,w)
t=0:5;
w = 0.05*cos(2*pi*t).*sin(0.6*t);
figure;plot(t,w)
t=0:0.001:5;
w = 0.05*cos(2*pi*t).*sin(0.6*t);
figure;plot(t,w)
t=0:0.001:10;
w = 0.05*cos(2*pi*t).*sin(0.6*t);
figure;plot(t,w)
%-- 02/11/2018 1:29 PM --%
vrsetpref('Editor','*VREALM');
ActiveSuspensionExample
showdemo('vrcrane_panel')
Parameter
figure;plot(u)
%-- 02/11/2018 6:51 PM --%
vrtkoff_spacemouse
%-- 03/11/2018 11:30 AM --%
Parameter
figure;plot(x1)
Parameter
figure;plot(x1)
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(zr)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x1)
Parameter
%-- 05/11/2018 9:34 AM --%
Parameter
figure;plot(x2dot)
figure;plot(zr)
Parameter
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
load('Passive.mat')
figure;plot(x2dot)
load('Passive1.mat')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
load('imDO_FDSMC1.mat')
hold on
figure;plot(u,'r')
hold on
plot(u,'r')
Parameter
figure;plot(x2dot)
fi
figure;plot(x2dot)
hold on
load('imDO_FDSMC1.mat')
plot(u,'r')
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
figure;plot(u)
load('imDO_FDSMC.mat')
hold on
plot(u,'r')
clear
clc
Parameter
figure;plot(x2dot)
load('Skyhook1.mat')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
%-- 06/11/2018 10:41 AM --%
load('imDO_FDSMC1.mat')
Parameter
load('Passive.mat')
load('Skyhook.mat')
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
max(x1)
max(x1.data)
%-- 07/11/2018 8:35 AM --%
gama = 10e-5;
Parameter
%-- 07/11/2018 1:10 PM --%
Parameter
figure;plot(x2dot)
figure;plot(zs_2dot)
figure;plot(zrf)
figure;plot(uf)
%-- 07/11/2018 4:58 PM --%
Parameter
figure;plot(zrf)
figure;plot(zs_2dot)
 MATLAB Command History Page 2
May 7, 2019 3:46:17 PM

figure;plot(zs)
figure;plot(zs_dot)
figure;plot(theta)
figure;plot(theta_dot)
figure;plot(theta_2dot)
figure;plot(uf)
Parameter
figure;plot(uf)
figure;plot(zr)
figure;plot(zs_2dot)
figure;plot(theta_2dot)
Parameter
figure;plot(theta_2dot)
figure;plot(theta_dot)
figure;plot(theta)
figure;plot(zr)
figure;plot(zs)
figure;plot(zs_dot)
figure;plot(zs_2dot)
figure;plot(uf)
figure;plot(ur)
figure;plot(uf)
hold on
plot(ur,'r')
Parameter
figure;plot(zs_2dot)
figure;plot(uf)
figure;plot(ur)
figure;plot(uf+ur)
figure;plot(es_z1)
figure;plot(m1_dot)
Parameter
figure;plot(zr)
figure;plot(zs_2dot)
Parameter
figure;plot(zr)
figure;plot(zs_2dot)
figure;plot(uf)
Iyy
1/Iyy
Parameter
Iyy
1/Iyy
Parameter
figure;plot(uf)
figure;plot(zs_2dot)
figure;plot(zs)
Parameter
figure;plot(zs_2dot)
load('APPC.mat')
figure;plot(zs_2dot)
Parameter
figure;plot(zr)
Parameter
figure;plot(zs_2dot)
figure;plot(uf+ur)
figure;plot(zr)
figure;plot(Fsf)
Parameter
%-- 09/11/2018 8:51 AM --%
Untitled
load('imDO_FDSMC1.mat')
clear
clc
Main
clear
clc
Main
clear
clc
Main
clear
clc
Main
clear
clc
Main
clear
clc
Main
Parameter
sim('imDO_FDSMC1')
Parameter
sim('imDO_FDSMC1')
figure;plot(zr)
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(zr)
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(zr)
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(zr)
figure;plot(x2dot)
anisotropy_modified
clear
clc
Main
Parameter
sim('imDO_FDSMC1')
figure;plot(zr)
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
 MATLAB Command History Page 3
May 7, 2019 3:46:17 PM

figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
clear
clc
Main
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('Passive1')
figure;plot(x2dot)
clear
clc
Main
Parameter
sim('Passive1')
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
clear
clc
Main
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
load('imDO_FDSMC.mat')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
 MATLAB Command History Page 4
May 7, 2019 3:46:17 PM

figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
load('imDO_FDSMC1.mat')
figure;plot(x2dot)
clear
clc
load('imDO_FDSMC.mat')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Main
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(zr)
Parameter
sim('passive')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
load('imDO_FDSMC1.mat')
figure;plot(x2dot)
load('Passive1.mat')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(d)
figure;plot(kt)
figure;plot(ktt)
40800000-36800000
ans*0.1
103000-81400
ans-2160
Parameter
figure;plot(mst)
figure;plot(ktt)
figure;plot(ctt)
figure;plot(x2dot)
Parameter
figure;plot(mst)
figure;plot(ktt)
figure;plot(ctt)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(ktt)
figure;plot(mst)
figure;plot(d)
Parameter
figure;plot(d)
figure;plot(x2dot)
load('imDO_FDSMC1.mat')
figure;plot(x2dot)
figure;plot(d)
Parameter
figure;plot(d)
figure;plot(x2dot)
figure;plot(mst)
figure;plot(ktt)
figure;plot(ctt)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
clear
clc
Main
%-- 10/11/2018 4:22 PM --%
p = param.Continuous('x',1)
opts = sdo.OptimizeOptions
opts.GradFcn = 'on'
[pOpt,opt_info] = sdo.optimize(@(p) sdoExampleCostFunction(p),p,opts)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
 MATLAB Command History Page 5
May 7, 2019 3:46:17 PM

sim('imDO_FDSMC')
figure;plot(x2dot)
Main
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
Parameter
figure;plot(x2dot)
%-- 12/11/2018 11:12 AM --%
Parameter
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(zr)
Parameter
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(zr)
figure;plot(x2dot)
figure;plot(x1)
figure;plot(x2)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(zr)
Parameter
figure;plot(zr)
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(zr)
figure;plot(x2dot)
figure;plot(uc)
figure;plot(d)
figure;plot(un)
Parameter
figure;plot(zr)
figure;plot(x2dot)
figure;plot(uc)
figure;plot(us)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(zr)
Parameter
figure;plot(zr)
Parameter
figure;plot(zr)
Parameter
figure;plot(zr)
h = 0.1; % Bump's heigh (m)
D = 6.5; % Bump's width (m)
omega = pi*v/D; % Lengh of wave(m)
omega
sin(omega*t)
Parameter
figure;plot(zr)
Parameter
figure;plot(zr)
Parameter
figure;plot(zr)
Parameter
figure;plot(zr)
Parameter
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(zr)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(zr)
figure;plot(x2dot)
Parameter
 MATLAB Command History Page 6
May 7, 2019 3:46:17 PM

figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(zr)
Parameter
figure;plot(zr)
figure;plot(x2dot)
figure;plot(d)
figure;plot(mst)
figure;plot(ktt)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
load('Passive1.mat')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
load('Passive1.mat')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
clear
clc
Main
clear
clc
Main
Parameter
sim('imDO_FDSMC1')
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
clear
clc
Main
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Main
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
sim('imDO_FDSMC1')
 MATLAB Command History Page 7
May 7, 2019 3:46:17 PM

figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
clc
clear
Main
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Main
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Main
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Main
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
RankReproduce
Main
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Main
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Main
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Main
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Main
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Main
Parameter
sim('imDO_FDSMC1')
Parameter
sim('Copy_of_imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('Copy_of_imDO_FDSMC1')
figure;plot(x2dot)
load('Passive1.mat')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(uc)
Parameter
figure;plot(uc)
figure;plot(x2dot)
Main
clear
clc
Main
k0=5.1270;k1=1.7245;k2 = 27.2368;alfa=0.9385;
sim('imDO_FDSMC1')
figure;plot(x2dot)
%-- 13/11/2018 8:49 AM --%
Main
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Main
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
%-- 21/11/2018 12:55 PM --%
clear
clc
Main
clear
clc
Main
clc
100*100*5*18
ans*2/900
50*5*50*18
ans*2/900
20*20*5*18
*2/900
ans*2/900
Main
load('luu_SMC.mat')
Main
%-- 27/11/2018 8:45 AM --%
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
load('Passive1_bump.mat')
figure;plot(x2dot)
load('imDO_FDSMC1_bump.mat')
figure;plot(x2dot)
 MATLAB Command History Page 8
May 7, 2019 3:46:17 PM

Parameter
figure;plot(x2dot)
figure;plot(S)
figure;plot(sigma)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
figure;plot(u)
figure;plot(sigma)
figure;plot(p)
figure;plot(es_d)
Parameter
sim('LDO_SMC1')
figure;plot(x2dot)
m1 = 2e-3
0.0002
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(zr)
figure;plot(x2dot)
figure;plot(Fsd)
figure;plot(Ft)
figure;plot(Fr)
figure;plot(u)
figure;plot(Fmr)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(u)
figure;plot(Fmr)
figure;plot(ueq)
figure;plot(un)
Parameter
figure;plot(un)
figure;plot(ueq)
figure;plot(Fmr)
Parameter
figure;plot(x2dot)
figure;plot(u)
figure;plot(un)
Parameter
figure;plot(x2dot)
figure;plot(un)
figure;plot(Fmr)
figure;plot(u)
Parameter
figure;plot(u)
figure;plot(un)
Parameter
figure;plot(un)
Parameter
%-- 27/11/2018 4:08 PM --%
Parameter
figure;plot(un)
Parameter
figure;plot(un)
figure;plot(p_dot)
figure;plot(es_d)
ms0/k0
350*4
figure;plot(-350*es_d.data)
Parameter
figure;plot(un)
figure;plot(p)
figure;plot(omega*sigma)
figure;plot(p+omega*sigma)
figure;plot(350*(p+omega*sigma))
figure;plot(p)
Parameter
figure;plot(p)
figure;plot(un)
Parameter
figure;plot(p)
figure;plot(un)
figure;plot(u)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(un)
Parameter
figure;plot(un)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(u)
figure;plot(un)
figure;plot(es_d)
Parameter
figure;plot(un)
Parameter
figure;plot(un)
Parameter
figure;plot(un)
Parameter
figure;plot(un)
Parameter
figure;plot(un)
figure;plot(u)
Parameter
figure;plot(p)
figure;plot(un)
 MATLAB Command History Page 9
May 7, 2019 3:46:17 PM

figure;plot(Fmr)
figure;plot(x2dot)
Parameter
figure;plot(ueq)
figure;plot(un)
Parameter
figure;plot(un)
figure;plot(p)
figure;plot(p+omega*sigma)
figure;plot(-k0/ms0*(p+omega*sigma))
figure;plot(-k0/ms0*(p.data+omega*sigma.data))
-k0/ms0
Parameter
figure;plot(un)
figure;plot(-k0/ms0*(p.data+omega*sigma.data))
Parameter
figure;plot(un)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(un)
Parameter
figure;plot(x2dot)
figure;plot(un)
figure;plot(p)
Parameter
figure;plot(u)
figure;plot(un)
Parameter
figure;plot(u)
figure;plot(Fmr)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
figure;plot(un)
figure;plot(Nv)
Parameter
figure;plot(u)
figure;plot(x2dot)
figure;plot(zr)
Parameter
figure;plot(x2dot)
figure;plot(x1)
Parameter
figure;plot(x2dot)
figure;plot(u)
figure;plot(x1)
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x3)
figure;plot(x4)
figure;plot(x4dot)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(x1)
figure;plot(x2)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(zr)
figure;plot(x2dot)
tanh(2)
sign(-5)
Parameter
figure;plot(es_theta2_T)
Parameter
%-- 28/11/2018 8:41 AM --%
Parameter
figure;plot(x2dot)
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
figure;plot(u.uf.time,u.uf.data+u.ur.data)
Parameter
figure;plot(zs_2dot)
figure;plot(zr)
figure;plot(zs)
Parameter
figure;plot(zr)
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(zr)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(zs_2dot)
load('imDO_FDSMC_nondis_bump.mat')
figure;plot(x2dot)
load('Passive_nondis_bump.mat')
figure;plot(x2dot)
Main
clear
clc
Main
clear
clc
Main
Parameter
39*0.3
Parameter
figure;plot(x2dot)
Parameter
 MATLAB Command History Page 10
May 7, 2019 3:46:17 PM

figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(u)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(p)
figure;plot(es_d)
Parameter
figure;plot(es_d)
Parameter
figure;plot(es_d)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(u)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(u)
Parameter
figure;plot(x2dot)
load('Passive_nondis_bump.mat')
figure;plot(x2dot)
%-- 28/11/2018 2:01 PM --%
load('imDO_FDSMC_nondis_bump.mat')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
 MATLAB Command History Page 11
May 7, 2019 3:46:17 PM

figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
clear
clc
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Main
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(zr)
Parameter
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
load('Passive_nondis_road3.mat')
figure;plot(x2dot)
load('Skyhook_nondis_road3.mat')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
load('SARC_nondis_road1.mat')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
%-- 28/11/2018 3:37 PM --%
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(zs_2dot)
load('APPC_nondis_bump.mat')
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(d)
Parameter
figure;plot(d)
ms*0.2*10
figure;plot(zs_2dot)
figure;plot(x2dot)
load('Passive_nondis_road3.mat')
 MATLAB Command History Page 12
May 7, 2019 3:46:17 PM

figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(d)
Parameter
figure;plot(d)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(d)
Parameter
figure;plot(d)
figure;plot(x2dot)
load('Passive_nondis_road3.mat')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(d)
Parameter
d
save('dt.mat','d')
clear
clc
load('dt')
Parameter
figure;plot(d)
figure;plot(x2dot)
load('Passive_nondis_road3.mat')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(d)
Parameter
figure;plot(x2dot)
figure;plot(d)
Parameter
load('Passive_nondis_bump.mat')
figure;plot(d)
figure;plot(x2dot)
load('Passive_dis_bump.mat')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(d)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Main
load('Skyhook_dis_bump.mat')
figure;plot(x2dot)
load('APPC_dis_bump.mat')
figure;plot(zs_2dot)
load('APPC_nondis_bump.mat')
figure;plot(zs_2dot)
load('imDO_FDSMC_dis_bump.mat')
hold on
plot(x2dot,'r')
load('Passive_dis_bump.mat')
hold on
plot(x2dot,'m')
legend 'imDO-SMC' 'APPC' 'Passive'
Parameter
figure;plot(zs_2dot)
Parameter
hold on
plot(x2dot,'r')
Parameter
plot(x2dot,'m')
figure;plot(zr)
figure;plot(d)
load('2.mat')
clear
load('2.mat')
figure;plot(zr.time,zr.data,x2dot.time,x2dot.data,'r')
figure;plot(x1.data,x2dot.data)
hold on
load('APPC_dis_bump.mat')
plot(x1.data,x2dot.data,'r')
figure;plot(x1.data,x2dot.data)
hold on
plot(zs.data,zs_2dot.data,'r')
load('Skyhook_dis_bump.mat')
hold on
plot(x1.data,x2dot.data,'m')
load('Passive_dis_bump.mat')
hold on
plot(x1.data,x2dot.data,'y')
load('Passive_dis_bump.mat')
figure;plot(x1.data,x2dot.data)
load('Skyhook_dis_bump.mat')
plot(x1.data,x2dot.data,'m')
load('Passive_dis_bump.mat')
figure;plot(x1.data,x2dot.data)
hold on
load('Skyhook_dis_bump.mat')
plot(x1.data,x2dot.data,'m')
load('APPC_dis_bump.mat')
plot(zs.data,zs_2dot.data,'r')
load('2.mat')
plot(x1.data,x2dot.data,'y')
Parameter
hold off
figure;plot(x2dot)
hold on
 MATLAB Command History Page 13
May 7, 2019 3:46:17 PM

Parameter
plot(x2dot,'r')
figure;plot(u)
load('imDO_FDSMC_dis_road3.mat')
figure;plot(zr)
figure;plot(x2dot)
load('Passive_dis_road3.mat')
plot(x2dot,'r')
figure;plot(x2dot)
hold on
load('imDO_FDSMC_dis_road3.mat')
plot(x2dot,'r')
load('Passive_dis_road1.mat')
figure;plot(x2dot)
load('imDO_FDSMC_dis_road1.mat')
hold on
plot(x2dot,'r')
figure;plot(zr)
load('imDO_FDSMC_dis_bump.mat')
figure;plot(zr)
load('imDO_FDSMC_dis_road1.mat')
figure;plot(zr)
load('imDO_FDSMC_dis_road2.mat')
figure;plot(zr)
load('imDO_FDSMC_dis_road3.mat')
figure;plot(zr)
clear
clc
Parameter
figure;plot(zr)
Parameter
figure;plot(zr)
Parameter
figure;plot(zr)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x1)
Parameter
figure;plot(x1)
Parameter
figure;plot(zr)
Parameter
figure;plot(zr)
Parameter
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(zr)
Parameter
figure;plot(zr)
Parameter
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(zr)
Parameter
figure;plot(zr)
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x2dot)
%-- 28/11/2018 8:55 PM --%
Parameter
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(zr)
figure;plot(x2dot)
clear
load('imDO_FDSMC_nondis_road1.mat')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(zr)
load('Passive_dis_road2.mat')
figure;plot(x2dot)
load('Passive_nondis_road2.mat')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
figure;plot(Fmr)
figure;plot(un)
figure;plot(x2dot)
load('imDO_FDSMC_nondis_road2.mat')
figure;plot(x2dot)
figure;plot(zr)
 MATLAB Command History Page 14
May 7, 2019 3:46:17 PM

Parameter
figure;plot(zr)
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(zr)
Parameter
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x2dot)
figure;plot(zr)
Parameter
%-- 29/11/2018 8:36 AM --%
Parameter
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(zr)
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x2dot)
mean(x2dot.data)
sum(abs(x2dot.data))
random('uni',2,30)
disturb = 0.005*sin(random('uniform',2,30)*pi*t);
t=1
disturb = 0.005*sin(random('uniform',2,30)*pi*t);
disturb = 0.005*sin(random('uniform',2,30)*pi*t)
t = [0:0.001:15];
disturb = 0.005*sin(random('uniform',2,30)*pi*t);
figure;plot(disturb)
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x2dot)
figure;plot(x1)
figure;plot(x2)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
40*0.3
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
 MATLAB Command History Page 15
May 7, 2019 3:46:17 PM

figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
load('Passive_nondis_road2.mat')
figure;plot(x2dot)
load('SARC_nondis_road2.mat')
figure;plot(u)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
load('Passive_nondis_road1.mat')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
load('Passive_nondis_road1.mat')
figure;plot(x2dot)
mean(x2dot.data)
Parameter
mean(x2dot.data)
sum(abs(x2dot.data))
figure;plot(x1)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
figure;plot(d)
load('imDO_FDSMC_nondis_road1.mat')
figure;plot(d)
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
figure;plot(d)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Main
clear
 MATLAB Command History Page 16
May 7, 2019 3:46:17 PM

clc
Main
Parameter
sim('imDO_FDSMC1')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
%-- 30/11/2018 10:37 AM --%
Parameter
load('Passive_dis_road2.mat')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
sim('imDO_FDSMC')
figure;plot(x2dot)
ms*0.9
ms*1.1
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
load('imDO_FDSMC_dis_road2.mat')
figure;plot(u)
Parameter
figure;plot(u)
figure;plot(x2dot)
Parameter
figure;plot(k2t)
figure;plot(z)
Parameter
figure;plot(k2t)
figure;plot(z)
figure;plot(d)
figure;plot(uc)
Parameter
figure;plot(x2dot)
figure;plot(uc)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
figure;plot(d)
d_dot = diff(d.data)
max(d_dot)
max(abs(d_dot))
figure;plot(d_dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
sim('imDO_FDSMC')
figure;plot(x2dot)
clear
clc
Main
load('APPC_dis_road1.mat')
figure;plot(d)
Parameter
sim('imDO_FDSMC')
figure;plot(d)
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
 MATLAB Command History Page 17
May 7, 2019 3:46:17 PM

figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Main
clear
clc
close all
Main
load('APPC_dis_road1.mat')
figure;plot(d)
Parameter
sim('imDO_FDSMC')
figure;plot(mst)
390*0.1
390*0.9
390*1.1
Main
390*1.1
Main
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
%-- 30/11/2018 3:57 PM --%
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
figure;plot(energy)
Parameter
clear
clc
Parameter
figure;plot(x2dot)
figure;plot(energy)
figure;plot(x2)
clear
clc
t = [0:0.01:10]
a = 2;b = 3;omega = 2*pi;
x1 = a*cos(omega*t);
x2 = b*sin(omega*t);
figure;plot(t,x1,t,x2,'r')
x = x1 + x2;
figure;plot(t,x)
%-- 30/11/2018 6:20 PM --%
load('imDO_FDSMC_dis_road2.mat')
figure;plot(d)
max(abs(d.data))
Parameter
sim('imDO_FDSMC')
Parameter
sim('imDO_FDSMC')
Parameter
figure;plot(d)
figure;plot(x2dot)
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
%-- 01/12/2018 10:25 AM --%
Parameter
figure;plot(x2dot)
figure;plot(k2t)
figure;plot(S)
figure;plot(DS)
figure;plot(S.time,S.data.*DS.data)
Parameter
figure;plot(x2dot)
figure;plot(k2t)
figure;plot(new_k2t)
figure;plot(x2dot)
figure;plot(new_k2t)
figure;plot(k2t)
figure;plot(S.time,S.data.*DS.data)
Parameter
figure;plot(x2dot)
figure;plot(new_k2t)
figure;plot(k2t)
figure;plot(S.time,S.data.*DS.data)
load('imDO_FDSMC_dis_road2.mat')
figure;plot(S.time,S.data.*DS.data)
figure;plot(S)
Parameter
Main
%-- 01/12/2018 12:51 PM --%
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC')
Parameter
sim('imDO_FDSMC')
Parameter
sim('imDO_FDSMC')
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
load('imDO_FDSMC_dis_road2.mat')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
 MATLAB Command History Page 18
May 7, 2019 3:46:17 PM

sim('imDO_FDSMC')
figure;plot(x2dot)
clear
clc
load('imDO_FDSMC_dis_road2.mat')
figure;plot(x2dot)
figure;plot(S.time,S.data.*DS.data)
Parameter
sim('imDO_FDSMC')
figure;plot(S.time,S.data.*DS.data)
figure;plot(x2dot)
figure;plot(S)
figure;plot(DS)
clear
clc
load('imDO_FDSMC_dis_road2.mat')
figure;plot(x2dot)
figure;plot(S)
figure;plot(DS)
figure;plot(S.time,S.data.*DS.data)
figure;plot(k2t)
Parameter
sim('imDO_FDSMC')
figure;plot(x2dot)
figure;plot(S)
figure;plot(S.time,S.data.*DS.data)
Parameter
figure;plot(x2dot)
figure;plot(S)
figure;plot(DS)
figure;plot(S.time,S.data.*DS.data)
figure;plot(k2t)
Main
clear
clc
Main
clear
clc
Main
clear
clc
k0 = 24;%17; % [17:280]
k1 = 3.068974709717470;%11; % [11:43] k1>0
k2 = 10.969632628832800;%16; % [16:302] k2>1
alfa = 0.972956529450715;%0.9; % [0.9:0.98]
eps = 0.05; % good
msmin = 350;
msmax = 430;
l2 = msmax;%msmax;
om = 1.7; % good
Parameter
figure;plot(x2dot)
Parameter
load('imDO_FDSMC_dis_road2.mat')
figure;plot(x2dot)
figure;plot(k2t)
figure;plot(S)
figure;plot(DS)
Parameter
figure;plot(x2dot)
figure;plot(k2t)
figure;plot(S)
figure;plot(DS)
figure;plot(S.time,S.data.*DS.data)
clear
clc
Main
Parameter
sim('imDO_FDSMC_test2')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test2')
figure;plot(x2dot)
Main
Parameter
sim('imDO_FDSMC_test3')
figure;plot(x2dot)
%-- 01/12/2018 8:52 PM --%
Parameter
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test3')
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
%-- 03/12/2018 2:28 PM --%
Main
Parameter
sim('imDO_FDSMC_test_2_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_2_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_2_12');
figure;plot(x2dot)
hmt_SMC
clear
clc
hmt_SMC
Main
Parameter
sim('imDO_FDSMC_test_2_12');
figure;plot(x2dot)
min(abs(x2dot.data))
max(abs(x2dot.data))
Parameter
sim('imDO_FDSMC_test_2_12');
figure;plot(x2dot)
 MATLAB Command History Page 19
May 7, 2019 3:46:17 PM

max(abs(x2dot.data))
Parameter
sim('imDO_FDSMC_test_2_12');
figure;plot(x2dot)
max(abs(x2dot.data))
Parameter
sim('imDO_FDSMC_test_2_12');
figure;plot(x2dot)
Main
Parameter
sim('imDO_FDSMC_test_2_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
figure;plot(us)
figure;plot(uc)
figure;plot(u)
figure;plot(k2t)
Main
Parameter
sim('imDO_FDSMC_test2_3_12');
Parameter
sim('imDO_FDSMC_test2_3_12');
Parameter
sim('imDO_FDSMC_test2_3_12');
Parameter
sim('imDO_FDSMC_test2_3_12');
Parameter
sim('imDO_FDSMC_test2_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test2_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test2_3_12');
figure;plot(x2dot)
Main
clear
clc
Main
Parameter
sim('imDO_FDSMC_test2_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test2_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
 MATLAB Command History Page 20
May 7, 2019 3:46:17 PM

sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
s
sim('imDO_FDSMC_test3_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test3_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test3_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test3_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
20*20*5*18
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
s
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
Parameter
sim('imDO_FDSMC_test3_3_12');
figure;plot(x2dot)
load('imDO_FDSMC_dis_road2.mat')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test3');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test3');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3/12');
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
 MATLAB Command History Page 21
May 7, 2019 3:46:17 PM

sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
s
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
Main
%-- 03/12/2018 3:59 PM --%
load('imDO_FDSMC_test.mat')
figure;plot(x2dot)
load('imDO_FDSMC_test2.mat')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC_test3');
Main
load('Passive_dis_road2.mat')
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC');
figure;plot(x2dot)
Parameter
sim('imDO_FDSMC');
figure;plot(x2dot)
Main
clear
clc
close all
clear all
clc
Vidu1
%-- 03/12/2018 5:12 PM --%
Main
Vidu1
A = [9 0 -7 5 3 8 -10 4 2];
[B,ia] = sort(A)
Vidu1
Parameter
sim('imDO_FDSMC_test_3_12');
figure;plot(x2dot)
save(a,'cs1')
save(a.mat,'cs1')
save('cs1')
clear
load('cs1.mat')
save('cs1','v')
clear
clc
load('cs1.mat')
load('luu.mat')
load('sensor.mat')
clear
clc
load('sensor.mat')
sim('imDO_FDSMC_test_3_12');
save('k0','k0')
sim('imDO_FDSMC_test_3_12');
k=2;
clear
c;c
clc
k=2;
sim('test_DE');
figure;plot(a)
k=-2;
sim('test_DE');
figure;plot(a)
k=-4;
sim('test_DE');
figure;plot(a)
k=0.5*pi;
k=-0.5*pi;
 MATLAB Command History Page 22
May 7, 2019 3:46:17 PM

sim('test_DE');
figure;plot(a)
k=0.5*pi;
sim('test_DE');
figure;plot(a)
Vidu1
clear
clc
Vidu1
clear
k=814.8198
sim('test_DE');
figure;plot(a)
m=2;
sim('test_DE');
figure;plot(a)
Vidu1
k=805.6682;
m=506.5910;
sim('test_DE');
figure;plot(a)
clear
clc
load('sensor');
Vidu1
k= 874.4633 ;
m= 60.9501;
sim('test_DE');
figure;plot(a)
Vidu1
k=247.5030;m=3.1696;
sim('test_DE');
figure;plot(a)
clear
clc
load('sensor.mat')
sim('test_DE');
figure;plot(a)
Vidu1
k=488.3666 ;m= 276.0176
figure;plot(a)
sim('test_DE');
figure;plot(a)
Vidu1
k= 165.5238;m= 591.3817;
sim('test_DE');
figure;plot(a)
clear
clc
load('result','happy');
max(abs(happy.data))
figure;plot(happy)
hmtDE
Vidu1
%-- 04/12/2018 8:38 AM --%
as
asd
asd
asd
home
ver
nextpow2(100)
7^2
2^7
clock
calendar(2018,12)
i=[1:10];
for i
for i>5
for i>=5
whike i>=5
while i>=5
disp('count')
end
clear
clc
[u,t] = gensig('square',4,10,0.1);
H = [tf([2 5 1],[1 2 3]);tf = ([1 -1],[1 1 5])
H = [tf([2 5 1],[1 2 3]);tf([1 -1],[1 1 5])
lsim(H,u,t)
]
H = [tf([2 5 1],[1 2 3]);tf([1 -1],[1 1 5])]
lsim(H,u,t)
Parameter
simout('imDO_FDSMC_3_12');
simOut('imDO_FDSMC_3_12');
Main_optimization
%-- 04/12/2018 11:07 AM --%
in = simulink.simulationinput('test_DE')
in = Simulink.SimulationInput('test_DE')
in = in.setBlockParameter('test_DE/Constant','Value','2');
in = in.setBlockParameter('test_DE/Constant1','Value','0.5*pi');
sim('test_DE')
figure;plot(a)
simOut = sim('test_DE','ReturnWorkspaceOutputs','on')
clear
simOut = sim('test_DE','ReturnWorkspaceOutputs','on')
Vidu1
clear
sim('test_DE.slx','ReturnWorkspaceOutputs','on');
fpenal = max(abs(result.a.data))
fpenal = max(abs(ans.a.data))
Vidu1
clear
in = in.setBlockParameter('test_DE/Constant_freq','Value','0.5*pi');
in = in.setBlockParameter('test_DE/Constant_freq','Value','0.5*pi','test_DE/Constant_amp','Value','2');
in = Simulink.SimulationInput('test_DE');
in = in.setBlockParameter('test_DE/Constant_freq','Value','0.5*pi','test_DE/Constant_amp','Value','2');
clear
in = Simulink.SimulationInput('test_DE');
in = in.setBlockParameter('test_DE/Constant_freq','Value','0.5*pi','test_DE/Constant_amp','Value','2');
sim('test_DE.slx','ReturnWorkspaceOutputs','on');
fpenal = max(abs(ans.a.data))
figure;plot(ans.a)
clearin = Simulink.SimulationInput('test_DE');
clear
in = Simulink.SimulationInput('test_DE');
in = in.setBlockParameter('test_DE/k','Value','2','test_DE/m','Value','0.5*pi');
in = in.setBlockParameter('test_DE/Constant','Value','2','test_DE/m','Value','0.5*pi');
in = in.setBlockParameter('test_DE/Constant_amp','Value','2','test_DE/m','Value','0.5*pi');
in = in.setBlockParameter('test_DE/Constant_amp','Value','2','test_DE/Constan_freq','Value','0.5*pi');
in = in.setBlockParameter('test_DE/Constant_amp','Value','2','test_DE/Constant_freq','Value','0.5*pi');
in = in.setBlockParameter('test_DE/Constant_amp','Constant Value','2','test_DE/Constant_freq','Constant Value','0.5*pi');
 MATLAB Command History Page 23
May 7, 2019 3:46:17 PM

result = sim('test_DE.slx','ReturnWorkspaceOutputs','on');
figure;plot(result.a)
clear
clc
in = Simulink.SimulationInput('test_DE');
in = in.setBlockParameter('test_DE/Constant_amp','ConstantValue','2','test_DE/Constant_freq','ConstantValue','0.5*pi');
result = sim('test_DE.slx','ReturnWorkspaceOutputs','on');
figure;plot(result.a)
clear
in = Simulink.SimulationInput('test_DE');
in = in.setBlockParameter('test_DE/Constant_amp','Constant value','2','test_DE/Constant_freq','Constant value','0.5*pi');
result = sim('test_DE.slx','ReturnWorkspaceOutputs','on');
figure;plot(result.a)
clear
in = Simulink.SimulationInput('test_DE');
in = in.setBlockParameter('test_DE/Constant_amp','Constant value','2','test_DE/Constant_freq','Constant value','0.5*pi');
result = sim('test_DE.slx','ReturnWorkspaceOutputs','on');
figure;plot(result.a)
hmtDE
clear
clc
Vidu1
hmtDE
Vidu1
clear
in = Simulink.SimulationInput('test_DE');
in = in.setBlockParameter('test_DE/Constant_amp','Value','2','test_DE/Constant_freq','Value','0.5*pi');
result = sim('test_DE.slx','ReturnWorkspaceOutputs','on');
figure;plot(result.a)
clear
in = Simulink.SimulationInput('test_DE');
in = in.setBlockParameter('test_DE/Constant_amp','Value','2','test_DE/Constant_freq','Value','0.5*pi');
result = sim('test_DE.slx','ReturnWorkspaceOutputs','on');
figure;plot(result.amp)
asd = Simulink.SimulationInput.setBlockParameter('test_DE/Constant_amp','Value',2)
asd = Simulink.SimulationInput('test_DE').setBlockParameter('test_DE/Constant_amp','Value',2)
clear
in = Simulink.SimulationInput('test_DE');
% in = in.setBlockParameter('test_DE/Constant_amp','Value','2','test_DE/Constant_freq','Value','0.5*pi');
in = in.setBlockParameter('test_DE/Constant_amp','Value',2,'test_DE/Constant_freq','Value',0.5*pi);
result = sim('test_DE.slx','ReturnWorkspaceOutputs','on');
clear
in = Simulink.SimulationInput('test_DE');
% in = in.setBlockParameter('test_DE/Constant_amp','Value','2','test_DE/Constant_freq','Value','0.5*pi');
in = in.setBlockParameter('test_DE/Constant_amp','Constant value',2,'test_DE/Constant_freq','Constant value',0.5*pi);
result = sim('test_DE.slx','ReturnWorkspaceOutputs','on');
figure;plot(result.amp)
figure;plot(result.a)
clear
in = Simulink.SimulationInput('test_DE');
% in = in.setBlockParameter('test_DE/Constant_amp','Value','2','test_DE/Constant_freq','Value','0.5*pi');
in = in.setVariable('k',2,'m',0.5*pi);
result = sim('test_DE.slx','ReturnWorkspaceOutputs','on');
in = Simulink.SimulationInput('test_DE');
% in = in.setBlockParameter('test_DE/Constant_amp','Value','2','test_DE/Constant_freq','Value','0.5*pi');
in = in.setVariable('test_DE/Constant_amp',2,'test_DE/Constant_freq',0.5*pi);
result = sim('test_DE.slx','ReturnWorkspaceOutputs','on');
clear
clc
mdl = 'sldemo_househeat';
open_system(mdl);
in = Simulink.SimulationInput(mdl);
in = in.setVariable('cost',50);
out = sim(in)
inclear
clear
in = Simulink.SimulationInput('test_DE');
in = in.setBlockParameter('test_DE/Constant_amp','Value','2','test_DE/Constant_freq','Value','0.5*pi');
% in = in.setVariable('test_DE/Constant_amp',2,'test_DE/Constant_freq',0.5*pi);
result = sim('in','ReturnWorkspaceOutputs','on');
clear
in = Simulink.SimulationInput('test_DE');
sim(in)
clear
clc
in = Simulink.SimulationInput('test_DE');
in = in.setBlockParameter('test_DE/Constant_amp','Value','2','test_DE/Constant_freq','Value','0.5*pi');
% in = in.setVariable('test_DE/Constant_amp',2,'test_DE/Constant_freq',0.5*pi);
result = sim(in,'ReturnWorkspaceOutputs','on');
in = Simulink.SimulationInput('test_DE');
in = in.setBlockParameter('test_DE/Constant_amp','Value','2','test_DE/Constant_freq','Value','0.5*pi');
% in = in.setVariable('test_DE/Constant_amp',2,'test_DE/Constant_freq',0.5*pi);
result = sim(in);
figure;plot(result.a)
figure;plot(result.amp)
figure;plot(0.5*pi)
0.5*pi
clear
k=0.5*pi;
in = Simulink.SimulationInput('test_DE');
in = in.setBlockParameter('test_DE/Constant_amp','Value','2','test_DE/Constant_freq','Value',k)
result = sim(in);
in = in.setBlockParameter('test_DE/Constant_amp','Value','2','test_DE/Constant_freq','Value','k');
result = sim(in);
figure;plot(result.a)
figure;plot(result.freq)
hmtDE
Vidu1
k=690.778514948389;
sim('test_DE.slx');
m=2;
sim('test_DE.slx');
figure;plot(a)
Vidu1
k=4.3001471603539;
in = Simulink.SimulationInput('test_DE');
in = in.setBlockParameter('test_DE/Constant_amp','Value','2','test_DE/Constant_freq','Value','k');
% in = in.setVariable('test_DE/Constant_amp',2,'test_DE/Constant_freq',0.5*pi);
result = sim(in);
figure;plot(result.freq)
figure;plot(result.a)
k=1.7;
in = Simulink.SimulationInput('test_DE');
in = in.setBlockParameter('test_DE/Constant_amp','Value','2','test_DE/Constant_freq','Value','k');
% in = in.setVariable('test_DE/Constant_amp',2,'test_DE/Constant_freq',0.5*pi);
result = sim(in);
figure;plot(result.a)
clear
clc
k=0.5*pi;
in = Simulink.SimulationInput('test_DE');
in = in.setBlockParameter('test_DE/Constant_amp','Value','2','test_DE/Constant_freq','Value','k');
% in = in.setVariable('test_DE/Constant_amp',2,'test_DE/Constant_freq',0.5*pi);
 MATLAB Command History Page 24
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result = sim(in);
load('result','happy');
%% Muc tieu
fpenal = max(abs(happy.a.data));
fpenal = max(abs(happy.data));
figure;plot(result.happy)
Vidu1
k=0.795455004424161;
in = Simulink.SimulationInput('test_DE');
in = in.setBlockParameter('test_DE/Constant_amp','Value','2','test_DE/Constant_freq','Value','k');
% in = in.setVariable('test_DE/Constant_amp',2,'test_DE/Constant_freq',0.5*pi);
result = sim(in);
load('result','happy');
figure;plot(happy)
fpenal = max(abs(happy.data))
Vidu1
clear
clc
k=0.5*pi;
in = Simulink.SimulationInput('test_DE');
in = in.setBlockParameter('test_DE/Constant_amp','Value','2','test_DE/Constant_freq','Value','k');
% in = in.setVariable('test_DE/Constant_amp',2,'test_DE/Constant_freq',0.5*pi);
in.applyToModel
result = sim(in);
fpenal = max(abs(happy.data))load('result','happy');
load('result','happy');
fpenal = max(abs(happy.data))
Vidu1
k=1.17401558218752;
in = Simulink.SimulationInput('test_DE');
in = in.setBlockParameter('test_DE/Constant_amp','Value','2','test_DE/Constant_freq','Value','k');
% in = in.setVariable('test_DE/Constant_amp',2,'test_DE/Constant_freq',0.5*pi);
result = sim(in);
load('result','happy');
%% Muc tieu
fpenal = max(abs(happy.data))
in = Simulink.SimulationInput('test_DE');
in = in.setBlockParameter('test_DE/Constant_amp','Value','2','test_DE/Constant_freq','Value','k');
% in = in.setVariable('test_DE/Constant_amp',2,'test_DE/Constant_freq',0.5*pi);
in.applyToModel
result = sim(in);
load('result','happy');
%% Muc tieu
fpenal = max(abs(happy.data))
fpenal = max(abs(happy.data))
figure;plot(happy)
Vidu1
clear
sym x1 x2 x3
syms x1 x2 x3
y = clear
clc
clear
x=[1:5];y=[2:10]
feval = (5*x+y^2,x,y)
syms x y
fun = 5*x + y^2;
x=[1:5];y=[2:10];
feval = (fun,x,y)
x=4;y=10
feval = (fun,x,y)
feval = (fun)
feval = (fun,2,5)
Vidu1
clear
load('fx.mat')
Vidu1
%-- 04/12/2018 2:35 PM --%
Vidu1
clear
load('da.mat')
clear
load('fx.mat')
Vidu1
Vidu1
load('da2.mat')
load('fx2.mat')
clear
load('fx2.mat')
clear
clcear
clear
load('da.mat')
load('fx.mat')
load('da.mat')
Vidu1
load('fx.mat')
clear
clc
k = 1;
in = Simulink.SimulationInput('test_DE');
in = in.setVariable('k',0.5*pi);
result = sim(in);
load('result','happy');
figure;plot(happy)
in = Simulink.SimulationInput('test_DE');
in = in.setVariable('k',1);
in.applyToModel
result = sim(in);
load('result','happy');
fpenal = max(abs(happy.data));
in = Simulink.SimulationInput('test_DE');
in = in.setVariable('k',0.5*pi);
in.applyToModel
result = sim(in);
load('result','happy');
fpenal = max(abs(happy.data));
clear
x = 1;
in = Simulink.SimulationInput('test_DE');
in = in.setVariable('k',x(1));
in.applyToModel
result = sim(in);
load('result','happy');
fpenal = max(abs(happy.data));
x=0.5*pi;
in = Simulink.SimulationInput('test_DE');
in = in.setVariable('k',x(1));
in.applyToModel
result = sim(in);
load('result','happy');
fpenal = max(abs(happy.data));
Vidu1
 MATLAB Command History Page 25
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x=1.57075700206702;
in = Simulink.SimulationInput('test_DE');
in = in.setVariable('k',x(1));
in.applyToModel
result = sim(in);
load('result','happy');
fpenal = max(abs(happy.data))
figure;plot(happy)
set(dim,5)
set('dim',5)
Vidu1
%-- 04/12/2018 3:32 PM --%
load('imDO_FDSMC_nondis_road2.mat')
figure;plot(x2dot)
result = sim(in);
x=1.5;
in = Simulink.SimulationInput('test_DE');
in = in.setVariable('k',x(1));
in.applyToModel
result = sim(in);
figure;plot(result.a)
Vidu1
clear
clc
Main
Parameter
sim('imDO_FDSMC.slx');
sim('imDO_FDSMC_dis.slx');
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
load('Passive_dis_road3.mat')
figure;plot(x2dot)
load('imDO_FDSMC_dis_road3.mat')
figure;plot(zr)
figure;plot(u)
figure;plot(uc)
figure;plot(us)
figure;plot(k2t)
load('imDO_FDSMC_dis_road2.mat')
k2t
figure;plot(zr)
Main
figure;plot(u)
figure;plot(uc)
figure;plot(us)
figure;plot(k2t)
load('imDO_FDSMC_dis_road1.mat')
figure;plot(zr)
figure;plot(uc)
figure;plot(d)
Parameter
load('imDO_FDSMC_nondis_road1.mat')
figure;plot(d)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
load('imDO_FDSMC_nondis_road2.mat')
clear
load('Passive_dis_road2.mat')
figure;plot(x2dot)
load('imDO_FDSMC_dis_road2.mat')
figure;plot(x2dot)
figure;plot(S.time,S.data.*DS.data)
load('imDO_FDSMC_nondis_road3.mat')
figure;plot(x2dot)
clear
clc
Parameter
load('imDO_FDSMC_nondis_road1.mat')
figure;plot(x2dot)
load('Passive_nondis_road1.mat')
figure;plot(x2dot)
load('SARC_nondis_road1.mat')
figure;plot(x2dot)
load('APPC_nondis_road1.mat')
figure;plot(x2dot)
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
figure;plot(x2dot)
clear
clc
load('imDO_FDSMC_nondis_road1.mat')
figure;plot(x2dot)
load('imDO_FDSMC_nondis_road2.mat')
figure;plot(x2dot)
load('imDO_FDSMC_nondis_road3.mat')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
load('imDO_FDSMC_dis_road1.mat')
figure;plot(x2dot)
figure;plot(zr)
load('imDO_FDSMC_dis_road3.mat')
figure;plot(x2dot)
figure;plot(zr)
load('imDO_FDSMC_dis_road2.mat')
figure;plot(x2dot)
%-- 04/12/2018 5:22 PM --%
load('luu1.mat')
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
clear
clc
Main
Main
clear
clc
Main
Main
load('imDO_FDSMC_dis_road1.mat')
figure;plot(x2dot)
load('imDO_FDSMC_dis_road1_switch.mat')
figure;plot(x2dot)
figure;plot(zr)
load('Passive_dis_road1.mat')
figure;plot(x2dot)
 MATLAB Command History Page 26
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load('luu_switch.mat')
load('luu_switch1.mat')
load('luu1.mat')
load('luu_switch.mat')
clear
load('imDO_FDSMC_dis_road2.mat')
figure;plot(zr)
figure;plot(x2dot)
load('Passive_dis_road2.mat')
figure;plot(x2dot)
load('imDO_FDSMC_dis_road3.mat')
figure;plot(zr)
figure;plot(x2dot)
load('Passive_dis_road3.mat')
figure;plot(x2dot)
load('luu_switch.mat')
Parameter
eps = 0.05; % good
msmin = 350;
msmax = 430;
l2 = msmax;
om = 1.7; % good
sim('imDO_FDSMC_test3.slx');
sim('imDO_FDSMC_test3');
figure;plot(x2dot)
Main
Main
%-- 06/12/2018 12:24 PM --%
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Main
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
%-- 06/12/2018 1:36 PM --%
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(zr)
load('imDO_FDSMC_dis_road3_switch.mat')
figure;plot(zr)
figure;plot(x2dot)
load('imDO_FDSMC_dis_road3.mat')
figure;plot(x2dot)
load('Passive_dis_road3.mat')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
load('Skyhook_nondis_road1.mat')
figure;plot(x2dot)
load('Passive_dis_road1.mat')
figure;plot(x2dot)
load('Passive_nondis_road1.mat')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(zs_2dot)
figure;plot(zr)
Parameter
figure;plot(zr)
figure;plot(zs_2dot)
clear
clc
Untitled
Untitled3
Untitled2
Untitled
Untitled3
Untitled
Untitled3
Untitled
load('imDO_FDSMC_dis_road2_switch.mat')
figure;plot(x2dot)
load('imDO_FDSMC_dis_road2.mat')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Untitled
Untitled3
load('imDO_FDSMC_nondis_road1_switch.mat')
figure;plot(x1)
load('imDO_FDSMC_nondis_road2_switch.mat')
figure;plot(x1)
load('Passive_nondis_road2.mat')
figure;plot(x1)
load('Passive_dis_road1.mat')
figure;plot(x1)
load('Passive_dis_road2.mat')
figure;plot(x1)
load('Passive_dis_road3.mat')
figure;plot(x1)
load('Passive_nondis_road1.mat')
figure;plot(x1)
load('Passive_nondis_road2.mat')
figure;plot(x1)
load('Passive_nondis_road3.mat')
figure;plot(x1)
load('Passive_dis_road2.mat')
figure;plot(x1)
load('SARC_dis_road1.mat')
figure;plot(x1)
load('SARC_dis_road2.mat')
figure;plot(x1)
load('SARC_dis_road3.mat')
figure;plot(x1)
load('SARC_nondis_road1.mat')
figure;plot(x1)
load('SARC_nondis_road2.mat')
figure;plot(x1)
load('SARC_nondis_road3.mat')
 MATLAB Command History Page 27
May 7, 2019 3:46:17 PM

figure;plot(x1)
load('Skyhook_dis_road1.mat')
figure;plot(x1)
load('Skyhook_dis_road2.mat')
figure;plot(x1)
load('Skyhook_dis_road3.mat')
figure;plot(x1)
load('Skyhook_nondis_road1.mat')
figure;plot(x1)
load('Skyhook_nondis_road2.mat')
figure;plot(x1)
load('Skyhook_nondis_road3.mat')
figure;plot(x1)
load('Skyhook_dis_road3.mat')
figure;plot(x1)
load('APPC_dis_road1.mat')
figure;plot(zs)
load('imDO_FDSMC_dis_road1_switch.mat')
figure;plot(x1)
load('imDO_FDSMC_dis_road1.mat')
figure;plot(x1)
load('APPC_dis_road2.mat')
figure;plot(zs)
load('imDO_FDSMC_dis_road2_switch.mat')
figure;plot(x1)
load('imDO_FDSMC_dis_road3_switch.mat')
figure;plot(x1)
load('APPC_nondis_road1.mat')
figure;plot(x1)
figure;plot(zs)
load('APPC_nondis_road2.mat')
figure;plot(zs)
load('APPC_nondis_road3.mat')
figure;plot(zs)
load('imDO_FDSMC_nondis_road1_switch.mat')
figure;plot(x1)
load('imDO_FDSMC_nondis_road2_switch.mat')
figure;plot(x1)
load('imDO_FDSMC_nondis_road2.mat')
figure;plot(x1)
load('APPC_nondis_road2.mat')
figure;plot(zs)
load('Passive_nondis_road2.mat')
figure;plot(x1)
Untitled
Untitled3
Parameter
Untitled2
%-- 06/12/2018 4:58 PM --%
load('SARC_dis_road1.mat')
figure;
plot(pk1.zr.time,pk1.zr.data,'LineWidth',1.5);
title('$z_r$','interpreter','latex','FontName','Times New Roman','FontSize',13);
xlabel('$time$ $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$z_r$ $(m)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
grid on;
clear
clc
load('SARC_dis_road1.mat')
figure;
plot(zr.time,zr.data,'LineWidth',1.5);
title('$z_r$','interpreter','latex','FontName','Times New Roman','FontSize',13);
xlabel('$time$ $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$z_r$ $(m)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
grid on;
figure;
plot(zr.time,zr.data,'LineWidth',1.5);
title('$z_r$','interpreter','latex','FontName','Times New Roman','FontSize',13);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$z_r$ $(m)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
grid on;
load('SARC_dis_road2.mat')
figure;
plot(zr.time,zr.data,'LineWidth',1.5);
title('$z_r$','interpreter','latex','FontName','Times New Roman','FontSize',13);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$z_r$ $(m)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
grid on;
load('SARC_dis_road3.mat')
figure;
plot(zr.time,zr.data,'LineWidth',1.5);
title('$z_r$','interpreter','latex','FontName','Times New Roman','FontSize',13);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$z_r$ $(m)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
grid on;
Untitled2
%-- 06/12/2018 5:16 PM --%
Untitled2
PSD
figure;
plot(f1,psd1,'y-',f2,psd2,'m-.',f3,psd3,'g--',f4,psd4,'r:',f5,psd5,'b-','LineWidth',1.5);
legend 'Passive' 'Skyhook' 'APPC' 'SARC' 'imDO-FDSMC';
title('PSD','interpreter','latex','FontName','Times New Roman','FontSize',13);
xlabel('Freq (Hz)','FontName','Times New Roman','FontSize',13);
ylabel('Power/frequency $(dB/Hz)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
grid on;
load('Passive_dis_road1.mat')
figure;plot(d)
figure;plot(mst)
load('imDO_FDSMC_dis_road1_switch.mat')
figure;plot(mst)
figure;
subplot(2,1,1);
plot(d.time,d.data,'LineWidth',1.5);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$d(t)$ $(N)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
grid on;
subplot(2,1,2);
plot(mst.time,mst.data,'LineWidth',1.5);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$m_s(t)$ $(kg)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
grid on;
%-- 07/12/2018 9:16 AM --%
ga1 = load('imDO_FDSMC_dis_road1');
ga2 = load('imDO_FDSMC_dis_road1_switch');
figure;
subplot(2,1,1);
plot(ga1.S.time,ga1.S.data.*ga1.DS.data,ga2.S.time,ga2.S.data.*ga2.DS.data,'r-.','LineWidth',1.5);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$S(t)$.$DS(t)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
grid on;
subplot(2,1,2);
plot(ga1.x2dot.time,ga1.x2dot.data,ga2.x2dot.time,ga2.x2dot.data,'r-.','LineWidth',1.5);
 MATLAB Command History Page 28
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xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);

ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
grid on;
ga1 = load('imDO_FDSMC_dis_road1');
ga2 = load('imDO_FDSMC_dis_road1_switch');
figure;
subplot(2,1,1);
plot(ga1.S.time,ga1.S.data.*ga1.DS.data,'r-.',ga2.S.time,ga2.S.data.*ga2.DS.data,'LineWidth',1.5);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$S(t)$.$DS(t)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
subplot(2,1,2);
plot(ga1.x2dot.time,ga1.x2dot.data,'r-.',ga2.x2dot.time,ga2.x2dot.data,'LineWidth',1.5);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
ga1 = load('imDO_FDSMC_dis_road1');
ga2 = load('imDO_FDSMC_dis_road1_switch');
figure;
subplot(2,1,1);
plot(ga1.S.time,ga1.S.data.*ga1.DS.data,'r-.',ga2.S.time,ga2.S.data.*ga2.DS.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$S(t)$.$DS(t)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
subplot(2,1,2);
plot(ga1.x2dot.time,ga1.x2dot.data,'r-.',ga2.x2dot.time,ga2.x2dot.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
ga1 = load('imDO_FDSMC_dis_road2');
ga2 = load('imDO_FDSMC_dis_road2_switch');
figure;
subplot(2,1,1);
plot(ga1.S.time,ga1.S.data.*ga1.DS.data,'r-.',ga2.S.time,ga2.S.data.*ga2.DS.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$S(t)$.$DS(t)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
subplot(2,1,2);
plot(ga1.x2dot.time,ga1.x2dot.data,'r-.',ga2.x2dot.time,ga2.x2dot.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
ga1 = load('imDO_FDSMC_dis_road3');
ga2 = load('imDO_FDSMC_dis_road3_switch');
figure;
subplot(2,1,1);
plot(ga1.S.time,ga1.S.data.*ga1.DS.data,'r-.',ga2.S.time,ga2.S.data.*ga2.DS.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$S(t)$.$DS(t)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
subplot(2,1,2);
plot(ga1.x2dot.time,ga1.x2dot.data,'r-.',ga2.x2dot.time,ga2.x2dot.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
ga1 = load('imDO_FDSMC_nondis_road3');
ga2 = load('imDO_FDSMC_nondis_road3_switch');
figure;
subplot(2,1,1);
plot(ga1.S.time,ga1.S.data.*ga1.DS.data,'r-.',ga2.S.time,ga2.S.data.*ga2.DS.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$S(t)$.$DS(t)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
subplot(2,1,2);
plot(ga1.x2dot.time,ga1.x2dot.data,'r-.',ga2.x2dot.time,ga2.x2dot.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
ga1 = load('imDO_FDSMC_nondis_road1');
ga2 = load('imDO_FDSMC_nondis_road1_switch');
figure;
subplot(2,1,1);
plot(ga1.S.time,ga1.S.data.*ga1.DS.data,'r-.',ga2.S.time,ga2.S.data.*ga2.DS.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$S(t)$.$DS(t)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
subplot(2,1,2);
plot(ga1.x2dot.time,ga1.x2dot.data,'r-.',ga2.x2dot.time,ga2.x2dot.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
ga1 = load('imDO_FDSMC_nondis_road2');
ga2 = load('imDO_FDSMC_nondis_road2_switch');
figure;
subplot(2,1,1);
plot(ga1.S.time,ga1.S.data.*ga1.DS.data,'r-.',ga2.S.time,ga2.S.data.*ga2.DS.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$S(t)$.$DS(t)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
subplot(2,1,2);
plot(ga1.x2dot.time,ga1.x2dot.data,'r-.',ga2.x2dot.time,ga2.x2dot.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
ga1 = load('imDO_FDSMC_nondis_road1');
ga2 = load('imDO_FDSMC_nondis_road1_switch');
figure;
subplot(2,1,1);
plot(ga1.S.time,ga1.S.data.*ga1.DS.data,'r-.',ga2.S.time,ga2.S.data.*ga2.DS.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$S(t)$.$D^{\alpha}S(t)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
subplot(2,1,2);
plot(ga1.x2dot.time,ga1.x2dot.data,'r-.',ga2.x2dot.time,ga2.x2dot.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
 MATLAB Command History Page 29
May 7, 2019 3:46:17 PM

ga1 = load('imDO_FDSMC_dis_road1');
ga2 = load('imDO_FDSMC_dis_road1_switch');
figure;
subplot(2,1,1);
plot(ga1.S.time,ga1.S.data.*ga1.DS.data,'r-.',ga2.S.time,ga2.S.data.*ga2.DS.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$S(t)$.$D^{\alpha}S(t)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
subplot(2,1,2);
plot(ga1.x2dot.time,ga1.x2dot.data,'r-.',ga2.x2dot.time,ga2.x2dot.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
figure;
subplot(2,1,1);
plot(ga1.S.time,ga1.S.data.*ga1.DS.data,'r-.',ga2.S.time,ga2.S.data.*ga2.DS.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$S(t)$.$D^{\alpha}S(t)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
hold on
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
columnlegend(2)
for ii=1:nLines,
plot(t,sin(t+dPhi*ii),...
'linestyle', lineStyles{rem(ii-1,numel(lineStyles))+1},...
'color', myColors(ii,:),...
'linewidth',3);
hold on;
legend_str{ii} = num2str(ii);
end
axis([0 3*pi -1.15 1.6])
columnlegend(6,legend_str,'NorthWest');
nLines = 18;
legend_str = cell(nLines,1);
myColors = distinguishable_colors(nLines);
Parameter
sim('imDO_FDSMC_switch_dis');
figure;plot(zr)
figure;plot(x2dot)
figure;plot(k2t)
Parameter
figure;plot(zr)
figure;plot(x2dot)
figure;plot(k2t)
Parameter
figure;plot(zr)
figure;plot(x2dot)
figure;plot(k2t)
Parameter
figure;plot(zr)
figure;plot(x2dot)
figure;plot(k2t)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
title('test','interpreter','latex','FontName','Times New Roman','FontSize',13);
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
title('test','interpreter','latex','FontName','Times New Roman','FontSize',13);
load('imDO_FDSMC_dis_road1.mat')
figure;plot(x2dot)
load('imDO_FDSMC_dis_road2.mat')
figure;plot(x2dot)
load('imDO_FDSMC_dis_road3.mat')
figure;plot(x2dot)
load('Passive_dis_road3.mat')
figure;plot(x2dot)
load('APPC_dis_road3.mat')
figure;plot(zs_2dot)
load('imDO_FDSMC_dis_road1_switch.mat')
figure;plot(x2dot)
load('imDO_FDSMC_dis_road3_switch.mat')
figure;plot(x2dot)
Parameter
figure;plot(S.time,S.data.*Sdot.data)
grid on;
Parameter
figure;plot(S.time,S.data.*Sdot.data)
Parameter
figure;plot(S.time,S.data.*Sdot.data)
clear
clc
ga1 = load('imDO_FDSMC_dis_road1');
ga2 = load('imDO_FDSMC_dis_road1_switch_test');
figure;
subplot(2,1,1);
plot(ga1.S.time,ga1.S.data.*ga1.DS.data,'r-.',ga2.S.time,ga2.S.data.*ga2.DS.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$S(t)$.$D^{\alpha}S(t)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
subplot(2,1,2);
plot(ga1.x2dot.time,ga1.x2dot.data,'r-.',ga2.x2dot.time,ga2.x2dot.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
load('imDO_FDSMC_dis_road1.mat')
Untitled2
clear
clc
Parameter
figure;plot(x2dot)
Parameter
ga1 = load('imDO_FDSMC_dis_road1');
ga2 = load('imDO_FDSMC_dis_road1_switch_test');
figure;
subplot(2,1,1);
 MATLAB Command History Page 30
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plot(ga1.S.time,ga1.S.data.*ga1.Sdot.data,'r-.',ga2.S.time,ga2.S.data.*ga2.Sdot.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$S(t)$.$\dot{S}(t)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
subplot(2,1,2);
plot(ga1.x2dot.time,ga1.x2dot.data,'r-.',ga2.x2dot.time,ga2.x2dot.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
ga1 = load('imDO_FDSMC_dis_road2');
ga2 = load('imDO_FDSMC_dis_road2_switch_test');
figure;
subplot(2,1,1);
plot(ga1.S.time,ga1.S.data.*ga1.Sdot.data,'r-.',ga2.S.time,ga2.S.data.*ga2.Sdot.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$S(t)$.$\dot{S}(t)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
subplot(2,1,2);
plot(ga1.x2dot.time,ga1.x2dot.data,'r-.',ga2.x2dot.time,ga2.x2dot.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
ga1 = load('imDO_FDSMC_dis_road3');
ga2 = load('imDO_FDSMC_dis_road3_switch_test');
figure;
subplot(2,1,1);
plot(ga1.S.time,ga1.S.data.*ga1.Sdot.data,'r-.',ga2.S.time,ga2.S.data.*ga2.Sdot.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$S(t)$.$\dot{S}(t)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
subplot(2,1,2);
plot(ga1.x2dot.time,ga1.x2dot.data,'r-.',ga2.x2dot.time,ga2.x2dot.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
Parameter
figure;plot(x2dot)
load('imDO_FDSMC_nondis_road1.mat')
figure;plot(x2dot)
load('imDO_FDSMC_nondis_road2.mat')
load('imDO_FDSMC_nondis_road1_switch.mat')
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Main
Main
Parameter
sim('imDO_FDSMC_dis');
figure;plot(x2dot)
load('imDO_FDSMC_dis_road1.mat')
figure;plot(x2dot)
figure;plot(uc)
Main
Main
Parameter
sim('imDO_FDSMC_switch_dis_test');
figure;plot(x2dot)
figure;plot(S.time,S.data.*Sdot.data)
Main
%-- 13/12/2018 10:09 AM --%
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Untitled
figure;plot(pk.x2dot)
figure;plot(pk5.x2dot)
Untitled
Untitled2
Untitled3
Untitled
Untitled3
Untitled
Untitled3
Untitled
Untitled3
pk1 = load('Passive_dis_road3');
pk2 = load('Skyhook_dis_road3');
pk3 = load('APPC_dis_road3');
pk4 = load('SARC_dis_road3');
pk5 = load('imDO_FDSMC_switch1_dis_road3');
%% ve do thi so sanh kha nang hoi tu S - DS data
% X = pk5.S.data;
% Y = pk5.DS.data;
% figure;
% plot(X,Y,'LineWidth',1.5);
% title('$S$-$D^{\alpha}S$','interpreter','latex','FontName','Times New Roman','FontSize',13);
% xlabel('$S$','interpreter','latex','FontName','Times New Roman','FontSize',13);
% ylabel('$D^{\alpha}S$','interpreter','latex','FontName','Times New Roman','FontSize',13);
% grid on;
%% ve do thi so sanh zr-x2dot
figure;
plot(pk1.zr.data,pk1.x2dot.data,'k-',pk2.zr.data,pk2.x2dot.data,'c-.',pk3.zr.data,pk3.zs_2dot.data,'m-',pk4.zr.data,pk4.x2dot.data,'r:',pk5.zr.data,pk5.x2dot.data,'b-','LineWidth',1.5);
title('$x_1$-$\dot{x}_2$','interpreter','latex','FontName','Times New Roman','FontSize',13);
xlabel('$x_1$ $(m)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'Passive' 'Skyhook' 'APPC' 'SARC' 'imDO-FDSMC';
grid on;
%% ve do thi so sanh zr-x2
figure;
plot(pk1.zr.data,pk1.x2.data,'k-',pk2.zr.data,pk2.x2.data,'c-.',pk3.zr.data,pk3.zs_dot.data,'m--',pk4.zr.data,pk4.x2.data,'r:',pk5.zr.data,pk5.x2.data,'b-','LineWidth',1.5);
title('$x_1$-$x_2$','interpreter','latex','FontName','Times New Roman','FontSize',13);
xlabel('$x_1$ $(m)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
 MATLAB Command History Page 31
May 7, 2019 3:46:17 PM

ylabel('$x_2$ $(m/s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);

legend 'Passive' 'Skyhook' 'APPC' 'SARC' 'imDO-FDSMC';
grid on;
%% ve do thi so sanh x2-x2dot
figure;
plot(pk1.x2.data,pk1.x2dot.data,'k-',pk2.x2.data,pk2.x2dot.data,'c-.',pk3.zs_dot.data,pk3.zs_2dot.data,'m--',pk4.x2.data,pk4.x2dot.data,'r:',pk5.x2.data,pk5.x2dot.data,'b-','LineWidth',
1.5);
title('$x_2$-$\dot{x}_2$','interpreter','latex','FontName','Times New Roman','FontSize',13);
xlabel('$x_2$ $(m)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'Passive' 'Skyhook' 'APPC' 'SARC' 'imDO-FDSMC';
grid on;
% So sanh 5 bo: 1.Passive
% 2.Skyhook
% 3.APPC
% 4.SARC
% 5.Frac-SMC
pk1 = load('Passive_dis_road2');
pk2 = load('Skyhook_dis_road2');
pk3 = load('APPC_dis_road2');
pk4 = load('SARC_dis_road2');
pk5 = load('imDO_FDSMC_switch1_dis_road2');
%% ve do thi so sanh kha nang hoi tu S - DS data
% X = pk5.S.data;
% Y = pk5.DS.data;
% figure;
% plot(X,Y,'LineWidth',1.5);
% title('$S$-$D^{\alpha}S$','interpreter','latex','FontName','Times New Roman','FontSize',13);
% xlabel('$S$','interpreter','latex','FontName','Times New Roman','FontSize',13);
% ylabel('$D^{\alpha}S$','interpreter','latex','FontName','Times New Roman','FontSize',13);
% grid on;
%% ve do thi so sanh x1-x2dot
figure;
plot(pk1.x1.data,pk1.x2dot.data,'k-',pk2.x1.data,pk2.x2dot.data,'c-.',pk3.zs.data,pk3.zs_2dot.data,'m-',pk4.x1.data,pk4.x2dot.data,'r:',pk5.x1.data,pk5.x2dot.data,'b-','LineWidth',1.5);
title('$x_1$-$\dot{x}_2$','interpreter','latex','FontName','Times New Roman','FontSize',13);
xlabel('$x_1$ $(m)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'Passive' 'Skyhook' 'APPC' 'SARC' 'imDO-FDSMC';
grid on;
%% ve do thi so sanh x1-x2
figure;
plot(pk1.x1.data,pk1.x2.data,'k-',pk2.x1.data,pk2.x2.data,'c-.',pk3.zs.data,pk3.zs_dot.data,'m--',pk4.x1.data,pk4.x2.data,'r:',pk5.x1.data,pk5.x2.data,'b-','LineWidth',1.5);
title('$x_1$-$x_2$','interpreter','latex','FontName','Times New Roman','FontSize',13);
xlabel('$x_1$ $(m)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$x_2$ $(m/s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'Passive' 'Skyhook' 'APPC' 'SARC' 'imDO-FDSMC';
grid on;
%% ve do thi so sanh x2-x2dot
figure;
plot(pk1.x2.data,pk1.x2dot.data,'k-',pk2.x2.data,pk2.x2dot.data,'c-.',pk3.zs_dot.data,pk3.zs_2dot.data,'m--',pk4.x2.data,pk4.x2dot.data,'r:',pk5.x2.data,pk5.x2dot.data,'b-','LineWidth',
1.5);
title('$x_2$-$\dot{x}_2$','interpreter','latex','FontName','Times New Roman','FontSize',13);
xlabel('$x_2$ $(m)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'Passive' 'Skyhook' 'APPC' 'SARC' 'imDO-FDSMC';
grid on;
Untitled2
ga1 = load('imDO_FDSMC_dis_road1');
ga2 = load('imDO_FDSMC_switch1_dis_road1');
figure;
subplot(2,1,1);
plot(ga1.S.time,ga1.S.data.*ga1.Sdot.data,'r-.',ga2.S.time,ga2.S.data.*ga2.Sdot.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$S(t)$.$\dot{S}(t)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
subplot(2,1,2);
plot(ga1.x2dot.time,ga1.x2dot.data,'r-.',ga2.x2dot.time,ga2.x2dot.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
ga1 = load('imDO_FDSMC_nonswitch_dis_road1');
ga2 = load('imDO_FDSMC_switch1_dis_road1');
figure;
subplot(2,1,1);
plot(ga1.S.time,ga1.S.data.*ga1.Sdot.data,'r-.',ga2.S.time,ga2.S.data.*ga2.Sdot.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$S(t)$.$\dot{S}(t)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
subplot(2,1,2);
plot(ga1.x2dot.time,ga1.x2dot.data,'r-.',ga2.x2dot.time,ga2.x2dot.data,'LineWidth',2);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
clear
clc
load('imDO_FDSMC_switch1_dis_road1.mat')
figure;plot(Sdot)
figure;plot(S.time,S.data.*Sdot.data)
figure;plot(S.data,Sdot.data)
figure;plot(S.data,DS.data)
ga1 = load('imDO_FDSMC_nonswitch_dis_road1');
ga2 = load('imDO_FDSMC_switch1_dis_road1');
figure;
subplot(2,1,1);
plot(ga1.S.time,ga1.S.data.*ga1.Sdot.data,'r-.',ga2.S.time,ga2.S.data.*ga2.Sdot.data,'LineWidth',2);
xlabel('Time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$S(t)$.$\dot{S}(t)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
subplot(2,1,2);
plot(ga1.x2dot.time,ga1.x2dot.data,'r-.',ga2.x2dot.time,ga2.x2dot.data,'LineWidth',2);
xlabel('Time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
ga1 = load('imDO_FDSMC_nonswitch_dis_road2');
ga2 = load('imDO_FDSMC_switch1_dis_road2');
figure;
subplot(2,1,1);
plot(ga1.S.time,ga1.S.data.*ga1.Sdot.data,'r-.',ga2.S.time,ga2.S.data.*ga2.Sdot.data,'LineWidth',2);
xlabel('Time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$S(t)$.$\dot{S}(t)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
subplot(2,1,2);
plot(ga1.x2dot.time,ga1.x2dot.data,'r-.',ga2.x2dot.time,ga2.x2dot.data,'LineWidth',2);
xlabel('Time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
 MATLAB Command History Page 32
May 7, 2019 3:46:17 PM

grid on;
ga1 = load('imDO_FDSMC_nonswitch_dis_road3');
ga2 = load('imDO_FDSMC_switch1_dis_road3');
figure;
subplot(2,1,1);
plot(ga1.S.time,ga1.S.data.*ga1.Sdot.data,'r-.',ga2.S.time,ga2.S.data.*ga2.Sdot.data,'LineWidth',2);
xlabel('Time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$S(t)$.$\dot{S}(t)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
subplot(2,1,2);
plot(ga1.x2dot.time,ga1.x2dot.data,'r-.',ga2.x2dot.time,ga2.x2dot.data,'LineWidth',2);
xlabel('Time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
ga1 = load('imDO_FDSMC_nonswitch_dis_road3');
ga2 = load('imDO_FDSMC_switch1_dis_road3');
figure;
subplot(2,1,1);
plot(ga1.S.time,ga1.S.data.*ga1.Sdot.data,'r-.',ga2.S.time,ga2.S.data.*ga2.Sdot.data,'LineWidth',1.5);
xlabel('Time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$S(t)$.$\dot{S}(t)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
subplot(2,1,2);
plot(ga1.x2dot.time,ga1.x2dot.data,'r-.',ga2.x2dot.time,ga2.x2dot.data,'LineWidth',1.5);
xlabel('Time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$\dot{x}_2$ $(m/s^2)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
legend 'imDO-FDSMC without AFL' 'imDO-FDSMC with AFL'
grid on;
PSD
445.382715744346/340
21495.4468621515/430
11000/340
21500/430
14*3
1/(1.1*ms0)
1/(0.9*ms0)
1/ms0
%-- 14/12/2018 12:21 PM --%
0.1/2
ms0 = 390;
v = 10;
c = 10e8
m = ms0/(sqrt(1-(v^2)/(c^2)))
load('APPC_dis_road1.mat')
m1 = mst.data/(sqrt(1-(v^2)/(c^2)))
figure;plot(m1)
hold on;
plot(mst,'r');
mst
plot(mst.data,'r');
figure;plot(mst.time,mst.data,mst.time,m1,'r')
%-- 15/12/2018 12:28 PM --%
a=[]
per_max = a(:,3)./a(:,1).*100
per_aver = a(:,4)./a(:,2).*100
per_skyhook = a(2,:)./a(1,:).*100
per_APPC = a(3,:)./a(1,:).*100
per_SARC = a(4,:)./a(1,:).*100
per_imDO = a(5,:)./a(1,:).*100
per_skyhook = 100-a(2,:)./a(1,:).*100
per_APPC = 100-a(3,:)./a(1,:).*100
per_SARC = 100-a(4,:)./a(1,:).*100
per_imDO = 100-a(5,:)./a(1,:).*100
pretty(per_skyhook)
roung(99.0273475823,-6)
round(99.0273475823,-6)
round(99.0273475823,6)
per_skyhook = 100-a(2,:)./a(1,:).*100;
per_APPC = 100-a(3,:)./a(1,:).*100;
per_SARC = 100-a(4,:)./a(1,:).*100;
per_imDO = 100-a(5,:)./a(1,:).*100;
round(per_skyhook,6);
round(per_APPC,6);
round(per_SARC,6);
round(per_imDO,6);
per_skyhook = round(100-a(2,:)./a(1,:).*100,6);
per_APPC = round(100-a(3,:)./a(1,:).*100,6);
per_SARC = round(100-a(4,:)./a(1,:).*100,6);
per_imDO = round(100-a(5,:)./a(1,:).*100,6);
per_skyhook = round(100-a(2,:)./a(1,:).*100,6,'decimals');
Untitled4
clear
clc
a=[];
Untitled4
PSD
%-- 17/12/2018 1:46 PM --%
(1.108419-1.070187)/1.070187
*100
ans*100
(0.017558-1.070187)/1.070187*100
a=[];
Untitled4
load('imDO_FDSMC_nonswitch_dis_road1.mat')
load('imDO_FDSMC_switch1_dis_road1.mat')
figure;plot(x2)
figure;plot(x1)
figure;plot(x2dot)
load('imDO_FDSMC_switch1_dis_road3.mat')
figure;plot(x1)
figure;plot(x2dot)
load('imDO_FDSMC_switch1_dis_road1.mat')
figure;plot(x2dot)
figure;plot(x2)
load('imDO_FDSMC_switch1_dis_road2.mat')
figure;plot(x1)
figure;plot(x2dot)
figure;plot(x2)
%-- 19/12/2018 10:41 AM --%
x = 0.0001895;y = -0.001143;
r = sqrt(x^2+y^2)
load('imDO_FDSMC_nonswitch_dis_road3.mat')
figure;plot(x1)
load('imDO_FDSMC_switch1_dis_road3.mat')
figure;plot(x1)
figure;plot(x2dot)
x = 0.0001895;y = -0.001951;
r = sqrt(x^2+y^2)
%-- 24/12/2018 1:42 PM --%
Parameter
 MATLAB Command History Page 33
May 7, 2019 3:46:17 PM

figure;plot(zs_2dot)
kvr = kv;
eps = 0.001;
figure;plot(zs_2dot)
Main
Main
Main
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
clear
clc
Main
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Main
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
load('SMC_combine.mat')
figure;plot(zs_2dot)
Parameter
load('SARC_combine.mat')
figure;plot(zs_2dot)
load('Passive_combine.mat')
figure;plot(zs_2dot)
load('FDSMC_combine.mat')
figure;plot(zs_2dot)
load('APPC_combine.mat')
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
load('APPC_bump.mat')
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
figure;plot(d)
Parameter
figure;plot(d)
figure;plot(zs_2dot)
load('APPC_bump.mat')
figure;plot(d)
Parameter
figure;plot(d)
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
load('APPC_sine.mat')
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
load('APPC_rough.mat')
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
figure;plot(u.uf)
figure;plot(u.ur)
figure;plot(Svdot)
load('APPC1_rough.mat')
figure;plot(zs_2dot)
figure;plot(d)
figure;plot(zs_2dot)
Parameter
load('APPC1_combine.mat')
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
load('APPC1_sine.mat')
Parameter
figure;plot(zs_2dot)
load('APPC1_sine.mat')
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
load('APPC1_bump.mat')
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
clear
clc
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
load('APPC_combine.mat')
figure;plot(zs_2dot)
load('Passive_combine.mat')
figure;plot(zs_2dot)
load('SARC_combine.mat')
figure;plot(zs_2dot)
clear
clc
load('FDSMC_sine.mat')
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
load('FDSMC_bump3.mat')
figure;plot(zs_2dot)
Parameter
 MATLAB Command History Page 34
May 7, 2019 3:46:17 PM

figure;plot(zs_2dot)
load('FDSMC_rough.mat')
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
clear
clc
load('FDSMC_rough.mat')
figure;plot(Svdot)
figure;plot(mst)
figure;plot(Sv)
figure;plot(Sr)
figure;plot(Sv.time,Sv.data.^2+Sr.data.^2)
grid on;
figure;plot(d)
grid on;
figure;plot(d.time,d.data+mst.data.*10)
grid on;
clear
clc
fuzzy
load('FDSMC_combine.mat')
figure;plot(Sv)
figure;plot(Svdot)
figure;plot(Sr)
figure;plot(Srdot)
load('FDSMC_sine.mat')
figure;plot(Sv)
figure;plot(Svdot)
figure;plot(Sr)
figure;plot(Srdot)
kr
load('FDSMC_combine.mat')
fuzzy
kv
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
figure;plot(kvr)
fuzzy
Parameter
figure;plot(Sv)
figure;plot(Svdot)
figure;plot(zs_dot)
figure;plot(kv)
figure;plot(kvr)
figure;plot(zs_2dot)
figure;plot(kvr.time,kvr.data,Sv.time,Sv.data,'r',Svdot.time,Svdot.data,'m','linewidth',2)
legend 'kvr' 'Sv' 'Svdot'
figure;plot(mst)
load('Passive_combine.mat')
figure;plot(zs_2dot)
load('APPC_combine.mat')
figure;plot(zs_2dot)
figure;plot(zrf)
engine_idle_speed
s1=-1.667
s2=-1
s3=-0.75
s4=-0.4166
Parameter
load('FDSMC_combine.mat')
s1=-1.667;s2= -1;s3= -0.75;s4= -0.4166
%-- 27/12/2018 8:09 PM --%
clear
clc
%-- 27/12/2018 9:10 PM --%
Main
clear
clc
Main
load('luu.mat')
clear
load('luu.mat')
load('luu_FDSMC_combine1.mat')
load('sensor.mat')
mean(zs_2dot.data)
load('FDSMC_combine.mat')
mean(zs_2dot.data)
var(zs_2dot.data)
max(zs_2dot.data)
max(abs(zs_2dot.data))
mean(abs(zs_2dot.data))
var(zs_2dot.data)
var(abs(zs_2dot.data))
Main
Main
%-- 28/12/2018 8:52 AM --%
Parameter
figure;plot(zrf)
Parameter
figure;plot(zrf)
figure;plot(zs_2dot)
in = Simulink.SimulationInput('FDSMC');
xval = [5,100,6,0.97];
in = in.setVariable('k1',xval(1));
in = in.setVariable('k2',xval(2));
in = in.setVariable('kvr',xval(3));
in = in.setVariable('alfa',xval(4));
in.applyToModel
result = sim(in);
h_rough = random('uniform',0.001,0.04); % is the heigh of the rough
D_rough = random('uniform',0.01,0.2); % is the wide of the rough
in = Simulink.SimulationInput('FDSMC');
in = in.setVariable('k1',xval(1));
in = in.setVariable('k2',xval(2));
in = in.setVariable('kvr',xval(3));
in = in.setVariable('alfa',xval(4));
in.applyToModel
result = sim(in);
norm(abs(result.Sv.data))
var(abs(result.Sv.data))
figure;plot((abs(result.Sv.data)))
 MATLAB Command History Page 35
May 7, 2019 3:46:17 PM

grid on;
figure;plot(((result.Sv.data)))
norm((result.Sv.data))
data_road(i,1) = v;
data_road(i,2) = h_rough;
data_road(i,3) = D_rough;
i=1
data_road(i,1) = v;
data_road(i,2) = h_rough;
data_road(i,3) = D_rough;
data(i,1) = xval(1); % k1
data(i,2) = xval(2); % k2
data(i,3) = xval(3); % kvr
data(i,4) = xval(4); % alfa
data(i,5) = fval;
data(i,6) = max(abs(result.zs_2dot.data));
data(i,7) = norm(result.Sv.data);
data(i,8) = norm(result.Svdot.data);
fval=0.7
data(i,1) = xval(1); % k1
data(i,2) = xval(2); % k2
data(i,3) = xval(3); % kvr
data(i,4) = xval(4); % alfa
data(i,5) = fval;
data(i,6) = max(abs(result.zs_2dot.data));
data(i,7) = norm(result.Sv.data);
data(i,8) = norm(result.Svdot.data);
save('luu','data','data_road');
clear
clc
load('luu.mat')
figure;plot(((result.Svdot.data)))
load('luu1.mat')
clear
clc
load('FDSMC_combine.mat')
max(zs_2dot.data)
norm(zs_2dot.data)
mode(zs_2dot.data)
std(zs_2dot.data)
if i==[5,10,15]
disp(i);
end
for i=1:20
if i==[5,10,15]
disp(i);
end
end
for i=1:20
if i==[5,10,15]
a= 'ok'
end
end
sum(zs_2dot.data(1:10))
sum(zs_2dot.data)
sum(zs_2dot.data(10:20))
length(zs_2dot.data)
length(zs_2dot.data)/5
ground(ans)
round(ans)
for i = 1:round(length(zs_2dot.data)/5)
for j = 1:length(zs_2dot.data)
if j == (i*5)
pl_norm(i,1) = i;
pl_norm(i,2) = norm(zs_2dot.data(j-4:j));
pl_std(i,1) = i;
pl_std(i,2) = std(zs_2dot.data(j-4:j));
pl_max(i,1) = i;
pl_max(i,2) = max(zs_2dot.data(j-4:j));
pl_var(i,1) = i;
pl_var(i,2) = var(zs_2dot.data(j-4:j));
end
end
end
for j = 1:length(pl_var)
end
figure;plot(pl_var)
figure;plot(pl_var(:,1),plvar(:,2))
figure;plot(pl_var(:,1),pl_var(:,2))
figure;plot(pl_norm(:,1),pl_norm(:,2))
for i = 1:round(length(zs_2dot.data)/5)
for j = 1:length(zs_2dot.data)
if j == (i*5)
pl_norm(i) = norm(zs_2dot.data(j-4:j));
pl_std(i) = std(zs_2dot.data(j-4:j));
pl_max(i) = max(zs_2dot.data(j-4:j));
pl_var(i) = var(zs_2dot.data(j-4:j));
end
end
end
figure;plot(pl_norm);title 'norm';
figure;plot(pl_std);title 'standard derivation'
figure;plot(pl_max);title 'max';
figure;plot(pl_var);title 'var';
figure;plot(zs_2dot)
figure;plot(abs(zs_2dot))
figure;plot(zs_2dot.time,abs(zs_2dot))
figure;plot(zs_2dot.time,abs(zs_2dot.data))
Untitled4
clear
clc
Main
%-- 28/12/2018 1:13 PM --%
FDO_SMC_Parameter
t
ý
y1
figure;plot(zs_2dot)
figure;plot(zrf)
figure;plot([t,y1])
figure;plot(t,y1)
t = [0:0.001:30];
length(t)
a=1:length(t)
v
thoigian = [0:0.001:30];
for i = 1:length(t)
t = i-1*0.001;
disturb = random('uniform',-0.005,0.005);
% Sine-shaped
if t<=10
lamda = 100; % Wave-length (m)
omega = 2*pi*v/lamda; % Omega (rad/s)
 MATLAB Command History Page 36
May 7, 2019 3:46:17 PM

Y0 = 0.1; % Amplitude of the sine-shaped (m)

zrf(i) = Y0*sin(omega*t) + disturb;
% Bump
else if t>10 && t<=20
h = 0.2; % Bump's heigh (m)
D = 0.35; % Bump's width (m)
omega = pi*v/D; % Lengh of wave(m)
if t>=12 && t<=(12+D/v)
zrf(i) = h*sin(omega*(t-12));
else zrf(i) = disturb;
end
% Rough
else
D = random('uniform',0.01,0.2); % Rough's width (m)
w = 2*pi*v/D; % Rough's omega (rad/s)
zrf(i) = random('uniform',-0.02,0.02).*sin(random('uniform',0,w)*t);
end
end
end
figure;plot(t,zrf)
thoigian = [0:0.001:30]';
for i = 1:length(t)
t = i-1*0.001;
disturb = random('uniform',-0.005,0.005);
% Sine-shaped
if t<=10
lamda = 100; % Wave-length (m)
omega = 2*pi*v/lamda; % Omega (rad/s)
Y0 = 0.1; % Amplitude of the sine-shaped (m)
zrf(i,1) = Y0*sin(omega*t) + disturb;
% Bump
else if t>10 && t<=20
h = 0.2; % Bump's heigh (m)
D = 0.35; % Bump's width (m)
omega = pi*v/D; % Lengh of wave(m)
if t>=12 && t<=(12+D/v)
zrf(i,1) = h*sin(omega*(t-12));
else zrf(i,1) = disturb;
end
% Rough
else
D = random('uniform',0.01,0.2); % Rough's width (m)
w = 2*pi*v/D; % Rough's omega (rad/s)
zrf(i,1) = random('uniform',-0.02,0.02).*sin(random('uniform',0,w)*t);
end
end
end
figure;plot(t,zrf)
figure;plot(zrf)
thoigian = [0:0.001:30]';
for i = 1:length(thoigian)
t = i-1*0.001;
disturb = random('uniform',-0.005,0.005);
% Sine-shaped
if t<=10
lamda = 100; % Wave-length (m)
omega = 2*pi*v/lamda; % Omega (rad/s)
Y0 = 0.1; % Amplitude of the sine-shaped (m)
zrf(i,1) = Y0*sin(omega*t) + disturb;
% Bump
else if t>10 && t<=20
h = 0.2; % Bump's heigh (m)
D = 0.35; % Bump's width (m)
omega = pi*v/D; % Lengh of wave(m)
if t>=12 && t<=(12+D/v)
zrf(i,1) = h*sin(omega*(t-12));
else zrf(i,1) = disturb;
end
% Rough
else
D = random('uniform',0.01,0.2); % Rough's width (m)
w = 2*pi*v/D; % Rough's omega (rad/s)
zrf(i,1) = random('uniform',-0.02,0.02).*sin(random('uniform',0,w)*t);
end
end
end
length(thoigian)
road_combine
thoigian = [0:0.1:1]';
for i = 1:length(thoigian)
t = i-1*0.001;
disturb = random('uniform',-0.005,0.005);
% Sine-shaped
if t<=10
lamda = 100; % Wave-length (m)
omega = 2*pi*v/lamda; % Omega (rad/s)
Y0 = 0.1; % Amplitude of the sine-shaped (m)
zrf(i,1) = Y0*sin(omega*t) + disturb;
% Bump
else if t>10 && t<=20
h = 0.2; % Bump's heigh (m)
D = 0.35; % Bump's width (m)
omega = pi*v/D; % Lengh of wave(m)
if t>=12 && t<=(12+D/v)
zrf(i,1) = h*sin(omega*(t-12));
else zrf(i,1) = disturb;
end
% Rough
else
D = random('uniform',0.01,0.2); % Rough's width (m)
w = 2*pi*v/D; % Rough's omega (rad/s)
zrf(i,1) = random('uniform',-0.02,0.02).*sin(random('uniform',0,w)*t);
end
end
end
thoigian = [0:0.001:30]';
for i = 1:length(thoigian)
t = i-1*0.001;
disturb = random('uniform',-0.005,0.005);
% Sine-shaped
if t<=10
lamda = 100; % Wave-length (m)
omega = 2*pi*v/lamda; % Omega (rad/s)
Y0 = 0.1; % Amplitude of the sine-shaped (m)
zrf(i,1) = Y0*sin(omega*t) + disturb;
% Bump
else if t>10 && t<=20
h = 0.2; % Bump's heigh (m)
D = 0.35; % Bump's width (m)
omega = pi*v/D; % Lengh of wave(m)
if t>=12 && t<=(12+D/v)
zrf(i,1) = h*sin(omega*(t-12));
else zrf(i,1) = disturb;
 MATLAB Command History Page 37
May 7, 2019 3:46:17 PM

end
% Rough
else
D = random('uniform',0.01,0.2); % Rough's width (m)
w = 2*pi*v/D; % Rough's omega (rad/s)
zrf(i,1) = random('uniform',-0.02,0.02).*sin(random('uniform',0,w)*t);
end
end
end
figure;plot(zrf)
figure;plot(thoigian)
figure;plot(thoigian,zrf)
clear zrf
clear thoigian
thoigian = [0:0.001:10]';
for i = 1:length(thoigian)
t = i-1*0.001;
%% Sine-shaped
lamda = 100; % Wave-length (m)
omega = 2*pi*v/lamda; % Omega (rad/s)
Y0 = 0.1; % Amplitude of the sine-shaped (m)
disturb = random('uniform',-0.005,0.005);% Disturbance
zrf(i,1) = Y0*sin(omega*t) + disturb;
end
end
thoigian = [0:0.001:10]';
for i = 1:length(thoigian)
t = i-1*0.001;
%% Sine-shaped
lamda = 100; % Wave-length (m)
omega = 2*pi*v/lamda; % Omega (rad/s)
Y0 = 0.1; % Amplitude of the sine-shaped (m)
disturb = random('uniform',-0.005,0.005);% Disturbance
zrf(i,1) = Y0*sin(omega*t) + disturb;
end
figure;plot(thoigian,zrf)
for i = 1:length(thoigian)
t = i-1*0.001;
%% Sine-shaped
lamda = 100; % Wave-length (m)
omega = 2*pi*v/lamda; % Omega (rad/s)
Y0 = 0.1; % Amplitude of the sine-shaped (m)
disturb = random('uniform',-0.005,0.005);% Disturbance
zrf(i,1) = Y0*sin(omega*i) + disturb;
end
figure;plot(thoigian,zrf)
thoigian = [0:0.001:10]';
% for i = 1:length(thoigian)
% t = i-1*0.001;
%% Sine-shaped
lamda = 100; % Wave-length (m)
omega = 2*pi*v/lamda; % Omega (rad/s)
Y0 = 0.1; % Amplitude of the sine-shaped (m)
disturb = random('uniform',-0.005,0.005);% Disturbance
zrf(i,1) = Y0*sin(omega.*thoigian) + disturb;
amda = 100; % Wave-length (m)
omega = 2*pi*v/lamda; % Omega (rad/s)
Y0 = 0.1; % Amplitude of the sine-shaped (m)
disturb = random('uniform',-0.005,0.005);% Disturbance
zrf(i,1) = Y0*sin(omega.*thoigian) .+ disturb;
= [0:0.001:10]';
>
[0:0.001:10]';
>
t= [0:0.001:10]';
lamda = 100; % Wave-length (m)
omega = 2*pi*v/lamda; % Omega (rad/s)
Y0 = 0.1; % Amplitude of the sine-shaped (m)
for i=1:length(t)
disturb(i,1) = random('uniform',-0.005,0.005);% Disturbance
end
zrf = Y0*sin(omega*i) + disturb;
figure;plot(t,zrf)
t= [0:0.001:10]';
lamda = 1; % Wave-length (m)
omega = 2*pi*v/lamda; % Omega (rad/s)
Y0 = 0.1; % Amplitude of the sine-shaped (m)
for i=1:length(t)
disturb(i,1) = random('uniform',-0.005,0.005);% Disturbance
end
zrf = Y0*sin(omega*i) + disturb;
figure;plot(t,zrf)
zrf = Y0*sin(omega.*t) + disturb;
figure;plot(t,zrf)
t= [0:0.001:10]';
lamda = 100; % Wave-length (m)
omega = 2*pi*v/lamda; % Omega (rad/s)
Y0 = 0.1; % Amplitude of the sine-shaped (m)
for i=1:length(t)
disturb(i,1) = random('uniform',-0.005,0.005);% Disturbance
end
zrf = Y0*sin(omega.*t) + disturb;
figure;plot(t,zrf)
load('Passive1_sine.mat')
figure;plot(zrf)
load('FDSMC_sine.mat')
figure;plot(zrf)
t= [0:0.001:10]';
for i=1:length(t)
Y(i,1) = random('uniform',-0.02,0.02); % Rough's amplitude
D(i,1) = random('uniform',0.01,0.2); % Rough's width (m)
end
w = 2*pi*v/D
for i=1:length(t)
Y(i,1) = random('uniform',-0.02,0.02); % Rough's amplitude
D(i,1) = random('uniform',0.01,0.2); % Rough's width (m)
w(i,1) = 2*pi*v/D(i,1); % Rough's omega (rad/s)
end
clear w
for i=1:length(t)
Y(i,1) = random('uniform',-0.02,0.02); % Rough's amplitude
D(i,1) = random('uniform',0.01,0.2); % Rough's width (m)
w(i,1) = 2*pi*v/D(i,1); % Rough's omega (rad/s)
end
figure;plot(w)
v=25
t= [0:0.001:10]';
lamda = 100; % Wave-length (m)
omega = 2*pi*v/lamda; % Omega (rad/s)
Y0 = 0.1; % Amplitude of the sine-shaped (m)
for i=1:length(t)
disturb(i,1) = random('uniform',-0.005,0.005);% Disturbance
end
 MATLAB Command History Page 38
May 7, 2019 3:46:17 PM

zrf = Y0*sin(omega.*t) + disturb;

figure;plot(zrf)
figure;plot(t,zrf)
t= [0:0.001:10]';
for i=1:length(t)
Y(i,1) = random('uniform',-0.02,0.02); % Rough's amplitude
D(i,1) = random('uniform',0.01,0.2); % Rough's width (m)
w(i,1) = 2*pi*v/D(i,1); % Rough's omega (rad/s)
end
zrf = Y.*sin(w.*t);
figure;plot(t,zrf)
load('FDSMC_rough.mat')
figure;plot(zrf)
1/1000
0.001
Parameter
figure;plot(zrf)
figure;plot(zrr)
figure;plot(zs_2dot)
Parameter
figure;plot(zrf)
figure;plot(zs_2dot)
thoigian(1:50)
[thoigian,profile] = road_sine(v);
thoigian(1:50)
t=thoigian(1:50)
Parameter
t = thoigian(1:51,1)
zr = profile(1:51,1)
[t,zr]
Parameter
figure;plot(zs_2dot)
figure;plot(zrf)
Parameter
figure;plot(zrf)
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
Parameter
figure;plot(zs_2dot)
figure;plot(zrf)
Parameter
figure;plot(zrf)
figure;plot(t,zr)
figure;plot(zs)
figure;plot(zrf)
Parameter
figure;plot(zrr)
figure;plot(t,zr)
figure;plot(zrf)
Parameter
figure;plot(t,zr)
figure;plot(zrf)
figure;plot(zs)
Parameter
figure;plot(zs)
figure;plot(t,zr)
figure;plot(zrf)
Parameter
figure;plot(zrf)
Parameter
figure;plot(t,zr)
figure;plot(zrf)
Parameter
figure;plot(zrf)
Parameter
zr
Parameter
data(1,3) = Sv.data
array
teo = {}
teo(1,1) = Sv.data
teo(1,1) = Sv.data'
L := [x_.i $ i=1..10]
Untitled5
teo = {Sv,Svdot}
teo = {Sv.data,Svdot.data}
teo.Sv
teo{1}
clc
teo{1}
teo{1,3}=max(abs(zs_2dot.data))
10*1000
ans/5
teo
teo(1,[1,1])
teo(1,1,1)
a=teo(1,1,1)
a=teo(1,1,3)
a=teo(1,3,1)
teo{1,1}
teo{1,3}
a= max(teo{1,1})
teo{1,1}
max(teo{1,1})
max(teo{1,2})
Main
clear
Parameter
clear
clc
clear all
close all
%-- 28/12/2018 7:13 PM --%
Main
clear
load('luu_sine.mat')
Main
load('temp.mat')
load('temp.mat')
Main
clear
load('luu_sine.mat')
Main
clear
%-- 07/01/2019 2:33 PM --%
load('luu_bump1.mat')
load('luu_bump2.mat')
load('luu_bump3.mat')
load('luu_rough.mat')
Main
clc
load('luu_rough2.mat')
 MATLAB Command History Page 39
May 7, 2019 3:46:17 PM

clear
clc
Main
clear
clc
load('luu_rough2_2.mat')
a=data;
load('luu_rough2.mat')
Main
load('luu_rough2_3.mat')
clear
clc
data=[];
load('luu_rough2.mat')
a=data;
load('luu_rough2_2.mat')
b=data;
load('luu_rough2_3.mat')
c=data;
for i=1:length(a)
data(i,:) = a(i,:);
end
clear
load('luu_rough2.mat')
a=data;
load('luu_rough2_2.mat')
b=data;
load('luu_rough2_3.mat')
c=data;
for i=1:length(a)
d(i,:) = a(i,:);
end
d(1858,:) = b(1858,:);
for i=1859:2000
d(i,:) = c(i,:);
end
data = d;
save('luu_rough3','data');
clear
clc
load('luu_rough3.mat')
a=data;
clear a
rough = data;
clear data
load('luu_sine.mat')
sine = data;
load('luu_bump1.mat')
bump1 = data;
load('luu_bump2.mat')
bump2 = data;
load('luu_bump3.mat')
bump3 = data;
clear data
for i=1:2000
data(i,:) = sine(i,:);
end
for i=2001:4000
data(i,:) = rough(i,:);
end
test = {};
clear test
for i=1:2000
t{i,:} = sine(i,:);
end
clear t
data = [sine;rough;bump1;bump2;bump3];
save('dataset','data');
a(:,1) = diff(data(:,11))
a={};
a(:,1) = diff(data(:,11))
a(:,1) = diff(data{:,11})
d(1,11)
data(1,11)
data[1,11]
data{1,11}
for i=1:length(data)
a(i,1) = diff(data{i,11});
end
b = diff(data{1,11})
b = diff(data{:,11})
for i=1:length(data)
end
a(:,1) = data(:,11);
for i=1:length(data)
a(i,2) = diff(data{i,11});
end
a(1,2) = diff(data{1,11})
a(1,2) = diff(data{1,11});
diff(data{1,11});
diff(data{1,11})
diff(data(1,11))
[0;diff(data(1,11))]
[0;diff(data{1,11})]
a(1,2) = [0;diff(data{1,11})]
a{1,2} = [0;diff(data{1,11})]
for i=1:length(data)
a{1,2} = diff(data{1,11});
a{i,2} = diff(data{i,11});
end
for i=1:length(data)
data{i,12} = diff(data{i,11});
end
save('dataset','data');
figure
for i=1:length(data)clear
end
clear
clc
load('dataset.mat')
clear
clc
%-- 08/01/2019 6:06 PM --%
fis = newfis('test.fis');
%% create input 1
fis = addvar(fis,'input','service',[a1 a4]);
fis = addmf(fis,'input',1,'poor','trimf',[a1 (a1+a2)/2 a2]);
fis = addmf(fis,'input',1,'good','trimf',[a3 (a3+a4)/2 a4]);
%% create input 2
fis = addvar(fis,'input','food',[b1 b4]);
fis = addmf(fis,'input',2,'rancid','trimf',[b1 (b1+b2)/2 b2]);
fis = addmf(fis,'input',2,'delicious','trimf',[b3 (b3+b4)/2 b4]);
%% create output
 MATLAB Command History Page 40
May 7, 2019 3:46:17 PM

fis = addvar(fis,'output','tip',[c1 c6]);

fis = addmf(fis,'output',1,'cheap','trimf',[c1 (c1+c2)/2 c2]);
fis = addmf(fis,'output',1,'average','trimf',[c3 (c3+c4)/2 c4]);
fis = addmf(fis,'output',1,'generous','trimf',[c5 (c5+c6)/2 c6]);
%% create rule
rulelist = [1,1,1,1,1;
1,2,2,1,1;
2,1,2,1,1;
2,2,3,1,1];
fis = addrule(fis,rulelist);
syms a1 a2 a3 a4 b1 b2 b3 b4 u1 u2
fis = newfis('test.fis');
%% create input 1
fis = addvar(fis,'input','service',[a1 a4]);
fis = addmf(fis,'input',1,'poor','trimf',[a1 (a1+a2)/2 a2]);
fis = addmf(fis,'input',1,'good','trimf',[a3 (a3+a4)/2 a4]);
%% create input 2
fis = addvar(fis,'input','food',[b1 b4]);
fis = addmf(fis,'input',2,'rancid','trimf',[b1 (b1+b2)/2 b2]);
fis = addmf(fis,'input',2,'delicious','trimf',[b3 (b3+b4)/2 b4]);
%% create output
fis = addvar(fis,'output','tip',[c1 c6]);
fis = addmf(fis,'output',1,'cheap','trimf',[c1 (c1+c2)/2 c2]);
fis = addmf(fis,'output',1,'average','trimf',[c3 (c3+c4)/2 c4]);
fis = addmf(fis,'output',1,'generous','trimf',[c5 (c5+c6)/2 c6]);
%% create rule
rulelist = [1,1,1,1,1;
1,2,2,1,1;
2,1,2,1,1;
2,2,3,1,1];
fis = addrule(fis,rulelist);
syms a1 a2 a3 a4 b1 b2 b3 b4 c1 c2 c3 c4 c5 c6
fis = newfis('test.fis');
%% create input 1
fis = addvar(fis,'input','service',[a1 a4]);
fis = addmf(fis,'input',1,'poor','trimf',[a1 (a1+a2)/2 a2]);
fis = addmf(fis,'input',1,'good','trimf',[a3 (a3+a4)/2 a4]);
%% create input 2
fis = addvar(fis,'input','food',[b1 b4]);
fis = addmf(fis,'input',2,'rancid','trimf',[b1 (b1+b2)/2 b2]);
fis = addmf(fis,'input',2,'delicious','trimf',[b3 (b3+b4)/2 b4]);
%% create output
fis = addvar(fis,'output','tip',[c1 c6]);
fis = addmf(fis,'output',1,'cheap','trimf',[c1 (c1+c2)/2 c2]);
fis = addmf(fis,'output',1,'average','trimf',[c3 (c3+c4)/2 c4]);
fis = addmf(fis,'output',1,'generous','trimf',[c5 (c5+c6)/2 c6]);
%% create rule
rulelist = [1,1,1,1,1;
1,2,2,1,1;
2,1,2,1,1;
2,2,3,1,1];
fis = addrule(fis,rulelist);
clear
Untitled
clear
clc
inputData = [rand(10,1) 10*rand(10,1)-5];
outputData = rand(10,1);
fis = genfis(inputData,outputData);
save('test.fis','fis');
fuzzy
%-- 08/01/2019 9:43 PM --%
fuzzy
Untitled
clear
clc
Untitled
fuzzy
clear
test = newfis('test');
newfis('test');
clear
clc
newfis(test);
newfis('test');
a1=0;a2=6;a3=3;a4=9;
b1=0;b2=6;b3=3;b4=9;
c1=0;c2=4;c3=2;c4=6;c5=4;c6=8;
test = addvar(test,'input','service',[a1 a4]);
test = addmf(test,'input',1,'poor','trimf',[a1 (a1+a2)/2 a2]);
test = addmf(test,'input',1,'good','trimf',[a3 (a3+a4)/2 a4]);
test = newfis();
test = newfis(test);
test = newfis('test');
test = addvar(test,'input','service',[a1 a4]);
test = addmf(test,'input',1,'poor','trimf',[a1 (a1+a2)/2 a2]);
test = addmf(test,'input',1,'good','trimf',[a3 (a3+a4)/2 a4]);
test = addvar(test,'input','food',[b1 b4]);
test = addmf(test,'input',2,'rancid','trimf',[b1 (b1+b2)/2 b2]);
test = addmf(test,'input',2,'delicious','trimf',[b3 (b3+b4)/2 b4]);
test = addvar(test,'output','tip',[c1 c6]);
test = addmf(test,'output',1,'cheap','trimf',[c1 (c1+c2)/2 c2]);
test = addmf(test,'output',1,'average','trimf',[c3 (c3+c4)/2 c4]);
test = addmf(test,'output',1,'generous','trimf',[c5 (c5+c6)/2 c6]);
rulelist = [1,1,1,1,1;
1,2,2,1,1;
2,1,2,1,1;
2,2,3,1,1];
test = addrule(test,rulelist);
u1 = 2.7;u2 = 6.2;
y = evalfis([u1 u2],fismat)
y = evalfis([u1 u2],fimath)
y = evalfis([u1 u2],fis)
y = evalfis([u1 u2],test)
u1 = 4.7;u2 = 8;
y = evalfis([u1 u2],test)
%-- 09/01/2019 8:46 AM --%
fuzzy
syms a1 a2 a3 a4 b1 b2 b3 b4 c1 c2 c3 c4 c5 c6
test = newfis('test');
%% create input 1
test = addvar(test,'input','service',[a1 a4]);
test = addmf(test,'input',1,'poor','trimf',[a1 (a1+a2)/2 a2]);
test = addmf(test,'input',1,'good','trimf',[a3 (a3+a4)/2 a4]);
%% create input 2
test = addvar(test,'input','food',[b1 b4]);
test = addmf(test,'input',2,'rancid','trimf',[b1 (b1+b2)/2 b2]);
test = addmf(test,'input',2,'delicious','trimf',[b3 (b3+b4)/2 b4]);
%% create output
test = addvar(test,'output','tip',[c1 c6]);
test = addmf(test,'output',1,'cheap','trimf',[c1 (c1+c2)/2 c2]);
test = addmf(test,'output',1,'average','trimf',[c3 (c3+c4)/2 c4]);
test = addmf(test,'output',1,'generous','trimf',[c5 (c5+c6)/2 c6]);
 MATLAB Command History Page 41
May 7, 2019 3:46:17 PM

%% create rule
rulelist = [1,1,1,1,1;
1,2,2,1,1;
2,1,2,1,1;
2,2,3,1,1];
test = addrule(test,rulelist);
test = addvar(test,'input','service',[0 9])
fis = setfis(fis,'input',1,'range',[1 9])
test = setfis(test,'input',1,'range',[1 9])
clear
fuzzy
test = readfis('test');
a1 = 1;a2 = 15;
b1 = -4; b2 = 10;
c1 = -10;c2 = 10;
test = setfis(test,'input',1,'range',[a1 a2]);
%% create input 2
test = setfis(test,'input',2,'range',[b1 b2]);
%% create output
test = setfis(test,'input',3,'range',[c1 c2]);
test = setfis(test,'input',1,'range',[a1 a2]);
%% create input 2
test = setfis(test,'input',2,'range',[b1 b2]);
%% create output
test = setfis(test,'output',3,'range',[c1 c2]);
test = setfis(test,'input',1,'range',[a1 a2]);
test = setfis(test,'output',1,'range',[c1 c2]);
rulelist = [1,1,1,1,1;
1,2,2,1,1;
2,1,2,1,1;
2,2,3,1,1];
test = addrule(test,rulelist);
u1 = 5.3;u2 = 9;
y = evalfis([u1 u2],test);
fuzzy
clear
clc
%-- 10/02/2019 5:17 PM --%
I = imread('Penguins.jpg')
clc
I = imread('Penguins.jpg');
imshow(I);
imshow(I)
imtool(I)
a= I+1;
imshow(a);
imshow(I+255);
imshow(I-200);
imshow(I-[0,0,200]);
imshow(I.-[0,0,200]);
imshow(rgb2gray(I));
a=I.-[0,0,200];
a=I-[0,0,200];
a=I.-[0,0,200];
a=I.-[0;0;200];
imtool(I.-[0,0,200]);
imshow(I.-[0,0,200]);
imshow(I.-200);
imshow(I-200);
a=I-200;
imtool(a);
imtool(a+255);
imtool(a+250);
imtool(a+200);
I.R = I.R+0.29
I.R
I(1)
I(1,1)
I(1,1,1)
I[1]
cform = makecform(I)
cform = makecform('Penguins.jpg')
%-- 14/02/2019 10:07 AM --%
anisotropy_modified
clear
clc
(1;2;3)
[1;2;3]
sum(ans)
a=[0,1,2;1,2,3;2,3,4;,3,4,5;4,5,6];b=[10,20,30,40,50];
a(1,1)
A1 = trapmf(x,a(1,1),a(1,1),a(1,2),a(1,3));
A2 = trimf(x,a(2,1),a(2,2),a(2,3));
x=1
A2 = trimf(x,a(2,1),a(2,2),a(2,3));
a[1]
a(1)
A1 = trapmf(x,[a(1,1),a(1,1),a(1,2),a(1,3)]);
A1 = trapmf(x,[a(1,1),a(1,1),a(1,2),a(1,3)]);
A2 = trimf(x,[a(2,1),a(2,2),a(2,3)]);
A3 = trimf(x,[a(3,1),a(3,2),a(3,3)]);
A4 = trimf(x,[a(4,1),a(4,2),a(4,3)]);
A5 = trapmf(x,[a(5,1),a(5,2),a(5,3),a(5,3)]);
A = [A1,A2,A3,A4,A5];
sum(A)
sum(b.*A)
b*A
A*b
A.*b
sum(ans)
x = 3.5
A1 = trapmf(x,[a(1,1),a(1,1),a(1,2),a(1,3)]);
A2 = trimf(x,[a(2,1),a(2,2),a(2,3)]);
A3 = trimf(x,[a(3,1),a(3,2),a(3,3)]);
A4 = trimf(x,[a(4,1),a(4,2),a(4,3)]);
A5 = trapmf(x,[a(5,1),a(5,2),a(5,3),a(5,3)]);
A = [A1,A2,A3,A4,A5];
b*A
b
A
A.*b
anisotropy_modified
colormap(map1);
colormap(flipud(colormap));
colormap();
anisotropy_modified
clear
clc
a=[0,1,2;1,2,3;2,3,4;,3,4,5;4,5,6];b=[10,20,30,40,50];
c = [12,4,14567,1,3];
sort(c)
Lb = [-10 -10 -10 -10 -10 -10 -10 -10 -10 -10-10 -10 -10 -10 -10 -10 -10 -10 -10 -10]; % can duoi cua bien thiet ke
Ub = [10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 ]; % can tren cua bien thiet ke
 MATLAB Command History Page 42
May 7, 2019 3:46:17 PM

Lb = [-10 -10 -10 -10 -10 -10 -10 -10 -10 -10-10 -10 -10 -10 -10 -10 -10 -10 -10 -10 -10]; % can duoi cua bien thiet ke
Ub = [10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 ]; % can tren cua bien thiet ke
clear
clc
a=[0,1,2;1,2,3;2,3,4;,3,4,5;4,5,6];b=[10,20,30,40,50];
fpenal = max(abs(simout.data));
clear
clc
a=[0,1,2;1,2,3;2,3,4;,3,4,5;4,5,6];b=[10,20,30,40,50];
clea
clear
clc
Main
hmt_SMC
Main
hmt_SMC
Main
in = Simulink.SimulationInput('SISO_fuzzy');
in = in.setVariable('a',pa1);
in = in.setVariable('a',a);
in = in.setVariable('b',b);
in.applyToModel
result = sim(in);
clear
clc
a=[0,1,2;1,2,3;2,3,4;,3,4,5;4,5,6];b=[10,20,30,40,50];
plot(simout)
a=[0,1,2;1,2,3;2,3,4;,3,4,5;4,5,6];b=[-5,-2.5,0,2.5,5];
a=[0,1,2;1,2,3;2,3,4;,3,4,5;4,5,6];b=[-10,-5,0,5,10];
Main
in = Simulink.SimulationInput('SISO_fuzzy');
in = in.setVariable('a',a);
in = in.setVariable('b',b);
in.applyToModel
result = sim(in);
sim('SISO_fuzzy')
sort(a)
sort( x(1),x(2),x(3))
Main
a
Main
magic(10)
magic(5,3)
rand(5,3)
p = [sort(5,3,1);sort(8,7,5)]
b(1,:)=sort(a(1,:))
a
ans
c = sort(ans,'last')
c = sort(ans,'last',1)
c = sort(ans,2)
ans
a = rand(5,3)
b = sort(a,1)
b = sort(a,2)
Main
clear
clc
Main
m = reshape(xval,5,3)
m = reshape(xval,5)
m = reshape(xval,5,4)
vec2mat(xval,3)
a= vec2mat(xval(1:15),3)
b = xval(16:20)
clear
clc
load('luu_switch.mat')
a = vec2mat(xval(1:15),3)
b = xval(16:20)
a = sort(vec2mat(xval(1:15),3),2)
b = sort(xval(16:20),2)
Main
clear
clc
Lb = [-10 -10 -10 -10 -10 -10 -10 -10 -10 -10-10 -10 -10 -10 -10 -10]; % can duoi cua bien thiet ke
Ub = [10 10 10 10 10 10 10 10 10 10 10 10 10 10 10]; % can tren cua bien thiet ke
Main2
Lb = [-20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20]; % can duoi cua bien thiet ke
clear
Lb = [-20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20]; % can duoi cua bien thiet ke
Ub = [20 20 20 20 20 20 20 20 20 20 20 20 20 20 20]; % can tren cua bien thiet ke
clear
clc
Main2
sort(a,1)
a=sort(a,1)
a = sort(vec2mat(xval(1:15),3),2)
%-- 14/02/2019 5:07 PM --%
load('luu.mat')
a = sort(vec2mat(xval(1:15),3),2)
b=[-10,-5,0,5,10];
x=-100:100
x=-100:100;
for i=1:length(x)
A1(i) = trapmf(x(i),[-100,a(1,1),a(1,2),a(1,3)]);
A2(i) = trimf(x(i),[a(2,1),a(2,2),a(2,3)]);
A3(i) = trimf(x(i),[a(3,1),a(3,2),a(3,3)]);
A4(i) = trimf(x(i),[a(4,1),a(4,2),a(4,3)]);
A5(i) = trapmf(x(i),[a(5,1),a(5,2),a(5,3),100]);
end
A1=[]
for i=1:length(x)
A1(1,i) = trapmf(x(i),[-100,a(1,1),a(1,2),a(1,3)]);
A2(1,i) = trimf(x(i),[a(2,1),a(2,2),a(2,3)]);
A3(1,i) = trimf(x(i),[a(3,1),a(3,2),a(3,3)]);
A4(1,i) = trimf(x(i),[a(4,1),a(4,2),a(4,3)]);
A5(1,i) = trapmf(x(i),[a(5,1),a(5,2),a(5,3),100]);
end
plot(x,A1,x,A2,x,A3,x,A4,x,A5)
Main
Main2
a = sort(sort(vec2mat(xval(1:15),3),2),1)
save('input_x','a');
clear
load('input_x.mat')
clear
a=[-16.1779748810480,-7.86020561735242,-0.169433251126366;-4.87890894581578,-1.16918263970768,2.63776959118503;-2.80978404539611,0.601195562034429,4.31857947741602;
-0.730044902027702,1.47907103991928,4.95358280123707;0.0287841165594838,4.03097747029560,18.2453015650486]
Lb = [-10 -10 -10 -10 -10 -10]; % can duoi cua bien thiet ke
Ub = [10 10 10 10 10 10 ]; % can tren cua bien thiet ke
Main
clear
 MATLAB Command History Page 43
May 7, 2019 3:46:17 PM

clc
Lb = [-20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20]; % can duoi cua bien thiet ke
Ub = [20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20]; % can tren cua bien thiet ke
load('luu.mat')
save('output_y','a');b = sort(xval(1:5))
b = sort(xval(1:5))
save('output_y','b')
clear
clc
load('output_y.mat')
load('luu.mat')
a = sort(sort(vec2mat(xval,3),2),1)
load('input_x.mat')
a = sort(sort(vec2mat(xval,3),2),1)
clear
load('input_x.mat')
clear
Main2
b=[-10,-6,-3,0,3,6,10];
a*b
A1 = trapmf(x,[-100,a(1,1),a(1,2),a(1,3)]);
A2 = trimf(x,[a(2,1),a(2,2),a(2,3)]);
A3 = trimf(x,[a(3,1),a(3,2),a(3,3)]);
A4 = trimf(x,[a(4,1),a(4,2),a(4,3)]);
A5 = trimf(x,[a(5,1),a(5,2),a(5,3)]);
A6 = trimf(x,[a(6,1),a(6,2),a(6,3)]);
A7 = trapmf(x,[a(7,1),a(7,2),a(7,3),100]);
Lb = [-20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20 -20]; % can duoi cua bien thiet ke
Ub = [20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20]; % can tren cua bien thiet ke
Main2
save('input_x2','a');
clear
clc
Lb = [-10 -10 -10 -10 -10 -10 -10]; % can duoi cua bien thiet ke
Ub = [10 10 10 10 10 10 10 ]; % can tren cua bien thiet ke
Main
b = sort(xval(1:7))
save('input_y2','b');
Main2
save('input_x3','a');
Main2
save('input_x4','a');
clear
load('input_x3.mat')
Main
save('input_y3','b');
Main
save('input_y4','b');
Main2
%-- 15/02/2019 8:50 AM --%
Main2
save('input_x5','a');
Main
clear
load('luu.mat')
b = sort(xval(1:7))
save('input_y5','b');
clear
clc
Lb = [-10 -10 -10 -10 -10 -10 -10 -10 -10 -10 -10 -10 -10 -10 -10 ]; % can duoi cua bien thiet ke
Ub = [10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 ]; % can tren cua bien thiet ke
a = [2,10,45,a(1)+1,43]
Lb = [-5 1 1 0 1 1 0 1 1 0 1 1 0 1 1]; % can duoi cua bien thiet ke
Ub = [5 5 5 2 5 5 2 5 5 2 5 5 2 5 5]; % can tren cua bien thiet ke
%-- 15/02/2019 1:00 PM --%
Main3
a32 = xval(1); a31 = xval(1) - xval(2); a33 = a32 + xval(3);
a23 = a31 + xval(4); a22 = a23 - xval(5); a21 = a22 - xval(6);
a13 = a21 + xval(7); a12 = a13 - xval(8); a11 = a12 - xval(9);
a41 = a33 - xval(10); a42 = a41 + xval(11); a43 = a42 + xval(12);
a51 = a43 - xval(13); a52 = a51 + xval(14); a53 = a52 + xval(15);
a = [ a11 a12 a13;
a21 a22 a23;
a31 a32 a33;
a41 a42 a43;
a51 a52 a53];
b=[-15,-7,0,7,15];
Plot_membership_function
A=[5,length(x)]
A=[]
for i = 1:length(x)
A(i,1) = trapmf(x,[-100,a(1,1),a(1,2),a(1,3)]);
A(i,2) = trimf(x,[a(2,1),a(2,2),a(2,3)]);
A(i,3) = trimf(x,[a(3,1),a(3,2),a(3,3)]);
A(i,4) = trimf(x,[a(4,1),a(4,2),a(4,3)]);
A(i,5) = trapmf(x,[a(5,1),a(5,2),a(5,3),100]);
end
Plot_membership_function
load('input_x.mat')
Plot_membership_function
load('input_x2.mat')
Plot_membership_function
load('input_y2.mat')
plot(b)
vec2mat(xval,3)
vec2mat(xval,1)
co = b(1:5)
Main3
Plot_membership_function
for j = 1:length(y)
B(1,i) = trimf(x(i),[b(1)-0.001,b(1),b(1)+0.001]);
B(2,i) = trimf(x(i),[b(2)-0.001,b(2),b(2)]+0.001);
B(3,i) = trimf(x(i),[b(3)-0.001,b(3),b(3)+0.001]);
B(4,i) = trimf(x(i),[b(4)-0.001,b(4),b(4)+0.001]);
B(5,i) = trimf(x(i),[b(5)-0.001,b(5),b(5)+0.001]);
end
figure;
plot(y,B(1,:),y,B(2,:),y,B(3,:),y,B(4,:),y,B(5,:),'LineWidth',2);
hold on
legend 'B1' 'B2' 'B3' 'B4' 'B5'
hold off
b(1)
for j = 1:length(y)
B(1,i) = trimf(x(i),[b(1)-0.1,b(1),b(1)+0.1]);
B(2,i) = trimf(x(i),[b(2)-0.1,b(2),b(2)+0.1]);
B(3,i) = trimf(x(i),[b(3)-0.1,b(3),b(3)+0.1]);
B(4,i) = trimf(x(i),[b(4)-0.1,b(4),b(4)+0.1]);
B(5,i) = trimf(x(i),[b(5)-0.1,b(5),b(5)+0.1]);
end
figure;
plot(y,B(1,:),y,B(2,:),y,B(3,:),y,B(4,:),y,B(5,:),'LineWidth',2);
hold on
legend 'B1' 'B2' 'B3' 'B4' 'B5'
 MATLAB Command History Page 44
May 7, 2019 3:46:17 PM

hold off
for j = 1:length(y)
B(1,i) = trimf(x(i),[b(1)-1,b(1),b(1)+1]);
B(2,i) = trimf(x(i),[b(2)-1,b(2),b(2)+1]);
B(3,i) = trimf(x(i),[b(3)-1,b(3),b(3)+1]);
B(4,i) = trimf(x(i),[b(4)-1,b(4),b(4)+1]);
B(5,i) = trimf(x(i),[b(5)-1,b(5),b(5)+1]);
end
figure;
plot(y,B(1,:),y,B(2,:),y,B(3,:),y,B(4,:),y,B(5,:),'LineWidth',2);
hold on
legend 'B1' 'B2' 'B3' 'B4' 'B5'
hold off
plot(y,B(1,:),'LineWidth',2);
figure
line(1,2)
line(x,2)
line(x,1,1,1)
line([1 3],[4 6])
line([-9 -9],[1 1])
line([0.2, 19.8], [1, 1], 'Color', [1,0,0]);
line([-9 -9],[1 1],'LineWidth',2)
line([-9 -9],[0 1],'LineWidth',2)
line(-10:10,0:1,[-9 -9],[0 1],'LineWidth',2)
line('xdata',[-9 -9],'ydata',[0 1],'LineWidth',2)
plot(x,A(1,:),x,A(2,:),x,A(3,:),x,A(4,:),x,A(5,:),'LineWidth',2);
legend 'A1' 'A2' 'A3' 'A4' 'A5'
figure;
hold on
line([b(1) b(1)],[0 1],'b','LineWidth',2);
line([b(2) b(2)],[0 1],'r','LineWidth',2);
line([b(3) b(3)],[0 1],'y','LineWidth',2);
line([b(4) b(4)],[0 1],'m','LineWidth',2);
line([b(5) b(5)],[0 1],'c','LineWidth',2);
legend 'B1' 'B2' 'B3' 'B4' 'B5'
hold off
line([b(1) b(1)],[0 1],'b','LineWidth',2);
line([b(1) b(1)],[0 1],'LineWidth',2);
Plot_membership_function
line([b(1) b(1)],[0 1],'color',[0 0 1],'LineWidth',3);
line([b(2) b(2)],[0 1],'color',[1 0 0],'LineWidth',3);
line([b(3) b(3)],[0 1],'color',[1 1 0],'LineWidth',3);
line([b(4) b(4)],[0 1],'color',[1 0 1],'LineWidth',3);
line([b(5) b(5)],[0 1],'color',[0 1 0],'LineWidth',3);
legend 'B1' 'B2' 'B3' 'B4' 'B5'
hold off
clear
clc
load('input_x.mat')
load('input_x2.mat')
load('input_y2.mat')
Plot_membership_function
load('input_y3.mat')
load('input_x3.mat')
Plot_membership_function
load('input_x4.mat')
load('input_y4.mat')
Plot_membership_function
load('input_y5.mat')
load('input_x5.mat')
Plot_membership_function
clear
clc
load('input_x2.mat')
load('input_y2.mat')
Plot_membership_function
Plot_membership_function2
Plot_membership_function
load('input_x.mat')
Plot_membership_function2
clear
clc
load('input_x5.mat')
load('input_y5.mat')
Plot_membership_function2
%-- 15/02/2019 4:30 PM --%
load('imDO_FDSMC_switch1_nondis_road3.mat')
load('luu_bump1.mat')
clear
clc
load('luu_bump1.mat')
clear
clc
load('input_y5.mat')
load('input_x5.mat')
%-- 16/02/2019 1:59 PM --%
load('input_y5.mat')
load('input_x5.mat')
%-- 17/02/2019 3:06 PM --%
Parameter
clear
load('input_x.mat')
Parameter
plot(x1)
plot(zr)
Parameter
load('input_y5.mat')
load('input_x5.mat')
y = b(1:5)
save('input_y','y');
clear
clc
load('input_y.mat')
y
y = [-10,-5,0,5,10]
save('input_y','y');
clear
clc
Parameter
load('input_x.mat')
load('input_y.mat')
b=y
save('input_y','b');
load('input_x.mat')
load('input_y.mat')
%-- 18/02/2019 11:14 AM --%
Parameter
a_v
clear
a_v = load('input_x.mat');
load('input_x.mat')
load('input_x.mat');
load('input_y.mat');
 MATLAB Command History Page 45
May 7, 2019 3:46:17 PM

clear
Parameter
plot(zr)
figure;plot(x2_dot)
figure;plot(x2dot)
clear
clc
Parameter
figure;plot(x2dot)
figure;plot(zr)
Parameter
zr
figure;plot(zr)
figure;plot(x2dot)
clear
clc
Parameter
figure;plot(x2dot)
figure;plot(S)
figure;plot(es_f)
figure;plot(es_cs)
figure;plot(es_ks)
figure;plot(es_g1)
Parameter
figure;plot(zr)
figure;plot(x2dot)
figure;plot(es_d)
figure;plot(d)
figure;plot(dt)
figure;plot(rho_ad)
figure;plot(S)
figure;plot(x1)
figure;plot(us)
figure;plot(uc)
figure;plot(u)
Parameter
figure;plot(x1-zr)
figure;plot(x2-zr_dot)
clear
clc
Lb = [0.8 -100 1 0.1 0.1 0.1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1]; % can duoi cua bien thiet ke
Ub = [0.95 100 100 1000 1000 1000 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20]; % can tren cua bien thiet ke
7+15
a_ks = sort(sort(vec2mat(Lb(7:22),3),2),1)
a_ks = sort(sort(vec2mat(Lb(6:22),3),2),1)
a_ks = sort(sort(vec2mat(Lb(7:21),3),2),1)
22+15
a_ks = sort(sort(vec2mat(Lb(22:36),3),2),1)
a_ks = sort(sort(vec2mat(Lb(37:51),3),2),1)
13500-13500*0.3
13500*1.3
1250*0.7
1250*1.3
350*1.5
9450+17550
ans/2
9450+13500
ans/2
13500+17550
ans/2
875+1250
ans/2
1250+1625
ans/2
350+525
ans/2
437.5+350
ans/2
437.5+525
ans/2
clear
b_ks = [9450,11475,13500,15525,17550];
b_cs = [875,1062.5,1250,1437.5,1625];
b_v = [350,393.75,437.5,481.25,525];
clear
clc
Main3
a=a_cs;b=b_cs;
Plot_membership_function
figure;plot(x2dot)
figure;plot(es_ks)
figure;plot(es_cs)
figure;plot(x2-zr_dot)
figure;plot(x1-zr)
Lb = [0.8 -100 1 0.1 0.1 0.1 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1]; % can duoi cua bien thiet ke
Ub = [0.95 100 100 1000 1000 1000 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20]; % can tren cua bien thiet ke
clear
Lb = [0.8 -100 1 0.1 0.1 0.1 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 -2 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1]; % can duoi cua bien thiet ke
Ub = [0.95 100 100 1000 1000 1000 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20]; % can tren cua bien thiet ke
a_ks = sort(sort(vec2mat(Lb(37:51),3),2),1)
a_ks = sort(sort(vec2mat(Lb(22:36),3),2),1)
a_ks = sort(sort(vec2mat(Lb(6:22),3),2),1)
clear
clc
Main3
a=a_ks;b=b_ks;
Plot_membership_function
a1
asd=a'
clear
clc
Main3
b_v=b_v';b_cs=b_cs';b_ks=b_ks';
uq =b_v*b_cs
uq =b_v.*b_cs
load('input_x.mat')
a_cs=a;a_ks=a;a_v=a;
b_cs(1)
Main3
figure;plot(x1-zr)
figure;plot(x2dot)
v=10;
figure;plot(x2dot)
figure;plot(x1)
figure;plot(u)
figure;plot(us)
figure;plot(uc)
figure;plot(es_d)
figure;plot(z)
figure;plot(S)
figure;plot(rho_da)
figure;plot(rho_ad)
figure;plot(mst)
 MATLAB Command History Page 46
May 7, 2019 3:46:17 PM

figure;plot(es_m)
figure;plot(es_ms)
figure;plot(es_ks)
figure;plot(es_cs)
figure;plot(es_f)
figure;plot(x2dot)
figure;plot(es_ks)
figure;plot(es_cs)
figure;plot(es_f)
figure;plot(es_d)
figure;plot(es_ms)
b_v
a_v
figure;plot(es_g1)
v=20
v=10
v=15
figure;plot(x2dot)
figure;plot(S)
a2=1;
figure;plot(dt)
v=10;
figure;plot(dt)
v
v=5;
v=10;
figure;plot(vt)
figure;plot(x2dot)
a_v
a=a_v
b=b_v
Plot_membership_function
350*0.5
ans/2
175*0.75
clear
clc
Main3
figure;plot(x2dot)
figure;plot(vt)
figure;plot(zr)
figure;plot(x1-zr)
figure;plot(x1)
figure;plot(x1-x3)
figure;plot(x2-x4)
figure;plot(x3)
figure;plot(x1-x3)
figure;plot(x3)
figure;plot(S)
a1
a1 = 102;
figure;plot(S)
a1 = 5;
figure;plot(S)
figure;plot(rho_ad)
om0
k0
figure;plot(rho_ad)
figure;plot(es_f)
figure;plot(S)
figure;plot(es_ks)
figure;plot(es_cs)
13500-9450
17550-13500
ans*2
13500-11475
1250-875
1250-1062.5
b_ks = [-4050,-2025,0,2025,4050];
b_cs = [-375,-187.5,0,187.5,375];
b_v = [0,43.75,87.5,131.25,175];
alfa
om0=1
k0=1
a1=12;
à=1
a2=1;
l2
l2=24;
figure;plot(vt)
figure;plot(x1)
figure;plot(x2)
figure;plot(x2-x4)
figure;plot(x1-x3)
figure;plot(S)
figure;plot(es_f)
figure;plot(es_ks)
figure;plot(S)
figure;plot(es_g1)
figure;plot(es_f)
figure;plot(x1-x3)
figure;plot(x1-zr)
figure;plot(x2-zr_dot)
figure;plot(u)
figure;plot(us)
figure;plot(uc)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(es_ms)
figure;plot(es_ks)
figure;plot(es_cs)
figure;plot(es_g1)
figure;plot(vt)
figure;plot(x2dot)
figure;plot(u)
figure;plot(vt)
figure;plot(zr)
figure;plot(x2dot)
figure;plot(S)
figure;plot(u)
%-- 19/02/2019 8:23 AM --%
load('input_x.mat')
load('input_y.mat')
b=[-10,-5,0,5,10]
clear
clc
load('input_y5.mat')
load('input_x5.mat')
Main3
Parameter
clear
clc
 MATLAB Command History Page 47
May 7, 2019 3:46:17 PM

Parameter
figure;plot(vt)
figure;plot(zr)
figure;plot(x2dot)
figure;plot(x1)
figure;plot(x2)
figure;plot(x3)
figure;plot(x4)
figure;plot(x1-x3)
figure;plot(x2-x4)
figure;plot(x1-zr)
figure;plot(x2-zr_dot)
figure;plot(f)
figure;plot(Fsd)
figure;plot(Fr)
figure;plot(u)
figure;plot(x2dot)
figure;plot(us)
figure;plot(uc)
figure;plot(es_f)
rho = 5;
figure;plot(x2dot)
rho = om0*k0;
rho = om0*k0
Parameter
rho = om0*k0
Parameter
figure;plot(x2dot)
rho = 25
figure;plot(S)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
5/1.2
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
7/1.2
6/1.2
6.5/1.2
Parameter
figure;plot(x2dot)
1.2*5
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
figure;plot(x1-zr)
figure;plot(x3)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
clear
Lb = [0.8 -1000 1 0.1 0.1 0.1]; % can duoi cua bien thiet ke
Ub = [0.95 5 3 100 100 1000]; % can tren cua bien thiet ke
Parameter
figure;plot(x2dot)
Main3_non_estimate
rho
rho = om0*k0
Main3_non_estimate
alfa = xval(1);
om0 = xval(2);
k0 = xval(3);
a1 = xval(4);
a2 = xval(5);
l2 = xval(6);
figure;plot(x2dot)
Main3
alfa = xval(1);
om0 = xval(2);
k0 = xval(3);
a1 = xval(4);
a2 = xval(5);
l2 = xval(6);
a_ks = sort(sort(vec2mat(xval(7:21),3),2),1);
a_cs = sort(sort(vec2mat(xval(22:36),3),2),1);
a_v = sort(sort(vec2mat(xval(37:51),3),2),1);
toc
figure;plot(x2dot)
om0
k0
figure;plot(x2dot)
figure;plot(vt)
figure;plot(zr)
figure;plot(x2dot)
 MATLAB Command History Page 48
May 7, 2019 3:46:17 PM

om0=6;k0=1.2;
om0=5;
a= a_v;b = b_v;
Plot_membership_function
a=a_ks;b=b_ks;
Plot_membership_function
figure;plot(x2dot)
clear
clc
load('sensor.mat')
figure;plot(zr)
clear
clc
load('luu_sine.mat')
alfa = xval(1);
om0 = xval(2);
k0 = xval(3);
a1 = xval(4);
a2 = xval(5);
l2 = xval(6);
a_ks = sort(sort(vec2mat(xval(7:21),3),2),1);
a_cs = sort(sort(vec2mat(xval(22:36),3),2),1);
a_v = sort(sort(vec2mat(xval(37:51),3),2),1);
clear fval
clear xval
PHI = 1;
eps = 0.1;
ms0 = 350;
ks0 = 13500;
cs0 = 1250;
ms = 390;%11600; % chassis mass (kg)
mu = 59;%850; % front suspension mass (kg)
ks1 = 14500;%6050000; % (N/m)
ks2 = 160000; % (N/m^3)
cs1 = 1385;%53900;%+10000; % (Ns/m)
cs2 = 524; % (Ns^2/m^2)
kt = 190000;%36800000;%-10^7; % (N/m)
ct = 14500;%81400; % (Ns/m)
deltaT = 1; % Simulation time step
%% Road track parameters
v = 10; % Car velocity (m/s)
figure;plot(x2dot)
figure;plot(x1)
load('luu_sine.mat')
alfa = xval(1);
om0 = xval(2);
k0 = xval(3);
a1 = xval(4);
a2 = xval(5);
l2 = xval(6);
a_ks = sort(sort(vec2mat(xval(7:21),3),2),1);
a_cs = sort(sort(vec2mat(xval(22:36),3),2),1);
a_v = sort(sort(vec2mat(xval(37:51),3),2),1);
b_ks = [-4050,-2025,0,2025,4050];
b_cs = [-375,-187.5,0,187.5,375];
b_v = [0,43.75,87.5,131.25,175];
om0=0.5
k0
k0=1.2
om0
om0=6
k0=1.2
PHI=0.1;
figure;plot(zr)
figure;plot(vt)
figure;plot(S)
figure;plot(x2dot)
figure;plot(x3)
figure;plot(x4)
figure;plot(us)
figure;plot(uc)
figure;plot(z)
figure;plot(es_ms)
figure;plot(es_d)
figure;plot(es_cs)
figure;plot(es_ks)
figure;plot(es_ms)
figure;plot(rho_ad)
figure;plot(es_f)
figure;plot(es_g1)
figure;plot(us)
figure;plot(S)
b_cs
a_cs
see
see.data
figure;plot(x2-zr_dot)
figure;plot(x2dot)
figure;plot(x2-zr_dot)
figure;plot(u)
figure;plot(us)
figure;plot(uc)
figure;plot(dt)
a_v
figure;plot(om)
figure;plot(u)
figure;plot(x2dot)
PHI
PHI=1;
om0=50;
k0
figure;plot(x2dot)
figure;plot(u)
figure;plot(om)
figure;plot(rho_ad)
om0
figure;plot(esf)
figure;plot(es_f)
figure;plot(es_g1)
om0=1000;
figure;plot(x2dot)
figure;plot(om)
figure;plot(x2dot)
om0=-1000;
figure;plot(x2dot)
om0=50;
k0=1;
figure;plot(x2dot)
k0=1000;
k0=500;
k0=250;
figure;plot(x2dot)
k0=350;
 MATLAB Command History Page 49
May 7, 2019 3:46:17 PM

k0=300;
k0=200;
figure;plot(x2dot)
om0=1000;
figure;plot(x2dot)
om0=-1000;
figure;plot(x2dot)
a1=1000;
a1=900;
Main3
a1=500;
clear
clc
Parameter
load('luu_sine.mat')
alfa = xval(1);
om0 = xval(2);
k0 = xval(3);
a1 = xval(4);
a2 = xval(5);
l2 = xval(6);
a_ks = sort(sort(vec2mat(xval(7:21),3),2),1);
a_cs = sort(sort(vec2mat(xval(22:36),3),2),1);
a_v = sort(sort(vec2mat(xval(37:51),3),2),1);
b_ks = [-4050,-2025,0,2025,4050];
b_cs = [-375,-187.5,0,187.5,375];
b_v = [0,43.75,87.5,131.25,175];
k0=200;om0=1000;
a1=500;
a2
a1=250;
a1=150;
a1=100;
figure;plot(x2dot)
figure;plot(u)
figure;plot(us)
figure;plot(uc)
figure;plot(S)
a2=1.2;
a1=80;
a1=70;
a1=50;
a1=20;
a1=10;
figure;plot(S)
figure;plot(x2dot)
a1=15;
a1=12;
a1=13;
figure;plot(x2dot)
a2=1000;
a2=100;
a2=10;
a2=5;
figure;plot(x2dot)
a2=8;
a2=0.1;
figure;plot(x2dot)
a2=8;
a1=12;
l2=1000
l2=24.4
a1=12;
a2=6;
a2=1.2;
figure;plot(x2dot)
a1=100;
a1=12;
l2=100;
figure;plot(x2dot)
l2=1000;
clear
clc
Main3
k0
om0
l2
a1
a2
Main3
clear all
close all
clc
Main3
om0
l2
clear all
close all
clc
Main3
clear
clear all
close all
Main3
clear all
close all
Main3
clear
clc
Main3
om0
k0
l2
a1
a2
a2=1
a2=1.8191
a1
a1=8
a1=11.4642
om0
om0=4
om0=2
om0=-8
om0=8.2133
k0
k0=1.2
alfa
k0=1.1
k0=om0/5
a=a_ks
b=b_ks
Plot_membership_function
 MATLAB Command History Page 50
May 7, 2019 3:46:17 PM

clear
clc
Lb = [0.8 1 1 0.1 1 0.1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1]; % can duoi cua bien thiet ke
Ub = [0.95 50 3 12 2 40 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20]; % can tren cua bien thiet ke
Lb = [-1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1]; % can duoi cua bien thiet ke
Ub = [1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20]; % can tren cua bien thiet ke
clear
clc
Main3_fuzzy
om0 = -100;
om0 = 6
a=a_cs;b=b_cs;
Plot_membership_function
a= sort(a)
Plot_membership_function
a=a_v;b=b_v
Plot_membership_function
clear
Lb = [-1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 0 0 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1]; % can duoi cua bien thiet ke
Ub = [0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 1 1 1 1 1 1 1 1 1 0 0 0 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20]; % can tren cua bien thiet ke
a_ks = sort(sort(vec2mat(Lb(7:21),3),2),1)
Main3_fuzzy
a=a_v;b=b_v
Plot_membership_function
a=a_cs;b=b_cs;
Plot_membership_function
Main3_fuzzy
a=a_cs;b=b_cs;
Plot_membership_function
a=a_ks;b=b_ks;
Plot_membership_function
Main3_fuzzy
a=a_ks;b=b_ks;
Plot_membership_function
a=a_cs;b=b_cs;
Plot_membership_function
%-- 20/02/2019 2:29 PM --%
load('luu_sine.mat')
a_ks = sort(sort(vec2mat(xval(7:21),3),2),1);
a_cs = sort(sort(vec2mat(xval(22:36),3),2),1);
a_v = sort(sort(vec2mat(xval(37:51),3),2),1);
a=a_v;b=b_v;
b_ks = [-4050,-2025,0,2025,4050];
b_cs = [-375,-187.5,0,187.5,375];
b_v = [0,43.75,87.5,131.25,175];
a=a_v;b=b_v;
Plot_membership_function
clear
Lb = [-2 -1 -0.5,-1 -1 -1,-1 -1 -1,-1 0 0.5,0 0.5 1]; % can duoi cua bien thiet ke
Ub = [-1 -0.5 0,-0.5 0 1,1 1 1,1 1 1,0.5 1 2]; % can tren cua bien thiet ke
Lb = [-2 -1 -0.5,-1 -1 -1,-1 -1 -1,-1 0 0.5,0 0.5 1,-2 -1 -0.5,-1 -1 -1,-1 -1 -1,-1 0 0.5,0 0.5 1,0 0 5,0 0 0,0 0 0,0 0 15,19 10 0]; % can duoi cua bien thiet ke
Ub = [-1 -0.5 0,-0.5 0 1,1 1 1,1 1 1,0.5 1 2,-1 -0.5 0,-0.5 0 1,1 1 1,1 1 1,0.5 1 2,1 10 20,5 20 20,20 20 20,20 20 20,20 20 15]; % can tren cua bien thiet ke
Main3_fuzzy
a=a_v;b=b_v;
Plot_membership_function
a=a_ks;b=b_ks;
Plot_membership_function
a=a_cs;b=b_cs;
Plot_membership_function
Main3_fuzzy
a=a_cs;b=b_cs;
Plot_membership_function
Main3_fuzzy
a=a_cs;b=b_cs;
Plot_membership_function
a=a_ks;b=b_ks;
Plot_membership_function
a=a_v;b=b_v;
Plot_membership_function
15+6
22+15
37+15
Main3
a=a_v;b=b_v;
Plot_membership_function
a=a_ks;b=b_ks;
Plot_membership_function
a=a_cs;b=b_cs;
Plot_membership_function
-.9
clear
Lb = [0.8 1 1 0.1 1 0.1,-.9 -.7 -.5 -1 -.8 -.6 -1 -.8 .7 -.3 -.1 .6 .1 .3 .5,-.9 -.7 -.5 -1 -.8 -.6 -1 -.8 .7 -.3 -.1 .6 .1 .3 .5,]; % can duoi cua bien thiet ke
Ub = [0.95 50 3 12 2 40,.5 -.3 -.1 -.6 .1 .3 -.3 .8 1 .6 .8 1 .5 .7 .9,.5 -.3 -.1 -.6 .1 .3 -.3 .8 1 .6 .8 1 .5 .7 .9,]; % can tren cua bien thiet ke
Lb = [0.8 1 1 0.1 1 0.1,-.9 -.7 -.5 -1 -.8 -.6 -1 -.8 .7 -.3 -.1 .6 .1 .3 .5,-.9 -.7 -.5 -1 -.8 -.6 -1 -.8 .7 -.3 -.1 .6 .1 .3 .5,1 3 5 0 2 4 0 2 17 7 9 16 11 13 15]; % can duoi cua
bien thiet ke
Ub = [0.95 50 3 12 2 40,.5 -.3 -.1 -.6 .1 .3 -.3 .8 1 .6 .8 1 .5 .7 .9,.5 -.3 -.1 -.6 .1 .3 -.3 .8 1 .6 .8 1 .5 .7 .9,5 7 9 4 11 13 3 18 20 16 18 20 15 17 19]; % can tren cua bien thiet
ke
Main3
a=a_cs;b=b_cs;
Plot_membership_function
Main3
a=a_cs;b=b_cs;
Plot_membership_function
Main3
a=a_cs;b=b_cs;
Plot_membership_function
a=a_ks;b=b_ks;
Plot_membership_function
a=a_v;b=b_v;
Plot_membership_function
clear
clc
Lb = [-1 -.9 -.6 -1 -.7 -.3 -1 -.4 .4 -.1 .3 .7 .1 .6 .9,-1 -.9 -.6 -1 -.7 -.3 -1 -.4 .4 -.1 .3 .7 .1 .6 .9,0 1 4 0 3 7 0 6 14 0 13 17 11 16 19]; % can duoi cua bien thiet ke
Ub = [-.9 -.6 -.1 -.7 -.3 .1 -.4 .4 1 .3 .7 1 .6 .9 1,-.9 -.6 -.1 -.7 -.3 .1 -.4 .4 1 .3 .7 1 .6 .9 1,1 4 9 3 7 20 6 14 20 13 17 20 16 19 20]; % can tren cua bien thiet ke
Main3_fuzzy
Main3
a_ks = sort(vec2mat(xval(7:21),3),2);
a_cs = sort(vec2mat(xval(22:36),3),2);
a_v = sort(vec2mat(xval(37:51),3),2);
toc
figure;plot(x2dot)
a=a_v;b=b_v;
Plot_membership_function
figure;plot(x2dot)
figure;plot(es_g1)
figure;plot(es_f)
figure;plot(us)
figure;plot(x2dot)
figure;plot(u)
figure;plot(us)
figure;plot(uc)
figure;plot(x2dot)
Main3
 MATLAB Command History Page 51
May 7, 2019 3:46:17 PM

om0
k0
Main3
a1
Main3
a1
Main3
a1
Main3
om0
l2
a1
Main3
om0
l2
a1
Main3
a=a_v;b=b_v;
Plot_membership_function
a=a_ks;b=b_ks;
Plot_membership_function
figure;plot(x2dot)
om0
k0
l2
a_ks
b_ks
b_cs
b_v
clear
Lb = [-4050 -4050 -4050 -4050 -4050,-375 -375 -375 -375 -375,0 0 0 0 0]; % can duoi cua bien thiet ke
Ub = [4050 4050 4050 4050 4050,375 375 375 375 375,175 175 175 175 175]; % can tren cua bien thiet ke
Main4
a=a_ks;b=b_ks;
Plot_membership_function
a=a_v;b=b_v;
Plot_membership_function
figure;plot(x2dot)
max(x2dot.data)
mean(x2dot.data)
Main4
figure;plot(x2dot)
clear
clc
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
om0
om0=-om0
k0
k0=2
k0=1.2
l2
l2=24.4
a2=1
Parameter
a2=1
Parameter
a1=9
figure;plot(x2dot)
a1=48
a1=40
a1=30
figure;plot(x2dot)
a1=1.2
figure;plot(x2dot)
a1=9
Parameter
a1=30
figure;plot(x2dot)
figure;plot(u)
ms0*10
figure;plot(uc)
figure;plot(us)
figure;plot(es_g1)
1/ms0
figure;plot(es_f)
figure;plot(es_ks)
ks
ks0
figure;plot(es_cs)
figure;plot(x1-zr)
0.08*13504
figure;plot(x2-zr_dot)
figure;plot(es_g1.time,es_g1.data.*(es_ks.data.*(x1.data-zr.data)+es_cs.data.*(x2.data-zr_dot.data)))
figure;plot(es_g1)
Parameter
figure;plot(x2dot)
figure;plot(es_g1.time,es_g1.data.*(es_ks.data.*(x1.data-zr.data)+es_cs.data.*(x2.data-zr_dot.data)))
figure;plot(us)
figure;plot(es_g1.time,es_g1.data.*(es_ks.data.*(x1.data-x3.data)+es_cs.data.*(x2.data-x4.data)))
figure;plot(rho_ad)
figure;plot(S)
figure;plot(x2.time,-a1*x2.data./(es_g1.data+eps))
figure;plot(x2.time,-a1*x2.data./(-1/ms0+eps))
figure;plot(x2.time,-a1*x2.data/(-1/ms0+eps))
a1
Parameter
figure;plot(x2.time,-a1*x2.data/(-1/ms0+eps))
load('road2.mat')
load('road3.mat')
figure;plot(x2.time,-a1*x2.data/(-1/ms0+eps))
figure;plot(Fr+Fsd)
Parameter
figure;plot(es_f)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(rho_ad)
Parameter
figure;plot(rho_ad)
Parameter
%-- 22/02/2019 6:43 AM --%
Parameter
ks0
ks0*0.2
 MATLAB Command History Page 52
May 7, 2019 3:46:17 PM

ks0*0.1
cs0*0.2
cs0*0.1
v*0.1
ms0*0.2
ms0*0.1
Parameter
figure;plot(x2dot)
figure;plot(ut)
figure;plot(u)
Parameter
figure;plot(ut)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
1350/2
125/2
35/2
Parameter
figure;plot(x2dot)
figure;plot(u)
675/2
62.5/2
17.5/2
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
figure;plot(u)
figure;plot(es_f)
clear
clc
Lb = [0.8 -50 1 0.1 1 0.1,-1 -.9 -.6 -1 -.7 -.3 -1 -.4 .4 -.1 .3 .7 .1 .6 .9,-1 -.9 -.6 -1 -.7 -.3 -1 -.4 .4 -.1 .3 .7 .1 .6 .9]; % can duoi cua bien thiet ke
Ub = [0.95 50 3 50 2 1000,-.9 -.6 -.1 -.7 -.3 .1 -.4 .4 1 .3 .7 1 .6 .9 1,-.9 -.6 -.1 -.7 -.3 .1 -.4 .4 1 .3 .7 1 .6 .9 1]; % can tren cua bien thiet ke
Main5
Parameter
figure;plot(x2dot)
Main5
ks0*0.2
2700/2
cs0*0.2
v*0.2
ms0*0.2
Main5
a_ks
ks0*0.2
clear
clc
Lb = [-2700 -2700 -2700 -2700 -2700,-250 -250 -250 -250 -250,-70 -70 -70 -70 -70]; % can duoi cua bien thiet ke
Ub = [2700 2700 2700 2700 2700,250 250 250 250 250,70 70 70 70 70]; % can tren cua bien thiet ke
Main4
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
figure;plot(us)
figure;plot(es_f)
figure;plot(es_g1)
Main4
%-- 25/02/2019 10:18 AM --%
Parameter
2700/2
clear
clc
Main4
1350/2
125/2
35/2
Main4
%-- 25/02/2019 1:53 PM --%
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(u)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
%-- 26/02/2019 7:54 AM --%
Parameter
rho = om0*k0
Parameter
rho = om0*k0
figure;plot(x2dot)
rho = om0
figure;plot(x2dot)
rho = 1.2
figure;plot(x2dot)
rho = 0.2
figure;plot(x2dot)
l2=24.4
figure;plot(x2dot)
rho = 1.2
Parameter
rho = 1.2
ot
figure;plot(x2dot)
figure;plot(u)
figure;plot(us)
 MATLAB Command History Page 53
May 7, 2019 3:46:17 PM

Parameter
figure;plot(x2dot)
rho = 1.5
figure;plot(x2dot)
Parameter
figure;plot(us)
figure;plot(u)
figure;plot(x1)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
rho = 10
figure;plot(x2dot)
Parameter
rho = 1000
figure;plot(x2dot)
a2=1000
figure;plot(x2dot)
a1=1000
figure;plot(x2dot)
Main2
%-- 26/02/2019 8:54 AM --%
Main2
figure;plot(x2dot)
a2=1;
figure;plot(x2dot)
Main2
alfa
a1
rho
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Main3
a1
om0
k0
Main3
k0
om0
Main3
om0
k0
Main3
k0
Main3
alfa
om0
a1
Parameter
figure;plot(x2dot)
k0=100
figure;plot(x2dot)
Main3
om0
Parameter
count
data(count) = max(abs(result.x2dot.data))
data(5)
data(count,1) = max(abs(result.x2dot.data))
clear
Parameter
save('data.mat',data);
save('data.mat','data');
A = reshape(data,[100,20])
mesh(1:100,1:20,A)
mesh(1:20,1:100,A)
colormap jet
save('data1.mat','A');
Parameter
save('data3.mat','data');
A = reshape(data,[1000,200])
A = vec2mat(data,1000)
A = vec2mat(data,200)
save('data2.mat','A');
mesh(1:200,1:1000,A)
mesh(1:200,1:223,A)
colormap jet
clear
clc
alfa = 0.99
Parameter
figure;plot(x2dot)
a = inf
a = +inf
a = -inf
a = inf
Parameter
figure;plot(x2dot)
clear
clc
alfa = 0.99;
Parameter
figure;plot(x2dot)
figure;plot(x2)
figure;plot(x1)
figure;plot(zr)
figure;plot(x1)
figure;plot(x2)
figure;plot(x2dot)
Parameter
figure;plot(zr)
figure;plot(x1)
figure;plot(x2)
figure;plot(x2dot)
load('road1.mat')
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
 MATLAB Command History Page 54
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Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Main2
clear
clc
Main2
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(us)
figure;plot(u)
Parameter
figure;plot(x2dot)
clear
load('input_x.mat')
load('output_y.mat')
a_ks = a;a_cs = a;a_v = a;
%-- 28/02/2019 10:44 AM --%
load('luu_test2_road3.mat')
load('luu_test3_road3.mat')
Parameter
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
figure;plot(us)
figure;plot(uc)
figure;plot(es_f)
figure;plot(es_g1)
figure;plot(es_d)
Parameter
clear
Parameter
clear
Lb = [0.8 1 1 1 1 1,-1 -.9 -.6 -1 -.7 -.3 -1 -.4 .4 -.1 .3 .7 .1 .6 .9,-1 -.9 -.6 -1 -.7 -.3 -1 -.4 .4 -.1 .3 .7 .1 .6 .9,0 1 4 0 3 7 0 6 14 0 13 17 11 16 19]; % can duoi cua bien
thiet ke
Ub = [0.95 100 100 100 100 1000,-.9 -.6 -.1 -.7 -.3 .1 -.4 .4 1 .3 .7 1 .6 .9 1,-.9 -.6 -.1 -.7 -.3 .1 -.4 .4 1 .3 .7 1 .6 .9 1,1 4 9 3 7 20 6 14 20 13 17 20 16 19 20]; % can tren cua
bien thiet ke
claer
clear
Main4
Parameter
figure;plot(x2dot)
Main4
Parameter
figure;plot(x2dot)
ks0*0.2
cs0*0.2
v*0.2
v0*0.2
clear
Lb = [-2700 -2700 -2700 -2700 -2700,-250 -250 -250 -250 -250,-18 -18 -18 -18 -18]; % can duoi cua bien thiet ke
Ub = [2700 2700 2700 2700 2700,250 250 250 250 250,18 18 18 18 18]; % can tren cua bien thiet ke
Main4_2
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
a=a_v;b=b_v;
Plot_membership_function
clear
clc
Main4_3
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(om)
figure;plot(x2dot)
figure;plot(es_f)
figure;plot(es_g1)
figure;plot(uc)
figure;plot(us)
figure;plot(x2dot)
Main4_3
Parameter
om0 = 100;
k0 = 100;
a1 = 1000;
a2 = 100;
l2 = 1000;
figure;plot(x2dot)
figure;plot(om0)
figure;plot(om)
figure;plot(om0)
figure;plot(x2dot)
figure;plot(om)
Main4_3
om0
figure;plot(x2dot)
figure;plot(es_f)
figure;plot(es_g1)
figure;plot(om)
figure;plot(u)
figure;plot(us)
figure;plot(uc)
figure;plot(es_g1.time,es_g1.data+eps)
figure;plot(S)
figure;plot(S.time,S.data/PHI)
om0*k0
figure;plot(rho_ad)
figure;plot(u)
figure;plot(us)
figure;plot(es_d)
figure;plot(es_ms)
Main4_3
a1
a2
om0
k0
l2
 MATLAB Command History Page 55
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alfa
a1
a2
om0
k0
l2
Main4_3
a1
a2
om0
k0
l2
figure;plot(x2dot)
Main4_3
a1
a2
om0
k0
l2
Parameter
figure;plot(x2dot)
figure;plot(rho_ad)
figure;plot(om)
figure;plot(us)
figure;plot(x1)
figure;plot(x2)
figure;plot(x2-zr_dot)
figure;plot(es_g1)
k0*om0
figure;plot(S)
figure;plot(x2dot)
figure;plot(rho_ad)
figure;plot(om)
figure;plot(f)
figure;plot(us)
%-- 02/03/2019 9:52 AM --%
Parameter
figure;plot(om)
om0
figure;plot(om)
figure;plot(x2dot)
figure;plot(zr)
Main4_3
om0
k0
figure;plot(om)
om0
figure;plot(x2dot)
figure;plot(u)
figure;plot(us)
figure;plot(uc)
figure;plot(S)
figure;plot(es_g1)
figure;plot(es_f)
figure;plot(rho_ad)
a11
a1
a2
om0
k0
l2
Main4_3
a1
a2
om0
k0
l2
Main4_3
o_ad
figure;plot(rho_ad)
figure;plot(om)
figure;plot(es_f)
figure;plot(es_g1)
figure;plot(us)
figure;plot(x2dot)
Main4_3
figure;plot(x2dot)
figure;plot(om)
figure;plot(rho_ad)
figure;plot(es_g1)
figure;plot(es_f)
figure;plot(S)
figure;plot(us)
figure;plot(S)
figure;plot(S.time,S.data.*us.data)
Main4_3
figure;plot(S.time,S.data.*us.data)
a1
a2
Main4_3
Parameter
figure;plot(x2dot)
figure;plot(om)
figure;plot(rho_ad)
figure;plot(S)
figure;plot(es_g1)
figure;plot(es_ms)
figure;plot(es_ms.time,es_ms.data+ms0)
figure;plot(es_ms)
Parameter
figure;plot(es_ms)
figure;plot(x2dot)
figure;plot(rho_ad)
om0
k0
S
Parameter
figure;plot(rho_ad)
figure;plot(x2dot)
Main4_3
Parameter
figure;plot(x2dot)
figure;plot(rho_ad)
var(x2dot.data)
Main4_3
á
a1
a2
om0
k0
l2
alfa
figure;plot(rho_ad)
 MATLAB Command History Page 56
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figure;plot(om)
figure;plot(x2dot)
figure;plot(us)
figure;plot(uc)
figure;plot(es_f)
figure;plot(es_g1)
figure;plot(es_ms)
ms0*0.2
Main4_3
%-- 04/03/2019 10:19 AM --%
Parameter
figure;plot(x2dot)
Parameter
%-- 04/03/2019 11:07 AM --%
Parameter
b_cs
b=b_cs
b(1)
b(2)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(rho_ad)
figure;plot(om)
figure;plot(es_f)
figure;plot(es_g1)
Parameter
figure;plot(x2dot)
figure;plot(es_g1)
figure;plot(es_ms)
figure;plot(es_f)
figure;plot(om)
figure;plot(rho_ad)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(om)
figure;plot(rho_ad)
Main4_3
figure;plot(x2dot)
figure;plot(x1)
figure;plot(x2)
figure;plot(rho_ad)
figure;plot(S)
figure;plot(us)
figure;plot(om)
figure;plot(es_f)
figure;plot(es_g1)
figure;plot(es_ms)
figure;plot(x2dot)
figure;plot(om)
figure;plot(x2dot)
figure;plot(om)
Main4_3
figure;plot(om)
figure;plot(S)
figure;plot(us)
figure;plot(x2dot)
dot
figure;plot(es_ms)
figure;plot(es_d)
figure;plot(es_g1)
figure;plot(es_f)
figure;plot(rho_ad)
set_param('test','AlgebraicLoopSolver','LineSearch')
in = Simulink.SimulationInput('test');
in = in.setVariable('alfa',x(1));
in = in.setVariable('a1',x(2));
in = in.setVariable('a2',x(3));
in = in.setVariable('om0',x(4));
in = in.setVariable('k0',x(5));
in = in.setVariable('l2',x(6));
in = in.setVariable('a_ks',a_ks);
in = in.setVariable('a_cs',a_cs);
in = in.setVariable('a_v',a_v);
in = in.setVariable('b_ks',b_ks);
in = in.setVariable('b_cs',b_cs);
in = in.setVariable('b_v',b_v);
in.applyToModel
result = sim(in);
fpenal = max(abs(result.x2dot.data));
Main4_3
%-- 04/03/2019 3:28 PM --%
Main4_3
%-- 04/03/2019 5:58 PM --%
Para
%-- 05/03/2019 8:09 AM --%
t
p
P
x
figure;plot(x(:,1))
figure;plot(x(:,2))
figure;plot(x(:,10))
figure;plot(x(:,6))
figure;plot(x(:,7))
figure;plot(x(:,12))
figure;plot(tol(:,1))
figure;plot(tol1(:,1))
MISO_Para
Parameter
Main4_3
figure;plot(x2dot)
Main4_3
Parameter
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x2dot)
figure;plot(zr)
Parameter
figure;plot(zr)
figure;plot(x2dot)
figure;plot(rho_ad)
figure;plot(om)
figure;plot(es_g1)
figure;plot(es_f)
figure;plot(us)
figure;plot(S)
figure;plot(uc)
 MATLAB Command History Page 57
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figure;plot(es_ms)
figure;plot(v)
figure;plot(vt)
figure;plot(x2dot)
% Define om0 based on maximum value of om as follow
f = 1/(ms0)*(ks0*(x1.data-zr.data)+cs0*(x2.data-zr_dot.data)); %vector
g1 = -1/ms0; %constant
om = f - es_f.data + (g1 - es_g1.data).*us.data
figure;plot(om)
Main4_3
Parameter
figure;plot(x2dot)
var(x2dot.data)
max(x2dot.data)
max(x2dot.data)*var(x2dot.data)
Main4_3
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(us)
Parameter
figure;plot(us)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
correcoef(x2dot.data)
corrcoef(x2dot.data)
cov(x2dot.data)
var(x2dot.data)
std(x2dot.data)
max(abs(x2dot.data))
max((x2dot.data))
max(abs(x2dot.data))*var(x2dot.data)*mean(x2dot.data)*std(x2dot.data)
var(x2dot.data)
mean(x2dot.data
mean(x2dot.data)
mean(abs(x2dot.data))
std(x2dot.data)
Main4_3
Parameter
figure;plot(x2dot)
%-- 06/03/2019 12:31 PM --%
MISO_Para
x1 = 3;x2= 1;
A = zeros(length(a),1);
B = zeros(length(b),1);
for i = 1:length(a)
% A is colum matrix [i x 1]
A(i,1) = trimf(x1,[a(i,1),a(i,2),a(i,3)]);
end
for j = 1:length(b)
% B is colum matrix [j x 1]
B(j,1) = trimf(x2,[b(j,1),b(j,2),b(j,3)]);
end
out_membership = min(A,B)
a
A
B
out_membership = A*B'
x2 = 4
A = zeros(length(a),1);
B = zeros(length(b),1);
for i = 1:length(a)
% A is colum matrix [i x 1]
A(i,1) = trimf(x1,[a(i,1),a(i,2),a(i,3)]);
end
for j = 1:length(b)
% B is colum matrix [j x 1]
B(j,1) = trimf(x2,[b(j,1),b(j,2),b(j,3)]);
end
A
B
out_membership = A*B'
count = 1;
temp = zeros(length(a)*length(b),1);
for i = 1:length(a)
for j = 1:length(b)
temp(count,1) = c(fuzzylaw(i,j))*out_membership(i,j);
end
end
y = sum(temp)/sum(sum(out_membership))
temp
sum(out_membership)
sum(sum(out_membership))
out_membership = min(A,B)
c.*out_membership
c
c*out_membership
sum(out_menbership)
sum(out_membership)
y = c*out_membership/sum(out_membership);
y = c*out_membership/sum(out_membership)
out_membership = zeros(
out_membership = zeros(i*j,1)
count = 1;
out_membership = zeros(i*j,1);
temp = zeros(length(a)*length(b),1);
for i = 1:length(a)
for j = 1:length(b)
out_membership(count,1) = min(A(i)*B(j));
temp(count,1) = c(fuzzylaw(i,j))*out_membership(i,j);
end
end
count = 1;
out_membership = zeros(i*j,1);
temp = zeros(length(a)*length(b),1);
for i = 1:length(a)
for j = 1:length(b)
out_membership(count,1) = min(A(i)*B(j));
temp(count,1) = c(fuzzylaw(i,j)).*out_membership(i,j);
end
end
for i = 1:length(a)
for j = 1:length(b)
out_membership(count,1) = min(A(i)*B(j));
end
end
out_membership
for i = 1:length(a)
for j = 1:length(b)
 MATLAB Command History Page 58
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out_membership(count,1) = min(A(i)*B(j));
count = count+1;
end
end
out_membership
for i = 1:length(a)
for j = 1:length(b)
out_membership(count,1) = min(A(i)*B(j));
temp(count,1) = c(fuzzylaw(i,j)).*out_membership(i,j);
count = count+1;
end
end
for i = 1:length(a)
for j = 1:length(b)
out_membership(count,1) = min(A(i)*B(j));
temp(count,1) = c(fuzzylaw(i,j))*out_membership(i,j);
count = count+1;
end
end
for i = 1:length(a)
for j = 1:length(b)
out_membership(count,1) = min(A(i)*B(j));
temp(count,1) = c(fuzzylaw(i,j))
end
end
temp
count = 1;
out_membership = zeros(i*j,1);
temp = zeros(length(a)*length(b),1);
for i = 1:length(a)
for j = 1:length(b)
out_membership(count,1) = min(A(i)*B(j));
temp(count,1) = c(fuzzylaw(i,j))
count = count+1;
end
end
count = 1;
out_membership = zeros(i*j,1);
temp = zeros(length(a)*length(b),1);
for i = 1:length(a)
for j = 1:length(b)
out_membership(count,1) = min(A(i)*B(j));
temp(count,1) = c(fuzzylaw(i,j)).*out_membership(i,j);
count = count+1;
end
end
count = 1;
out_membership = zeros(i*j,1);
temp = zeros(length(a)*length(b),1);
for i = 1:length(a)
for j = 1:length(b)
out_membership(count,1) = min(A(i)*B(j));
temp(count,1) = c(fuzzylaw(i,j))*out_membership(i,j);
count = count+1;
end
end
count = 1;
out_membership = zeros(i*j,1);
temp = zeros(length(a)*length(b),1);
for i = 1:length(a)
for j = 1:length(b)
out_membership(count,1) = min(A(i)*B(j));
temp(count,1) = c(fuzzylaw(i,j))*out_membership(count,1);
count = count+1;
end
end
sum(temp)
y
sum(out_membership)
y = sum(temp)/sum(out_membership);
y = sum(temp)/sum(out_membership)
clear
clc
MISO_Para
x1 = 3;x2 = 4
A = zeros(length(a),1);
B = zeros(length(b),1);
for i = 1:length(a)
% A is colum matrix [i x 1]
A(i,1) = trimf(x1,[a(i,1),a(i,2),a(i,3)]);
end
for j = 1:length(b)
% B is colum matrix [j x 1]
B(j,1) = trimf(x2,[b(j,1),b(j,2),b(j,3)]);
end
% out_membership is matrix [i x j]
% out_membership = A*B';
% count = 1;
% temp = zeros(length(a)*length(b),1);
% for i = 1:length(a)
% for j = 1:length(b)
% temp(count,1) = c(fuzzylaw(i,j))*out_membership(i,j);
% end
% end
% y = sum(temp)/sum(sum(out_membership));
% out_membership is matrix [i x j]
count = 1;
out_membership = zeros(i*j,1);
temp = zeros(length(a)*length(b),1);
for i = 1:length(a)
for j = 1:length(b)
out_membership(count,1) = min(A(i)*B(j));
temp(count,1) = c(fuzzylaw(i,j))*out_membership(count,1);
count = count+1;
end
end
y = sum(temp)/sum(out_membership);
y
clear
clc
MISO_Para
c(1,1)
c(2,1)
c(1,2)
figure;plot(result)
MISO_Para
A=[];
for i = 1:length(x)
A(1,i) = trapmf(x(i),[-10,a(1,1),a(1,2),a(1,3)]);
A(2,i) = trimf(x(i),[a(2,1),a(2,2),a(2,3)]);
A(3,i) = trimf(x(i),[a(3,1),a(3,2),a(3,3)]);
A(4,i) = trimf(x(i),[a(4,1),a(4,2),a(4,3)]);
A(5,i) = trapmf(x(i),[a(5,1),a(5,2),a(5,3),30]);
 MATLAB Command History Page 59
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% A(5,i) = trapmf(x(i),[a(5,1),a(5,2),a(5,3),10]);
end
figure;
subplot(2,1,1);
plot(x,A(1,:),x,A(2,:),x,A(3,:),x,A(4,:),x,A(5,:),'LineWidth',2);
hold on
legend 'A1' 'A2' 'A3' 'A4' 'A5'
x = 0:0.001:20;
A=[];
for i = 1:length(x)
A(1,i) = trapmf(x(i),[-10,a(1,1),a(1,2),a(1,3)]);
A(2,i) = trimf(x(i),[a(2,1),a(2,2),a(2,3)]);
A(3,i) = trimf(x(i),[a(3,1),a(3,2),a(3,3)]);
A(4,i) = trimf(x(i),[a(4,1),a(4,2),a(4,3)]);
A(5,i) = trapmf(x(i),[a(5,1),a(5,2),a(5,3),30]);
% A(5,i) = trapmf(x(i),[a(5,1),a(5,2),a(5,3),10]);
end
figure;
subplot(2,1,1);
plot(x,A(1,:),x,A(2,:),x,A(3,:),x,A(4,:),x,A(5,:),'LineWidth',2);
b=c
%% Output
y = -10:0.001:10;
subplot(2,1,2);
hold on
line([b(1) b(1)],[0 1],'color',[0 0 1],'LineWidth',3);
line([b(2) b(2)],[0 1],'color',[1 0 0],'LineWidth',3);
line([b(3) b(3)],[0 1],'color',[1 1 0],'LineWidth',3);
line([b(4) b(4)],[0 1],'color',[1 0 1],'LineWidth',3);
line([b(5) b(5)],[0 1],'color',[0 1 0],'LineWidth',3);
legend 'B1' 'B2' 'B3' 'B4' 'B5'
hold off
clear
clc
MISO_Para
%-- 07/03/2019 8:57 PM --%
load('luu_test5_road5.mat')
alfa = xval(1);
a1 = xval(2);
a2 = xval(3);
om0 = xval(4);
k0 = xval(5);
l2 = xval(6);
a_ks = sort(vec2mat(xval(7:21),3),2);
a_cs = sort(vec2mat(xval(22:36),3),2);
a_v = sort(vec2mat(xval(37:51),3),2);
b_ks = sort(xval(52:56));
b_cs = sort(xval(57:61));
b_v = sort(xval(62:66));
Parameter
load('luu_test4_road5.mat')
alfa = xval(1);
a1 = xval(2);
a2 = xval(3);
om0 = xval(4);
k0 = xval(5);
l2 = xval(6);
a_ks = sort(vec2mat(xval(7:21),3),2);
a_cs = sort(vec2mat(xval(22:36),3),2);
a_v = sort(vec2mat(xval(37:51),3),2);
b_ks = sort(xval(52:56));
b_cs = sort(xval(57:61));
b_v = sort(xval(62:66));
figure;plot(x2dot)
%-- 08/03/2019 8:06 AM --%
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
%-- 09/03/2019 3:32 PM --%
asin(1)
sin(1)
sin(6)
sin(1)+sin(6)
ans/2
sin(2.61799)
sinh(90)
sin(90)
%-- 11/03/2019 12:03 PM --%
Parameter
load('luu_test4_road5.mat')
alfa = xval(1);
a1 = xval(2);
a2 = xval(3);
om0 = xval(4);
k0 = xval(5);
l2 = xval(6);
a_ks = sort(vec2mat(xval(7:21),3),2);
a_cs = sort(vec2mat(xval(22:36),3),2);
a_v = sort(vec2mat(xval(37:51),3),2);
b_ks = sort(xval(52:56));
b_cs = sort(xval(57:61));
b_v = sort(xval(62:66));
Parameter
load('luu_test4_road5.mat')
alfa = xval(1);
a1 = xval(2);
a2 = xval(3);
om0 = xval(4);
k0 = xval(5);
l2 = xval(6);
a_ks = sort(vec2mat(xval(7:21),3),2);
a_cs = sort(vec2mat(xval(22:36),3),2);
a_v = sort(vec2mat(xval(37:51),3),2);
b_ks = sort(xval(52:56));
 MATLAB Command History Page 60
May 7, 2019 3:46:17 PM

b_cs = sort(xval(57:61));
b_v = sort(xval(62:66));
figure;plot(x2dot)
clear all;
%%
% d(t) la ma tran [1,1]
%% Quarter car suspension parameters
ms0 = 350;
ks0 = 13500;
cs0 = 1250;
ms = 390;%11600; % chassis mass (kg)
ks1 = 14500;%6050000; % (N/m)
ks2 = 160000; % (N/m^3)
cs1 = 1385;%53900;%+10000; % (Ns/m)
cs2 = 524; % (Ns^2/m^2)
deltaT = 1; % Simulation time step
%% Road track parameters
v0 = 10; % Car velocity (m/s)
%% Controller's parameters
% ========================================================================
%--- test 1: Non fuzzy, Non DO, Non adaptive ---
% alfa = 0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 7.986;
% a2 = 1;
% rho = 1;
% ========================================================================
%--- test 2: Non fuzzy, Non DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.860319003332432;%0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 7.29671443237562;%17.986; %[1:1000]
% a2 = 31.0910725400231;%1.5; %[1:100]
% om0 = 1.00877010240269;%50; %[1:100]
% k0 = 1.00737100496601;%8; %[1:100]
% ========================================================================
%--- test 3: Non fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.903939427492506;%0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 99.9999064998740;%1000; %[1:1000]
% a2 = 5.79880041558778;%100; %[1:100]
% om0 = 17.2650956350313;%100; %[1:100]
% k0 = 10.3014247024466;%100; %[1:100]
% l2 = 999.976462438817;%1000; %[1:1000]
% ========================================================================
%--- test 4_2: fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.861122351620850;
% PHI = 1;
% eps = 0.00001;
% a1 = 17.8051334428289; %[1:1000]
% a2 = 4.15358762147605; %[1:100]
% om0 = 39.3843577627403; %[1:100]
% k0 = 86.8262524222660; %[1:100]
% l2 = 702.476609911729; %[1:1000]
% a_ks = [-0.961333833670403,-0.899330803307806,-0.203641573649615;-0.714587210318562,-0.603776949561476,-0.0519421171400566;-0.569401535919983,-0.154732666542345,0.460515085255760;
-0.0369634433082456,0.511765121542169,0.920910287034163;0.496740417632112,0.805139098955115,0.967740436059881];
% a_cs = [-0.964478709339200,-0.703798450742280,-0.202268870219115;-0.846373670477416,-0.439204115799397,-0.134488848135273;-0.434917577984332,0.298947008155214,0.709230916791695;
0.0364888173167297,0.589560571026918,0.909128421524052;0.307327526029337,0.730196130188434,0.947516426147854];
% a_v = [0.328785173988373,2.39593998531366,8.88322805855561;2.48709144872506,5.12061363616383,11.6815068561810;0.614371040457829,9.70927511772269,15.0725582269162;
8.39850167206166,14.4186070019695,19.9958790809412;15.3373277074801,18.5401718582444,19.4919540118303];
% b_ks = [1.140838867648064e+03,1.563325184283469e+03,1.758974301114079e+03,1.924089934055805e+03,2.051296327176498e+03];
% b_cs = [-2.498011749318166e+02,-2.211457657563566e+02,-2.200934113180452e+02,-1.331636142939386e+02,35.590617737909355];
% b_v = [-14.033809303187045,-12.805152377743184,-4.217941212324154,3.362846124008737,10.451969690448408];
%--- test 4_3: fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.874416474647554;
% PHI = 1;
% eps = 0.00001;
% a1 = 28.1392941024985; %[1:1000]
% a2 = 10.7845176650621; %[1:100]
% om0 = 34.5676695821628; %[1:100]
% k0 = 54.1569841534051; %[1:100]
% l2 = 258.860891174173; %[1:1000]
% a_ks = [-0.909321819546334,-0.869712774181164,-0.179843630817213;-0.963285089514859,-0.356840041586254,-0.140732467996760;-0.436434511599391,-0.245511314626646,0.883452262287000;
-0.0630940718442964,0.402226661030769,0.914753087428342;0.409725350210209,0.774503174777497,0.942170626061155];
% a_cs = [-0.976945336186364,-0.797201708837825,-0.427421164318919;-0.774172643681359,-0.416686598076169,0.0346770342368840;-0.932904329295419,-0.331287397930847,0.487727937403140;
-0.0785075701520996,0.345441808596640,0.859897892632272;0.121013412059236,0.867147411357205,0.954525074131468];
% a_v = [0.188652933368498,2.88981447130858,7.31480834791171;0.501036698544254,4.89195413361812,15.8132956435916;2.49033011205642,10.1025078277259,16.3137115355969;
4.05292187550237,16.7215215705902,19.4229006842103;12.6875289657005,16.8927853070839,19.1682094196034];
% b_ks = [-2.620557275934223e+03,-1.265516610039276e+03,-1.423774897699486e+02,-10.156385214324473,8.479207791864951e+02];
% b_cs = [-2.443365882555417e+02,-1.664782162098575e+02,-9.825496107831356,65.567947526495000,1.794194044619588e+02];
% b_v = [-15.465113855193097,-13.151186792520216,-1.698982456219930,-0.093164606124731,5.304098059099491];
% %--- test 5:(1) fuzzy, DO, adaptive, rho_ad(t)---
% alfa = 0.942574137392154;
% PHI = 1;
% eps = 0.00001;
% a1 = 3.91996797753072; %[1:1000]
% a2 = 2.07976755703195; %[1:100]
% om0 = 269.403735195640; %[-350:350]
% k0 = 11.9560677334591; %[1:100]
% l2 = 868.234961755542; %[1:1000]
% a_ks = [-0.913896567489805,-0.810261969390445,-0.422672700921023;-0.773928252931969,-0.361619465367881,-0.177879139876683;-0.777924122264101,-0.382036228803866,0.905615805916168;
0.229524107564833,0.394946567682202,0.935038850388764;0.535072020144214,0.899747236052216,0.931111451425247];
% a_cs = [-0.909039044387363,-0.778873713173897,-0.374680973382311;-0.760482140097871,-0.586185865079997,-0.0465314259503577;-0.410535020852223,0.0498287545782999,0.934688746187930;
0.155095405571576,0.385341428516406,0.934664179179562;0.117689703735145,0.667028409753918,0.940737855689643];
% a_v = [0.824075546020548,3.73508436481782,6.27810925892297;1.14963865009847,3.42813258034903,8.38975258642237;3.08156413016454,6.63650613917525,19.8924901900451;
1.79328024770914,13.9678825020215,18.8788586306687;14.3602763361050,17.7385926821352,19.6866696052026];
% b_ks = [-2482.18727930770,-330.541066005408,-30.9931483953687,673.226926671120,1905.86759814742];
% b_cs = [-44.9508103700981,-17.3321828723973,108.023607165193,159.196550053602,226.955684544160];
% b_v = [-58.6034163000970,-31.2329243772538,-26.2963224707570,-13.7005777939359,31.8883778369306];
% %--- test 5:(2) fuzzy, DO, adaptive, rho_ad(t)---
% alfa = 0.911290258514504;
% PHI = 1;
% eps = 0.00001;
% a1 = 98.2994054387935; %[1:1000]
% a2 = 11.3912445955835; %[1:100]
% om0 = 20.5275741273146; %[-350:350]
% k0 = 3.19385799404128; %[1:100]
% l2 = 805.084697669284; %[1:1000]
% a_ks = [-0.964038271779661,-0.855844820367769,-0.415537291557998;-0.891474497543546,-0.621430133831117,0.0881202697497049;-0.972494304869310,-0.217852023178333,0.998832783357451;
0.116578364465014,0.328557580399482,0.831364101503458;0.474756956627304,0.601391455436352,0.932299643657357];
% a_cs = [-0.909511678355089,-0.600513264289541,-0.445343438415142;-0.850326484222123,-0.503422326195107,-0.291304200513736;-0.736258329552357,-0.255254817745895,0.451692033224452;
-0.0956200255046951,0.363755454218394,0.849243514112580;0.297010159366567,0.792522924020751,0.903705173253031];
% a_v = [0.632847496138695,3.61059363850071,6.28533294401274;1.23275288785036,3.38829399900567,19.5649921530789;2.54682991322493,9.28488382960306,16.1065354886895;
7.89217790266828,15.7709379541951,19.1531283049365;13.2464924314403,17.7920132135942,19.0343755650281];
% b_ks = [4.96167629922263,185.064046718791,224.983590533434,695.599202326821,2686.27334159526];
% b_cs = [-197.971778417411,-192.568497464081,-140.043901446571,2.96818613448369,66.9466707482322];
% b_v = [-17.0203356084492,-1.67641449915854,23.9632623822596,33.0180510680314,67.9717136468936];
% %--- test 5:(3) fuzzy, DO, adaptive, rho_ad(t)---
alfa = 0.840080220875599;
PHI = 1;
eps = 0.00001;
 MATLAB Command History Page 61
May 7, 2019 3:46:17 PM

a1 = 87.1790710662921; %[1:1000]
a2 = 30.0127706062212; %[1:100]
om0 = 195.199856762208; %[-350:350]
k0 = 52.7149231640241; %[1:100]
l2 = 780.699568393096; %[1:1000]
a_ks = [-0.977665462942268,-0.654124870074655,-0.285599845505562;-0.913084740140048,-0.344841670908060,0.0110471596190468;-0.648776064473591,0.0754787651336873,0.897007627740067;
0.284047512694711,0.387735765871282,0.868558466823592;0.341778591647107,0.633706406712160,0.967128256684583];
a_cs = [-0.949778142906489,-0.815226158835317,-0.582720878650164;-0.997639713461401,-0.621381356386667,-0.234828555679164;-0.926037292139055,-0.395108955280334,0.901085640078752;
0.286530004912562,0.418054153824551,0.805139949350492;0.365399520697793,0.868149960571999,0.978444825113538];
a_v = [0.304883668339941,2.97014150581628,7.07493872181743;2.13594687640650,5.05667853266149,18.2172175712776;0.401730290445440,8.00185752023321,16.5745888097509;
3.50577189542485,13.0877332537229,19.8593849944045;13.4033854531989,18.8873199096827,19.3813157386389];
b_ks = [-2695.39092675439,-939.672531746312,961.515588821945,2210.29756706539,2467.48473866833];
b_cs = [-201.954714688118,-50.8492667369703,53.6278586055087,194.457163986525,249.521721113368];
b_v = [-60.9794122220985,-12.2605886638138,40.3320551469500,58.5557398820459,60.9600792388574];
load('luu_test5_road5.mat')
alfa = xval(1);
a1 = xval(2);
a2 = xval(3);
om0 = xval(4);
k0 = xval(5);
l2 = xval(6);
a_ks = sort(vec2mat(xval(7:21),3),2);
a_cs = sort(vec2mat(xval(22:36),3),2);
a_v = sort(vec2mat(xval(37:51),3),2);
b_ks = sort(xval(52:56));
b_cs = sort(xval(57:61));
b_v = sort(xval(62:66));
figure;plot(x2dot)
clear all;
%%
% d(t) la ma tran [1,1]
%% Quarter car suspension parameters
ms0 = 350;
ks0 = 13500;
cs0 = 1250;
ms = 390;%11600; % chassis mass (kg)
ks1 = 14500;%6050000; % (N/m)
ks2 = 160000; % (N/m^3)
cs1 = 1385;%53900;%+10000; % (Ns/m)
cs2 = 524; % (Ns^2/m^2)
deltaT = 1; % Simulation time step
%% Road track parameters
v0 = 10; % Car velocity (m/s)
%% Controller's parameters
% ========================================================================
%--- test 1: Non fuzzy, Non DO, Non adaptive ---
% alfa = 0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 7.986;
% a2 = 1;
% rho = 1;
% ========================================================================
%--- test 2: Non fuzzy, Non DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.860319003332432;%0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 7.29671443237562;%17.986; %[1:1000]
% a2 = 31.0910725400231;%1.5; %[1:100]
% om0 = 1.00877010240269;%50; %[1:100]
% k0 = 1.00737100496601;%8; %[1:100]
% ========================================================================
%--- test 3: Non fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.903939427492506;%0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 99.9999064998740;%1000; %[1:1000]
% a2 = 5.79880041558778;%100; %[1:100]
% om0 = 17.2650956350313;%100; %[1:100]
% k0 = 10.3014247024466;%100; %[1:100]
% l2 = 999.976462438817;%1000; %[1:1000]
% ========================================================================
%--- test 4_2: fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.861122351620850;
% PHI = 1;
% eps = 0.00001;
% a1 = 17.8051334428289; %[1:1000]
% a2 = 4.15358762147605; %[1:100]
% om0 = 39.3843577627403; %[1:100]
% k0 = 86.8262524222660; %[1:100]
% l2 = 702.476609911729; %[1:1000]
% a_ks = [-0.961333833670403,-0.899330803307806,-0.203641573649615;-0.714587210318562,-0.603776949561476,-0.0519421171400566;-0.569401535919983,-0.154732666542345,0.460515085255760;
-0.0369634433082456,0.511765121542169,0.920910287034163;0.496740417632112,0.805139098955115,0.967740436059881];
% a_cs = [-0.964478709339200,-0.703798450742280,-0.202268870219115;-0.846373670477416,-0.439204115799397,-0.134488848135273;-0.434917577984332,0.298947008155214,0.709230916791695;
0.0364888173167297,0.589560571026918,0.909128421524052;0.307327526029337,0.730196130188434,0.947516426147854];
% a_v = [0.328785173988373,2.39593998531366,8.88322805855561;2.48709144872506,5.12061363616383,11.6815068561810;0.614371040457829,9.70927511772269,15.0725582269162;
8.39850167206166,14.4186070019695,19.9958790809412;15.3373277074801,18.5401718582444,19.4919540118303];
% b_ks = [1.140838867648064e+03,1.563325184283469e+03,1.758974301114079e+03,1.924089934055805e+03,2.051296327176498e+03];
% b_cs = [-2.498011749318166e+02,-2.211457657563566e+02,-2.200934113180452e+02,-1.331636142939386e+02,35.590617737909355];
% b_v = [-14.033809303187045,-12.805152377743184,-4.217941212324154,3.362846124008737,10.451969690448408];
%--- test 4_3: fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.874416474647554;
% PHI = 1;
% eps = 0.00001;
% a1 = 28.1392941024985; %[1:1000]
% a2 = 10.7845176650621; %[1:100]
% om0 = 34.5676695821628; %[1:100]
% k0 = 54.1569841534051; %[1:100]
% l2 = 258.860891174173; %[1:1000]
% a_ks = [-0.909321819546334,-0.869712774181164,-0.179843630817213;-0.963285089514859,-0.356840041586254,-0.140732467996760;-0.436434511599391,-0.245511314626646,0.883452262287000;
-0.0630940718442964,0.402226661030769,0.914753087428342;0.409725350210209,0.774503174777497,0.942170626061155];
% a_cs = [-0.976945336186364,-0.797201708837825,-0.427421164318919;-0.774172643681359,-0.416686598076169,0.0346770342368840;-0.932904329295419,-0.331287397930847,0.487727937403140;
-0.0785075701520996,0.345441808596640,0.859897892632272;0.121013412059236,0.867147411357205,0.954525074131468];
% a_v = [0.188652933368498,2.88981447130858,7.31480834791171;0.501036698544254,4.89195413361812,15.8132956435916;2.49033011205642,10.1025078277259,16.3137115355969;
4.05292187550237,16.7215215705902,19.4229006842103;12.6875289657005,16.8927853070839,19.1682094196034];
% b_ks = [-2.620557275934223e+03,-1.265516610039276e+03,-1.423774897699486e+02,-10.156385214324473,8.479207791864951e+02];
% b_cs = [-2.443365882555417e+02,-1.664782162098575e+02,-9.825496107831356,65.567947526495000,1.794194044619588e+02];
% b_v = [-15.465113855193097,-13.151186792520216,-1.698982456219930,-0.093164606124731,5.304098059099491];
% %--- test 5:(1) fuzzy, DO, adaptive, rho_ad(t)---
% alfa = 0.942574137392154;
% PHI = 1;
% eps = 0.00001;
% a1 = 3.91996797753072; %[1:1000]
% a2 = 2.07976755703195; %[1:100]
% om0 = 269.403735195640; %[-350:350]
% k0 = 11.9560677334591; %[1:100]
% l2 = 868.234961755542; %[1:1000]
% a_ks = [-0.913896567489805,-0.810261969390445,-0.422672700921023;-0.773928252931969,-0.361619465367881,-0.177879139876683;-0.777924122264101,-0.382036228803866,0.905615805916168;
0.229524107564833,0.394946567682202,0.935038850388764;0.535072020144214,0.899747236052216,0.931111451425247];
% a_cs = [-0.909039044387363,-0.778873713173897,-0.374680973382311;-0.760482140097871,-0.586185865079997,-0.0465314259503577;-0.410535020852223,0.0498287545782999,0.934688746187930;
0.155095405571576,0.385341428516406,0.934664179179562;0.117689703735145,0.667028409753918,0.940737855689643];
% a_v = [0.824075546020548,3.73508436481782,6.27810925892297;1.14963865009847,3.42813258034903,8.38975258642237;3.08156413016454,6.63650613917525,19.8924901900451;
1.79328024770914,13.9678825020215,18.8788586306687;14.3602763361050,17.7385926821352,19.6866696052026];
 MATLAB Command History Page 62
May 7, 2019 3:46:17 PM

% b_ks = [-2482.18727930770,-330.541066005408,-30.9931483953687,673.226926671120,1905.86759814742];
% b_cs = [-44.9508103700981,-17.3321828723973,108.023607165193,159.196550053602,226.955684544160];
% b_v = [-58.6034163000970,-31.2329243772538,-26.2963224707570,-13.7005777939359,31.8883778369306];
% %--- test 5:(2) fuzzy, DO, adaptive, rho_ad(t)---
% alfa = 0.911290258514504;
% PHI = 1;
% eps = 0.00001;
% a1 = 98.2994054387935; %[1:1000]
% a2 = 11.3912445955835; %[1:100]
% om0 = 20.5275741273146; %[-350:350]
% k0 = 3.19385799404128; %[1:100]
% l2 = 805.084697669284; %[1:1000]
% a_ks = [-0.964038271779661,-0.855844820367769,-0.415537291557998;-0.891474497543546,-0.621430133831117,0.0881202697497049;-0.972494304869310,-0.217852023178333,0.998832783357451;
0.116578364465014,0.328557580399482,0.831364101503458;0.474756956627304,0.601391455436352,0.932299643657357];
% a_cs = [-0.909511678355089,-0.600513264289541,-0.445343438415142;-0.850326484222123,-0.503422326195107,-0.291304200513736;-0.736258329552357,-0.255254817745895,0.451692033224452;
-0.0956200255046951,0.363755454218394,0.849243514112580;0.297010159366567,0.792522924020751,0.903705173253031];
% a_v = [0.632847496138695,3.61059363850071,6.28533294401274;1.23275288785036,3.38829399900567,19.5649921530789;2.54682991322493,9.28488382960306,16.1065354886895;
7.89217790266828,15.7709379541951,19.1531283049365;13.2464924314403,17.7920132135942,19.0343755650281];
% b_ks = [4.96167629922263,185.064046718791,224.983590533434,695.599202326821,2686.27334159526];
% b_cs = [-197.971778417411,-192.568497464081,-140.043901446571,2.96818613448369,66.9466707482322];
% b_v = [-17.0203356084492,-1.67641449915854,23.9632623822596,33.0180510680314,67.9717136468936];
% %--- test 5:(3) fuzzy, DO, adaptive, rho_ad(t)---
alfa = 0.840080220875599;
PHI = 1;
eps = 0.00001;
a1 = 87.1790710662921; %[1:1000]
a2 = 30.0127706062212; %[1:100]
om0 = 195.199856762208; %[-350:350]
k0 = 52.7149231640241; %[1:100]
l2 = 780.699568393096; %[1:1000]
a_ks = [-0.977665462942268,-0.654124870074655,-0.285599845505562;-0.913084740140048,-0.344841670908060,0.0110471596190468;-0.648776064473591,0.0754787651336873,0.897007627740067;
0.284047512694711,0.387735765871282,0.868558466823592;0.341778591647107,0.633706406712160,0.967128256684583];
a_cs = [-0.949778142906489,-0.815226158835317,-0.582720878650164;-0.997639713461401,-0.621381356386667,-0.234828555679164;-0.926037292139055,-0.395108955280334,0.901085640078752;
0.286530004912562,0.418054153824551,0.805139949350492;0.365399520697793,0.868149960571999,0.978444825113538];
a_v = [0.304883668339941,2.97014150581628,7.07493872181743;2.13594687640650,5.05667853266149,18.2172175712776;0.401730290445440,8.00185752023321,16.5745888097509;
3.50577189542485,13.0877332537229,19.8593849944045;13.4033854531989,18.8873199096827,19.3813157386389];
b_ks = [-2695.39092675439,-939.672531746312,961.515588821945,2210.29756706539,2467.48473866833];
b_cs = [-201.954714688118,-50.8492667369703,53.6278586055087,194.457163986525,249.521721113368];
b_v = [-60.9794122220985,-12.2605886638138,40.3320551469500,58.5557398820459,60.9600792388574];
load('luu_test6_road5.mat')
alfa = xval(1);
a1 = xval(2);
a2 = xval(3);
om0 = xval(4);
k0 = xval(5);
l2 = xval(6);
a_ks = sort(vec2mat(xval(7:21),3),2);
a_cs = sort(vec2mat(xval(22:36),3),2);
a_v = sort(vec2mat(xval(37:51),3),2);
b_ks = sort(xval(52:56));
b_cs = sort(xval(57:61));
b_v = sort(xval(62:66));
figure;plot(x2dot)
clear all;
%%
% d(t) la ma tran [1,1]
%% Quarter car suspension parameters
ms0 = 350;
ks0 = 13500;
cs0 = 1250;
ms = 390;%11600; % chassis mass (kg)
ks1 = 14500;%6050000; % (N/m)
ks2 = 160000; % (N/m^3)
cs1 = 1385;%53900;%+10000; % (Ns/m)
cs2 = 524; % (Ns^2/m^2)
deltaT = 1; % Simulation time step
%% Road track parameters
v0 = 10; % Car velocity (m/s)
%% Controller's parameters
% ========================================================================
%--- test 1: Non fuzzy, Non DO, Non adaptive ---
% alfa = 0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 7.986;
% a2 = 1;
% rho = 1;
% ========================================================================
%--- test 2: Non fuzzy, Non DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.860319003332432;%0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 7.29671443237562;%17.986; %[1:1000]
% a2 = 31.0910725400231;%1.5; %[1:100]
% om0 = 1.00877010240269;%50; %[1:100]
% k0 = 1.00737100496601;%8; %[1:100]
% ========================================================================
%--- test 3: Non fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.903939427492506;%0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 99.9999064998740;%1000; %[1:1000]
% a2 = 5.79880041558778;%100; %[1:100]
% om0 = 17.2650956350313;%100; %[1:100]
% k0 = 10.3014247024466;%100; %[1:100]
% l2 = 999.976462438817;%1000; %[1:1000]
% ========================================================================
%--- test 4_2: fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.861122351620850;
% PHI = 1;
% eps = 0.00001;
% a1 = 17.8051334428289; %[1:1000]
% a2 = 4.15358762147605; %[1:100]
% om0 = 39.3843577627403; %[1:100]
% k0 = 86.8262524222660; %[1:100]
% l2 = 702.476609911729; %[1:1000]
% a_ks = [-0.961333833670403,-0.899330803307806,-0.203641573649615;-0.714587210318562,-0.603776949561476,-0.0519421171400566;-0.569401535919983,-0.154732666542345,0.460515085255760;
-0.0369634433082456,0.511765121542169,0.920910287034163;0.496740417632112,0.805139098955115,0.967740436059881];
% a_cs = [-0.964478709339200,-0.703798450742280,-0.202268870219115;-0.846373670477416,-0.439204115799397,-0.134488848135273;-0.434917577984332,0.298947008155214,0.709230916791695;
0.0364888173167297,0.589560571026918,0.909128421524052;0.307327526029337,0.730196130188434,0.947516426147854];
% a_v = [0.328785173988373,2.39593998531366,8.88322805855561;2.48709144872506,5.12061363616383,11.6815068561810;0.614371040457829,9.70927511772269,15.0725582269162;
8.39850167206166,14.4186070019695,19.9958790809412;15.3373277074801,18.5401718582444,19.4919540118303];
% b_ks = [1.140838867648064e+03,1.563325184283469e+03,1.758974301114079e+03,1.924089934055805e+03,2.051296327176498e+03];
% b_cs = [-2.498011749318166e+02,-2.211457657563566e+02,-2.200934113180452e+02,-1.331636142939386e+02,35.590617737909355];
% b_v = [-14.033809303187045,-12.805152377743184,-4.217941212324154,3.362846124008737,10.451969690448408];
%--- test 4_3: fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.874416474647554;
% PHI = 1;
% eps = 0.00001;
% a1 = 28.1392941024985; %[1:1000]
% a2 = 10.7845176650621; %[1:100]
% om0 = 34.5676695821628; %[1:100]
% k0 = 54.1569841534051; %[1:100]
 MATLAB Command History Page 63
May 7, 2019 3:46:17 PM

% l2 = 258.860891174173; %[1:1000]
% a_ks = [-0.909321819546334,-0.869712774181164,-0.179843630817213;-0.963285089514859,-0.356840041586254,-0.140732467996760;-0.436434511599391,-0.245511314626646,0.883452262287000;
-0.0630940718442964,0.402226661030769,0.914753087428342;0.409725350210209,0.774503174777497,0.942170626061155];
% a_cs = [-0.976945336186364,-0.797201708837825,-0.427421164318919;-0.774172643681359,-0.416686598076169,0.0346770342368840;-0.932904329295419,-0.331287397930847,0.487727937403140;
-0.0785075701520996,0.345441808596640,0.859897892632272;0.121013412059236,0.867147411357205,0.954525074131468];
% a_v = [0.188652933368498,2.88981447130858,7.31480834791171;0.501036698544254,4.89195413361812,15.8132956435916;2.49033011205642,10.1025078277259,16.3137115355969;
4.05292187550237,16.7215215705902,19.4229006842103;12.6875289657005,16.8927853070839,19.1682094196034];
% b_ks = [-2.620557275934223e+03,-1.265516610039276e+03,-1.423774897699486e+02,-10.156385214324473,8.479207791864951e+02];
% b_cs = [-2.443365882555417e+02,-1.664782162098575e+02,-9.825496107831356,65.567947526495000,1.794194044619588e+02];
% b_v = [-15.465113855193097,-13.151186792520216,-1.698982456219930,-0.093164606124731,5.304098059099491];
% %--- test 5:(1) fuzzy, DO, adaptive, rho_ad(t)---
% alfa = 0.942574137392154;
% PHI = 1;
% eps = 0.00001;
% a1 = 3.91996797753072; %[1:1000]
% a2 = 2.07976755703195; %[1:100]
% om0 = 269.403735195640; %[-350:350]
% k0 = 11.9560677334591; %[1:100]
% l2 = 868.234961755542; %[1:1000]
% a_ks = [-0.913896567489805,-0.810261969390445,-0.422672700921023;-0.773928252931969,-0.361619465367881,-0.177879139876683;-0.777924122264101,-0.382036228803866,0.905615805916168;
0.229524107564833,0.394946567682202,0.935038850388764;0.535072020144214,0.899747236052216,0.931111451425247];
% a_cs = [-0.909039044387363,-0.778873713173897,-0.374680973382311;-0.760482140097871,-0.586185865079997,-0.0465314259503577;-0.410535020852223,0.0498287545782999,0.934688746187930;
0.155095405571576,0.385341428516406,0.934664179179562;0.117689703735145,0.667028409753918,0.940737855689643];
% a_v = [0.824075546020548,3.73508436481782,6.27810925892297;1.14963865009847,3.42813258034903,8.38975258642237;3.08156413016454,6.63650613917525,19.8924901900451;
1.79328024770914,13.9678825020215,18.8788586306687;14.3602763361050,17.7385926821352,19.6866696052026];
% b_ks = [-2482.18727930770,-330.541066005408,-30.9931483953687,673.226926671120,1905.86759814742];
% b_cs = [-44.9508103700981,-17.3321828723973,108.023607165193,159.196550053602,226.955684544160];
% b_v = [-58.6034163000970,-31.2329243772538,-26.2963224707570,-13.7005777939359,31.8883778369306];
% %--- test 5:(2) fuzzy, DO, adaptive, rho_ad(t)---
% alfa = 0.911290258514504;
% PHI = 1;
% eps = 0.00001;
% a1 = 98.2994054387935; %[1:1000]
% a2 = 11.3912445955835; %[1:100]
% om0 = 20.5275741273146; %[-350:350]
% k0 = 3.19385799404128; %[1:100]
% l2 = 805.084697669284; %[1:1000]
% a_ks = [-0.964038271779661,-0.855844820367769,-0.415537291557998;-0.891474497543546,-0.621430133831117,0.0881202697497049;-0.972494304869310,-0.217852023178333,0.998832783357451;
0.116578364465014,0.328557580399482,0.831364101503458;0.474756956627304,0.601391455436352,0.932299643657357];
% a_cs = [-0.909511678355089,-0.600513264289541,-0.445343438415142;-0.850326484222123,-0.503422326195107,-0.291304200513736;-0.736258329552357,-0.255254817745895,0.451692033224452;
-0.0956200255046951,0.363755454218394,0.849243514112580;0.297010159366567,0.792522924020751,0.903705173253031];
% a_v = [0.632847496138695,3.61059363850071,6.28533294401274;1.23275288785036,3.38829399900567,19.5649921530789;2.54682991322493,9.28488382960306,16.1065354886895;
7.89217790266828,15.7709379541951,19.1531283049365;13.2464924314403,17.7920132135942,19.0343755650281];
% b_ks = [4.96167629922263,185.064046718791,224.983590533434,695.599202326821,2686.27334159526];
% b_cs = [-197.971778417411,-192.568497464081,-140.043901446571,2.96818613448369,66.9466707482322];
% b_v = [-17.0203356084492,-1.67641449915854,23.9632623822596,33.0180510680314,67.9717136468936];
% %--- test 5:(3) fuzzy, DO, adaptive, rho_ad(t)---
alfa = 0.840080220875599;
PHI = 1;
eps = 0.00001;
a1 = 87.1790710662921; %[1:1000]
a2 = 30.0127706062212; %[1:100]
om0 = 195.199856762208; %[-350:350]
k0 = 52.7149231640241; %[1:100]
l2 = 780.699568393096; %[1:1000]
a_ks = [-0.977665462942268,-0.654124870074655,-0.285599845505562;-0.913084740140048,-0.344841670908060,0.0110471596190468;-0.648776064473591,0.0754787651336873,0.897007627740067;
0.284047512694711,0.387735765871282,0.868558466823592;0.341778591647107,0.633706406712160,0.967128256684583];
a_cs = [-0.949778142906489,-0.815226158835317,-0.582720878650164;-0.997639713461401,-0.621381356386667,-0.234828555679164;-0.926037292139055,-0.395108955280334,0.901085640078752;
0.286530004912562,0.418054153824551,0.805139949350492;0.365399520697793,0.868149960571999,0.978444825113538];
a_v = [0.304883668339941,2.97014150581628,7.07493872181743;2.13594687640650,5.05667853266149,18.2172175712776;0.401730290445440,8.00185752023321,16.5745888097509;
3.50577189542485,13.0877332537229,19.8593849944045;13.4033854531989,18.8873199096827,19.3813157386389];
b_ks = [-2695.39092675439,-939.672531746312,961.515588821945,2210.29756706539,2467.48473866833];
b_cs = [-201.954714688118,-50.8492667369703,53.6278586055087,194.457163986525,249.521721113368];
b_v = [-60.9794122220985,-12.2605886638138,40.3320551469500,58.5557398820459,60.9600792388574];
load('luu_test4_road5.mat')
alfa = xval(1);
a1 = xval(2);
a2 = xval(3);
om0 = xval(4);
k0 = xval(5);
l2 = xval(6);
a_ks = sort(vec2mat(xval(7:21),3),2);
a_cs = sort(vec2mat(xval(22:36),3),2);
a_v = sort(vec2mat(xval(37:51),3),2);
b_ks = sort(xval(52:56));
b_cs = sort(xval(57:61));
b_v = sort(xval(62:66));
figure;plot(x2dot)
clear all;
%%
% d(t) la ma tran [1,1]
%% Quarter car suspension parameters
ms0 = 350;
ks0 = 13500;
cs0 = 1250;
ms = 390;%11600; % chassis mass (kg)
ks1 = 14500;%6050000; % (N/m)
ks2 = 160000; % (N/m^3)
cs1 = 1385;%53900;%+10000; % (Ns/m)
cs2 = 524; % (Ns^2/m^2)
deltaT = 1; % Simulation time step
%% Road track parameters
v0 = 10; % Car velocity (m/s)
%% Controller's parameters
% ========================================================================
%--- test 1: Non fuzzy, Non DO, Non adaptive ---
% alfa = 0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 7.986;
% a2 = 1;
% rho = 1;
% ========================================================================
%--- test 2: Non fuzzy, Non DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.860319003332432;%0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 7.29671443237562;%17.986; %[1:1000]
% a2 = 31.0910725400231;%1.5; %[1:100]
% om0 = 1.00877010240269;%50; %[1:100]
% k0 = 1.00737100496601;%8; %[1:100]
% ========================================================================
%--- test 3: Non fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.903939427492506;%0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 99.9999064998740;%1000; %[1:1000]
% a2 = 5.79880041558778;%100; %[1:100]
% om0 = 17.2650956350313;%100; %[1:100]
% k0 = 10.3014247024466;%100; %[1:100]
% l2 = 999.976462438817;%1000; %[1:1000]
% ========================================================================
%--- test 4_2: fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
 MATLAB Command History Page 64
May 7, 2019 3:46:17 PM

% alfa = 0.861122351620850;
% PHI = 1;
% eps = 0.00001;
% a1 = 17.8051334428289; %[1:1000]
% a2 = 4.15358762147605; %[1:100]
% om0 = 39.3843577627403; %[1:100]
% k0 = 86.8262524222660; %[1:100]
% l2 = 702.476609911729; %[1:1000]
% a_ks = [-0.961333833670403,-0.899330803307806,-0.203641573649615;-0.714587210318562,-0.603776949561476,-0.0519421171400566;-0.569401535919983,-0.154732666542345,0.460515085255760;
-0.0369634433082456,0.511765121542169,0.920910287034163;0.496740417632112,0.805139098955115,0.967740436059881];
% a_cs = [-0.964478709339200,-0.703798450742280,-0.202268870219115;-0.846373670477416,-0.439204115799397,-0.134488848135273;-0.434917577984332,0.298947008155214,0.709230916791695;
0.0364888173167297,0.589560571026918,0.909128421524052;0.307327526029337,0.730196130188434,0.947516426147854];
% a_v = [0.328785173988373,2.39593998531366,8.88322805855561;2.48709144872506,5.12061363616383,11.6815068561810;0.614371040457829,9.70927511772269,15.0725582269162;
8.39850167206166,14.4186070019695,19.9958790809412;15.3373277074801,18.5401718582444,19.4919540118303];
% b_ks = [1.140838867648064e+03,1.563325184283469e+03,1.758974301114079e+03,1.924089934055805e+03,2.051296327176498e+03];
% b_cs = [-2.498011749318166e+02,-2.211457657563566e+02,-2.200934113180452e+02,-1.331636142939386e+02,35.590617737909355];
% b_v = [-14.033809303187045,-12.805152377743184,-4.217941212324154,3.362846124008737,10.451969690448408];
%--- test 4_3: fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.874416474647554;
% PHI = 1;
% eps = 0.00001;
% a1 = 28.1392941024985; %[1:1000]
% a2 = 10.7845176650621; %[1:100]
% om0 = 34.5676695821628; %[1:100]
% k0 = 54.1569841534051; %[1:100]
% l2 = 258.860891174173; %[1:1000]
% a_ks = [-0.909321819546334,-0.869712774181164,-0.179843630817213;-0.963285089514859,-0.356840041586254,-0.140732467996760;-0.436434511599391,-0.245511314626646,0.883452262287000;
-0.0630940718442964,0.402226661030769,0.914753087428342;0.409725350210209,0.774503174777497,0.942170626061155];
% a_cs = [-0.976945336186364,-0.797201708837825,-0.427421164318919;-0.774172643681359,-0.416686598076169,0.0346770342368840;-0.932904329295419,-0.331287397930847,0.487727937403140;
-0.0785075701520996,0.345441808596640,0.859897892632272;0.121013412059236,0.867147411357205,0.954525074131468];
% a_v = [0.188652933368498,2.88981447130858,7.31480834791171;0.501036698544254,4.89195413361812,15.8132956435916;2.49033011205642,10.1025078277259,16.3137115355969;
4.05292187550237,16.7215215705902,19.4229006842103;12.6875289657005,16.8927853070839,19.1682094196034];
% b_ks = [-2.620557275934223e+03,-1.265516610039276e+03,-1.423774897699486e+02,-10.156385214324473,8.479207791864951e+02];
% b_cs = [-2.443365882555417e+02,-1.664782162098575e+02,-9.825496107831356,65.567947526495000,1.794194044619588e+02];
% b_v = [-15.465113855193097,-13.151186792520216,-1.698982456219930,-0.093164606124731,5.304098059099491];
% %--- test 5:(1) fuzzy, DO, adaptive, rho_ad(t)---
% alfa = 0.942574137392154;
% PHI = 1;
% eps = 0.00001;
% a1 = 3.91996797753072; %[1:1000]
% a2 = 2.07976755703195; %[1:100]
% om0 = 269.403735195640; %[-350:350]
% k0 = 11.9560677334591; %[1:100]
% l2 = 868.234961755542; %[1:1000]
% a_ks = [-0.913896567489805,-0.810261969390445,-0.422672700921023;-0.773928252931969,-0.361619465367881,-0.177879139876683;-0.777924122264101,-0.382036228803866,0.905615805916168;
0.229524107564833,0.394946567682202,0.935038850388764;0.535072020144214,0.899747236052216,0.931111451425247];
% a_cs = [-0.909039044387363,-0.778873713173897,-0.374680973382311;-0.760482140097871,-0.586185865079997,-0.0465314259503577;-0.410535020852223,0.0498287545782999,0.934688746187930;
0.155095405571576,0.385341428516406,0.934664179179562;0.117689703735145,0.667028409753918,0.940737855689643];
% a_v = [0.824075546020548,3.73508436481782,6.27810925892297;1.14963865009847,3.42813258034903,8.38975258642237;3.08156413016454,6.63650613917525,19.8924901900451;
1.79328024770914,13.9678825020215,18.8788586306687;14.3602763361050,17.7385926821352,19.6866696052026];
% b_ks = [-2482.18727930770,-330.541066005408,-30.9931483953687,673.226926671120,1905.86759814742];
% b_cs = [-44.9508103700981,-17.3321828723973,108.023607165193,159.196550053602,226.955684544160];
% b_v = [-58.6034163000970,-31.2329243772538,-26.2963224707570,-13.7005777939359,31.8883778369306];
% %--- test 5:(2) fuzzy, DO, adaptive, rho_ad(t)---
% alfa = 0.911290258514504;
% PHI = 1;
% eps = 0.00001;
% a1 = 98.2994054387935; %[1:1000]
% a2 = 11.3912445955835; %[1:100]
% om0 = 20.5275741273146; %[-350:350]
% k0 = 3.19385799404128; %[1:100]
% l2 = 805.084697669284; %[1:1000]
% a_ks = [-0.964038271779661,-0.855844820367769,-0.415537291557998;-0.891474497543546,-0.621430133831117,0.0881202697497049;-0.972494304869310,-0.217852023178333,0.998832783357451;
0.116578364465014,0.328557580399482,0.831364101503458;0.474756956627304,0.601391455436352,0.932299643657357];
% a_cs = [-0.909511678355089,-0.600513264289541,-0.445343438415142;-0.850326484222123,-0.503422326195107,-0.291304200513736;-0.736258329552357,-0.255254817745895,0.451692033224452;
-0.0956200255046951,0.363755454218394,0.849243514112580;0.297010159366567,0.792522924020751,0.903705173253031];
% a_v = [0.632847496138695,3.61059363850071,6.28533294401274;1.23275288785036,3.38829399900567,19.5649921530789;2.54682991322493,9.28488382960306,16.1065354886895;
7.89217790266828,15.7709379541951,19.1531283049365;13.2464924314403,17.7920132135942,19.0343755650281];
% b_ks = [4.96167629922263,185.064046718791,224.983590533434,695.599202326821,2686.27334159526];
% b_cs = [-197.971778417411,-192.568497464081,-140.043901446571,2.96818613448369,66.9466707482322];
% b_v = [-17.0203356084492,-1.67641449915854,23.9632623822596,33.0180510680314,67.9717136468936];
% %--- test 5:(3) fuzzy, DO, adaptive, rho_ad(t)---
alfa = 0.840080220875599;
PHI = 1;
eps = 0.00001;
a1 = 87.1790710662921; %[1:1000]
a2 = 30.0127706062212; %[1:100]
om0 = 195.199856762208; %[-350:350]
k0 = 52.7149231640241; %[1:100]
l2 = 780.699568393096; %[1:1000]
a_ks = [-0.977665462942268,-0.654124870074655,-0.285599845505562;-0.913084740140048,-0.344841670908060,0.0110471596190468;-0.648776064473591,0.0754787651336873,0.897007627740067;
0.284047512694711,0.387735765871282,0.868558466823592;0.341778591647107,0.633706406712160,0.967128256684583];
a_cs = [-0.949778142906489,-0.815226158835317,-0.582720878650164;-0.997639713461401,-0.621381356386667,-0.234828555679164;-0.926037292139055,-0.395108955280334,0.901085640078752;
0.286530004912562,0.418054153824551,0.805139949350492;0.365399520697793,0.868149960571999,0.978444825113538];
a_v = [0.304883668339941,2.97014150581628,7.07493872181743;2.13594687640650,5.05667853266149,18.2172175712776;0.401730290445440,8.00185752023321,16.5745888097509;
3.50577189542485,13.0877332537229,19.8593849944045;13.4033854531989,18.8873199096827,19.3813157386389];
b_ks = [-2695.39092675439,-939.672531746312,961.515588821945,2210.29756706539,2467.48473866833];
b_cs = [-201.954714688118,-50.8492667369703,53.6278586055087,194.457163986525,249.521721113368];
b_v = [-60.9794122220985,-12.2605886638138,40.3320551469500,58.5557398820459,60.9600792388574];
load('luu_test5_road5.mat')
alfa = xval(1);
a1 = xval(2);
a2 = xval(3);
om0 = xval(4);
k0 = xval(5);
l2 = xval(6);
a_ks = sort(vec2mat(xval(7:21),3),2);
a_cs = sort(vec2mat(xval(22:36),3),2);
a_v = sort(vec2mat(xval(37:51),3),2);
b_ks = sort(xval(52:56));
b_cs = sort(xval(57:61));
b_v = sort(xval(62:66));
figure;plot(x2dot)
clear all;
%%
% d(t) la ma tran [1,1]
%% Quarter car suspension parameters
ms0 = 350;
ks0 = 13500;
cs0 = 1250;
ms = 390;%11600; % chassis mass (kg)
ks1 = 14500;%6050000; % (N/m)
ks2 = 160000; % (N/m^3)
cs1 = 1385;%53900;%+10000; % (Ns/m)
cs2 = 524; % (Ns^2/m^2)
deltaT = 1; % Simulation time step
%% Road track parameters
v0 = 10; % Car velocity (m/s)
%% Controller's parameters
% ========================================================================
%--- test 1: Non fuzzy, Non DO, Non adaptive ---
% alfa = 0.8;
% PHI = 1;
 MATLAB Command History Page 65
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% eps = 0.00001;
% a1 = 7.986;
% a2 = 1;
% rho = 1;
% ========================================================================
%--- test 2: Non fuzzy, Non DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.860319003332432;%0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 7.29671443237562;%17.986; %[1:1000]
% a2 = 31.0910725400231;%1.5; %[1:100]
% om0 = 1.00877010240269;%50; %[1:100]
% k0 = 1.00737100496601;%8; %[1:100]
% ========================================================================
%--- test 3: Non fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.903939427492506;%0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 99.9999064998740;%1000; %[1:1000]
% a2 = 5.79880041558778;%100; %[1:100]
% om0 = 17.2650956350313;%100; %[1:100]
% k0 = 10.3014247024466;%100; %[1:100]
% l2 = 999.976462438817;%1000; %[1:1000]
% ========================================================================
%--- test 4_2: fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.861122351620850;
% PHI = 1;
% eps = 0.00001;
% a1 = 17.8051334428289; %[1:1000]
% a2 = 4.15358762147605; %[1:100]
% om0 = 39.3843577627403; %[1:100]
% k0 = 86.8262524222660; %[1:100]
% l2 = 702.476609911729; %[1:1000]
% a_ks = [-0.961333833670403,-0.899330803307806,-0.203641573649615;-0.714587210318562,-0.603776949561476,-0.0519421171400566;-0.569401535919983,-0.154732666542345,0.460515085255760;
-0.0369634433082456,0.511765121542169,0.920910287034163;0.496740417632112,0.805139098955115,0.967740436059881];
% a_cs = [-0.964478709339200,-0.703798450742280,-0.202268870219115;-0.846373670477416,-0.439204115799397,-0.134488848135273;-0.434917577984332,0.298947008155214,0.709230916791695;
0.0364888173167297,0.589560571026918,0.909128421524052;0.307327526029337,0.730196130188434,0.947516426147854];
% a_v = [0.328785173988373,2.39593998531366,8.88322805855561;2.48709144872506,5.12061363616383,11.6815068561810;0.614371040457829,9.70927511772269,15.0725582269162;
8.39850167206166,14.4186070019695,19.9958790809412;15.3373277074801,18.5401718582444,19.4919540118303];
% b_ks = [1.140838867648064e+03,1.563325184283469e+03,1.758974301114079e+03,1.924089934055805e+03,2.051296327176498e+03];
% b_cs = [-2.498011749318166e+02,-2.211457657563566e+02,-2.200934113180452e+02,-1.331636142939386e+02,35.590617737909355];
% b_v = [-14.033809303187045,-12.805152377743184,-4.217941212324154,3.362846124008737,10.451969690448408];
%--- test 4_3: fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.874416474647554;
% PHI = 1;
% eps = 0.00001;
% a1 = 28.1392941024985; %[1:1000]
% a2 = 10.7845176650621; %[1:100]
% om0 = 34.5676695821628; %[1:100]
% k0 = 54.1569841534051; %[1:100]
% l2 = 258.860891174173; %[1:1000]
% a_ks = [-0.909321819546334,-0.869712774181164,-0.179843630817213;-0.963285089514859,-0.356840041586254,-0.140732467996760;-0.436434511599391,-0.245511314626646,0.883452262287000;
-0.0630940718442964,0.402226661030769,0.914753087428342;0.409725350210209,0.774503174777497,0.942170626061155];
% a_cs = [-0.976945336186364,-0.797201708837825,-0.427421164318919;-0.774172643681359,-0.416686598076169,0.0346770342368840;-0.932904329295419,-0.331287397930847,0.487727937403140;
-0.0785075701520996,0.345441808596640,0.859897892632272;0.121013412059236,0.867147411357205,0.954525074131468];
% a_v = [0.188652933368498,2.88981447130858,7.31480834791171;0.501036698544254,4.89195413361812,15.8132956435916;2.49033011205642,10.1025078277259,16.3137115355969;
4.05292187550237,16.7215215705902,19.4229006842103;12.6875289657005,16.8927853070839,19.1682094196034];
% b_ks = [-2.620557275934223e+03,-1.265516610039276e+03,-1.423774897699486e+02,-10.156385214324473,8.479207791864951e+02];
% b_cs = [-2.443365882555417e+02,-1.664782162098575e+02,-9.825496107831356,65.567947526495000,1.794194044619588e+02];
% b_v = [-15.465113855193097,-13.151186792520216,-1.698982456219930,-0.093164606124731,5.304098059099491];
% %--- test 5:(1) fuzzy, DO, adaptive, rho_ad(t)---
% alfa = 0.942574137392154;
% PHI = 1;
% eps = 0.00001;
% a1 = 3.91996797753072; %[1:1000]
% a2 = 2.07976755703195; %[1:100]
% om0 = 269.403735195640; %[-350:350]
% k0 = 11.9560677334591; %[1:100]
% l2 = 868.234961755542; %[1:1000]
% a_ks = [-0.913896567489805,-0.810261969390445,-0.422672700921023;-0.773928252931969,-0.361619465367881,-0.177879139876683;-0.777924122264101,-0.382036228803866,0.905615805916168;
0.229524107564833,0.394946567682202,0.935038850388764;0.535072020144214,0.899747236052216,0.931111451425247];
% a_cs = [-0.909039044387363,-0.778873713173897,-0.374680973382311;-0.760482140097871,-0.586185865079997,-0.0465314259503577;-0.410535020852223,0.0498287545782999,0.934688746187930;
0.155095405571576,0.385341428516406,0.934664179179562;0.117689703735145,0.667028409753918,0.940737855689643];
% a_v = [0.824075546020548,3.73508436481782,6.27810925892297;1.14963865009847,3.42813258034903,8.38975258642237;3.08156413016454,6.63650613917525,19.8924901900451;
1.79328024770914,13.9678825020215,18.8788586306687;14.3602763361050,17.7385926821352,19.6866696052026];
% b_ks = [-2482.18727930770,-330.541066005408,-30.9931483953687,673.226926671120,1905.86759814742];
% b_cs = [-44.9508103700981,-17.3321828723973,108.023607165193,159.196550053602,226.955684544160];
% b_v = [-58.6034163000970,-31.2329243772538,-26.2963224707570,-13.7005777939359,31.8883778369306];
% %--- test 5:(2) fuzzy, DO, adaptive, rho_ad(t)---
% alfa = 0.911290258514504;
% PHI = 1;
% eps = 0.00001;
% a1 = 98.2994054387935; %[1:1000]
% a2 = 11.3912445955835; %[1:100]
% om0 = 20.5275741273146; %[-350:350]
% k0 = 3.19385799404128; %[1:100]
% l2 = 805.084697669284; %[1:1000]
% a_ks = [-0.964038271779661,-0.855844820367769,-0.415537291557998;-0.891474497543546,-0.621430133831117,0.0881202697497049;-0.972494304869310,-0.217852023178333,0.998832783357451;
0.116578364465014,0.328557580399482,0.831364101503458;0.474756956627304,0.601391455436352,0.932299643657357];
% a_cs = [-0.909511678355089,-0.600513264289541,-0.445343438415142;-0.850326484222123,-0.503422326195107,-0.291304200513736;-0.736258329552357,-0.255254817745895,0.451692033224452;
-0.0956200255046951,0.363755454218394,0.849243514112580;0.297010159366567,0.792522924020751,0.903705173253031];
% a_v = [0.632847496138695,3.61059363850071,6.28533294401274;1.23275288785036,3.38829399900567,19.5649921530789;2.54682991322493,9.28488382960306,16.1065354886895;
7.89217790266828,15.7709379541951,19.1531283049365;13.2464924314403,17.7920132135942,19.0343755650281];
% b_ks = [4.96167629922263,185.064046718791,224.983590533434,695.599202326821,2686.27334159526];
% b_cs = [-197.971778417411,-192.568497464081,-140.043901446571,2.96818613448369,66.9466707482322];
% b_v = [-17.0203356084492,-1.67641449915854,23.9632623822596,33.0180510680314,67.9717136468936];
% %--- test 5:(3) fuzzy, DO, adaptive, rho_ad(t)---
alfa = 0.840080220875599;
PHI = 1;
eps = 0.00001;
a1 = 87.1790710662921; %[1:1000]
a2 = 30.0127706062212; %[1:100]
om0 = 195.199856762208; %[-350:350]
k0 = 52.7149231640241; %[1:100]
l2 = 780.699568393096; %[1:1000]
a_ks = [-0.977665462942268,-0.654124870074655,-0.285599845505562;-0.913084740140048,-0.344841670908060,0.0110471596190468;-0.648776064473591,0.0754787651336873,0.897007627740067;
0.284047512694711,0.387735765871282,0.868558466823592;0.341778591647107,0.633706406712160,0.967128256684583];
a_cs = [-0.949778142906489,-0.815226158835317,-0.582720878650164;-0.997639713461401,-0.621381356386667,-0.234828555679164;-0.926037292139055,-0.395108955280334,0.901085640078752;
0.286530004912562,0.418054153824551,0.805139949350492;0.365399520697793,0.868149960571999,0.978444825113538];
a_v = [0.304883668339941,2.97014150581628,7.07493872181743;2.13594687640650,5.05667853266149,18.2172175712776;0.401730290445440,8.00185752023321,16.5745888097509;
3.50577189542485,13.0877332537229,19.8593849944045;13.4033854531989,18.8873199096827,19.3813157386389];
b_ks = [-2695.39092675439,-939.672531746312,961.515588821945,2210.29756706539,2467.48473866833];
b_cs = [-201.954714688118,-50.8492667369703,53.6278586055087,194.457163986525,249.521721113368];
b_v = [-60.9794122220985,-12.2605886638138,40.3320551469500,58.5557398820459,60.9600792388574];
load('luu_test6_road5.mat')
alfa = xval(1);
a1 = xval(2);
a2 = xval(3);
om0 = xval(4);
k0 = xval(5);
l2 = xval(6);
a_ks = sort(vec2mat(xval(7:21),3),2);
a_cs = sort(vec2mat(xval(22:36),3),2);
 MATLAB Command History Page 66
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a_v = sort(vec2mat(xval(37:51),3),2);
b_ks = sort(xval(52:56));
b_cs = sort(xval(57:61));
b_v = sort(xval(62:66));
figure;plot(x2dot)
clear all;
%%
% d(t) la ma tran [1,1]
%% Quarter car suspension parameters
ms0 = 350;
ks0 = 13500;
cs0 = 1250;
ms = 390;%11600; % chassis mass (kg)
ks1 = 14500;%6050000; % (N/m)
ks2 = 160000; % (N/m^3)
cs1 = 1385;%53900;%+10000; % (Ns/m)
cs2 = 524; % (Ns^2/m^2)
deltaT = 1; % Simulation time step
%% Road track parameters
v0 = 10; % Car velocity (m/s)
%% Controller's parameters
% ========================================================================
%--- test 1: Non fuzzy, Non DO, Non adaptive ---
% alfa = 0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 7.986;
% a2 = 1;
% rho = 1;
% ========================================================================
%--- test 2: Non fuzzy, Non DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.860319003332432;%0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 7.29671443237562;%17.986; %[1:1000]
% a2 = 31.0910725400231;%1.5; %[1:100]
% om0 = 1.00877010240269;%50; %[1:100]
% k0 = 1.00737100496601;%8; %[1:100]
% ========================================================================
%--- test 3: Non fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.903939427492506;%0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 99.9999064998740;%1000; %[1:1000]
% a2 = 5.79880041558778;%100; %[1:100]
% om0 = 17.2650956350313;%100; %[1:100]
% k0 = 10.3014247024466;%100; %[1:100]
% l2 = 999.976462438817;%1000; %[1:1000]
% ========================================================================
%--- test 4_2: fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.861122351620850;
% PHI = 1;
% eps = 0.00001;
% a1 = 17.8051334428289; %[1:1000]
% a2 = 4.15358762147605; %[1:100]
% om0 = 39.3843577627403; %[1:100]
% k0 = 86.8262524222660; %[1:100]
% l2 = 702.476609911729; %[1:1000]
% a_ks = [-0.961333833670403,-0.899330803307806,-0.203641573649615;-0.714587210318562,-0.603776949561476,-0.0519421171400566;-0.569401535919983,-0.154732666542345,0.460515085255760;
-0.0369634433082456,0.511765121542169,0.920910287034163;0.496740417632112,0.805139098955115,0.967740436059881];
% a_cs = [-0.964478709339200,-0.703798450742280,-0.202268870219115;-0.846373670477416,-0.439204115799397,-0.134488848135273;-0.434917577984332,0.298947008155214,0.709230916791695;
0.0364888173167297,0.589560571026918,0.909128421524052;0.307327526029337,0.730196130188434,0.947516426147854];
% a_v = [0.328785173988373,2.39593998531366,8.88322805855561;2.48709144872506,5.12061363616383,11.6815068561810;0.614371040457829,9.70927511772269,15.0725582269162;
8.39850167206166,14.4186070019695,19.9958790809412;15.3373277074801,18.5401718582444,19.4919540118303];
% b_ks = [1.140838867648064e+03,1.563325184283469e+03,1.758974301114079e+03,1.924089934055805e+03,2.051296327176498e+03];
% b_cs = [-2.498011749318166e+02,-2.211457657563566e+02,-2.200934113180452e+02,-1.331636142939386e+02,35.590617737909355];
% b_v = [-14.033809303187045,-12.805152377743184,-4.217941212324154,3.362846124008737,10.451969690448408];
%--- test 4_3: fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.874416474647554;
% PHI = 1;
% eps = 0.00001;
% a1 = 28.1392941024985; %[1:1000]
% a2 = 10.7845176650621; %[1:100]
% om0 = 34.5676695821628; %[1:100]
% k0 = 54.1569841534051; %[1:100]
% l2 = 258.860891174173; %[1:1000]
% a_ks = [-0.909321819546334,-0.869712774181164,-0.179843630817213;-0.963285089514859,-0.356840041586254,-0.140732467996760;-0.436434511599391,-0.245511314626646,0.883452262287000;
-0.0630940718442964,0.402226661030769,0.914753087428342;0.409725350210209,0.774503174777497,0.942170626061155];
% a_cs = [-0.976945336186364,-0.797201708837825,-0.427421164318919;-0.774172643681359,-0.416686598076169,0.0346770342368840;-0.932904329295419,-0.331287397930847,0.487727937403140;
-0.0785075701520996,0.345441808596640,0.859897892632272;0.121013412059236,0.867147411357205,0.954525074131468];
% a_v = [0.188652933368498,2.88981447130858,7.31480834791171;0.501036698544254,4.89195413361812,15.8132956435916;2.49033011205642,10.1025078277259,16.3137115355969;
4.05292187550237,16.7215215705902,19.4229006842103;12.6875289657005,16.8927853070839,19.1682094196034];
% b_ks = [-2.620557275934223e+03,-1.265516610039276e+03,-1.423774897699486e+02,-10.156385214324473,8.479207791864951e+02];
% b_cs = [-2.443365882555417e+02,-1.664782162098575e+02,-9.825496107831356,65.567947526495000,1.794194044619588e+02];
% b_v = [-15.465113855193097,-13.151186792520216,-1.698982456219930,-0.093164606124731,5.304098059099491];
% %--- test 5:(1) fuzzy, DO, adaptive, rho_ad(t)---
% alfa = 0.942574137392154;
% PHI = 1;
% eps = 0.00001;
% a1 = 3.91996797753072; %[1:1000]
% a2 = 2.07976755703195; %[1:100]
% om0 = 269.403735195640; %[-350:350]
% k0 = 11.9560677334591; %[1:100]
% l2 = 868.234961755542; %[1:1000]
% a_ks = [-0.913896567489805,-0.810261969390445,-0.422672700921023;-0.773928252931969,-0.361619465367881,-0.177879139876683;-0.777924122264101,-0.382036228803866,0.905615805916168;
0.229524107564833,0.394946567682202,0.935038850388764;0.535072020144214,0.899747236052216,0.931111451425247];
% a_cs = [-0.909039044387363,-0.778873713173897,-0.374680973382311;-0.760482140097871,-0.586185865079997,-0.0465314259503577;-0.410535020852223,0.0498287545782999,0.934688746187930;
0.155095405571576,0.385341428516406,0.934664179179562;0.117689703735145,0.667028409753918,0.940737855689643];
% a_v = [0.824075546020548,3.73508436481782,6.27810925892297;1.14963865009847,3.42813258034903,8.38975258642237;3.08156413016454,6.63650613917525,19.8924901900451;
1.79328024770914,13.9678825020215,18.8788586306687;14.3602763361050,17.7385926821352,19.6866696052026];
% b_ks = [-2482.18727930770,-330.541066005408,-30.9931483953687,673.226926671120,1905.86759814742];
% b_cs = [-44.9508103700981,-17.3321828723973,108.023607165193,159.196550053602,226.955684544160];
% b_v = [-58.6034163000970,-31.2329243772538,-26.2963224707570,-13.7005777939359,31.8883778369306];
% %--- test 5:(2) fuzzy, DO, adaptive, rho_ad(t)---
% alfa = 0.911290258514504;
% PHI = 1;
% eps = 0.00001;
% a1 = 98.2994054387935; %[1:1000]
% a2 = 11.3912445955835; %[1:100]
% om0 = 20.5275741273146; %[-350:350]
% k0 = 3.19385799404128; %[1:100]
% l2 = 805.084697669284; %[1:1000]
% a_ks = [-0.964038271779661,-0.855844820367769,-0.415537291557998;-0.891474497543546,-0.621430133831117,0.0881202697497049;-0.972494304869310,-0.217852023178333,0.998832783357451;
0.116578364465014,0.328557580399482,0.831364101503458;0.474756956627304,0.601391455436352,0.932299643657357];
% a_cs = [-0.909511678355089,-0.600513264289541,-0.445343438415142;-0.850326484222123,-0.503422326195107,-0.291304200513736;-0.736258329552357,-0.255254817745895,0.451692033224452;
-0.0956200255046951,0.363755454218394,0.849243514112580;0.297010159366567,0.792522924020751,0.903705173253031];
% a_v = [0.632847496138695,3.61059363850071,6.28533294401274;1.23275288785036,3.38829399900567,19.5649921530789;2.54682991322493,9.28488382960306,16.1065354886895;
7.89217790266828,15.7709379541951,19.1531283049365;13.2464924314403,17.7920132135942,19.0343755650281];
% b_ks = [4.96167629922263,185.064046718791,224.983590533434,695.599202326821,2686.27334159526];
% b_cs = [-197.971778417411,-192.568497464081,-140.043901446571,2.96818613448369,66.9466707482322];
% b_v = [-17.0203356084492,-1.67641449915854,23.9632623822596,33.0180510680314,67.9717136468936];
% %--- test 5:(3) fuzzy, DO, adaptive, rho_ad(t)---
alfa = 0.840080220875599;
 MATLAB Command History Page 67
May 7, 2019 3:46:17 PM

PHI = 1;
eps = 0.00001;
a1 = 87.1790710662921; %[1:1000]
a2 = 30.0127706062212; %[1:100]
om0 = 195.199856762208; %[-350:350]
k0 = 52.7149231640241; %[1:100]
l2 = 780.699568393096; %[1:1000]
a_ks = [-0.977665462942268,-0.654124870074655,-0.285599845505562;-0.913084740140048,-0.344841670908060,0.0110471596190468;-0.648776064473591,0.0754787651336873,0.897007627740067;
0.284047512694711,0.387735765871282,0.868558466823592;0.341778591647107,0.633706406712160,0.967128256684583];
a_cs = [-0.949778142906489,-0.815226158835317,-0.582720878650164;-0.997639713461401,-0.621381356386667,-0.234828555679164;-0.926037292139055,-0.395108955280334,0.901085640078752;
0.286530004912562,0.418054153824551,0.805139949350492;0.365399520697793,0.868149960571999,0.978444825113538];
a_v = [0.304883668339941,2.97014150581628,7.07493872181743;2.13594687640650,5.05667853266149,18.2172175712776;0.401730290445440,8.00185752023321,16.5745888097509;
3.50577189542485,13.0877332537229,19.8593849944045;13.4033854531989,18.8873199096827,19.3813157386389];
b_ks = [-2695.39092675439,-939.672531746312,961.515588821945,2210.29756706539,2467.48473866833];
b_cs = [-201.954714688118,-50.8492667369703,53.6278586055087,194.457163986525,249.521721113368];
b_v = [-60.9794122220985,-12.2605886638138,40.3320551469500,58.5557398820459,60.9600792388574];
load('luu_test4_road5.mat')
alfa = xval(1);
a1 = xval(2);
a2 = xval(3);
om0 = xval(4);
k0 = xval(5);
l2 = xval(6);
a_ks = sort(vec2mat(xval(7:21),3),2);
a_cs = sort(vec2mat(xval(22:36),3),2);
a_v = sort(vec2mat(xval(37:51),3),2);
b_ks = sort(xval(52:56));
b_cs = sort(xval(57:61));
b_v = sort(xval(62:66));
figure;plot(x2dot)
clear all;
%%
% d(t) la ma tran [1,1]
%% Quarter car suspension parameters
ms0 = 350;
ks0 = 13500;
cs0 = 1250;
ms = 390;%11600; % chassis mass (kg)
ks1 = 14500;%6050000; % (N/m)
ks2 = 160000; % (N/m^3)
cs1 = 1385;%53900;%+10000; % (Ns/m)
cs2 = 524; % (Ns^2/m^2)
deltaT = 1; % Simulation time step
%% Road track parameters
v0 = 10; % Car velocity (m/s)
%% Controller's parameters
% ========================================================================
%--- test 1: Non fuzzy, Non DO, Non adaptive ---
% alfa = 0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 7.986;
% a2 = 1;
% rho = 1;
% ========================================================================
%--- test 2: Non fuzzy, Non DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.860319003332432;%0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 7.29671443237562;%17.986; %[1:1000]
% a2 = 31.0910725400231;%1.5; %[1:100]
% om0 = 1.00877010240269;%50; %[1:100]
% k0 = 1.00737100496601;%8; %[1:100]
% ========================================================================
%--- test 3: Non fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.903939427492506;%0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 99.9999064998740;%1000; %[1:1000]
% a2 = 5.79880041558778;%100; %[1:100]
% om0 = 17.2650956350313;%100; %[1:100]
% k0 = 10.3014247024466;%100; %[1:100]
% l2 = 999.976462438817;%1000; %[1:1000]
% ========================================================================
%--- test 4_2: fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.861122351620850;
% PHI = 1;
% eps = 0.00001;
% a1 = 17.8051334428289; %[1:1000]
% a2 = 4.15358762147605; %[1:100]
% om0 = 39.3843577627403; %[1:100]
% k0 = 86.8262524222660; %[1:100]
% l2 = 702.476609911729; %[1:1000]
% a_ks = [-0.961333833670403,-0.899330803307806,-0.203641573649615;-0.714587210318562,-0.603776949561476,-0.0519421171400566;-0.569401535919983,-0.154732666542345,0.460515085255760;
-0.0369634433082456,0.511765121542169,0.920910287034163;0.496740417632112,0.805139098955115,0.967740436059881];
% a_cs = [-0.964478709339200,-0.703798450742280,-0.202268870219115;-0.846373670477416,-0.439204115799397,-0.134488848135273;-0.434917577984332,0.298947008155214,0.709230916791695;
0.0364888173167297,0.589560571026918,0.909128421524052;0.307327526029337,0.730196130188434,0.947516426147854];
% a_v = [0.328785173988373,2.39593998531366,8.88322805855561;2.48709144872506,5.12061363616383,11.6815068561810;0.614371040457829,9.70927511772269,15.0725582269162;
8.39850167206166,14.4186070019695,19.9958790809412;15.3373277074801,18.5401718582444,19.4919540118303];
% b_ks = [1.140838867648064e+03,1.563325184283469e+03,1.758974301114079e+03,1.924089934055805e+03,2.051296327176498e+03];
% b_cs = [-2.498011749318166e+02,-2.211457657563566e+02,-2.200934113180452e+02,-1.331636142939386e+02,35.590617737909355];
% b_v = [-14.033809303187045,-12.805152377743184,-4.217941212324154,3.362846124008737,10.451969690448408];
%--- test 4_3: fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.874416474647554;
% PHI = 1;
% eps = 0.00001;
% a1 = 28.1392941024985; %[1:1000]
% a2 = 10.7845176650621; %[1:100]
% om0 = 34.5676695821628; %[1:100]
% k0 = 54.1569841534051; %[1:100]
% l2 = 258.860891174173; %[1:1000]
% a_ks = [-0.909321819546334,-0.869712774181164,-0.179843630817213;-0.963285089514859,-0.356840041586254,-0.140732467996760;-0.436434511599391,-0.245511314626646,0.883452262287000;
-0.0630940718442964,0.402226661030769,0.914753087428342;0.409725350210209,0.774503174777497,0.942170626061155];
% a_cs = [-0.976945336186364,-0.797201708837825,-0.427421164318919;-0.774172643681359,-0.416686598076169,0.0346770342368840;-0.932904329295419,-0.331287397930847,0.487727937403140;
-0.0785075701520996,0.345441808596640,0.859897892632272;0.121013412059236,0.867147411357205,0.954525074131468];
% a_v = [0.188652933368498,2.88981447130858,7.31480834791171;0.501036698544254,4.89195413361812,15.8132956435916;2.49033011205642,10.1025078277259,16.3137115355969;
4.05292187550237,16.7215215705902,19.4229006842103;12.6875289657005,16.8927853070839,19.1682094196034];
% b_ks = [-2.620557275934223e+03,-1.265516610039276e+03,-1.423774897699486e+02,-10.156385214324473,8.479207791864951e+02];
% b_cs = [-2.443365882555417e+02,-1.664782162098575e+02,-9.825496107831356,65.567947526495000,1.794194044619588e+02];
% b_v = [-15.465113855193097,-13.151186792520216,-1.698982456219930,-0.093164606124731,5.304098059099491];
% %--- test 5:(1) fuzzy, DO, adaptive, rho_ad(t)---
% alfa = 0.942574137392154;
% PHI = 1;
% eps = 0.00001;
% a1 = 3.91996797753072; %[1:1000]
% a2 = 2.07976755703195; %[1:100]
% om0 = 269.403735195640; %[-350:350]
% k0 = 11.9560677334591; %[1:100]
% l2 = 868.234961755542; %[1:1000]
% a_ks = [-0.913896567489805,-0.810261969390445,-0.422672700921023;-0.773928252931969,-0.361619465367881,-0.177879139876683;-0.777924122264101,-0.382036228803866,0.905615805916168;
0.229524107564833,0.394946567682202,0.935038850388764;0.535072020144214,0.899747236052216,0.931111451425247];
% a_cs = [-0.909039044387363,-0.778873713173897,-0.374680973382311;-0.760482140097871,-0.586185865079997,-0.0465314259503577;-0.410535020852223,0.0498287545782999,0.934688746187930;
0.155095405571576,0.385341428516406,0.934664179179562;0.117689703735145,0.667028409753918,0.940737855689643];
 MATLAB Command History Page 68
May 7, 2019 3:46:17 PM

% a_v = [0.824075546020548,3.73508436481782,6.27810925892297;1.14963865009847,3.42813258034903,8.38975258642237;3.08156413016454,6.63650613917525,19.8924901900451;
1.79328024770914,13.9678825020215,18.8788586306687;14.3602763361050,17.7385926821352,19.6866696052026];
% b_ks = [-2482.18727930770,-330.541066005408,-30.9931483953687,673.226926671120,1905.86759814742];
% b_cs = [-44.9508103700981,-17.3321828723973,108.023607165193,159.196550053602,226.955684544160];
% b_v = [-58.6034163000970,-31.2329243772538,-26.2963224707570,-13.7005777939359,31.8883778369306];
% %--- test 5:(2) fuzzy, DO, adaptive, rho_ad(t)---
% alfa = 0.911290258514504;
% PHI = 1;
% eps = 0.00001;
% a1 = 98.2994054387935; %[1:1000]
% a2 = 11.3912445955835; %[1:100]
% om0 = 20.5275741273146; %[-350:350]
% k0 = 3.19385799404128; %[1:100]
% l2 = 805.084697669284; %[1:1000]
% a_ks = [-0.964038271779661,-0.855844820367769,-0.415537291557998;-0.891474497543546,-0.621430133831117,0.0881202697497049;-0.972494304869310,-0.217852023178333,0.998832783357451;
0.116578364465014,0.328557580399482,0.831364101503458;0.474756956627304,0.601391455436352,0.932299643657357];
% a_cs = [-0.909511678355089,-0.600513264289541,-0.445343438415142;-0.850326484222123,-0.503422326195107,-0.291304200513736;-0.736258329552357,-0.255254817745895,0.451692033224452;
-0.0956200255046951,0.363755454218394,0.849243514112580;0.297010159366567,0.792522924020751,0.903705173253031];
% a_v = [0.632847496138695,3.61059363850071,6.28533294401274;1.23275288785036,3.38829399900567,19.5649921530789;2.54682991322493,9.28488382960306,16.1065354886895;
7.89217790266828,15.7709379541951,19.1531283049365;13.2464924314403,17.7920132135942,19.0343755650281];
% b_ks = [4.96167629922263,185.064046718791,224.983590533434,695.599202326821,2686.27334159526];
% b_cs = [-197.971778417411,-192.568497464081,-140.043901446571,2.96818613448369,66.9466707482322];
% b_v = [-17.0203356084492,-1.67641449915854,23.9632623822596,33.0180510680314,67.9717136468936];
% %--- test 5:(3) fuzzy, DO, adaptive, rho_ad(t)---
alfa = 0.840080220875599;
PHI = 1;
eps = 0.00001;
a1 = 87.1790710662921; %[1:1000]
a2 = 30.0127706062212; %[1:100]
om0 = 195.199856762208; %[-350:350]
k0 = 52.7149231640241; %[1:100]
l2 = 780.699568393096; %[1:1000]
a_ks = [-0.977665462942268,-0.654124870074655,-0.285599845505562;-0.913084740140048,-0.344841670908060,0.0110471596190468;-0.648776064473591,0.0754787651336873,0.897007627740067;
0.284047512694711,0.387735765871282,0.868558466823592;0.341778591647107,0.633706406712160,0.967128256684583];
a_cs = [-0.949778142906489,-0.815226158835317,-0.582720878650164;-0.997639713461401,-0.621381356386667,-0.234828555679164;-0.926037292139055,-0.395108955280334,0.901085640078752;
0.286530004912562,0.418054153824551,0.805139949350492;0.365399520697793,0.868149960571999,0.978444825113538];
a_v = [0.304883668339941,2.97014150581628,7.07493872181743;2.13594687640650,5.05667853266149,18.2172175712776;0.401730290445440,8.00185752023321,16.5745888097509;
3.50577189542485,13.0877332537229,19.8593849944045;13.4033854531989,18.8873199096827,19.3813157386389];
b_ks = [-2695.39092675439,-939.672531746312,961.515588821945,2210.29756706539,2467.48473866833];
b_cs = [-201.954714688118,-50.8492667369703,53.6278586055087,194.457163986525,249.521721113368];
b_v = [-60.9794122220985,-12.2605886638138,40.3320551469500,58.5557398820459,60.9600792388574];
load('luu_test5_road5.mat')
alfa = xval(1);
a1 = xval(2);
a2 = xval(3);
om0 = xval(4);
k0 = xval(5);
l2 = xval(6);
a_ks = sort(vec2mat(xval(7:21),3),2);
a_cs = sort(vec2mat(xval(22:36),3),2);
a_v = sort(vec2mat(xval(37:51),3),2);
b_ks = sort(xval(52:56));
b_cs = sort(xval(57:61));
b_v = sort(xval(62:66));
figure;plot(x2dot)
clear all;
%%
% d(t) la ma tran [1,1]
%% Quarter car suspension parameters
ms0 = 350;
ks0 = 13500;
cs0 = 1250;
ms = 390;%11600; % chassis mass (kg)
ks1 = 14500;%6050000; % (N/m)
ks2 = 160000; % (N/m^3)
cs1 = 1385;%53900;%+10000; % (Ns/m)
cs2 = 524; % (Ns^2/m^2)
deltaT = 1; % Simulation time step
%% Road track parameters
v0 = 10; % Car velocity (m/s)
%% Controller's parameters
% ========================================================================
%--- test 1: Non fuzzy, Non DO, Non adaptive ---
% alfa = 0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 7.986;
% a2 = 1;
% rho = 1;
% ========================================================================
%--- test 2: Non fuzzy, Non DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.860319003332432;%0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 7.29671443237562;%17.986; %[1:1000]
% a2 = 31.0910725400231;%1.5; %[1:100]
% om0 = 1.00877010240269;%50; %[1:100]
% k0 = 1.00737100496601;%8; %[1:100]
% ========================================================================
%--- test 3: Non fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.903939427492506;%0.8;
% PHI = 1;
% eps = 0.00001;
% a1 = 99.9999064998740;%1000; %[1:1000]
% a2 = 5.79880041558778;%100; %[1:100]
% om0 = 17.2650956350313;%100; %[1:100]
% k0 = 10.3014247024466;%100; %[1:100]
% l2 = 999.976462438817;%1000; %[1:1000]
% ========================================================================
%--- test 4_2: fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.861122351620850;
% PHI = 1;
% eps = 0.00001;
% a1 = 17.8051334428289; %[1:1000]
% a2 = 4.15358762147605; %[1:100]
% om0 = 39.3843577627403; %[1:100]
% k0 = 86.8262524222660; %[1:100]
% l2 = 702.476609911729; %[1:1000]
% a_ks = [-0.961333833670403,-0.899330803307806,-0.203641573649615;-0.714587210318562,-0.603776949561476,-0.0519421171400566;-0.569401535919983,-0.154732666542345,0.460515085255760;
-0.0369634433082456,0.511765121542169,0.920910287034163;0.496740417632112,0.805139098955115,0.967740436059881];
% a_cs = [-0.964478709339200,-0.703798450742280,-0.202268870219115;-0.846373670477416,-0.439204115799397,-0.134488848135273;-0.434917577984332,0.298947008155214,0.709230916791695;
0.0364888173167297,0.589560571026918,0.909128421524052;0.307327526029337,0.730196130188434,0.947516426147854];
% a_v = [0.328785173988373,2.39593998531366,8.88322805855561;2.48709144872506,5.12061363616383,11.6815068561810;0.614371040457829,9.70927511772269,15.0725582269162;
8.39850167206166,14.4186070019695,19.9958790809412;15.3373277074801,18.5401718582444,19.4919540118303];
% b_ks = [1.140838867648064e+03,1.563325184283469e+03,1.758974301114079e+03,1.924089934055805e+03,2.051296327176498e+03];
% b_cs = [-2.498011749318166e+02,-2.211457657563566e+02,-2.200934113180452e+02,-1.331636142939386e+02,35.590617737909355];
% b_v = [-14.033809303187045,-12.805152377743184,-4.217941212324154,3.362846124008737,10.451969690448408];
%--- test 4_3: fuzzy, DO, adaptive (rho_ad(t) and om(t) = om0) ---
% alfa = 0.874416474647554;
% PHI = 1;
% eps = 0.00001;
% a1 = 28.1392941024985; %[1:1000]
% a2 = 10.7845176650621; %[1:100]
 MATLAB Command History Page 69
May 7, 2019 3:46:17 PM

% om0 = 34.5676695821628; %[1:100]

% k0 = 54.1569841534051; %[1:100]
% l2 = 258.860891174173; %[1:1000]
% a_ks = [-0.909321819546334,-0.869712774181164,-0.179843630817213;-0.963285089514859,-0.356840041586254,-0.140732467996760;-0.436434511599391,-0.245511314626646,0.883452262287000;
-0.0630940718442964,0.402226661030769,0.914753087428342;0.409725350210209,0.774503174777497,0.942170626061155];
% a_cs = [-0.976945336186364,-0.797201708837825,-0.427421164318919;-0.774172643681359,-0.416686598076169,0.0346770342368840;-0.932904329295419,-0.331287397930847,0.487727937403140;
-0.0785075701520996,0.345441808596640,0.859897892632272;0.121013412059236,0.867147411357205,0.954525074131468];
% a_v = [0.188652933368498,2.88981447130858,7.31480834791171;0.501036698544254,4.89195413361812,15.8132956435916;2.49033011205642,10.1025078277259,16.3137115355969;
4.05292187550237,16.7215215705902,19.4229006842103;12.6875289657005,16.8927853070839,19.1682094196034];
% b_ks = [-2.620557275934223e+03,-1.265516610039276e+03,-1.423774897699486e+02,-10.156385214324473,8.479207791864951e+02];
% b_cs = [-2.443365882555417e+02,-1.664782162098575e+02,-9.825496107831356,65.567947526495000,1.794194044619588e+02];
% b_v = [-15.465113855193097,-13.151186792520216,-1.698982456219930,-0.093164606124731,5.304098059099491];
% %--- test 5:(1) fuzzy, DO, adaptive, rho_ad(t)---
% alfa = 0.942574137392154;
% PHI = 1;
% eps = 0.00001;
% a1 = 3.91996797753072; %[1:1000]
% a2 = 2.07976755703195; %[1:100]
% om0 = 269.403735195640; %[-350:350]
% k0 = 11.9560677334591; %[1:100]
% l2 = 868.234961755542; %[1:1000]
% a_ks = [-0.913896567489805,-0.810261969390445,-0.422672700921023;-0.773928252931969,-0.361619465367881,-0.177879139876683;-0.777924122264101,-0.382036228803866,0.905615805916168;
0.229524107564833,0.394946567682202,0.935038850388764;0.535072020144214,0.899747236052216,0.931111451425247];
% a_cs = [-0.909039044387363,-0.778873713173897,-0.374680973382311;-0.760482140097871,-0.586185865079997,-0.0465314259503577;-0.410535020852223,0.0498287545782999,0.934688746187930;
0.155095405571576,0.385341428516406,0.934664179179562;0.117689703735145,0.667028409753918,0.940737855689643];
% a_v = [0.824075546020548,3.73508436481782,6.27810925892297;1.14963865009847,3.42813258034903,8.38975258642237;3.08156413016454,6.63650613917525,19.8924901900451;
1.79328024770914,13.9678825020215,18.8788586306687;14.3602763361050,17.7385926821352,19.6866696052026];
% b_ks = [-2482.18727930770,-330.541066005408,-30.9931483953687,673.226926671120,1905.86759814742];
% b_cs = [-44.9508103700981,-17.3321828723973,108.023607165193,159.196550053602,226.955684544160];
% b_v = [-58.6034163000970,-31.2329243772538,-26.2963224707570,-13.7005777939359,31.8883778369306];
% %--- test 5:(2) fuzzy, DO, adaptive, rho_ad(t)---
% alfa = 0.911290258514504;
% PHI = 1;
% eps = 0.00001;
% a1 = 98.2994054387935; %[1:1000]
% a2 = 11.3912445955835; %[1:100]
% om0 = 20.5275741273146; %[-350:350]
% k0 = 3.19385799404128; %[1:100]
% l2 = 805.084697669284; %[1:1000]
% a_ks = [-0.964038271779661,-0.855844820367769,-0.415537291557998;-0.891474497543546,-0.621430133831117,0.0881202697497049;-0.972494304869310,-0.217852023178333,0.998832783357451;
0.116578364465014,0.328557580399482,0.831364101503458;0.474756956627304,0.601391455436352,0.932299643657357];
% a_cs = [-0.909511678355089,-0.600513264289541,-0.445343438415142;-0.850326484222123,-0.503422326195107,-0.291304200513736;-0.736258329552357,-0.255254817745895,0.451692033224452;
-0.0956200255046951,0.363755454218394,0.849243514112580;0.297010159366567,0.792522924020751,0.903705173253031];
% a_v = [0.632847496138695,3.61059363850071,6.28533294401274;1.23275288785036,3.38829399900567,19.5649921530789;2.54682991322493,9.28488382960306,16.1065354886895;
7.89217790266828,15.7709379541951,19.1531283049365;13.2464924314403,17.7920132135942,19.0343755650281];
% b_ks = [4.96167629922263,185.064046718791,224.983590533434,695.599202326821,2686.27334159526];
% b_cs = [-197.971778417411,-192.568497464081,-140.043901446571,2.96818613448369,66.9466707482322];
% b_v = [-17.0203356084492,-1.67641449915854,23.9632623822596,33.0180510680314,67.9717136468936];
% %--- test 5:(3) fuzzy, DO, adaptive, rho_ad(t)---
alfa = 0.840080220875599;
PHI = 1;
eps = 0.00001;
a1 = 87.1790710662921; %[1:1000]
a2 = 30.0127706062212; %[1:100]
om0 = 195.199856762208; %[-350:350]
k0 = 52.7149231640241; %[1:100]
l2 = 780.699568393096; %[1:1000]
a_ks = [-0.977665462942268,-0.654124870074655,-0.285599845505562;-0.913084740140048,-0.344841670908060,0.0110471596190468;-0.648776064473591,0.0754787651336873,0.897007627740067;
0.284047512694711,0.387735765871282,0.868558466823592;0.341778591647107,0.633706406712160,0.967128256684583];
a_cs = [-0.949778142906489,-0.815226158835317,-0.582720878650164;-0.997639713461401,-0.621381356386667,-0.234828555679164;-0.926037292139055,-0.395108955280334,0.901085640078752;
0.286530004912562,0.418054153824551,0.805139949350492;0.365399520697793,0.868149960571999,0.978444825113538];
a_v = [0.304883668339941,2.97014150581628,7.07493872181743;2.13594687640650,5.05667853266149,18.2172175712776;0.401730290445440,8.00185752023321,16.5745888097509;
3.50577189542485,13.0877332537229,19.8593849944045;13.4033854531989,18.8873199096827,19.3813157386389];
b_ks = [-2695.39092675439,-939.672531746312,961.515588821945,2210.29756706539,2467.48473866833];
b_cs = [-201.954714688118,-50.8492667369703,53.6278586055087,194.457163986525,249.521721113368];
b_v = [-60.9794122220985,-12.2605886638138,40.3320551469500,58.5557398820459,60.9600792388574];
load('luu_test6_road5.mat')
alfa = xval(1);
a1 = xval(2);
a2 = xval(3);
om0 = xval(4);
k0 = xval(5);
l2 = xval(6);
a_ks = sort(vec2mat(xval(7:21),3),2);
a_cs = sort(vec2mat(xval(22:36),3),2);
a_v = sort(vec2mat(xval(37:51),3),2);
b_ks = sort(xval(52:56));
b_cs = sort(xval(57:61));
b_v = sort(xval(62:66));
figure;plot(x2dot)
load('matlab_test_5.mat')
figure;plot(x2dot)
load('luu_test5_road5.mat')
alfa = xval(1);
a1 = xval(2);
a2 = xval(3);
om0 = xval(4);
k0 = xval(5);
l2 = xval(6);
a_ks = sort(vec2mat(xval(7:21),3),2);
a_cs = sort(vec2mat(xval(22:36),3),2);
a_v = sort(vec2mat(xval(37:51),3),2);
b_ks = sort(xval(52:56));
b_cs = sort(xval(57:61));
b_v = sort(xval(62:66));
load('road1_test5_1.mat')
figure;plot(x2dot)
load('road1_test5_2.mat')
figure;plot(x2dot)
load('road1_test5_3.mat')
figure;plot(x2dot)
load('road2_test5_1.mat')
figure;plot(x2dot)
load('road2_test5_2.mat')
figure;plot(x2dot)
load('road2_test5_3.mat')
figure;plot(x2dot)
load('road3_test5_1.mat')
figure;plot(x2dot)
load('road3_test5_2.mat')
figure;plot(x2dot)
load('road3_test5_3.mat')
figure;plot(x2dot)
load('road1_test5_2.mat')
figure;plot(x2dot)
load('road1_test5_3.mat')
figure;plot(x2dot)
load('road2_test5_2.mat')
figure;plot(x2dot)
load('road2_test5_3.mat')
figure;plot(x2dot)
load('road3_test5_2.mat')
figure;plot(x2dot)
 MATLAB Command History Page 70
May 7, 2019 3:46:17 PM

load('road3_test5_3.mat')
figure;plot(x2dot)
clear
clc
load('luu_test5_road5.mat')
alfa = xval(1);
a1 = xval(2);
a2 = xval(3);
om0 = xval(4);
k0 = xval(5);
l2 = xval(6);
a_ks = sort(vec2mat(xval(7:21),3),2);
a_cs = sort(vec2mat(xval(22:36),3),2);
a_v = sort(vec2mat(xval(37:51),3),2);
b_ks = sort(xval(52:56));
b_cs = sort(xval(57:61));
b_v = sort(xval(62:66));
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(zr)
Parameter
figure;plot(x2dot)
figure;plot(zr)
figure;plot(u)
figure;plot(us)
figure;plot(uc)
figure;plot(es_ms)
figure;plot(mst)
figure;plot(es.ms.time,es_ms.data+ms0)
figure;plot(es_ms.time,es_ms.data+ms0)
figure;plot(es_d)
figure;plot(dt)
figure;plot(vt)
figure;plot(x1)
figure;plot(x2)
Parameter
figure;plot(zr)
Parameter
figure;plot(x2)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
load('FD_FC_FSMC_road1.mat')
figure;plot(u)
figure;plot(x2dot)
figure;plot(diff(x2dot.data))
figure;plot(x2)
figure;plot(x1)
figure;plot(x2dot)
figure;plot(u)
clear
clc
Parameter
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
 MATLAB Command History Page 71
May 7, 2019 3:46:17 PM

figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(zr_dot)
figure;plot(x2)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
a=1
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x1)
Parameter
a=1
figure;plot(x2dot)
Main_skyhook
figure;plot(x2dot)
a=500;
figure;plot(x2dot)
a=1
figure;plot(x2dot)
figure;plot(u)
a=500
figure;plot(x2dot)
figure;plot(u)
a=5
figure;plot(x2dot)
figure;plot(u)
Main_skyhook
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
%-- 12/03/2019 8:27 AM --%
Parameter2
figure;plot(x2dot)
Parameter2
load('FD_FC_FSMC_road1.mat')
clear
load('FD_FC_FSMC_road1.mat')
figure;plot(zr)
Parameter
figure;plot(x2dot)
load('FD_FC_FSMC_road1.mat')
hold on
plot(x2dot,'r')
Parameter
figure;plot(zr)
figure;plot(vt)
figure;plot(x2dot)
load('FD_FC_FSMC_road2.mat')
hold on
plot(x2dot,'r')
Parameter
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
figure;plot(u)
figure;plot(uz)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
clear
clc
Main_SARC
figure;plot(x2dot)
figure;plot(x1)
figure;plot(x2)
figure;plot(uz)
Main_SARC
figure;plot(Fsd)
figure;plot(x2dot)
figure;plot(uz)
figure;plot(u)
clear
clc
Parameter2
figure;plot(u)
Parameter2
figure;plot(u)
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
%-- 13/03/2019 12:03 PM --%
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
0.001*0.3
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
 MATLAB Command History Page 72
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figure;plot(x2dot)
r1
Parameter2
figure;plot(x2dot)
Parameter2
v0 = 10; % Car velocity (m/s)
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(x2dot)
Parameter2
figure;plot(uza)
figure;plot(u)
figure;plot(ngúy)
figure;plot(nguy1)
figure;plot(x2dot)
figure;plot(e2)
Main_SARC
r0 = xval(1);
k1 = xval(2);
k2 = xval(3);
k01 = xval(4);
ka1 = xval(5);
kl = xval(6);
figure;plot(x2dot)
Main_SARC
figure;plot(x2dot)
eps1 = 1; % eps1 > 0
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(uzs)
Parameter
figure;plot(uzs)
figure;plot(x2dot)
figure;plot(u)
%-- 13/03/2019 9:31 PM --%
Parameter
figure;plot(x2dot)
figure;plot(u)
figure;plot(uzs)
figure;plot(uza)
Parameter
figure;plot(u)
figure;plot(uzs)
Parameter
figure;plot(uzs)
figure;plot(u)
Parameter
figure;plot(uzs)
figure;plot(u)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
clear
clc
Lb = [0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1]; % can duoi cua bien thiet ke
Ub = [1000 1000 1000 1000 1000 1000 1000 1000]; % can tren cua bien thiet ke
%-- 14/03/2019 9:50 AM --%
Main_SARC
a=0;
if a
fprintf('false');
end
if a
fprintf('true');
else
fprintf('false');
end
a=1;
if a
fprintf('true');
else
fprintf('false');
end
a=0.1;
if a
fprintf('true');
else
fprintf('false');
end
a=-1;
if a
 MATLAB Command History Page 73
May 7, 2019 3:46:17 PM

fprintf('true')
else
fprintf('false')
end
a=-1;
if a
fprintf('true \n')
else
fprintf('false \n')
end
a=-0.1;
if a
fprintf('true \n')
else
fprintf('false \n')
end
a=0;
if a
fprintf('true \n')
else
fprintf('false \n')
end
a=0.1;
if a
fprintf('true \n')
else
fprintf('false \n')
end
a=1;
if a
fprintf('true \n')
else
fprintf('false \n')
end
fprintf('false \n')
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
figure;plot(u)
Main_SARC
Parameter
figure;plot(u)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Main_SARC
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
figure;plot(u)
figure;plot(uza)
figure;plot(uzs)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
Parameter
 MATLAB Command History Page 74
May 7, 2019 3:46:17 PM

figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(u)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(u)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(u)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
clear
clc
Lb = [0.00001 0.001 1 0.1 0.001]; % can duoi cua bien thiet ke
Ub = [0.001 10 50000 500 10]; % can tren cua bien thiet ke
Main_SARC
%-- 14/03/2019 2:00 PM --%
A = magic(3)
b = [3;5;6];
Diagonal_solving(A,b)
b=[1,2,3];
Diagonal_solving(A,b)
[0 2 4;0 10 3; 0 1 1]
c = A(1,:)
A(1,:) = b
A = magic(8);
A = magic(4);
sum(A(2,1),A(2,3))
sum(A(2,1))
sum(A(2,:))
5+11+10+8
tril(3)
A = magic(3);
B = tril(A)
n = length(A);
tail = zeros(n,1);
x = zeros(n,1);
x(1,1) = b(1,1)/A(1,1);
B = magic(3)
A = tril(B)
n = length(A);
tail = zeros(n,1);
x = zeros(n,1);
x(1,1) = b(1,1)/A(1,1);
 MATLAB Command History Page 75
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for i = 2:n
for k = 1:i-1
tail(i,1) = sum(a(i,:)*x(i,1))
end
tail(i,1) = tail(i-1,1) + A(i-1,k)*x(i-1);
x(i,1) = (b(i,1) - tail(i,1))/A(i,i);
end
for i = 2:n
for k = 1:i-1
tail(i,1) = sum(A(i,:)*x(i,1));
end
tail(i,1) = tail(i-1,1) + A(i-1,k)*x(i-1);
x(i,1) = (b(i,1) - tail(i,1))/A(i,i);
end
tail = zeros(n,1);
x = zeros(n,1);
x(1,1) = b(1,1)/A(1,1);
for i = 2:n
for k = 2:i-1
tail(i,1) = sum(A(i,:)*x(i,1));
end
tail(i,1) = tail(i-1,1) + A(i-1,k)*x(i-1);
x(i,1) = (b(i,1) - tail(i,1))/A(i,i);
end
clear
clc
B = magic(3)
A = tril(B)
n = length(A);
tail = zeros(n,1);
x = zeros(n,1);
x(1,1) = b(1,1)/A(1,1)
b = [1;2;3];
x(1,1) = b(1,1)/A(1,1)
for i = 2:n
tail(i,1) = sum(A(i,:)*x(i,1));
x(i,1) = (b(i,1) - tail(i,1))/A(i,i);
end
tail = zeros(n,1);
x = zeros(n,1);
x(1,1) = b(1,1)/A(1,1);
for i = 2:n
tail(i,1) = sum(A(i,:)*x(i,1));
x(i,1) = (b(i,1) - tail(i,1))/A(i,i);
end
B = magic(10)
A = tril(B)
n = length(A);
tail = zeros(n,1);
x = zeros(n,1);
x(1,1) = b(1,1)/A(1,1);
for i = 2:n
tail(i,1) = sum(A(i,:)*x(i,1));
x(i,1) = (b(i,1) - tail(i,1))/A(i,i);
end
tail = zeros(n,1);
x = zeros(n,1);
x(1,1) = b(1,1)/A(1,1);
for i = 2:n
tail(i,1) = sum(A(i,:)*x(i,1))
x(i,1) = (b(i,1) - tail(i,1))/A(i,i)
end
b = [1;2;3;4;5;6;7;8;9;10];
clear i
tail = zeros(n,1);
x = zeros(n,1);
x(1,1) = b(1,1)/A(1,1);
for i = 2:n
tail(i,1) = sum(A(i,:)*x(i,1))
x(i,1) = (b(i,1) - tail(i,1))/A(i,i)
end
A(2,:)*x(2,:)
sum(ans)
tail = zeros(n,1);
x = zeros(n,1);
x(1,1) = b(1,1)/A(1,1);
for i = 2:n
tail(i,1) = sum(A(i,:)*x(i,:))
x(i,1) = (b(i,1) - tail(i,1))/A(i,i)
end
tail = zeros(n,1);
x = zeros(n,1);
x(1,1) = b(1,1)/A(1,1);
for i = 2:n
tail(i,1) = A(i,:)*x(:,1)
x(i,1) = (b(i,1) - tail(i,1))/A(i,i)
end
Parameter
figure;plot(x2dot)
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Main_SARC
Parameter
figure;plot(x2dot)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
%-- 14/03/2019 9:58 PM --%
B = magic(10)
A = triu(B)
A = tril(B)
A = diag(B)
A = diag(B,10)
A = diag(B,1)
A = diag(B,2)
A = isdiag(B)
A = diag(B)
A = diag(B)*I(10)
ones(10)
A = diag(B)*ones(10)
A = ones(10)*diag(B)
clear
clc
A = magic(3)
norm2(A)
norm(A,1)
norm(A,2)
norm(A)
norm(A,inf)
norm_2(A)
load('luu_SARC1.mat')
Parameter
 MATLAB Command History Page 76
May 7, 2019 3:46:17 PM

figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
load('luu_SARC2.mat')
Parameter
figure;plot(x2dot)
norm(x2dot.data)
var(x2dot.data)
norm(x2dot.data,2)
norm(x2dot.data,5)
norm(x2dot.data,if)
norm(x2dot.data,inf)
var(x2dot.data)
norm(x2dot.data-mean(x2dot.data),inf)
norm(x2dot.data-mean(x2dot.data))
norm_inf(A)
A = magic(10)
norm(A,inf)
norm_inf(A)
norm(A)
norm(A,1)
norm(A,3)
norm(A,fro)
b = [1;2;3;4;5;6;7;8;9;10];
norm(b)
norm(b,1)
norm(b,2)
norm(b,3)
norm(b,4)
norm(b,inf)
norm(b,fro)
norm(b,for)
S = sparse(1:25,1:25,1)
n = norm(S,'fro')
X = [2 0 1;-1 1 0;-3 3 0]
norm_inf(X)
norm(X)
norm_2(X)
norm(A)
norm_2(A)
norm_2(b)
norm(b)
norm_2(X)
norm(X)
sqrt(trace(X*X))
sqrt(trace(A*A))
sum(sum(abs(A(i,j))^2))
sum(sum(abs(A)^2))
sqrt(sum(sum(abs(A)^2)))
sqrt(sum(sum(abs(A).^2)))
norm_2(A)
sqrt(sum(sum(abs(A).^2)))
norm_2(A)
sum(A)
sum(A,1)
sum(A,2)
max(sum(A,2))
max(sum(X,2))
norm(X,inf)
max(sum(X,1))
norm_inf(X)
norm(X,inf)
sum(X,1)
%-- 15/03/2019 7:01 AM --%
A = magic(3)
L = tril(A)
C = inv(L)
A = [2 -1 0 0 0;
-1 2 -1 0 0;
0 -1 2 -1 0;
0 0 -1 2 -1;
0 0 0 -1 2];
y = check_SDD(A)
example
A = 2*diag(ones(n,1),0) + (-1)*diag(ones(n-1,1),-1) + (-1)*diag(ones(n-1,1),1)
n = 50;
A = 2*diag(ones(n,1),0) + (-1)*diag(ones(n-1,1),-1) + (-1)*diag(ones(n-1,1),1)
A = sparse(2*diag(ones(n,1),0) + (-1)*diag(ones(n-1,1),-1) + (-1)*diag(ones(n-1,1),1))
y1 = check_SDD(A)
inv(A)
inv(A)*A
A*inv(A)
n = 50;
A = sparse(2*diag(ones(n,1),0) + (-1)*diag(ones(n-1,1),-1) + (-1)*diag(ones(n-1,1),1))
y1 = check_SDD(A)
A
size(A)
A = [2 -1 0;-1 2 -1;0 -1 2];
A = [2 -1 0 0;-1 2 -1 0;0 -1 2 1];
y = check_SPD(A)
example
y = check_SPD(A)
%-- 15/03/2019 10:07 AM --%
A = [2 1;2 1.01];
inv(A)
norm(A)*norm(inv(A))
norm(A)
norm(A,inf)
norm(inv(A),inf)
norm(A,inf)*norm(inv(A),inf)
A = [401 -201;-800 401]
norm(A,inf)*norm(inv(A),inf)
A = [2 -1 0;-1 2 -1;0 -1 2]
norm(A,inf)*norm(inv(A),inf)
inf(A)
inf(A(1,:))
n = 50;
A = sparse(2*diag(ones(n,1),0) + (-1)*diag(ones(n-1,1),-1) + (-1)*diag(ones(n-1,1),1))
norm(A,inf)*norm(inv(A),inf)
A = [2 -1 0;-1 2 -1;0 -1 2]
inv(A)
norm(A,inf)
norm(inv(A),inf)
n = 50;
for i = 1:n
A = sparse(2*diag(ones(n,1),0) + (-1)*diag(ones(n-1,1),-1) + (-1)*diag(ones(n-1,1),1));
v(i) = norm(A,inf)*norm(inv(A),inf);
end
norm(A,inf)*norm(inv(A),inf)
 MATLAB Command History Page 77
May 7, 2019 3:46:17 PM

diag(ones(n,1),0) + (-1)*diag(ones(n-1,1),-1) + (-1)*diag(ones(n-1,1),1));

v(i) = norm(A,inf)*norm(inv(A),inf);
end
f)
ans =
1.3000e+03
>>
%-- 15/03/2019 1:57 PM --%
A = [2 -1 1;2 2 2;-1 -1 2]
spectral_radius(A)
A = [1 2 -2;1 1 1;2 2 1];
spectral_radius(A)
spectral_radius
spectral_radius(A)
example2
A = [1 2 -2;1 1 1;2 2 1];
spectral_radius(A)
example2
spectral_radius
b = ones(n,1)
n = 100;
A = sparse(diag(ones(n,1),0) + (-0.5)*diag(ones(n-1,1),-1) + (-0.5)*diag(ones(n-1,1),1));
b = ones(n,1); b(1,1) = 0; b(n,1) = 0;
%%
D = diag(diag(A));
L = tril(A,-1);
U = triu(A,1);
1/D
1./D
inv(D)
D\b
eps = 1e-8
x(:,1) = b
x(:,2) = C_J*x(:,1) + d_J
C_J = -(1/D)*(L+U);
d_J = inv(D)*b;
rho = max(abs(eig(C_J)));
omega = 2/(1+sqrt(1-(rho)^2));
rho = max(abs(eig(C_J)))
C_J = -(1/D)*(L+U)
clear
clc
n = 100;
A = sparse(diag(ones(n,1),0) + (-0.5)*diag(ones(n-1,1),-1) + (-0.5)*diag(ones(n-1,1),1));
b = ones(n,1); b(1,1) = 0; b(n,1) = 0;
eps = 10e-8;
x(:,1) = b;
n = 100;
A = sparse(diag(2*ones(n,1),0) + (-1)*diag(ones(n-1,1),-1) + (-1)*diag(ones(n-1,1),1));
b = ones(n,1); b(1,1) = 0; b(n,1) = 0;
eps = 10e-8;
x(:,1) = b;
D = diag(diag(A))
L = tril(A,-1)
U = triu(A,1)
C_J = -(1/D)*(L+U)
C_J = -inv(D)*(L+U)
d_J = inv(D)*b;
rho = max(abs(eig(C_J)))
omega = 2/(1+sqrt(1-(rho)^2))
x(:,2) = C_J*x(:,1) + d_J
example2
norm_inf(x(:,2)-x(:,1))
example2
6-22+36
example2
((norm(C_J,inf)^k)/(1-norm(C_J,inf)))*norm(x(:,2)-x(:,1),inf)
(norm(C_J,inf)^k)
(1-norm(C_J,inf)))
1-norm(C_J,inf)
norm(C_J,inf)
example2
13-20+26
example2
clear
clc
example2
((norm(C_J,inf)^k)/(1-norm(C_J,inf)))*norm(x_start-x0,inf)
example2
eps
((norm(C_J,inf)^k)/(1-norm(C_J,inf)))*norm(x_start-x0,inf)
nghiem=[1;2;-1];
norm(nghiem-x1,inf)
A
D
L
U
C_J
rho
example2
A*x1
example2
norm(C_J,inf)
example2
example2
example2
clear
example2
example3
%% SOR
clear all
A = [10 -1 2 0;-1 11 -1 3;2 -1 10 -1;0 3 -1 8]; b = [6;25;-11;15]; x0 = b;
% A = [1 2 -2;1 1 1;2 2 1]; b = [7;2;5]; x0 = [0;0;0];
eps = 10e-8;
D = diag(diag(A));
L = tril(A,-1);
U = triu(A,1);
C_SOR = inv(D+omega*L)*((1-omega)*D-omega*U)
omega = 2/(1+sqrt(1-rho^2));
C_SOR = inv(D+omega*L)*((1-omega)*D-omega*U);
rho = max(abs(eig(C_SOR)));
omega = 2/(1+sqrt(1-rho^2));
example3
%-- 15/03/2019 5:45 PM --%
B=[1;2;34;6;32;2]
norm_2(B)
norm(B,2)
norm(B,inf)
norm_inf(B)
n =100;
A = sparse(diag(2*ones(n,1),0) + (-1)*diag(ones(n-1,1),-1) + (-1)*diag(ones(n-1,1),1));
norm_inf(A)
norm(A,inf)
 MATLAB Command History Page 78
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norm_inf(A)
norm_2(A)
norm(A,2)
norm_2(A)
%-- 16/03/2019 10:48 AM --%
Parameter
load('luu_SARC3.mat')
r0 = xval(1);
k1 = xval(2);
k2 = xval(3);
k01 = xval(4);
ka1 = xval(5);
sim('SARC')
figure;plot(x2dot)
clear
clc
load('FD_FC_FSMC_road1.mat')
clear
clc
7.057334707234280e+02
clear
clc
Untitled3
pretty([1.54667598168015,0.370390716525326;0.362162927956204,0.00916663799738471;0.106529887683441,0.0202557400243663])
[1.546675981680147,0.370390716525326;0.362162927956204,0.009166637997385;0.106529887683441,0.020255740024366]
Untitled3
Untitled4
Untitled3
Untitled4
Untitled3
Untitled4
Untitled
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(u)
Parameter
figure;plot(x2dot)
Untitled
Parameter
figure;plot(x2dot)
Untitled
Untitled3
Untitled4
Untitled3
Untitled4
Untitled3
Untitled4
figure;plot(x1)
%-- 17/03/2019 6:09 AM --%
load('FD_FC_FSMC_road1.mat')
figure;plot(zr)
xlabel('Time (s)','FontName','Times New Roman','FontSize',13);
ylabel('$\z_r$ $(m)$','interpreter','latex','FontName','Times New Roman','FontSize',13)
ylabel('$z_r$ $(m)$','interpreter','latex','FontName','Times New Roman','FontSize',13)
load('FD_FC_FSMC_road2.mat')
figure;plot(zr)
xlabel('Time (s)','FontName','Times New Roman','FontSize',13);
ylabel('$z_r$ $(m)$','interpreter','latex','FontName','Times New Roman','FontSize',13)
load('FD_FC_FSMC_road3.mat')
figure;plot(zr)
xlabel('Time (s)','FontName','Times New Roman','FontSize',13);
ylabel('$z_r$ $(m)$','interpreter','latex','FontName','Times New Roman','FontSize',13)
grid on
Untitled3
Untitled4
clear
clc
Untitled3
Untitled4
load('FD_FC_FSMC_road1.mat')
a = a_ks;b = b_ks;
Plot_membership_function
max(a_cs)
min(a_cs)
Plot_membership_function
%-- 17/03/2019 9:28 AM --%
legend('A1','A2','A3','A4','A5','interpreter','latex');
legend('A_k^1','A2','A3','A4','A5','interpreter','latex');
Plot_membership_function
load('FD_FC_FSMC_road1.mat')
Plot_membership_function
a = a_cs; b = b_cs
a = a_ks; b = b_ks;
Plot_membership_function
a=a_cs;b=b_cs;
Plot_membership_function
a=a_v;b=b_v;
Plot_membership_function
%% Disturbance
figure;
subplot(2,1,1);
plot(dt,'LineWidth',1.5);
xlabel('Time (s)','FontName','Times New Roman','FontSize',13);
ylabel('$d(t)$ $(N)$','interpreter','latex','FontName','Times','FontSize',13);
%% Velocity
subplot(2,1,2);
plot(vt,'LineWidth',1.5);
xlabel('Time (s)','FontName','Times New Roman','FontSize',13);
ylabel('$v(t)$ $(m/s)$','interpreter','latex','FontName','Times','FontSize',13);
figure;plot(rho_ad)
figure;plot(mst)
%% Disturbance
figure;
subplot(3,1,1);
plot(dt,'LineWidth',1.5);
xlabel('Time (s)','FontName','Times New Roman','FontSize',13);
ylabel('$d(t)$ $(N)$','interpreter','latex','FontName','Times','FontSize',13);
grid on;
%% ms(t)
subplot(3,1,2);
plot(mst.time,mst.data,'LineWidth',1.5);
xlabel('time $(s)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
ylabel('$m_s(t)$ $(kg)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
grid on;
%% Velocity
subplot(3,1,3);
plot(vt,'LineWidth',1.5);
xlabel('Time (s)','FontName','Times New Roman','FontSize',13);
ylabel('$v(t)$ $(m/s)$','interpreter','latex','FontName','Times','FontSize',13);
figure
ax1 = subplot(2,2,1);
 MATLAB Command History Page 79
May 7, 2019 3:46:17 PM

x1 = linspace(0,6);
y1 = sin(x1);
plot(x1,y1)
ax2 = subplot(2,2,2);
x2 = linspace(0,10);
y2 = sin(2*x2);
plot(x2,y2)
ax3 = subplot(2,2,[3,4]);
x3 = linspace(0,16);
y3 = sin(6*x3);
plot(x3,y3)
linkaxes([ax1,ax2,ax3],'x')
subplot(3,1,1);
plot(randn(100,1),randn(100,1),'x');
ylabel('QF')
subplot(3,1,2);
plot(randn(100,1),randn(100,1)*10,'x');
ylabel('HT');
subplot(3,1,3);
plot(randn(100,1),randn(100,1)*33,'x');
ylabel('DV');
samexaxis('abc','xmt','on','ytac','join','yld',1)
clc
Untitled2
Parameter
figure;polot(x2dot)
figure;plot(x2dot)
clear
clc
Parameter
figure;plot(zr)
Parameter
figure;plot(zr)
figure;plot(x2dot)
load('FD_FC_FSMC_road1.mat')
figure;plot(x2dot)
Untitled
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(S)
figure;plot(S_dot)
%-- 17/03/2019 10:59 PM --%
Untitled2
%-- 18/03/2019 9:14 AM --%
PSD
figure;
subplot(2,1,1);
plot(f1,psd1,'k-',f2,psd2,'m-',f3,psd3,'b:','LineWidth',1.5);
legend 'Passive' 'Skyhook' 'FD-FC-FSMC';
title('PSD','interpreter','latex','FontName','Times New Roman','FontSize',13);
xlabel('Freq (Hz)','FontName','Times New Roman','FontSize',13);
ylabel('Power/frequency $(dB/Hz)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
grid on;
subplot(2,1,2)
plot(f1,psd1,'k-',f2,psd2,'m-',f3,psd3,'b:','LineWidth',1.5);
figure;
subplot(2,1,2);
plot(f1,psd1,'k-',f2,psd2,'m-',f3,psd3,'b:','LineWidth',1.5);
legend 'Passive' 'Skyhook' 'FD-FC-FSMC';
title('PSD','interpreter','latex','FontName','Times New Roman','FontSize',13);
xlabel('Freq (Hz)','FontName','Times New Roman','FontSize',13);
ylabel('Power/frequency $(dB/Hz)$','interpreter','latex','FontName','Times New Roman','FontSize',13);
grid on;
subplot(2,1,1)
plot(f1,psd1,'k-',f2,psd2,'m-',f3,psd3,'b:','LineWidth',1.5);
grid on;
PSD
%-- 18/03/2019 12:21 PM --%
0.1/2
%-- 18/03/2019 2:39 PM --%
PSD
figure;
plot(f3,psd3);
xlabel 'Frequency (Hz)';
ylabel 'Power/frequency (dB/Hz)';
title 'FD-FC-FSMC'
PSD
93.11-81.84
94.53-81.72
Parameter
Untitled
Parameter
Untitled
%-- 20/03/2019 10:54 AM --%
load count.dat
Z = count(1:10,:)
figure
bar3(Z,'grouped')
bar3([1 3],[7.5 6 4;5.2 3 5],[7.5 6 4;5.2 3 5],0.4)
bar3([1 3],[7.5 6 4;5.2 3 5],0.4)
a=[];
bar3(a)
a=[]
b=[];
bar3([1 2 3],[a],[b])
bar3([1 2 3],[a],[b],'grouped')
figure;bar3([1 2 3],[a],'grouped')
figure;bar3([1 2 3],[a;b],'grouped')
figure;bar3([1 2 3],[a,b],'grouped')
figure;bar([1 2 3],[a])
figure;bar(['asd' 2 3],[a])
figure;bar([1 2 3],[a,b])
a = [1.546670000000000,0.280870000000000,0.106520000000000;3.214440000000000,1.040010000000000,0.407520000000000;3.027330000000000,1.559450000000000,0.736820000000000];
% mean value, row is road, column is controller
b = [0.370390000000000,0.067700000000000,0.020250000000000;0.807210000000000,0.230210000000000,0.057940000000000;0.581710000000000,0.187440000000000,0.042140000000000];
figure;bar([1 2 3],[a,b]);
ylabel('$(m/s^2)$','interpreter','latex','FontName','Times','FontSize',13);
legend 'Passive' 'Skyhook' 'FD-FC-FSMC';
legend('$A_a$ of Passive','$A_a$ of Skyhook','$A_a$ of FD-FC-FSMC','$M_a$ of Passive','$M_a$ of Skyhook','$M_a$ of FD-FC-FSMC','interpreter','latex','FontName','Times','FontSize',13);
legend('$A_a$ of Passive','$A_a$ of Skyhook','$A_a$ of FD-FC-FSMC','$M_a$ of Passive','$M_a$ of Skyhook','$M_a$ of FD-FC-FSMC','interpreter','latex');
legend('A_a of Passive','A_a of Skyhook','A_a of FD-FC-FSMC','M_a of Passive','M_a of Skyhook','M_a of FD-FC-FSMC','Times','FontSize',13);
legend('A_a of Passive','A_a of Skyhook','A_a of FD-FC-FSMC','M_a of Passive','M_a of Skyhook','M_a of FD-FC-FSMC','FontName','Times','FontSize',13);
legend('A_a of Passive','A_a of Skyhook','A_a of FD-FC-FSMC','M_a of Passive','M_a of Skyhook','M_a of FD-FC-FSMC');
bar3([a])
bar([a])
bar([a,b])
['as' 'a']
['as','a']
['as';'a']
pareto(bar([a,b]))
pareto(a)
 MATLAB Command History Page 80
May 7, 2019 3:46:17 PM

pareto([a])
pareto([a,b])
bar(SelfAssessedHealthStatus,[a,b])
SelfAssessedHealthStatus = categorical(SelfAssessedHealthStatus,{'Poor' 'Fair' 'Good' 'Excellent'},'Ordinal',true);
bar(SelfAssessedHealthStatus,[a,b])
SelfAssessedHealthStatus = categorical([1 2 3],{'Poor' 'Fair' 'Good' 'Excellent'},'Ordinal',true);
hold on
pareto
pareto([87 98],1)
pareto([87 98])
pareto()
yyaxis right
yyaxis(right,[0:100])
plot(1,[87 98])
plot([1 1.25],[87 98])
%-- 23/03/2019 1:30 PM --%
example_parallel
example2
clear
clc
peaks
example2
labindex
example2
%-- 27/03/2019 6:57 PM --%
Example_1
Homework1
(u(2)-u(1))/dx
2*0.001*exp(0.001^2)
ans/dx
2*exp(1)
2*0.999*exp(0.999^2)
ans-5.4366
ans/dx
Homework1
clear
clc
Homework2
A = sparse(diag(-2*ones(n,1),0) + (-1)*diag(ones(n-1,1),-1) + (-1)*diag(ones(n-1,1),1))
A = sparse(diag(-2*ones(N,1),0) + (-1)*diag(ones(N-1,1),-1) + (-1)*diagA = sparse(diag(-2*ones(N,1),0) + (-1)*diag(ones(N-1,1),-1) + (-1)*diag(ones(N-1,1),1));ones(N-1,1),1))
A = sparse(diag(-2*ones(N,1),0) + (-1)*diag(ones(N-1,1),-1) + (-1)*diag(ones(N-1,1),1));
A
A = sparse(diag(-2*ones(N,1),0) + diag(ones(N-1,1),-1) + diag(ones(N-1,1),1))
A = sparse(diag(-2*ones(N,1),0) + diag(ones(N-1,1),-1) + diag(ones(N-1,1),1));
A(1,1) = 1; A(N+1,N+1) = 1;
A(1,2) = 0; A(N+1,N) = 0;
A = -1/(dx^2)*A;
f = f(x) = pi^2*sin(pi*x);
f = pi^2*sin(pi*x);
Homework2
plot(x,estimate_u)
Homework2
estimate_u(1:j)
j = 10;
estimate_u(1:j)
norm(estimate_u(1:j),inf)
Homework2
disp('asdasd %d',dx)
disp('asdasd %d')
disp('asdasd %d\n asd')
fprintf('asdasd %d',dx)
Homework2
Homework2b
Homework2a
Homework2b
clear
clc
%-- 29/03/2019 7:28 AM --%
clear
clc
example_29_3_2019
A
example_29_3_2019
estimate_u
example_29_3_2019
Homework2a
example_29_3_2019
Homework2a
Homework2b
example_29_3_2019
example_2
A
example_2
A
example_2
U
example_2
u_exact
example_2
mesh(x,t,exp(-pi^2*t)*sin(pi*x))
mesh(x,t,exp(-pi^2*t).*sin(pi*x))
mesh
mesh(x,t,exp(-pi^2*t')*sin(pi*x))
example_2
A
example_2
A
size(A)
size(U0)
example_2
A
size(U0)
size(A)
example_2
U0
example_2
size(A)
size(U0)
example_2
U0
A
example_2
U = A*U0
u = A*U
example_2
mesh(x,t,U)
mesh(x,t,U')
mesh(t,x,U)
example_2
mesh(x,t,U')
mesh(x,t,U)
mesh(t,x,U)
mesh(t,x,U')
 MATLAB Command History Page 81
May 7, 2019 3:46:17 PM

size(U)
size(x)
mesh(x(2:N-1),t,U)
x2 = x(2:N)
mesh(x(2:N),t,U)
mesh(x(2:N),t,U')
example_2
%-- 29/03/2019 12:21 PM --%
example_2
U0
U0 = sin(pi*x);%U0 = U0(2:N)';
alpha = 1;
c = alpha*dt/(dx^2);
A = sparse(diag((1-2*c)*ones(N-1,1),0) + c*diag(ones(N-2,1),-1) + c*diag(ones(N-2,1),1));
A(1,1) = 1; A(1,2) = 0;
A(2,1) = 0; A(N,N+1) = 0;
A(N+1,N) = 0; A(N+1,N+1) = 1;
U = zeros(N+1,M+1);
U0
size(A)
size(U)
size(U0)
U0 = sin(pi*x)';%U0 = U0(2:N)';
alpha = 1;
c = alpha*dt/(dx^2);
A = sparse(diag((1-2*c)*ones(N-1,1),0) + c*diag(ones(N-2,1),-1) + c*diag(ones(N-2,1),1));
A(1,1) = 1; A(1,2) = 0;
A(2,1) = 0; A(N,N+1) = 0;
A(N+1,N) = 0; A(N+1,N+1) = 1;
U = zeros(N+1,M+1);
size(U0)
for j=1:M+1
U0 = A*U0;
U(:,j) = U0;
end
U
example_2
U0
example_2
U0
example_2
x
t
U
figure; mesh(x,t,U)
example_2
u_exact
example_2
U'-uexact
U'-u_exact
example_2
j = 5;
err(j) = norm(U(:,j)'-u_exact(j,:),inf);
example_2
%-- 29/03/2019 1:05 PM --%
example_2
Untitled3
size(x)
size(t)
size(exact_sol)
Untitled3
t
x
t*x
t*x'
exact_sol =exp(-8*t)*sin(2*x')
Untitled3
implicit_scheme
Untitled3
implicit_scheme
Untitled3
implicit_scheme
Untitled3
implicit_scheme
Untitled3
err = [];
err(1) = norm(u'-exact_sol,inf);
Untitled3
err = [];
err(1) = norm(u'-exact_sol,inf);
err
Untitled3
implicit_scheme
Untitled3
u0 = @(x) sin(2*x);
u0(1,2)
u0(pi/2,0.11)
u0(pi/2)
Untitled3
implicit_scheme
Untitled3
err
E
[x,t,u,err] = implicit_scheme(alpha,T,N,M,a,b,u0,exact_sol)
i
clear all
alpha = 2;
T = 0.2;
N = 50;
M = 1000;
a = 0;
b = pi;
dx = (b-a)/N;
x = [a:dx:b]';
dt = T/M;
t = [0:dt:T]';
u0 = @(x) sin(2*x);
exact_sol = @(x,t) exp(-8*t)*sin(2*x');
[x,t,u,err] = implicit_scheme(alpha,T,N,M,a,b,u0,exact_sol)
Untitled3
abs(u'-exact_sol)
norm(ans,inf)
abs(u(4,:)'-exact_sol(:,4))
norm(ans,inf)
%-- 29/03/2019 5:12 PM --%
test
drive
implicitclear
example_3
A
example_3
inv(A)
B\A
 MATLAB Command History Page 82
May 7, 2019 3:46:17 PM

U0\A
inv(A)*U0
U0
N = 5;
dx = 1/N;
x = [0:dx:pi];
%% t
M = 15;
dt = 0.1/M;
t = [0:dt:0.2];
%% U(x0,t0)
U0 = sin(2*x)';%U0 = U0(2:N)';
alpha = 2;
c = alpha*dt/(dx^2);
A = sparse(diag((1+2*c)*ones(N,1),0) - c*diag(ones(N-1,1),-1) - c*diag(ones(N-1,1),1));
A(1,1) = 1; A(1,2) = 0;
A(2,1) = 0; A(N,N+1) = 0;
A(N+1,N) = 0; A(N+1,N+1) = 1;
U = zeros(N+1,M+1);
u_exact = exp(-8*t')*sin(2*x);
clear
clc
N = 5;
dx = 1/N;
x = [0:dx:pi]';
%% t
M = 15;
dt = 0.1/M;
t = [0:dt:0.2]';
U0 = sin(2*x);%U0 = U0(2:N)';
alpha = 2;
c = alpha*dt/(dx^2);
A = sparse(diag((1+2*c)*ones(N,1),0) - c*diag(ones(N-1,1),-1) - c*diag(ones(N-1,1),1));
A(1,1) = 1; A(1,2) = 0;
A(2,1) = 0; A(N,N+1) = 0;
A(N+1,N) = 0; A(N+1,N+1) = 1;
example_2
clear all; close all; clc;
% du/dt - 2*ddu/ddx = 0;
% x = (0:pi)
% t = (0:0.2)
% u(x,0) = sin(2x)
% u(0,t) = u(pi,t) = 0
% u_exact = exp(-8t)sin(2x)
%% x
N = 5;
dx = 1/N;
x = [0:dx:pi]';
%% t
M = 15;
dt = 0.1/M;
t = [0:dt:0.2]';
%% U(x0,t0)
U0 = sin(2*x);%U0 = U0(2:N)';
alpha = 2;
c = alpha*dt/(dx^2);
A = sparse(diag((1+2*c)*ones(N,1),0) - c*diag(ones(N-1,1),-1) - c*diag(ones(N-1,1),1));
A(1,1) = 1; A(1,2) = 0;
A(2,1) = 0; A(N,N+1) = 0;
A(N+1,N) = 0; A(N+1,N+1) = 1;
U = zeros(N+1,M+1);
N = 5;
dx = pi/N;
x = [0:dx:pi]';
%% t
M = 15;
dt = 0.2/M;
t = [0:dt:0.2]';
%% U(x0,t0)
U0 = sin(2*x);%U0 = U0(2:N)';
alpha = 2;
c = alpha*dt/(dx^2);
A = sparse(diag((1+2*c)*ones(N,1),0) - c*diag(ones(N-1,1),-1) - c*diag(ones(N-1,1),1));
A(1,1) = 1; A(1,2) = 0;
A(2,1) = 0; A(N,N+1) = 0;
A(N+1,N) = 0; A(N+1,N+1) = 1;
U = zeros(N+1,M+1);
u_exact = exp(-8*t')*sin(2*x);
clear all; close all; clc;
% du/dt - 2*ddu/ddx = 0;
% x = (0:pi)
% t = (0:0.2)
% u(x,0) = sin(2x)
% u(0,t) = u(pi,t) = 0
% u_exact = exp(-8t)sin(2x)
%% x
N = 5;
dx = pi/N;
x = [0:dx:pi]';
%% t
M = 15;
dt = 0.2/M;
t = [0:dt:0.2]';
%% U(x0,t0)
U0 = sin(2*x);%U0 = U0(2:N)';
alpha = 2;
c = alpha*dt/(dx^2);
U0 = sin(2*x);%U0 = U0(2:N)';
alpha = 2;
c = alpha*dt/(dx^2);
A = sparse(diag((1+2*c)*ones(N,1),0) - c*diag(ones(N-1,1),-1) - c*diag(ones(N-1,1),1));
x
sin(2*x)
U0 = sin(2*x);%U0 = U0(2:N)';
A(1,1) = 1; A(1,2) = 0;
A(2,1) = 0; A(N,N+1) = 0;
A(N+1,N) = 0; A(N+1,N+1) = 1;
U = zeros(N+1,M+1);
z = inv(A)*U0
j=1
U(:,j) = U0;
u
U
example_3
exp(-8*t)
u_exact = exp(-8*t)*sin(2*x);
u_exact = exp(-8*t)*sin(2*x');
u_exact = exp(-8*t)*sin(2*x')
example_3
U
example_3
c
0.4*1000^2*8/(pi^2)
 MATLAB Command History Page 83
May 7, 2019 3:46:17 PM

example_3
%-- 29/03/2019 7:40 PM --%
0.4*50^2*8/(pi^2)
example_3
0.4*50^2*2/(pi^2)
example_3
C
c
c-0.5
c-1/8
example_3
clear all; close all; clc;
%% x
N = 20;
dx = 1/N;
x = [0:dx:1]';
%% t
M = 200;
dt = 0.1/M;
t = [0:dt:0.1]';
%% U(x0,t0)
U0 = sin(pi*x)';%U0 = U0(2:N)';
U0 = sin(pi*x);%U0 = U0(2:N)';
alpha = 1;
c = alpha*dt/(dx^2);
A = sparse(diag((1-2*c)*ones(N,1),0) + c*diag(ones(N-1,1),-1) + c*diag(ones(N-1,1),1));
A(1,1) = 1; A(1,2) = 0;
A(2,1) = 0; A(N,N+1) = 0;
A(N+1,N) = 0; A(N+1,N+1) = 1;
U = zeros(N+1,M+1);
u_exact = exp(-pi^2*t')*sin(pi*x);
u_exact = exp(-pi^2*t)*sin(pi*x);
u_exact = exp(-pi^2*t)*sin(pi*x');
example_2
example_3
A = sparse(diag((1-c)*ones(N,1),0) - c/2*diag(ones(N-1,1),-1) - c/2*diag(ones(N-1,1),1));
A
clear
clc
% u(0,t) = u(1,t) = 0
% u_exact = exp(-pi^2*t)*sin(pi*x')
clear all; close all; clc;
%% x
N = 20;
dx = 1/N;
x = [0:dx:1]';
%% t
M = 200;
dt = 0.1/M;
t = [0:dt:0.1]';
%% U(x0,t0)
U0 = sin(pi*x);%U0 = U0(2:N)';
alpha = 1;
c = alpha*dt/(dx^2);
A = sparse(diag((1-2*c)*ones(N,1),0) + c*diag(ones(N-1,1),-1) + c*diag(ones(N-1,1),1));
example_2
example_3
%% Example 4: Crank - Niclson scheme
% du/dt - *ddu/ddx = 0;
% x = (0:1)
% t = (0:0.1)
% u(x,0) = sin(pi*x)
% u(0,t) = u(1,t) = 0
% u_exact = exp(-pi^2*t)*sin(pi*x')
clear all; close all; clc;
%% x
N = 20;
dx = 1/N;
x = [0:dx:1]';
%% t
M = 200;
dt = 0.1/M;
t = [0:dt:0.1]';
%% U(x0,t0)
U0 = sin(pi*x);
alpha = 1;
c = alpha*dt/(dx^2);
A = sparse(diag((1-c)*ones(N+1,1),0) - c/2*diag(ones(N,1),-1) - c/2*diag(ones(N,1),1));
A(1,1) = 1; A(1,2) = 0;
A(2,1) = 0; A(N,N+1) = 0;
A(N+1,N) = 0; A(N+1,N+1) = 1;
B = sparse(diag((1-c)*ones(N+1,1),0) + c/2*diag(ones(N,1),-1) + c/2*diag(ones(N,1),1));
B(1,1) = 1; B(1,2) = 0;
B(2,1) = 0; B(N,N+1) = 0;
B(N+1,N) = 0; B(N+1,N+1) = 1;
U = zeros(N+1,M+1);
u_exact = exp(-pi^2*t)*sin(pi*x');
A
B
U0
B*U0
A\ans
example_4
implicit_scheme
Untitled3
y = @(x,t) sin(2*pi*t)+5*x
y(1,2)
y
for i = 1:2*pi
p(i) = y(i,5);
end
p
y
y = @(x,t) exp(-pi^2*t)*sin(pi*x')
t = [0:dt:0.1]';
p = y([0:dx:1]',[0:dt:0.1]')
alpha = 2;
T = 0.2;
N = 50;
M = 1000;
a = 0;
b = pi;
clear all; close all; clc;
alpha = 2;
T = 0.2;
N = 50;
M = 1000;
a = 0;
b = pi;
U0 = @(x) sin(2*x)
exact_sol = @(x,t) exp(-8*t)*sin(2*x')
[x,t,U,err] = FTCS_scheme(alpha,a,b,T,N,M,U0,exact_sol)
dx = (b-a)/N;
 MATLAB Command History Page 84
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x = [a:dx:b]';
%% t
dt = T/M;
t = [0:dt:T]';
c = alpha*dt/(dx^2);
A = sparse(diag((1-2*c)*ones(N+1,1),0) + c*diag(ones(N,1),-1) + c*diag(ones(N,1),1));
A(1,1) = 1; A(1,2) = 0;
A(2,1) = 0; A(N,N+1) = 0;
A(N+1,N) = 0; A(N+1,N+1) = 1;
U = zeros(N+1,M+1);
U(1,:) = 0;
U(end,:) = 0;
u_exact = exact_sol(x,t);
U0 = U0(x,t);
[x,t,U,err] = FTCS_scheme(alpha,a,b,T,N,M,U0,exact_sol)
x
err
plot(err)
plot(x)
mesh(x,t,U)
mesh(x,t,U')
[x,t,U,err] = BTCS_scheme(alpha,a,b,T,N,M,U0,exact_sol)
plot(err)
[x,t,U,err] = C_N_scheme(alpha,a,b,T,N,M,U0,exact_sol)
plot(err)
[x,t,U,err] = BTCS_scheme(alpha,a,b,T,N,M,U0,exact_sol)
plot(err)
FTCS_scheme(alpha,a,b,T,N,M,U0,exact_sol)
plot(err)
clear
clc
%% Example 1
% FTCS
% du/dt - alpha*ddu/ddx = 0;
% x = (0:1)
% t = (0:0.1)
% u(x,0) = sin(pi*x)
% u(0,t) = u(1,t) = 0
% u_exact = exp(-pi^2*t)*sin(pi*x')
a = 0;b = 1;T = 0.1;
alpha = 1;N = 20; M = 200;
U0 = @(x) sin(pi*x);
exact_sol = @(x,t) exp(-pi^2*t)*sin(pi*x');
[x,t,U,err] = FTCS_scheme(alpha,a,b,T,N,M,U0,exact_sol);
% Mesh approximated U
figure; subplot(2,2,1); mesh(x,t,U') % X(j), Y(i), Z(i,j)
xlabel('x');
ylabel('t');
zlabel('u(x,t)');
legend 'Approximate solution';
% Mesh exact U
subplot(2,2,2); mesh(x,t,u_exact)
xlabel('x');
ylabel('t');
zlabel('u(x,t)');
legend 'exact solution';
u_exact(x,t)
x
t
exact_sol(x,t)
main
err_x = zeros(1,N);
main
figure;
main
U'-exact_sol(x,t)
main
%-- 01/04/2019 11:33 PM --%
A = [1,3,6;5,3,7]
svd(A)
A = [1,3,6;5,3,7]'
svd(A)
[U,S,V] = svd(A)
A = [1,3,6;5,3,7]
[U,S,V] = svd(A)
U*S*V'
A
A=A'
A'*A
B=A'*A
eigenvalue(B)
S = zeros(m,n)
[m,n] = size(A);
S = zeros(m,n)
S = S + eigenvalue(B)
lambda = eigenvalue(B)
diag(lambda)
vec2mat(lambda,n)
vec2mat(diag(lambda),n)
vec2mat(diag(lambda,m),n)
diag(lambda,n)
diag(lambda,m)
diag(lambda,+1)
diag(lambda,0)
diag(lambda,-1)
diag(lambda,+1)
diag(lambda,-1)
%-- 01/04/2019 11:53 PM --%
A'*A
A = [1,3,6;5,3,7]
A = A';
A = A'
[m,n] = size(A);
top = diag(eigenvalue(A'*A),n)
top = diag(eigenvalue(A'*A))
bottom = zeros(m-n,n)
S = [top;bottom]
A=[1 0 1;
0 1 0;
0 1 1;
0 1 0;
1 1 0]
[m,n] = size(A);
top = diag(eigenvalue(A'*A));
bottom = zeros(m-n,n);
S = [top;bottom];
S
clear
A=[1 0 1;0 1 0;0 1 1;0 1 0;1 1 0]
[m,n] = size(A);
top = diag(eigenvalue(A'*A));
bottom = zeros(m-n,n);
S = [top;bottom]
 MATLAB Command History Page 85
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B = eigenvalue(A'*A)
B = diag(B)
B = diag(B,0)
top
%-- 02/04/2019 10:35 AM --%
A=[1 0 1;0 1 0;0 1 1;0 1 0;1 1 0]
[m,n] = size(A);
top = diag(eigenvalue(A'*A));
bottom = zeros(m-n,n);
S = [top;bottom];
%% Compute A'.A = V.D.V' Let D = diag(eigenvalue(A'A))
D = top
sort(D)
top = diag(eigenvalue(A'*A))
top = diag(sort(eigenvalue(A'*A)))
top = diag(sort(eigenvalue(A'*A),'descend'))
B = eigenvalue(A'*A);
B = eigenvalue(A'*A)
B = sort(eigenvalue(A'*A),'descend')
top = diag(B)
A = [1 2 -2;1 1 1;2 2 1]; b = [7;2;5]; x0 = [0;0;0];
solve_SOR(A,b)
check_SDD(A)
check_SDD([7 2 0;3 5 -1;0 5 -6])
A = [2 -1 0;-1 2 -1;0 -1 2];
A = [2 -1 0;-1 2 -1;0 -1 2]
check_SPD(A)
n = length(A);
for i = 1:n
for j = 1:n
if A(i,j)~=A(j,i)
y = 0;break;
else
y=1;
end
end
end
check_SPD(A)
A = [1 2 -2;1 1 1;2 2 1]
check_SPD(A)
check_SDD(A)
A = [1 2 -2;1 1 1;2 2 1]; b = [7;2;5];
check_SDD(A)
solve_jacobian(A,b)
solve_SOR(A,b)
solve_jacobian(A,b)
A*ans-b
b
clear
clc
A = [1 2 -2;1 1 1;2 2 1]; b = [7;2;5];
solve_SOR(A,b)
A*ans-b
define_solver(A,b)
clear
clc
A = [3 -1 1;3 6 2;3 3 7];b = [1;0;4];
solve_SOR(A,b)
solve_jacobian(A,b)
A*ans-b
solve_jacobian(A,b)
A*ans-b
solve_SOR(A,b)
solve_jacobian(A,b)
A*ans-b
solve_jacobian(A,b)
A*ans-b
solve_gauss_seidel(A,b)
A*ans-b
A = [3 -1 1 8;3 2 6 2;1 3 3 7]
eigenvalue(A)
A = [3 -1 1;3 6 2;3 3 7]
eigenvalue(A)
root(z^3 - 16*z^2 + 75*z - 114, z, 1)
ans
[n,m] = size(A);
if n ~= m
error('Matrix A is not square. Must: A= n.n; b= n.1');
end
%% Eigen value
syms x
fx = det(A-x*diag(diag(ones(n))));
lambda = solve(fx,x);
syms x
g = (A-lambda*ones(n,n))*x
lambda*ones(n,n)
lambda
clear
clc
A = [2 -1 0;-1 2 -1;0 -1 2]
[n,m] = size(A);
if n ~= m
error('Matrix A is not square. Must: A= n.n; b= n.1');
end
syms x
fx = det(A-x*diag(diag(ones(n))));
lambda = solve(fx,x)
lambda*ones(n,n)
syms x
for i = 1:n
f(i) = (A - lambda(i)*ones(n,n))*x(i);
x(i) = solve(f(i),x);
end
(A - lambda(i)*ones(n,n))
syms x
(A - lambda(i)*ones(n,n))*x
solve(ans,x)
for i = 1:n
syms x
f2(i) = (A - lambda(i)*ones(n,n))*x;
y(i) = solve(f2(i),x);
end
for i = 1:n
syms x
f2(i) = (A - lambda(i)*ones(n,n))
end
i = 1;
f(1) = (A - lambda(1)*ones(n,n))
lambda(1)
A - lambda(1)*ones(n,n)
f[1]=ans
f(1)=ans
f{1}=ans
 MATLAB Command History Page 86
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for i = 1:n
syms x
f2{i} = (A - lambda(i)*ones(n,n))*x;
end
for i = 1:n
syms x
f2{i} = (A - lambda(i)*ones(n,n))*x;
end
f2(1,1)(1,1)
f2(1,1)
f2
f2(1,1,1)
f2(1,3)
cell(1)
cell(1,1,1)
f2(1,1,2)
f2(1,1,1)
f2(1,1,1,1)
for i = 1:n
syms x
f2{i} = (A - lambda(i)*ones(n,n))*x
end
clear
clc
A = [2 -1 0;-1 2 -1;0 -1 2]
syms x
fx = det(A-x*diag(diag(ones(n))));
lambda = solve(fx,x);
%% Eigen vector
for i = 1:n
syms x
f2{i} = (A - lambda(i)*ones(n,n))*x
[n,m] = size(A);
syms x
fx = det(A-x*diag(diag(ones(n))));
lambda = solve(fx,x);
%% Eigen vector
for i = 1:n
syms x
f2{i} = (A - lambda(i)*ones(n,n))*x
end
y(1) = solve(f2(1),x)
y(1,1) = solve(f2(1),x)
solve(f2(1),x)
solve(f2{1},x)
f2{1}
f2{2}
solve(f2{2},x)
solve(f2{3},x)
A = [3 -1 1;3 6 2;3 3 7]
eigenvector(A)
%-- 03/04/2019 10:26 PM --%
[x,y]=meshgrid(0:.5:4, -10:.5:10);
S=sqrt(5*exp(2*x-2)-1);
L=sqrt(1+S.^2);
quiver(x,y,1./L,S./L,0.5,'.');
hold on
ezplot('sqrt(5*exp(2*x-2)-1)');
clear
clc
load('FD_FC_FSMC_road1.mat')
x1
x2
x3
x2dot
mesh(x1,x2,x3)
mesh(x1,x2,x2dot)
mesh(x1.data,x2.data,x2dot.data)
mesh(x1.data,x2.data,diag(x2dot.data))
figure
%-- 04/04/2019 12:15 AM --%
load('FD_FC_FSMC_road1.mat')
figure
plot3(x1.data,x2.data,x2dot.data)
grid on
diag(x2dot.data)
mesh(ans)
a
%-- 05/04/2019 9:42 PM --%
clear
clc
alfa = 0.5
alfa = 0.85
alfa=0.5;
alfa = 0.85
%-- 06/04/2019 8:13 AM --%
r = 2;
xc = 4;
yc = 3;
theta = linspace(0.2*pi);
theta = linspace(0,2*pi);
Example1
r = [1,2,3];
xc = [5,15,20];
yc = [2000,2005,2015];
theta = linspace(0,2*pi)
r = [1,2,3];
xc = [5,15,20];
yc = [2000,2005,2015];
theta = linspace(0,2*pi);
for i = 1:length(r)
x(i) = r(i)*cos(theta) + xc(i);
y(i) = r(i)*sin(theta) + yc(i);
end
figure;
plot(x(1),y(1),x(2),y(2),x(3),y(3));
axis equal;
r = [1,2,3];
xc = [5,15,20];
yc = [2000,2005,2015];
theta = linspace(0,2*pi);
clear
clc
r = [1,2,3];
xc = [5,15,20];
yc = [2000,2005,2015];
theta = linspace(0,2*pi);
for i = 1:length(r)
x(i) = r(i)*cos(theta) + xc(i);
y(i) = r(i)*sin(theta) + yc(i);
end
for i = 1:length(r)
x(i) = r(i).*cos(theta) + xc(i);
 MATLAB Command History Page 87
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y(i) = r(i).*sin(theta) + yc(i);

end
r(1)
r(1)*cos(theta)
r(1)*cos(theta)+xc(1)
x(1)=r(1)*cos(theta)+xc(1)
x = [];
y = [];
for i = 1:length(r)
x(i) = r(i).*cos(theta) + xc(i);
y(i) = r(i).*sin(theta) + yc(i);
end
x = zeros(3)
x = zeros(1,3)
x(1)=r(1)*cos(theta)+xc(1)
x(1,1)=r(1,1)*cos(theta)+xc(1,1)
x(1,1)=r(1,1).*cos(theta)+xc(1,1)
x(1,:)=r(1,1).*cos(theta)+xc(1,1)
x(1,:)=r(1,1)*cos(theta)+xc(1,1)
x(1,:)=r(1,1)*cos(theta)+xc(1,r1 = 1;
r2 = 2;
r3 = 3;
xc1 = 5;
xc2 = 15;
xc3 = 20;
yc1 = 2000;
yc2 = 2005;
yc3 = 2015;
theta = linspace(0,2*pi);
x1 = r*cos(theta) + xc1;
1)
= 1;
r2 = 2;
r3 = 3;
xc1 = 5;
xc2 = 15;
xc3 = 20;
yc1 = 2000;
yc2 = 2005;
yc3 = 2015;
theta = linspace(0,2*pi);
x1 = r*cos(theta) + xc1;
>
d>
r1 = 1;
r2 = 2;
r3 = 3;
xc1 = 5;
xc2 = 15;
xc3 = 20;
yc1 = 2000;
yc2 = 2005;
yc3 = 2015;
theta = linspace(0,2*pi);
x1 = r*cos(theta) + xc1;
clear
clc
r1 = 1;
r2 = 2;
r3 = 3;
xc1 = 5;
xc2 = 15;
xc3 = 20;
yc1 = 2000;
yc2 = 2005;
yc3 = 2015;
theta = linspace(0,2*pi);
x1 = r*cos(theta) + xc1;
Example1
xc1
clear
r = [1,2,3];
xc = [5,15,20];
yc = [2000,2005,2015];
theta = linspace(0,2*pi);
x = zeros(1,3);
y = [];
for i = 1:length(r)
x(i,1) = r(i,1)*cos(theta) .+ xc(i,1);
y(i,1) = r(i,1)*sin(theta) .+ yc(i,1);
end
figure;
plot(x(1),y(1),x(2),y(2),x(3),y(3));
axis equal;
r = [1;2;3];
xc = [5;15;20]';
yc = [2000;2005;2015];
theta = linspace(0,2*pi);
x = zeros(1,3);
y = [];
for i = 1:length(r)
x(i,1) = r(i,1)*cos(theta) + xc(i,1);
y(i,1) = r(i,1)*sin(theta) + yc(i,1);
end
figure;
plot(x(1),y(1),x(2),y(2),x(3),y(3));
axis equal;
clear
r = [1;2;3];
xc = [5;15;20]';
yc = [2000;2005;2015];
theta = linspace(0,2*pi);
x = zeros(1,3);
y = [];
clear
r = [1;2;3];
xc = [5;15;20]';
yc = [2000;2005;2015];
theta = linspace(0,2*pi);
r = [1;2;3];
xc = [5;15;20];
yc = [2000;2005;2015];
r(1)*cos(theta)
r(1)*cos(theta)+xc(1)
x(1,:) = r(1)*cos(theta)+xc(1)
r = [1;2;3];
xc = [5;15;20];
yc = [2000;2005;2015];
theta = linspace(0,2*pi);
for i = 1:length(r)
x(i,:) = r(i,1)*cos(theta) + xc(i,1);
y(i,:) = r(i,1)*sin(theta) + yc(i,1);
end
 MATLAB Command History Page 88
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r = [1;2;3];
xc = [5;15;20];
yc = [2000;2005;2015];
theta = linspace(0,2*pi);
for i = 1:length(r)
x(i,:) = r(i,1)*cos(theta) + xc(i,1);
y(i,:) = r(i,1)*sin(theta) + yc(i,1);
end
figure;
plot(x(1),y(1),x(2),y(2),x(3),y(3));
axis equal;
r = [1;2;3];
xc = [5;15;20];
yc = [2000;2005;2015];
theta = linspace(0,2*pi);
for i = 1:length(r)
x(i,:) = r(i,1)*cos(theta) + xc(i,1);
y(i,:) = r(i,1)*sin(theta) + yc(i,1);
end
figure;
plot(x(1,:),y(1,:),x(2,:),y(2,:),x(3,:),y(3,:));
axis equal;
Example1
clos all
close all
Example1
r = [1;2;3];
xc = [2000;2005;2015];
yc = [5;15;20];
theta = linspace(0,2*pi,4);
for i = 1:length(r)
x(i,:) = r(i,1)*cos(theta) + xc(i,1);
y(i,:) = r(i,1)*sin(theta) + yc(i,1);
end
figure;
plot(x(1,:),y(1,:),x(2,:),y(2,:),x(3,:),y(3,:));
axis equal;
Example1
close all
a = 2;% side of square
xc = 4;
yc = 3;
b = sqrt(2)*a/2
a = 2;% side of square
xc = 4;
yc = 3;
b = sqrt(2)*a/2;
xs = [xc-b xc+b xc+b xc-b];
ys = [yc+b yc+b yc-b yc-b];
theta = linspace(xs,ys);
xs
ys
linspace(xs,ys)
xs = [xc-b, xc+b ,xc+b ,xc-b];
ys = [yc+b ,yc+b ,yc-b ,yc-b];
theta = linspace(xs,ys)
a = 2;% side of square
xc = 4;
yc = 3;
b = sqrt(2)*a/2;
xs = [xc-b, xc+b ,xc+b ,xc-b];
ys = [yc+b ,yc+b ,yc-b ,yc-b];
theta = linspace(xs,ys,5);
a = 2;% side of square
xc = 4;
yc = 3;
b = sqrt(2)*a/2;
xs = [xc-b, xc+b ,xc+b ,xc-b]';
ys = [yc+b ,yc+b ,yc-b ,yc-b]';
theta = linspace(xs,ys,5);
theta = linspace(xs,ys);
clear
clc
a = 2;% side of square
xc = 4;
yc = 3;
b = sqrt(2)*a/2;
side = [xc-b, xc+b ,xc+b ,xc-b];
linspace(side)
linspace(xc-b,xc+b)
linspace(xc-b,xc+b,2)
a = 2;% side of square
xc = 4;
yc = 3;
b = sqrt(2)*a/2;
side = [xc-b, xc+b ,xc+b ,xc-b];
ys = [yc+b ,yc+b ,yc-b ,yc-b];
theta = linspace(xs,ys,2);
x = r*cos(theta) + xc;
y = r*sin(theta) + yc;
a = 2;% side of square
xc = 4;
yc = 3;
b = sqrt(2)*a/2;
side = [xc-b, xc+b ,xc+b ,xc-b];
x = r*cos(side) + xc;
y = r*sin(side) + yc;
figure;
plot(x,y);
axis equal;
a = 2;% side of square
xc = 4;
yc = 3;
b = sqrt(2)*a/2;
side = [xc-b, xc+b ,xc+b ,xc-b];
x = cos(side) + xc;
y = sin(side) + yc;
figure;
plot(x,y);
axis equal;
a = 2;% side of square
xc = 4;
yc = 3;
b = sqrt(2)*a/2;
side = [xc-b, xc+b ,xc+b ,xc-b];
x = a*cos(side) + xc;
y = a*sin(side) + yc;
figure;
plot(x,y);
axis equal;
example_scatter
clear
Example2
 MATLAB Command History Page 89
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close all
Example2
Example_Bar_chart
x = 1900:10:2000;
y = [75 91 105 123.5 131 150 179 203 226 249 281.5];
bar(x,y)
close all
Example_Bar_chart
year = [2014 2015 2017 2019];
paper = [0 46 126 323];
division = [1 3 4 5];
researcher = [9 15 17 21];
all_data = [paper' division' researcher'];
clear
year = [2014 2015 2017 2019];
paper = [0 46 126 323];
division = [1 3 4 5];
researcher = [9 15 17 21];
all_data = [paper' division' researcher'];
close all
Example_Bar_chart
clear
close all
x = linspace(0,pi);
y = linspace(-pi,0);
[x3,y3] = meshgrid(x,y);
Example_Contour
close all
Example_Contour
close all
Example_Contour
[x3,y3,z3] = peaks;
surfc(x3,y3,z3)
%-- 06/04/2019 11:47 AM --%
load('FD_FC_FSMC_road1.mat')
x1
x2
x3
x2dot
x = x1;y = x2;z = x2dot;
save('vector.mat','x','y','z');
clear
clc
load('vector.mat')
%-- 06/04/2019 1:21 PM --%
peaks
[x3,y3,z3] = peaks
x1D = linspace(1,10);
y1D = linspace(0,5);
[x2D,y2D] = meshgrid(x1D,y1D);
clear
x1D = linspace(1,10);
y1D = linspace(0,5);
[x2D,y2D] = meshgrid(x1D,y1D);
z2D = sin(x2D)*cos(y2D);
sufc(x2D,y2D,z2D)
suf(x2D,y2D,z2D)
surf(x2D,y2D,z2D)
surfc(x2D,y2D,z2D)
clear
flow
[x,y,z,v] = flow;
Example_slice_planes
close all
x1D = linspace(1,10);
y1D = linspace(0,5);
[x2D,y2D] = meshgrid(x1D,y1D);
z2D = x2D*cos(y2D);
sufc(x2D,y2D,z2D);
x1D = linspace(1,10);
y1D = linspace(0,5);
[x2D,y2D] = meshgrid(x1D,y1D);
z2D = x2D*cos(y2D);
surfc(x2D,y2D,z2D);
x1D = linspace(1,10);
y1D = linspace(0,5);
[x2D,y2D] = meshgrid(x1D,y1D);
z2D = x2D.*cos(y2D);
surfc(x2D,y2D,z2D);
x1D = linspace(1,10);
y1D = linspace(0,5);
[x2D,y2D] = meshgrid(x1D,y1D);
z2D = sin(x2D).*cos(y2D);
surfc(x2D,y2D,z2D);
clear
clc
x1D = linspace(1,10);
y1D = linspace(0,5);
z1D = linspace(0,15);
[x3D,y3D,z3D] = meshgrid(x1D,y1D,z1D);
x1D = linspace(1,10);
y1D = linspace(0,5);
z1D = linspace(0,15);
[x3D,y3D,z3D] = meshgrid(x1D,y1D,z1D);
temperture_3D = sin(x3D).*cos(y3D) + tan(z3D);
figure;
xslice = 5;
yslice = 0;
zslice = 0;
slice(x3D,y3D,z3D,temperture_3D,xslice,yslice,zslice)
clear
clc
[x,y,z,v] = flow;
figure;
xslice = 5;
yslice = 0;
zslice = 0;
interp3(x,y,z,v,xslice,yslice,zslice)
flow
flow(10)
flow(100
)
flow(100)
clear
clc
close all
[x,y,z,v] = flow(100);
figure;
xslice = 5;
yslice = 0;
zslice = 0;
slice(x,y,z,v,xslice,yslice,zslice)
smooth
 MATLAB Command History Page 90
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shading flat
hold on
xslice = 1;
yslice = 0;
zslice = 0;
slice(x,y,z,v,xslice,yslice,zslice)
clear
[x,y,z,v] = flow(100);
figure;
xslice = [1 3 5];
yslice = 0;
zslice = 0;
slice(x,y,z,v,xslice,yslice,zslice)
shading flat
[x,y,z,v] = flow(100);
figure;
xslice = [1 4 8];
yslice = 0;
zslice = 0;
slice(x,y,z,v,xslice,yslice,zslice)
shading flat
colormap hsv
clear
clc
close all
Example_vector_field
[x,y] = meshgrid(0:10,0:10)
%-- 06/04/2019 3:17 PM --%
load('vector.mat')
[x,y] = meshgrid(0:0.2:2,0:0.2:2)
clear
test
[X,Y,Z] = meshgrid(x.data,y.data,z.data);
test
clsear all
clear all
close all
test
load('vector.mat')
x
test
clear
clc
close all
[X,Y] = meshgrid(-2:.2:2);
Z = X.*exp(-X.^2 - Y.^2);
[DX,DY] = gradient(Z,.2,.2);
figure
contour(X,Y,Z)
hold on
quiver(X,Y,DX,DY)
hold off
[X,Y] = meshgrid(-2:.2:2);
Z = X.*exp(-X.^2 - Y.^2);
[DX,DY] = gradient(Z,.2,1);
figure
contour(X,Y,Z)
hold on
quiver(X,Y,DX,DY)
hold off
test
clear
test
for i = 1:(length(x.data)/50)
X(i) = x.data(i*50);
Y(i) = y.data(i*50);
u(i) = y.data(i*50);
v(i) = z.data(i*50);
end
[X,Y] = meshgrid(X,Y);
test
(length(x.data)/10000)
clear
clc
load('vector.mat');
for i = 1:(length(x.data)/100)
X(i) = x.data(i*100);
Y(i) = y.data(i*100);
u(i) = y.data(i*100);
v(i) = z.data(i*100);
end
200*200
for i = 1:(length(x.data)/100)
X(i) = x.data(i*100);
Y(i) = y.data(i*100);
u(i) = y.data(i*100);
v(i) = z.data(i*100);
end
[X,Y] = meshgrid(X,Y);
[u,v] = meshgrid(u,v);
figure;
quiver(X,Y,u,v)
clear
test
clear
test
clear
load('vector.mat');
%% Line
for i = 1:(length(x.data)/20)
X(i) = x.data(i*20);
Y(i) = y.data(i*20);
u(i) = y.data(i*20);
v(i) = z.data(i*20);
end
figure;
quiver(X,Y,u,v)
clear
load('vector.mat');
for i = 1:(length(x.data))
X(i) = x.data(i);
Y(i) = y.data(i);
u(i) = y.data(i);
v(i) = z.data(i);
end
[X,Y] = meshgrid(X,Y);
[u,v] = meshgrid(u,v);
figure;
quiver(X,Y,u,v)
%-- 07/04/2019 7:31 AM --%
A = [2 -1;-1 2];b = [1;0];
%% Check matrix A & vector b
[n,m] = size(A);
 MATLAB Command History Page 91
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[p,l] = size(b);
if n~= p
error('Wrong rows & column between A & b. Must: A= n.n; b= n.1');
end
x0 = b;
p0 = b - A*x0;
r0 = p0;
%% Solve
figure;
hold on;
for k = 0:n
alpha = (r0'*r0)/(p0'*A*p0);
x = x0 + alpha*p0;
r1 = r0 - alpha*A*p0;
beta = (r1'*r1)/(r0'*r0);
p1 = r1 + beta*p0;
x0 = x;
r0 = r1;
p0 = p1;
plot(x);
end
hold off;
x
x0
clc
x0 = b;
p0 = b - A*x0;
r0 = p0;
x0
r0
n
for k = 0:5
alpha = (r0'*r0)/(p0'*A*p0);
x = x0 + alpha*p0
r1 = r0 - alpha*A*p0;
beta = (r1'*r1)/(r0'*r0);
p1 = r1 + beta*p0;
x0 = x;
r0 = r1;
p0 = p1;
end
clear
clc
A = [2 -1;-1 2];b = [1;0];
%% Check matrix A & vector b
[n,m] = size(A);
[p,l] = size(b);
if n~= p
error('Wrong rows & column between A & b. Must: A= n.n; b= n.1');
end
%% Initial
x0 = b;
p0 = b - A*x0;
r0 = p0;
%% Solve
figure;
hold on;
for k = 1:n
alpha = (r0'*r0)/(p0'*A*p0);
x = x0 + alpha*p0
r1 = r0 - alpha*A*p0;
beta = (r1'*r1)/(r0'*r0);
p1 = r1 + beta*p0;
x0 = x;
r0 = r1;
p0 = p1;
plot(x);
end
hold off;
for k = 1:2
alpha = (r0'*r0)/(p0'*A*p0);
x = x0 + alpha*p0
r1 = r0 - alpha*A*p0;
beta = (r1'*r1)/(r0'*r0);
p1 = r1 + beta*p0;
x0 = x;
r0 = r1;
p0 = p1;
plot(x);
end
x0 = b;
p0 = b - A*x0;
r0 = p0;
%% Solve
figure;
hold on;
for k = 1:2
alpha = (r0'*r0)/(p0'*A*p0);
x = x0 + alpha*p0
r1 = r0 - alpha*A*p0;
beta = (r1'*r1)/(r0'*r0);
p1 = r1 + beta*p0;
x0 = x;
r0 = r1;
p0 = p1;
plot(x);
end
hold off;
clear
clc
A = [2 -1;-1 2];b = [1;0];
%% Check matrix A & vector b
[n,m] = size(A);
[p,l] = size(b);
if n~= p
error('Wrong rows & column between A & b. Must: A= n.n; b= n.1');
end
%% Initial
x0 = b;
p0 = b - A*x0;
r0 = p0;
%% Solve
figure;
hold on;
for k = 0:(n-1)
alpha = (r0'*r0)/(p0'*A*p0);
x = x0 + alpha*p0
r1 = r0 - alpha*A*p0;
beta = (r1'*r1)/(r0'*r0);
p1 = r1 + beta*p0;
x0 = x;
r0 = r1;
p0 = p1;
 MATLAB Command History Page 92
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plot(x);
end
hold off;
clear
clc
A = [2 -1;-1 2];b = [1;0];
%% Check matrix A & vector b
[n,m] = size(A);
[p,l] = size(b);
if n~= p
error('Wrong rows & column between A & b. Must: A= n.n; b= n.1');
end
%% Initial
x0 = b;
p0 = b - A*x0;
r0 = p0;
x0
r0
p0
x0 = zero(p,l)
x0 = zeros(p,l)
p0 = b - A*x0
r0 = p0;
alpha = (r0'*r0)/(p0'*A*p0)
x = x0 + alpha*p0
r1 = r0 - alpha*A*p0
beta = (r1'*r1)/(r0'*r0)
p1 = r1 + beta*p0
A = [2 -1;-1 2];b = [1;0];
%% Check matrix A & vector b
[n,m] = size(A);
[p,l] = size(b);
if n~= p
error('Wrong rows & column between A & b. Must: A= n.n; b= n.1');
end
%% Initial
x0 = zeros(p,l);
p0 = b - A*x0;
r0 = p0;
%% Solve
figure;
hold on;
for k = 0:(n-1)
alpha = (r0'*r0)/(p0'*A*p0);
x = x0 + alpha*p0
r1 = r0 - alpha*A*p0;
beta = (r1'*r1)/(r0'*r0);
p1 = r1 + beta*p0;
x0 = x;
r0 = r1;
p0 = p1;
plot(x);
end
hold off;
A = [2 -1;-1 2];b = [1;0];
%% Check matrix A & vector b
[n,m] = size(A);
[p,l] = size(b);
if n~= p
error('Wrong rows & column between A & b. Must: A= n.n; b= n.1');
end
%% Initial
x0 = zeros(p,l);
p0 = b - A*x0;
r0 = p0;
%% Solve
figure;
hold on;
legend 'x1' 'x2';
for k = 0:(n-1)
alpha = (r0'*r0)/(p0'*A*p0);
x = x0 + alpha*p0
r1 = r0 - alpha*A*p0;
beta = (r1'*r1)/(r0'*r0);
p1 = r1 + beta*p0;
x0 = x;
r0 = r1;
p0 = p1;
plot(x);
end
hold off;
A = [2 -1;-1 2];b = [1;0];
%% Check matrix A & vector b
[n,m] = size(A);
[p,l] = size(b);
if n~= p
error('Wrong rows & column between A & b. Must: A= n.n; b= n.1');
end
%% Initial
x0 = zeros(p,l);
p0 = b - A*x0;
r0 = p0;
%% Solve
figure;
hold on;
for k = 0:(n-1)
alpha = (r0'*r0)/(p0'*A*p0);
x = x0 + alpha*p0
r1 = r0 - alpha*A*p0;
beta = (r1'*r1)/(r0'*r0);
p1 = r1 + beta*p0;
x0 = x;
r0 = r1;
p0 = p1;
plot(x);
end
legend 'x1' 'x2';
hold off;
A*x-b
A = [2 -1 3;-1 2 4];
A = [2 -1 3;-1 2 4]
A = [2 -1 3;-1 2 4]; b = [1;3];
%% Check matrix A & vector b
[n,m] = size(A);
[p,l] = size(b);
if n~= p
error('Wrong rows & column between A & b. Must: A= n.n; b= n.1');
end
%% Initial
x0 = zeros(p,l);
p0 = b - A*x0;
r0 = p0;
%% Solve
 MATLAB Command History Page 93
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figure;
hold on;
for k = 0:(n-1)
alpha = (r0'*r0)/(p0'*A*p0);
x = x0 + alpha*p0
r1 = r0 - alpha*A*p0;
beta = (r1'*r1)/(r0'*r0);
p1 = r1 + beta*p0;
x0 = x;
r0 = r1;
p0 = p1;
plot(x);
end
legend 'x1' 'x2';
hold off;
r1
Example_Animation
clear
Example_Animation
close all
clear
clc
Example_Animation
L = 100;
t = linspace(-pi,pi,L);
x = sin(t) + cos(t);
y = sin(t) - cos(t);
plot(x,y,'.:b');
hold on;
n = 1;
x_t = x(n);
y_t = y(n);
fig = plot(x_t,y_t,'or');
Example_Animation
clear
close all
Example_Animation
x = [0 L L = 100;
M = 100;
x = [0 L L 0];
y = [M M 0 0];
line(x,y,',:b')
L = 100;
M = 100;
x = [0 L L 0];
y = [M M 0 0];
line(x,y,',:b')
L = 100;
M = 100;
x = [0 L L 0];
y = [M M 0 0];
line(x,y)
plot(x,y)
L = 100;
M = 100;
x = [0 L L 0];
y = [M M 0 0];
plot(x,y,'.:b')
L = 100;
M = 100;
x = [0 L L 0];
y = [M M 0 0];
plot(x,y,'b','Linewidth',2)
L = 100;
M = 100;
x = [0 L L 0 0];
y = [M M 0 0 M];
plot(x,y,'b','Linewidth',2)
Example_Animation
L = 100;
M = 100;
x = [0 L L 0 0];
y = [M M 0 0 M];
plot(x,y,'b','Linewidth',2)
hold on;
t = 0:(2*L+2*M);
x_t = 0;
y_t = L;
fig = plot(x_t,y_t,'or');
clear
clc
L = 100;
M = 100;
x = [0 L L 0 0];
y = [M M 0 0 M];
plot(x,y,'b','Linewidth',2)
hold on;
t = 0:(2*L+2*M);
x_t = 0;
y_t = L;
fig = plot(x_t,y_t,'or');
for i = 1: length(t)
if t<=L
for i = 0:L
x_t = i;
y_t = M;
end
elseif (t>L)&&(t<=L+M)
for i=0:M
x_t = L;
y_t = M-i;
end
elseif (t>L+M)&&(t<=2*L+M)
for i = 0:L
x_t = L-i;
y_t = 0;
end
else
for i = i:M
x_t = 0;
y_t = i;
end
end
set(fig,'xdata',x_t,'ydata',y_t);% update new value of x & y at t
pause(0.01);
end
Example_Animation
clear
clc
Example_Animation
clear
close all
clc
 MATLAB Command History Page 94
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Example_Animation
linspace(1,0)
Example_Animation
clear
clc
[x,y,z,v] = flow(100);
figure;
xslice = 0;
yslice = -3;
zslice = 0;
slice(x,y,z,v,xslice,yslice,zslice)
shading flat
colormap hsv
Example_Animation
clear
close all hidden
Example_Animation
clear
close all
clcl
clc
x1 = linspace(0,0,L);
L = 3;
x1 = linspace(0,0,L);
L = 3;
M = 4;
x_side1 = linspace(0,L,10);
y_side1 = linspace(M,M,10);
x_side2 = linspace(L,L,10);
y_side2 = linspace(M,0,10);
x_side3 = linspace(L,0,10);
y_side3 = linspace(0,0,10);
x_side4 = linspace(0,0,10);
y_side4 = linspace(0,M,10);
x = [x_side1 x_side2 x_side3 x_side4];
y = [y_side1 y_side2 y_side3 y_side4];
plot(x,y,'b','Linewidth',2)
hold on;
position = 1;
x_t = x(position);
y_t = y(position);
fig = plot(x_t,y_t,'or');
hold on;
position = 1;
x_t = x(position);
y_t = y(position);
fig = plot(x_t,y_t,'or','Linewidth',2);
while(1)
position = position + 1;
x_t = x(position);
y_t = y(position);
set(fig,'xdata',x_t,'ydata',y_t);% update new value of x & y at t
pause(1);
if (position==length(x))
position = 1;
end
end
Example_Animation
clear all
close all
clc
A = [10 -1 2 0;-1 11 -1 3;2 -1 10 -1;0 3 -1 8]; b = [6;25;-11;15]; x0 = b;
solve_conjugate_gradient(A,b)
A*x-b
A*ans-b
solve_gauss_seidel(A,b)
A*ans-b
clear
close all
A = [1 0 1;0 1 0;0 1 1;0 1 0;1 1 0];
A'*A
syms v
f = v*diag([5 2 1])*v'-ans
solve(f,v)
syms a f(x)
A = sym('A',[2 3])
v = sym('v'[3 3])
v = sym('v',[3 3])
f = v*diag([5 2 1])*v'-ans
f = v*diag([5 2 1])*transpose(v)-ans
clear
clc
A = [1 0 1;0 1 0;0 1 1;0 1 0;1 1 0];
v = sym('v',[3 3])
f = v*diag([5 2 1])*transpose(v)-transpose(A)*A
solve(f,v)
solve(f)
x = [1;2;3];
f = norm(v*x,2)-norm(x,2)
solve(f)
solve(f,v)
v = [5;7;9]
B = A'*A
B*v
5*v
B
B'
[u,s,v] = svd(A)
A
svd(A)
ans^10
ans.^10
D
D = diag([5 2 1])
eigenvalue(D)
S = diag([sqrt(5) sqrt(2) 1])
eigenvalue(S)
2^0.5
norm(D)
D
norm(D,1)
norm(D,2)
v1 = [2;4;6]
v2 = [8;5;1]
v3 = [10;1;3]
B
B-[v1 v2 v3]*D*[v1 v2 v3]'
V = [v1 v2 v3]
rank(V)
inv(V)
V'*V
V*V'
%-- 09/04/2019 5:24 AM --%
 MATLAB Command History Page 95
May 7, 2019 3:46:17 PM

load('SMC1_combine_frac_Surf.mat')
Sv
Sv_dot
Svdot
load('SMC1_combine.mat')
load('SMC1_combine_frac_Surf.mat')
plot3(Sv.data,DSv.data,Sv.data.*DSv.data)
grid on
x = Sv.data;y=DSv.data;z = Sv.data.*DSv.data
x = Sv.data;y=DSv.data;z = Sv.data.*DSv.data;
[X,Y,Z] = meshgrid(x,y,z);
[X,Y] = meshgrid(x,y);
%-- 09/04/2019 12:29 PM --%
A = [10 -1 2 0;-1 11 -1 3;2 -1 10 -1;0 3 -1 8]; b = [6;25;-11;15];
x = inv(A)*b
syms y
solve(A*y-b,y)
solve_conjugate_gradient(A,b)
%-- 09/04/2019 1:52 PM --%
A = magic(3)
clear
A = rand(3,2)
A = rand(2,4)
det(A)
g = rand(4,2)
A*g
c = A*g
inv(c)
g*inv(A*g)*A
1+ans
g*inv(A*g)
ans-1
norm(ans)
inv(A*g)
det(ans)
g*inv(A*g)*A
det(ans)
g*inv(A*g)
%-- 10/04/2019 2:19 PM --%
load('SMC1_combine.mat')
plot(x2dot)
load('SMC1_sine.mat')
plot(zs_2dot)
load('SMC1_combine_frac_Surf.mat')
plot(zs_2dot)
x = zs_2dot.data;
norm(x,inf)
norm(x*x',inf)
%-- 10/04/2019 3:10 PM --%
x1 = [0.0000 0.6000 1.0473 0.9326 1.0152 0.9890 1.0032 0.9981 1.0006 0.9997 1.0001]
plot(x1)
x1 = [0.0000 0.6000 1.0473 0.9326 1.0152 0.9890 1.0032 0.9981 1.0006 0.9997 1.0001]
x2 = [0.0000 2.2727 1.7159 2.053 1.9537 2.0114 1.9922 2.0023 1.9987 2.0004 1.9998]
x3 = [0.0000 -1.1000 -0.8052 -1.0493 -0.9681 -1.0103 -0.9945 -1.0020 -0.9990 -1.0004 -0.9998]
x4 = [0.0000 1.8750 0.8852 1.1309 0.9739 1.0214 0.9944 1.0036 0.9989 1.0006 0.9998]
plot(x1,x2,x3,x4)
plot(x1)
hold on
plot(x2,'r')
plot(x3,'m')
plot(x4,'g')
legend 'x1' 'x2' 'x3' 'x4'
x = [1;2;-1;1]
T = [0,1/10,-1/5,0;
1/11,0,1/11,-3/11;
-1/5,1/10,0,1/10;
0,-3/8,1/8,0];
c = [3/5;25/11;-11/10;15/8];
T*x-c
T*x
ans+c
T*x+c
x
T*x+c
x0 = [0;0;0;0];
T*x0+c
x = [x1(11);x2(11);x3(11);x4(11)]
T*x+c
x = ans;
T*x+c
x = ans;
T*x+c
T*x-c
x = T*x0+c
norm(x-x0,inf)
norm(x-x0,inf)/norm(x,inf)
1e-3
clear
clc
x0 = [0;0;0;0];
T = [0,1/10,-1/5,0;
1/11,0,1/11,-3/11;
-1/5,1/10,0,1/10;
0,-3/8,1/8,0];
c = [3/5;25/11;-11/10;15/8];
x = T*x0+c;
luu = [x0,x];
luu = [x0,x]
x0 = [0;0;0;0];
T = [0,1/10,-1/5,0;
1/11,0,1/11,-3/11;
-1/5,1/10,0,1/10;
0,-3/8,1/8,0];
c = [3/5;25/11;-11/10;15/8];
x = T*x0+c;
luu = [x0,x];
count = 2;
while norm(x-x0,inf)/norm(x,inf)>1e-3
x0 = x;
x = T*x0+c;
count = count+1;
luu(:,count) = x;
end
luu
x0 = [0;0;0;0];
T = [0,1/10,-1/5,0;
1/11,0,1/11,-3/11;
-1/5,1/10,0,1/10;
0,-3/8,1/8,0];
c = [3/5;25/11;-11/10;15/8];
x = T*x0+c;
luu = [x0,x];
count = 2;
 MATLAB Command History Page 96
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while norm(x-x0,inf)/norm(x,inf)>1e-4
x0 = x;
x = T*x0+c;
count = count+1;
luu(:,count) = x;
end
luu
disp(luu);
disp(luu)
clc
disp(luu)
x0 = [0;0;0;0];
T = [0,1/10,-1/5,0;
1/11,0,1/11,-3/11;
-1/5,1/10,0,1/10;
0,-3/8,1/8,0];
c = [3/5;25/11;-11/10;15/8];
x = T*x0+c;
luu = [x0,x];
count = 2;
while norm(x-x0,inf)/norm(x,inf)>1e-4
x0 = x;
x = T*x0+c;
er = norm(x-x0,inf);
count = count+1;
luu(:,count) = x;
end
disp(luu);
er
x0 = [0;0;0;0];
T = [0,1/10,-1/5,0;
1/11,0,1/11,-3/11;
-1/5,1/10,0,1/10;
0,-3/8,1/8,0];
c = [3/5;25/11;-11/10;15/8];
x = T*x0+c;
luu = [x0,x];
count = 2;
while norm(x-x0,inf)/norm(x,inf)>1e-4
x0 = x;
x = T*x0+c;
er(count-1) = norm(x-x0,inf);
count = count+1;
luu(:,count) = x;
end
disp(luu);
er
x0 = [0;0;0;0];
T = [0,1/10,-1/5,0;
1/11,0,1/11,-3/11;
-1/5,1/10,0,1/10;
0,-3/8,1/8,0];
c = [3/5;25/11;-11/10;15/8];
x = T*x0+c;
luu = [x0,x];
count = 2;
while norm(x-x0,inf)/norm(x,inf)>1e-4
x0 = x;
x = T*x0+c;
er(count-1) = norm(x-x0,inf);
er2(count-1) = norm(x-x0,inf)/norm(x,inf);
count = count+1;
luu(:,count) = x;
end
disp(luu);
er2
er
x
luu
norm(luu,inf)
norm(luu,2)
spectral_radius(T)
eigen_value(T)
eigenvalue(T)
A = [10 -1 2 0;-1 11 -1 3;2 -1 10 -1;0 3 -1 8]; b = [6;25;-11;15];
clear
A = [10 -1 2 0;-1 11 -1 3;2 -1 10 -1;0 3 -1 8]; b = [6;25;-11;15];
spectral_radius(A)
A = magic(3)
spectral_radius(A)
eigenvalue(A)
a=[3 10 5 8 2 1];
A = diag(a)
eigenvalue(A)
spectral_radius(A)
n=5;
A = sparse(diag(2*ones(n,1),0) + (-1)*diag(ones(n-1,1),-1) + (-1)*diag(ones(n-1,1),1));
eigenvalue(A)
spectral_radius(A)
1-ans
A = [10 -1 2 0;-1 11 -1 3;2 -1 10 -1;0 3 -1 8]
spectral_radius(A)
A = sparse(diag(2*ones(n,1),0) + (-3)*diag(ones(n-1,1),-1) + (-3)*diag(ones(n-1,1),1));
spectral_radius(A)
1-ans
A = sparse(diag(0.2*ones(n,1),0) + (-3)*diag(ones(n-1,1),-1) + (-3)*diag(ones(n-1,1),1));
spectral_radius(A)
1-ans
ans
ones(5)
inv(ones(5)-A)
tu = ones(5)+A+A^2+A^3+A^4+A^5+A^6
ans-tu
sum(A)
prod(A)
%-- 11/04/2019 1:23 PM --%
Parameter
Parameter2
Parameter
tic
sim('FD_FC_FSMC');
toc
%-- 11/04/2019 2:37 PM --%
A = [10 -1 2 0;-1 11 -1 3;2 -1 10 -1;0 3 -1 8]
spectral_radius(A)
inv(ones(4)-A)
a=[3 10 5 8 2 1];
a=[3 10 5 8 2 1]
A = [1 0 1;0 1 0;0 1 1;0 1 0;1 1 0];
A = [1 0 1;0 1 0;0 1 1;0 1 0;1 1 0]
A = [3 -1 1;3 6 2;3 3 7]
spectral_radius(A)
eigenvalue(A)
 MATLAB Command History Page 97
May 7, 2019 3:46:17 PM

clear
A = [2 -1;-1 2]
eigenvalue(A)
spectral_radius(A)
A = [0 1;1 1]
eigenvalue(A)
spectral_radius(A)
1-ans
inv(ones(2)-A)
A = [2 -1;-1 2]
inv(ones(2)-A)
compare(1,ans)
eigenvalue(A)
spectral_radius(A)
A = [0 1;1 1]
spectral_radius(A)
compare(1,ans)
if 1>ans;return 1;else return 0;end
if 1>ans
return 1;
if 1>ans
1;
else 0;
end
if 1>ans
true
else
false
end
spectral_radius(A)
if 1>ans
true
else false
end
A = [2 1 0;1 2 0;0 0 3]
eigenvalue(A)
spectral_radius(A)
A = [-1 2 0;0 3 4;0 0 7]
spectral_radius(A)
A = [2 1 1;2 3 2;1 1 2]
spectral_radius(A)
A = [0 0.5;0.5 0]
spectral_radius(A)
A = [2 -1;-1 2] % rho(A) =
spectral_radius(A)
A = [0 1;1 1]
spectral_radius(A)
5^(1/2)/2
ans+0.5
A = [-1 2 0;0 3 4;0 0 7]
eigenvalue(A)
A = [0 0.5;0.5 0]
eigenvalue(A)
A = [0.5 0 0;-1 0.5 0;2 2 -1/3]
eigenvalue(A)
spectral_radius(A)
A = [2 -1;-1 2]
B = inv(ones(length(A)-A)
B = inv(ones(length(A)-A))
length(A)
ones(A)
ones(length(A))
one(length(A))
B = inv(eye(length(A)-A))
eye(2)
eye(length(A))
eye(length(A))-A
inv(eye(length(A))-A)
B = inv(eye(length(A))-A)
clear
A = [2 -1;-1 2]
det(A)
B = inv(eye(length(A))-A)
A = [0 1;1 1]
det(A)
B = inv(eye(length(A))-A)
spectral_radius(A)
1/ans
pretty(ans)
sqrt(5)/2
sqrt(5)/2+0.5
spectral_radius(A)
5^(1/2)/2+0.5
A = [0 0.5;0.5 0]
spectral_radius(A)
B = inv(eye(length(A))-A)
det(A)
A = [2 1 0;1 2 0;0 0 3]
det(A)
B = inv(eye(length(A))-A)
A = [-1 2 0;0 3 4;0 0 7]
det(A)
B = inv(eye(length(A))-A)
A = [2 1 1;2 3 2;1 1 2]
det(A)
B = inv(eye(length(A))-A)
A = [0.5 0 0;-1 0.5 0;2 2 -1/3]
det(A)
B = inv(eye(length(A))-A)
A = [2 -1 0;-1 2 4;0 0 2]
A = [2 -1 0;0 2 4;0 0 2]
det(A)
spectral_radius(A)
B = inv(eye(length(A))-A)
A = [0 1 -2;1 0 0;1 1 1]
spectral_radius(A)
det(A)
B = inv(eye(length(A))-A)
sqrt(3)
roots[1 2 3 4 4 6]
roots[8 2 3 4 4 6]
roots(8 2 3 4 4 6)
roots([8 2 3 4 4 6])
roots([8 2 3 4 4 6 91 129 8 12 9 9 47 19 47 56 8])
plot(ans)
plot([-5:0.1:5],roots([8 2 3 4 4 6 91 129 8 12 9 9 47 19 47 56 8]))
A = diag([1 9 8 62 7])
eigenvalue(A)
A = A-triu(A,+1)
A = [0.5 0 0;-1 0.5 0;2 2 -1/3]
A = A-triu(A,+1)
clear
A = [2 -1;-1 2]
 MATLAB Command History Page 98
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eigenvalue(A)
C = A.^3
eigenvalue(C)
A = [0 1;1 1]
C = A.^3
eigenvalue(C)
eigenvalue(A)
A = [2 1 0;1 2 0;0 0 3]
eigenvalue(A)
inv(A)
inv(norm(inv(A)))
norm(inv(A))
inv(A)
norm(A)
A = [0.5 0 0;-1 0.5 0;2 2 -1/3]
norm(A)
norm(inv(A))
norm(inv(A),2)
trace(A)
norm(inv(A),1)
norm(inv(A),1,2)
clear
clc
close all
1/1000
0.001
Parameter
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x2dot)
figure;plot(dt)
close all
figure;plot(dt)
Parameter
figure;plot(dt)
figure;plot(zr)
figure;plot(x1)
figure;plot(x2)
figure;plot(x2dot)
v
figure;plot(vt)
Parameter
figure;plot(zr)
figure;plot(x1)
figure;plot(x2)
figure;plot(x2dot)
figure;plot(x1)
figure;plot(x2)
figure;plot(x2dot)
figure;plot(x1)
figure;plot(x2)
figure;plot(x2dot)
close all
Parameter
figure;plot(x2dot)
Parameter
close all
Parameter
figure;plot(x2dot)
Parameter
close all
figure;plot(x2dot)
figure;plot(u)
figure;plot(x1)
figure;plot(Fsd)
close all
Untitled
Parameter
figure;plot(u)
load('Skyhook_road1.mat')
figure;plot(u)
load('Skyhook_road1_2.mat')
figure;plot(u)
figure;plot(zr)
figure;plot(u)
figure;plot(x1)
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
close all
Parameter
figure;plot(x2dot)
figure;plot(u)
figure;plot(x2dot)
Parameter
close all
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
close all
clc
clear
clear all
close all
%-- 12/04/2019 9:59 AM --%
load('FD_FC_FSMC_road1.mat')
x1.data
clc
E = [x1.data,x2.data,x2dot.data];
norm(E(1:100,:),inf)
norm(E(1:1000,:),inf)
norm(E(1:1000,:),inf)/(1-norm(E(1:1000,:),inf))
norm(E(1:100,:),inf)/(1-norm(E(1:100,:),inf))
clear
clc
test
plot(er
plot(er)
Error
err
Error
clc
close all
Error
E = [x1.data,x2.data,x2dot.data];
Error
close all
Error
close all
Error
close all
clear
 MATLAB Command History Page 99
May 7, 2019 3:46:17 PM

clc
Error
close all
Error
clear
clc
Parameter
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x1)
figure;plot(x2)
close all
figure;plot(x1)
figure;plot(zr)
figure;plot(x2)
figure;plot(x2dot)
close all
figure;plot(zr)
figure;plot(x1)
figure;plot(x2)
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x1)
figure;plot(x2)
figure;plot(x2dot)
load('FD_FC_FSMC_respond.mat')
figure;plot(x2dot)
close all
figure;plot(zr)
figure;plot(x1)
figure;plot(x2)
figure;plot(x2dot)
close all
clear
clc
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
Parameter
clc
close all
Parameter
figure;plot(x2dot)
Parameter
figure;plot(x2dot)
figure;plot(x1)
clear
close all
clc
Error
Parameter
figure;plot(x1)
Parameter
figure;plot(x1)
load('FD_FC_FSMC_respond2.mat')
figure;plot(x1)
close all
Error
close all
Error
Parameter
figure;plot(x1)
figure;plot(x2)
figure;plot(x2dot)
figure;plot(x2)
figure;plot(u)
close all
clear
clc
Parameter
figure;plot(x2dot)
figure;plot(x1)
Parameter
figure;plot(x1)
Parameter
figure;plot(x1)
Parameter
figure;plot(x1)
Parameter
Error
close all
load('Skyhook_respond2.mat')
figure;plot(x1)
Parameter
Error
close all
Error
%-- 13/04/2019 9:03 AM --%
Error
close all
Error
close all
Error
%-- 14/04/2019 9:27 AM --%
Parameter
figure;plot(x1)
figure;plot(zr)
figure;plot(x1)
%-- 15/04/2019 10:59 PM --%
pk1 = load('Passive_respond2.mat');
pk2 = load('Skyhook_respond2.mat');
pk3 = load('FD_FC_FSMC_respond2.mat');
clear
close all
pk1 = load('Passive_respond2.mat');
pk2 = load('Skyhook_respond2.mat');
pk3 = load('FD_FC_FSMC_respond2.mat');
figure;
hold on
plot(pk3.zr.time,pk3.zr.data,'LineWidth',1.5);
hold on
plot(pk3.zr.time,pk3.zr.data,'LineWidth',1.5);
%-- 17/04/2019 8:18 AM --%
Parameter
figure;plot(zr)
figure;plot(z1)
figure;plot(x1)
figure;plot(z1)
 MATLAB Command History Page 100
May 7, 2019 3:46:17 PM

figure;plot(zr)
figure;plot(x1)
close all
figure;plot(zr)
figure;plot(x1)
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x1)
figure;plot(x2dot)
figure;plot(zr)
figure;plot(x1)
test
close all
figure;plot(x1)
figure;plot(x2dot)
grid on
test
clear
clc
t = zeros(1,100);
for n = 1:100
A = rand(n,n);
b = rand(n,1);
tic;
x = A\b;
t(n) = toc;
end
plot(t)
test
Parameter
test
Parameter
test
close all
figure;plot(zr)
figure;plot(x1)
figure;plot(zr)
close all
figure;plot(zr)
figure;plot(x1)
figure;plot(x2)
figure;plot(x2dot)
Parameter
close all
figure;plot(zr)
figure;plot(x1)
figure;plot(x2)
figure;plot(x2dot)
close all
figure;plot(x2dot)
figure;plot(zr)
close all
load('FD_FC_FSMC_respond2.mat')
figure;plot(zr)
load('FD_FC_FSMC_respond.mat')
figure;plot(zr)
clear
clc
load('FD_FC_FSMC_respond2.mat')
load('Passive_respond2.mat')
figure;plot(zr)
clear
clc
load('Skyhook_respond2.mat')
figure;plot(zr)
clear
clc
Parameter
figure;plot(zr)
figure;plot(x2dot)
Parameter
figure;plot(zr)
figure;plot(x2dot)
close all
Error
Untitled
legend 'FD-FC-FSMC' 'Skyhook'
Untitled
2257.80933/2234.84908
clear
clc
clear all
close all
clc
idnlgreydemo13
clear
clc
invkine_codepad
clear all
clear
close all
clc
Plot_ICIC
chap7_3plot
chap7_3input
Plot_ICIC
close all
plot_compare
Plot_ICIC
plot_compare
chap7_3plot
clear all
close all
clc
chap6_4plot
NSTSM_plot
clear all
close all
clc
clear all
close all
clc
Parameter
e = [q1.data-q1d.data q2.data-q2d.data];
norm(e,inf)
e = [q1.data-q1d.data q2.data-q2d.data q1_dot.data-q1d_dot.data q2_dot.data-q2d_dot.data];
norm(e,inf)
clear
clc
Main5
Parameter
Example_Animation
plot(q1.data,q2.data)
 MATLAB Command History Page 101
May 7, 2019 3:46:17 PM

plot(q1.data,q2.data,':b');
hold on;
fig = plot(q1.data,q2.data,'or');
plot(q1.data,q2.data,':b');
hold on;
n = 1;
x_t = q1.data(n);
y_t = q2.data(n);
Example_Animation
n = 1;
x_t = q1.data(n);
y_t = q2.data(n);
fig = plot(q1.data,q2.data,'or');
hold on;
n = 1;
x_t = q1.data(n);
y_t = q2.data(n);
fig = plot(x_t,y_t,'or');
plot(q1.data,q2.data,':b');
while(1)
n = n + 1;
x_t = x(n);hold on;
n = 1;
x_t = q1.data(n);
y_t = q2.data(n);
fig = plot(x_t,y_t,'or');
y_t = y(n);
set(fig,'xdata',x_t,'ydata',y_t);% update new value of x & y at t
pause(0.01);
if(n == length(q1.data))
n = 1;
end
end
hold off;
plot(q1.data,q2.data,':b');
n = 1;
x_t = q1.data(n);
y_t = q2.data(n);
fig = plot(x_t,y_t,'or');
plot(q1.data,q2.data,':b');
hold on;
n = 1;
x_t = q1.data(n);
y_t = q2.data(n);
fig = plot(x_t,y_t,'or');
while(1)
n = n + 1;
x_t = q1.data(n);
y_t = q2.data(n);
set(fig,'xdata',x_t,'ydata',y_t);% update new value of x & y at t
pause(0.01);
if(n == length(q1.data))
n = 1;
end
end
hold off;
plot(q1.data,q2.data,':b');
hold on;
n = 1;
x_t = q1.data(n);
y_t = q2.data(n);
fig = plot(x_t,y_t,'or');
while(1)
n = n + 1;
x_t = q1.data(n);
y_t = q2.data(n);
set(fig,'xdata',x_t,'ydata',y_t);% update new value of x & y at t
pause(0.001);
if(n == length(q1.data))
n = 1;
end
end
hold off;
hold on
plot(q1.data,q1.data,'--m');
plot(q1.data,q1.data,':b');
hold on
plot(q1.data,q1.data,':b');
x1 = l1*cos(q1.data);
y1 = l1*sin(q1.data);
x2 = x1 + l2cos(q2.data);
y2 = y1 + l2*sin(q2.data);
x1 = l1*cos(q1.data);
y1 = l1*sin(q1.data);
x2 = x1 + l2*cos(q2.data);
y2 = y1 + l2*sin(q2.data);
plot(x1,y1,':b',x2,y2,':r');
x1 = l1*cos(q1.data);
y1 = l1*sin(q1.data);
x2 = x1 + l2*cos(q2.data);
y2 = y1 + l2*sin(q2.data);
plot(x1,y1,':b',x2,y2,':r');
hold on;
n = 1;
x1_t = x1(n);
y1_t = y1(n);
x2_t = x2(n);
y2_t = y2(n);
fig = plot(x1_t,y1_t,'ok',x2_t,y2_t,'ok');
line([0 x1_t(n)],[0 y1_t]);
x1 = l1*cos(q1.data);
y1 = l1*sin(q1.data);
x2 = x1 + l2*cos(q2.data);
y2 = y1 + l2*sin(q2.data);
plot(x1,y1,':b',x2,y2,':r');
axis equal
hold on;
n = 1;
x1_t = x1(n);
y1_t = y1(n);
x2_t = x2(n);
y2_t = y2(n);
fig = plot(x1_t(n),y1_t(n),'ok',x2_t(n),y2_t(n),'ok');
line([0 x1_t(n)],[0 y1_t]);
line([x1_t(n) x2_t(n)],[y1_t(n) y2_t(n)]);
x1 = l1*cos(q1.data);
y1 = l1*sin(q1.data);
x2 = x1 + l2*cos(q2.data);
y2 = y1 + l2*sin(q2.data);
plot(x1,y1,':b',x2,y2,':r');
axis equal
hold on;
n = 1;
 MATLAB Command History Page 102
May 7, 2019 3:46:17 PM

x1_t = x1(n);
y1_t = y1(n);
x2_t = x2(n);
y2_t = y2(n);
fig1 = plot(x1_t(n),y1_t(n),'ok');
fig2 = plot(x2_t(n),y2_t(n),'ok');
fig3 = line([0 x1_t(n)],[0 y1_t]);
fig4 = line([x1_t(n) x2_t(n)],[y1_t(n) y2_t(n)]);
while(1)
n = n + 1;
x1_t = x1(n);
y1_t = y1(n);
x2_t = x2(n);
y2_t = y2(n);
set(fig1,'xdata',x1_t,'ydata',y1_t);% update new value of x & y at t
set(fig2,'xdata',x2_t,'ydata',y2_t);
set(fig3,'xdata',[0 x1_t(n)],'ydata',[0 y1_t]);
set(fig2,'xdata',[x1_t(n) x2_t(n)],'ydata',[y1_t(n) y2_t(n)]);
pause(0.001);
if(n == length(q1.data))
n = 1;
end
end
hold off;
x1 = l1*cos(q1.data);
y1 = l1*sin(q1.data);
x2 = x1 + l2*cos(q2.data);
y2 = y1 + l2*sin(q2.data);
plot(x1,y1,':b',x2,y2,':r');
axis equal
hold on;
n = 1;
x1_t = x1(n);
y1_t = y1(n);
x2_t = x2(n);
y2_t = y2(n);
fig1 = plot(x1_t(n),y1_t(n),'ok');
fig2 = plot(x2_t(n),y2_t(n),'ok');
fig3 = line([0 x1_t(n)],[0 y1_t]);
fig4 = line([x1_t(n) x2_t(n)],[y1_t(n) y2_t(n)]);
set(fig3,'xdata',[0 x1_t(n)],'ydata',[0 y1_t]);
set(fig3,'xdata',[0 x1_t(n)],'ydata',[0 0]);
Parameter
clear
clc
%-- 18/04/2019 8:09 AM --%
Parameter
Animation
l1*cos(1.2)
pretty(1.2)
pretty(ans)
1.2
cos(6*pi/5)
cos(1.2)
Animation
cos(1.2*pi)
sin(pi)
Animation
l1*sin(1.2)
l1*sin(1.2*pi)
sin(90)
sin(pi/2)
1.2*3.14
cos(1.2*pi)
cos(1.5*pi)
0.5/0.001
q = [1 1.5];
clear
q = [1 1.5];
l = 1;
x = l*cos(q)
y = l*sin(q)
x = l*cos(q*pi)
y = l*sin(q*pi)
0.5403^2+0.8415^2
q = [1 1.5];
l = 2;
x = l*cos(q)
y = l*sin(q)
L = sqrt(x^2+y^2)
L = sqrt(x.^2+y.^2)
x = l*cos(q*pi)
y = l*sin(q*pi)
L = sqrt(x.^2+y.^2)
Animation
x = l*cos(q*9.8)
y = l*sin(q*9.8)
L = sqrt(x.^2+y.^2)
x_dot = diff(x)
q_dot = (q(2)-q(1))/0.001
-q_dot*l1*sin(q)
-q_dot*l*sin(q)
norm(ans)
norm(ans,2)
x2_dot = (-q_dot*l*sin(q(2))+q_dot*l*sin(q(1)))/0.001
x2_dot = (-q_dot*l*sin(q(2)*pi)+q_dot*l*sin(q(1)*pi))/0.001
(x(2)-x(1))/0.001
x_dot = -q_dot*l*sin(q)
sin(90)
sin(3.14)
sin(1.2)
sin(1.3)
sin(1.4)
sin(1.5)
sin(1.55)
sin(1.555)
sin(1.5555)
sin(1.55555)
sin(1.5555555555555555)
sin(1.6)
sin(1.666666666666)
sin(1.5555555555555555)
sin(1.5555555555555559)
sin(1.58)
sin(1.56)
sin(1.57)
3.14/2
1.2/pi
sin(ans*pi)
sin(1.2)
cos(1.2)
0.9320^2+0.3624^2
Animation
 MATLAB Command History Page 103
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Parameter
clear
Parameter
Animation
clear
clc
asin(0.5)
ans/pi
sin(0.1667*pi)
asin(1)
3.14/2
sin(1.5708)
sin(3.14)
sin(pi)
clar
load('sensor.mat')
Animation
clear
clc
%-- 19/04/2019 8:47 AM --%
alpha = 0.85
642*250
642/2
ans*300
%-- 19/04/2019 8:03 PM --%
save('vector.mat','x','y','z');clear
clear
sin(pi/6)
cos(pi/6)
cos(pi/3)
clear
%-- 20/04/2019 11:41 AM --%
vadG729Example
MicrophoneBeamformerExample
Untitled
figure;plot(FrostOut)
figure;plot(myRecording)
Untitled
%-- 22/04/2019 9:28 AM --%
fuzzy
Parameter
x2dot(5)
x2dot.data(5)
l1
m1
l2
m2
Calculate
plot(To1)
max(To1)
plot(To2)
fuzzy
fuzzy(simple_To2)
fuzzy('simple_To2')
fuzzy('simple_To1')
fuzzy('simple_To2')
clear
clc
Parameter
Main_SMC
clear
Lb = [0 0 0 0 0 0 0 0 0 0 0 0 0 0]; % can duoi cua bien thiet ke
Ub = [100 100 100 100 100 100 100 100 100 100 100 100 100 100]; % can tren cua bien thiet ke
Parameter
norm([e1.data,e2.data],inf)
Main_FD_FC_FSMC1
%-- 23/04/2019 7:30 AM --%
Parameter
Main_FD_FC_FSMC1
norm([e1.data,e2.data],inf)
Main_FD_FC_FSMC1
figure;plot(x1)
Parameter
clear
clc
Parameter
clear
clc
Main_FD_FC_FSMC2
fuzzy('simple_To1')
clear
clc
load('luu2.mat')
a1 = xval(1);
a2 = xval(2);
k1 = xval(3);
k2 = xval(4);
l1 = 1;
l2 = 0.8;
m1 = 1;
m2 = 1;
% Initial position
q1 = 1.2;
q2 = 0.5;
q1_dot = 0;
q2_dot = 0;
a1 = a2;
a1 = 5;a2 = 5;
a2 = 1;
Parameter
clear
clc
load('luu_FD_FC_FSMC2.mat')
rho
rho1_ad
k01
om01
clear
clc
test
figure;plot(x1)
figure;plot(e1)
figure;plot(e2)
norm(e1.data)
norm(e2.data)
clear
clc
test
legend 'norm-e1' 'norm-e2';
title 'rho1 = [1:50]';
test
test2
rho2 = 200;
 MATLAB Command History Page 104
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sim('FD_FC_FSMC');
figure;plot(e1)
figure;plot(e2)
rho1 = 200;
sim('FD_FC_FSMC');
figure;plot(e1)
figure;plot(e2)
test3
l1 = 1;
l2 = 0.8;
m1 = 1;
m2 = 1;
% Initial position
q1 = 1.2;
q2 = 0.5;
q1_dot = 0;
q2_dot = 0;
% Control parameter
a11 = 12;
a12 = 1;
a21 = 12;
a22 = 1;
alpha1 = 0.9;
alpha2 = 0.9;
PHI1 = 1;
PHI2 = 1;
rho1 = 200;
rho2 = 200;
l12 = 24;
l22 = 24;
sim('FD_FC_FSMC');
figure;plot(e1)
figure;plot(e2)
test5
save('survey');
a11 = 200;
a12 = 1;
a21 = 200;
a22 = 1;
alpha1 = 0.8;
alpha2 = 0.8;
PHI1 = 1;
PHI2 = 1;
rho1 = 200;
rho2 = 200;
l12 = 200;
l22 = 200;
sim('FD_FC_FSMC');
figure;plot(e1)
figure;plot(e2)
0.19*200*0
0.19*200*1
0.19/200*1
0.19/200*200
a11 = 1;
a12 = 1;
a21 = 1;
a22 = 1;
alpha1 = 0.8;
alpha2 = 0.8;
PHI1 = 1;
PHI2 = 1;
rho1 = 1;
rho2 = 1;
l12 = 1;
l22 = 1;
sim('FD_FC_FSMC');
figure;plot(e1)
figure;plot(e2)
clear
close all
test
sim('FD_FC_FSMC');
test
var(e1.data)
test
close all
test
%-- 25/04/2019 10:05 AM --%
Parameter
sim('SMC');
save('SMC');
syms l1 l2 m1 m2 x1 x2 x2dot x3 x4 x4dot es_d1 es_d2 deltaTo1 deltaTo2
A = l2^2*m2+l1*l2*m2*cos(x3);
B = m2*l1*l2*sin(x3);
eq1 = x2dot+A*x4dot+(-B*x4^2-2*B*x2*x4)+(m2*l2*9.8*cos(x1+x3)+(m1+m2)*l1*9.8*cos(x1))+0.3*sin(x2)-es_d1==deltaTo1;
eq2 = x4dot+A*x2dot+B*x2^2+m2*l2*9.8*cos(x1+x3)+0.2*sin(x4)-es_d2==deltaTo2;
pret1 = isolate(eq1)
pret1 = isolate(eq1,l1)
pret2 = isolate(eq1,l2)
clc
es_d1
Parameter
save('FD_FC_FSMC2');
es_d1
deltaTo1
clear
Parameter
clc
k = 5;
x1 = x1.data(k);
x2 = x2.data(k);
x2dot = x2dot.data(k);
x3 = x3.data(k);
x4 = x4.data(k);
x4dot = x4dot.data(k);
deltaTo1 = es_To1.data(k);
deltaTo2 = es_To2.data(k);
es_d1 = es_d1.data(k);
es_d2 = es_d2.data(k);
es_d1
syms l1 l2 m1 m2
A = l2^2*m2+l1*l2*m2*cos(x3);
B = m2*l1*l2*sin(x3);
eq1 = x2dot+A*x4dot+(-B*x4^2-2*B*x2*x4)+(m2*l2*9.8*cos(x1+x3)+(m1+m2)*l1*9.8*cos(x1))+0.3*sin(x2)-es_d1-deltaTo1;
eq2 = x4dot+A*x2dot+B*x2^2+m2*l2*9.8*cos(x1+x3)+0.2*sin(x4)-es_d2-deltaTo2;
eqns = [eq1,eq2];
[l1,l2,m1,m2] = solve(eqns,[l1,l2,m1,m2]);
l1
l2
m1
m2
eq1
 MATLAB Command History Page 105
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eqns = [eq1,eq2,eq1,eq2];
[l1,l2,m1,m2] = solve(eqns,[l1,l2,m1,m2]);
eq1 = x2dot+A*x4dot+(-B*x4^2-2*B*x2*x4)+(m2*l2*9.8*cos(x1+x3)+(m1+m2)*l1*9.8*cos(x1))+0.3*sin(x2)-es_d1==deltaTo1;
eq2 = x4dot+A*x2dot+B*x2^2+m2*l2*9.8*cos(x1+x3)+0.2*sin(x4)-es_d2==deltaTo2;
eqns = [eq1,eq2];
%% Compute
[l1,l2,m1,m2] = solve(eqns,[l1,l2,m1,m2]);
eq1 = x2dot+A*x4dot+(-B*x4^2-2*B*x2*x4)+(m2*l2*9.8*cos(x1+x3)+(m1+m2)*l1*9.8*cos(x1))+0.3*sin(x2)-es_d1==deltaTo1;
eq2 = x4dot+A*x2dot+B*x2^2+m2*l2*9.8*cos(x1+x3)+0.2*sin(x4)-es_d2==deltaTo2;
k = 5;
x1 = x1.data(k);
x2 = x2.data(k);
x2dot = x2dot.data(k);
x3 = x3.data(k);
x4 = x4.data(k);
x4dot = x4dot.data(k);
deltaTo1 = es_To1.data(k);
deltaTo2 = es_To2.data(k);
es_d1 = es_d1.data(k);
es_d2 = es_d2.data(k);
syms l1 l2 m1 m2
A = l2^2*m2+l1*l2*m2*cos(x3);
B = m2*l1*l2*sin(x3);
clc
clear
load('FD_FC_FSMC2.mat')
k = 5;
x1 = x1.data(k);
x2 = x2.data(k);
x2dot = x2dot.data(k);
x3 = x3.data(k);
x4 = x4.data(k);
x4dot = x4dot.data(k);
deltaTo1 = es_To1.data(k);
deltaTo2 = es_To2.data(k);
es_d1 = es_d1.data(k);
es_d2 = es_d2.data(k);
syms l1 l2 m1 m2
A = l2^2*m2+l1*l2*m2*cos(x3);
B = m2*l1*l2*sin(x3);
eq1 = x2dot+A*x4dot+(-B*x4^2-2*B*x2*x4)+(m2*l2*9.8*cos(x1+x3)+(m1+m2)*l1*9.8*cos(x1))+0.3*sin(x2)-es_d1==deltaTo1;
eq2 = x4dot+A*x2dot+B*x2^2+m2*l2*9.8*cos(x1+x3)+0.2*sin(x4)-es_d2==deltaTo2;
eq1
eq2
eqns = [eq1,eq2];
eqns = [eq1,eq2]
[l1,l2,m1,m2] = solve(eqns,[l1,l2,m1,m2]);
l1
clear
load('FD_FC_FSMC2.mat')
k = 5;
x1 = x1.data(k);
x2 = x2.data(k);
x2dot = x2dot.data(k);
x3 = x3.data(k);
x4 = x4.data(k);
x4dot = x4dot.data(k);
deltaTo1 = es_To1.data(k);
deltaTo2 = es_To2.data(k);
es_d1 = es_d1.data(k);
es_d2 = es_d2.data(k);
syms m1 m2
A = l2^2*m2+l1*l2*m2*cos(x3);
B = m2*l1*l2*sin(x3);
eq1 = x2dot+A*x4dot+(-B*x4^2-2*B*x2*x4)+(m2*l2*9.8*cos(x1+x3)+(m1+m2)*l1*9.8*cos(x1))+0.3*sin(x2)-es_d1==deltaTo1;
eq2 = x4dot+A*x2dot+B*x2^2+m2*l2*9.8*cos(x1+x3)+0.2*sin(x4)-es_d2==deltaTo2;
eqns = [eq1,eq2];
%% Compute
[m1,m2] = solve(eqns,[m1,m2])
m1
m1+1
m2
pretty(m2)
round(m2)
clear
clc
Parameter
clc
clear
clc
load('FD_FC_FSMC2.mat')
k = 5;
x1 = x1.data(k);
x2 = x2.data(k);
x2dot = x2dot.data(k);
x3 = x3.data(k);
x4 = x4.data(k);
x4dot = x4dot.data(k);
deltaTo1 = es_To1.data(k);
deltaTo2 = es_To2.data(k);
es_d1 = es_d1.data(k);
es_d2 = es_d2.data(k);
syms m1 m2
A = l2^2*m2+l1*l2*m2*cos(x3);
B = m2*l1*l2*sin(x3);
eq1 = x2dot+A*x4dot+(-B*x4^2-2*B*x2*x4)+(m2*l2*9.8*cos(x1+x3)+(m1+m2)*l1*9.8*cos(x1))+0.3*sin(x2)-es_d1==deltaTo1;
eq2 = x4dot+A*x2dot+B*x2^2+m2*l2*9.8*cos(x1+x3)+0.2*sin(x4)-es_d2==deltaTo2;
eqns = [eq1,eq2];
isolate(eq1,m1)
isolate(eqns,m1)
isolate(eq2,m1)
isolate(eq2,m2)
syms m1 m2 l1 l2 x1 x2 x2dot x3 x4 x4dot deltaTo1 deltaTo2 es_d1 es_d2
A = l2^2*m2+l1*l2*m2*cos(x3);
B = m2*l1*l2*sin(x3);
eq1 = x2dot+A*x4dot+(-B*x4^2-2*B*x2*x4)+(m2*l2*9.8*cos(x1+x3)+(m1+m2)*l1*9.8*cos(x1))+0.3*sin(x2)-es_d1==deltaTo1;
eq2 = x4dot+A*x2dot+B*x2^2+m2*l2*9.8*cos(x1+x3)+0.2*sin(x4)-es_d2==deltaTo2;
isolate(eq1,m1)
isolate(eq2,m1)
isolate(eq2,m2)
isolate(eq1,m2)
ful = -(x2dot - es_d1 - deltaTo1 + (3*sin(x2))/10 + (49*l1*m1*cos(x1))/5)/(x4dot*(l2^2 + l1*cos(x3)*l2) + (49*l2*cos(x1 + x3))/5 + (49*l1*cos(x1))/5 - l1*l2*x4^2*sin(x3) -
2*l1*l2*x2*x4*sin(x3))==(deltaTo2 + es_d2 - x4dot - sin(x4)/5)/(x2dot*(l2^2 + l1*cos(x3)*l2) + (49*l2*cos(x1 + x3))/5 + l1*l2*x2^2*sin(x3));
isolate(ful,m1)
isolate(ful,m2)
clear
clc
load('FD_FC_FSMC2.mat')
k = 5;
x1 = x1.data(k);
x2 = x2.data(k);
x2dot = x2dot.data(k);
x3 = x3.data(k);
 MATLAB Command History Page 106
May 7, 2019 3:46:17 PM

x4 = x4.data(k);
x4dot = x4dot.data(k);
deltaTo1 = es_To1.data(k);
deltaTo2 = es_To2.data(k);
es_d1 = es_d1.data(k);
es_d2 = es_d2.data(k);
syms var1 var2 var3 var4
% var1 = delta_l1; var2 = delta_l2; var3 = delta_m1; var4 = delta_m2;
A = var2^2*var4+var1*var2*var4*cos(x3);
B = var4*var1*var2*sin(x3);
eq1 = deltaTo1 == x2dot+A*x4dot+(-B*x4^2-2*B*x2*x4)+(var4*var2*9.8*cos(x1+x3)+(var3+var4)*var1*9.8*cos(x1))+0.3*sin(x2)-es_d1;
eq2 = deltaTo2 == x4dot+A*x2dot+B*x2^2+var4*var2*9.8*cos(x1+x3)+0.2*sin(x4)-es_d2;
eq3 = To1 + deltaTo1 == x2dot+A*x4dot+(-B*x4^2-2*B*x2*x4)+(var4*var2*9.8*cos(x1+x3)+(var3+var4)*var1*9.8*cos(x1))+0.3*sin(x2)-es_d1;
eq4 = To2 + deltaTo2 == x4dot+A*x2dot+B*x2^2+var4*var2*9.8*cos(x1+x3)+0.2*sin(x4)-es_d2;
us1
To1 = us1.data(k);
To2 = us2.data(k);
syms var1 var2 var3 var4
% var1 = delta_l1; var2 = delta_l2; var3 = delta_m1; var4 = delta_m2;
A = var2^2*var4+var1*var2*var4*cos(x3);
B = var4*var1*var2*sin(x3);
eq1 = deltaTo1 == x2dot+A*x4dot+(-B*x4^2-2*B*x2*x4)+(var4*var2*9.8*cos(x1+x3)+(var3+var4)*var1*9.8*cos(x1))+0.3*sin(x2)-es_d1;
eq2 = deltaTo2 == x4dot+A*x2dot+B*x2^2+var4*var2*9.8*cos(x1+x3)+0.2*sin(x4)-es_d2;
eq3 = To1 + deltaTo1 == x2dot+A*x4dot+(-B*x4^2-2*B*x2*x4)+(var4*var2*9.8*cos(x1+x3)+(var3+var4)*var1*9.8*cos(x1))+0.3*sin(x2)-es_d1;
eq4 = To2 + deltaTo2 == x4dot+A*x2dot+B*x2^2+var4*var2*9.8*cos(x1+x3)+0.2*sin(x4)-es_d2;
eqns = [eq1,eq2,eq3,eq4];
eqns = [eq1,eq2,eq3,eq4]
[var1,var2,var3,var4] = solve(eqns,[var1,var2,var3,var4])
solve(eqns,[var1,var2,var3,var4])
Y = solve(eqns,[var1,var2,var3,var4])
[y1 y2 y3 y4] = solve(eqns,[var1,var2,var3,var4])
syms var1 var2 var3 var4
% var1 = delta_l1; var2 = delta_l2; var3 = delta_m1; var4 = delta_m2;
A = var2^2*var4+var1*var2*var4*cos(x3);
B = var4*var1*var2*sin(x3);
eq1 = deltaTo1 == x2dot+A*x4dot+(-B*x4^2-2*B*x2*x4)+(var4*var2*9.8*cos(x1+x3)+(var3+var4)*var1*9.8*cos(x1))+0.3*sin(x2)-es_d1;
eq2 = deltaTo2 == x4dot+A*x2dot+B*x2^2+var4*var2*9.8*cos(x1+x3)+0.2*sin(x4)-es_d2;
eq3 = To1 + deltaTo1 == x2dot+A*x4dot+(-B*x4^2-2*B*x2*x4)+(var4*var2*9.8*cos(x1+x3)+(var3+var4)*var1*9.8*cos(x1))+0.3*sin(x2)-es_d1;
eq4 = To2 + deltaTo2 == x4dot+A*x2dot+B*x2^2+var4*var2*9.8*cos(x1+x3)+0.2*sin(x4)-es_d2;
eqns = [eq1,eq2,eq3,eq4];
[y1 y2 y3 y4] = solve(eqns,[var1,var2,var3,var4])
isolate(eq1,l1)
clear
clc
syms var1 var2 var3 var4 x1 x2 x2dot x3 x4 x4dot deltaTo1 deltaTo2 es_d1 es_d2 To1 To2
% var1 = delta_l1; var2 = delta_l2; var3 = delta_m1; var4 = delta_m2;
A = var2^2*var4+var1*var2*var4*cos(x3);
B = var4*var1*var2*sin(x3);
eq1 = deltaTo1 == x2dot+A*x4dot+(-B*x4^2-2*B*x2*x4)+(var4*var2*9.8*cos(x1+x3)+(var3+var4)*var1*9.8*cos(x1))+0.3*sin(x2)-es_d1;
eq2 = deltaTo2 == x4dot+A*x2dot+B*x2^2+var4*var2*9.8*cos(x1+x3)+0.2*sin(x4)-es_d2;
eq3 = To1 + deltaTo1 == x2dot+A*x4dot+(-B*x4^2-2*B*x2*x4)+(var4*var2*9.8*cos(x1+x3)+(var3+var4)*var1*9.8*cos(x1))+0.3*sin(x2)-es_d1;
eq4 = To2 + deltaTo2 == x4dot+A*x2dot+B*x2^2+var4*var2*9.8*cos(x1+x3)+0.2*sin(x4)-es_d2;
f1 = isolate(eq1,l1)
f1 = isolate(eq1,var1)
f2 = isolate(eq2,var2)
f3 = isolate(eq3,var3)
f4 = isolate(eq4,var4)
clear
syms var1 var2 var3 var4 x1 x2 x2dot x3 x4 x4dot deltaTo1 deltaTo2 es_d1 es_d2 To1 To2
% var1 = delta_l1; var2 = delta_l2; var3 = delta_m1; var4 = delta_m2;
A = var2^2*var4+var1*var2*var4*cos(x3);
B = var4*var1*var2*sin(x3);
eq1 = deltaTo1 == x2dot+A*x4dot+(-B*x4^2-2*B*x2*x4)+(var4*var2*9.8*cos(x1+x3)+(var3+var4)*var1*9.8*cos(x1))+0.3*sin(x2)-es_d1;
eq2 = deltaTo2 == x4dot+A*x2dot+B*x2^2+var4*var2*9.8*cos(x1+x3)+0.2*sin(x4)-es_d2;
C = (l2+var2)^2*(m2+var4)+(l1+var1)*(l2+var2)*(m2+var4)*cos(x3);
D = (m2+var4)*(l1+var1)*(l2+var2)*sin(x3);
eq3 = To1 + deltaTo1 == x2dot+C*x4dot+(-D*x4^2-2*D*x2*x4)+((m2+var4)*(l2+var2)*9.8*cos(x1+x3)+((m1+var3)+(m2+var4))*(l1+var1)*9.8*cos(x1))+0.3*sin(x2)-es_d1;
eq4 = To2 + deltaTo2 == x4dot+C*x2dot+D*x2^2+(m2+var4)*(l2+var2)*9.8*cos(x1+x3)+0.2*sin(x4)-es_d2;
syms var1 var2 var3 var4 x1 x2 x2dot x3 x4 x4dot deltaTo1 deltaTo2 es_d1 es_d2 To1 To2 l1 l2 m1 m2
% var1 = delta_l1; var2 = delta_l2; var3 = delta_m1; var4 = delta_m2;
A = var2^2*var4+var1*var2*var4*cos(x3);
B = var4*var1*var2*sin(x3);
eq1 = deltaTo1 == x2dot+A*x4dot+(-B*x4^2-2*B*x2*x4)+(var4*var2*9.8*cos(x1+x3)+(var3+var4)*var1*9.8*cos(x1))+0.3*sin(x2)-es_d1;
eq2 = deltaTo2 == x4dot+A*x2dot+B*x2^2+var4*var2*9.8*cos(x1+x3)+0.2*sin(x4)-es_d2;
C = (l2+var2)^2*(m2+var4)+(l1+var1)*(l2+var2)*(m2+var4)*cos(x3);
D = (m2+var4)*(l1+var1)*(l2+var2)*sin(x3);
eq3 = To1 + deltaTo1 == x2dot+C*x4dot+(-D*x4^2-2*D*x2*x4)+((m2+var4)*(l2+var2)*9.8*cos(x1+x3)+((m1+var3)+(m2+var4))*(l1+var1)*9.8*cos(x1))+0.3*sin(x2)-es_d1;
eq4 = To2 + deltaTo2 == x4dot+C*x2dot+D*x2^2+(m2+var4)*(l2+var2)*9.8*cos(x1+x3)+0.2*sin(x4)-es_d2;
f3 = isolate(eq3,var3)
f4 = isolate(eq4,var4)
clear
clc
Parameter
clear
test_solver
var1
var4
f1
test_solver
clear
clc
test_solver
var1 = -(var4*x4dot*var2^2 + (49*var4*cos(x1 + x3)*var2)/5 - deltaTo1 - es_d1 + x2dot + (3*sin(x2))/10)/(- var2*var4*sin(x3)*x4^2 - 2*var2*var4*x2*sin(x3)*x4 + (49*cos(x1)*(var3 + var4))/5
+ var2*var4*x4dot*cos(x3));
var2 = -(49*var4*cos(x1 + x3) + 5*((var4*(100*deltaTo2*x2dot + 100*es_d2*x2dot - 100*x2dot*x4dot - 20*x2dot*sin(x4) + 2401*var4*cos(x1)^2*cos(x3)^2 + 2401*var4*sin(x1)^2*sin(x3)^2 +
25*var1^2*var4*x2dot^2*cos(x3)^2 + 25*var1^2*var4*x2^4*sin(x3)^2 - 490*var1*var4*x2^2*sin(x1)*sin(x3)^2 - 4802*var4*cos(x1)*cos(x3)*sin(x1)*sin(x3) + 490*var1*var4*x2dot*cos(x1)*cos(x3)^2
- 490*var1*var4*x2dot*cos(x3)*sin(x1)*sin(x3) + 50*var1^2*var4*x2^2*x2dot*cos(x3)*sin(x3) + 490*var1*var4*x2^2*cos(x1)*cos(x3)*sin(x3)))/25)^(1/2) + 5*var1*var4*x2^2*sin(x3) +
5*var1*var4*x2dot*cos(x3))/(10*var4*x2dot);
var3 = (5*(sin(x3)*(l1 + var1)*(l2 + var2)*(m2 + var4)*x4^2 + 2*x2*sin(x3)*(l1 + var1)*(l2 + var2)*(m2 + var4)*x4 + To1 + deltaTo1 + es_d1 - x2dot - (3*sin(x2))/10 - x4dot*((l2 + var2)^2*
(m2 + var4) + cos(x3)*(l1 + var1)*(l2 + var2)*(m2 + var4)) - (49*cos(x1)*(l1 + var1)*(m1 + m2 + var4))/5 - (49*cos(x1 + x3)*(l2 + var2)*(m2 + var4))/5))/(49*cos(x1)*(l1 + var1));
var4 = -(m2*sin(x3)*(l1 + var1)*(l2 + var2)*x2^2 - To2 - deltaTo2 - es_d2 + x4dot + sin(x4)/5 + x2dot*(m2*(l2 + var2)^2 + m2*cos(x3)*(l1 + var1)*(l2 + var2)) + (49*m2*cos(x1 + x3)*(l2 +
var2))/5)/((49*cos(x1 + x3)*(l2 + var2))/5 + x2dot*((l2 + var2)^2 + cos(x3)*(l1 + var1)*(l2 + var2)) + x2^2*sin(x3)*(l1 + var1)*(l2 + var2));
solve(var2,var1)
solve
pretty(var1)
pretty(var2)
clear
clc
syms var1 var2 var3 var4 x1 x2 x2dot x3 x4 x4dot deltaTo1 deltaTo2 es_d1 es_d2 To1 To2 l1 l2 m1 m2
% var1 = delta_l1; var2 = delta_l2; var3 = delta_m1; var4 = delta_m2;
A = var2^2*var4+var1*var2*var4*cos(x3);
B = var4*var1*var2*sin(x3);
eq1 = deltaTo1 == x2dot+A*x4dot+(-B*x4^2-2*B*x2*x4)+(var4*var2*9.8*cos(x1+x3)+(var3+var4)*var1*9.8*cos(x1))+0.3*sin(x2)-es_d1;
eq2 = deltaTo2 == x4dot+A*x2dot+B*x2^2+var4*var2*9.8*cos(x1+x3)+0.2*sin(x4)-es_d2;
isolate(eq1,var4)
clear
clc
syms var1 var2 var3 var4 x1 x2 x2dot x3 x4 x4dot deltaTo1 deltaTo2 es_d1 es_d2 To1 To2 l1 l2 m1 m2
% var1 = delta_l1; var2 = delta_l2; var3 = delta_m1; var4 = delta_m2;
delta_To1 = x2dot + (var2^2*var4 + var1*var2*var4*cos(x3))*x4dot - var1*var2*var4*sin(x3)*x4*(x4 - 2*x2) + (9.8*var2*var4*cos(x1+x3) + 9.8*var1*(var3+var4)*cos(x1)) + 0.3*sin(x2) - es_d1;
delta_To2 = x4dot + (var2^2*var4 + var1*var2*var4*cos(x3))*x2dot + (var1*var2*var4*sin(x3)*x2^2) + (9.8*var2*var4*cos(x1+x3)) + 0.2*sin(x4) - es_d2;
isolate(eq1,var4)clear
isolate(eq1,var4)*clearclc
 MATLAB Command History Page 107
May 7, 2019 3:46:17 PM

clear
clc
test_solver
clear
clc
test_solver
isolate(eq1,var4)
isolate(eq1,var3)
isolate(eq2,var3)
isolate(eq1,var3)
isolate(eq1,var2)
isolate(eq1,var1)
isolate(eq2,var1)
isolate(eq2,var2)
isolate(eq2,var3)
isolate(eq2,var4)
clear
Parameter
clear
clc
Parameter
clear
test_solver
isolate(eq1,var3)
isolate(eq2,var4)
isolate(eq1,var1)
isolate(eq2,var2)
isolate(eq1,var2)
isolate(eq2,var4)
isolate(eq2,var2)
isolate(eq2,var3)
isolate(eq1,var3)
isolate(eq2,var1)
Parameter
clear
clc
Parameter
clear
load('FD_FC_FSMC2.mat')
figure;plot(e1)
load('FD_FC_FSMC21.mat')
hold on
plot(e1,'r')
load('FD_FC_FSMC21.mat')
Parameter
random('unif',2,6)
%-- 27/04/2019 9:42 AM --%
test_solver
isolate(eq1,var1)
isolate(eq2,var2)
isolate(eq1,var3)
isolate(eq2,var4)
Parameter
l2_min
l2_max
Parameter
max(a11,a12,a21,a22)
max([a11,a12,a21,a22])
Parameter
Parameter
u
u1
u1.data
u.u1
Parameter
close all
clear
Parameter
700/4
Parameter
help
%-- 28/04/2019 10:24 AM --%
Homework1
Homework2a
%-- 29/04/2019 1:09 PM --%
main
%-- 02/05/2019 8:45 AM --%
load('FD_FC_FSMC2.mat')
x2
plot(log(x2.time),x2.time)
plot(x2.time,log(x2.time))
load('SMC.mat')
figure;plot(x2.time,log(x2.time))
Parameter
figure;plot(x2)
figure;plot(x1)
figure;plot(e1)
hold on
plot(x1,'r')
plot(x1d,'m')
hold off
figure;plot(e1)
plot(x1,'r')
plot(x1d,'m')
plot(u1)
plot(u2)
plot(es_d1)
plot(es_d2)
plot(d2)
figure;plot(x2.time,log(x2.time))
load('FD_FC_FSMC2.mat')
figure;plot(x2.time,log(x2.time))
Parameter
figure;plot(tout,log(tout))
load('FD_FC_FSMC2.mat')
figure;plot(tout,log(tout))
Parameter
figure;plot(diff(tout),log(tout))
figure;plot(diff(tout),log(tout(2:end)))
load('FD_FC_FSMC2.mat')
figure;plot(diff(tout),log(tout(2:end)))
Parameter
fuzzy('simple_To1')
fuzzy('simple_To2')
Parameter
fuzzy('simple_To1')
fuzzy('simple_To2')
Parameter
figure;plot(x1)
Parameter
fuzzy('simple_To1')
fuzzy('simple_To2')
Parameter
 MATLAB Command History Page 108
May 7, 2019 3:46:17 PM

fuzzy('simple_To2')
fuzzy('simple_To1')
Parameter
figure;plot(o1)
hold on
plot(o2,'r')
Parameter
figure;plot(o1)
hold on
plot(o2,'r')
figure;plot(o1)
hold on
plot(o2,'r')
Parameter
figure;plot(o1)
plot(o2,'r')
figure;plot(o1)
hold on
plot(o2,'r')
Parameter
figure;plot(o1)
hold on
plot(o2,'r')
Parameter
figure;plot(o1)
hold on
plot(o2,'r')
Parameter
figure;plot(é)
figure;plot(e1)
figure;plot(e3)
figure;plot(e2)
figure;plot(e2dot)
figure;plot(u1)
figure;plot(u.u1)
Parameter
clear
a = 4+3i
sqrt(a)
Parameter
figure;plot(u.u1)
figure;plot(u.u2)
figure;plot(u.To1)
figure;plot(To.To1)
figure;plot(To.to1)
figure;plot(To.to2)
figure;plot(us.us1)
figure;plot(us.us2)
figure;plot(Xd.x1)
figure;plot(Xd.x1d)
figure;plot(X.x1)
figure;plot(sys)
figure;plot(sys.M11)
hold on
plot(M12,'r')
plot(sys.M12,'r')
figure;plot(rho_ad.rho_ad1)
figure;plot(rho_ad.rho1_ad)
figure;plot(rho_ad.rho2_ad)
figure;plot(es_d.es_d1)
figure;plot(es_To.es_To1)
figure;plot(es_To.es_To2)
fuzzy('simple_To1')
fuzzy('simple_To2')
figure;plot(es_sys.M11)
figure;plot(sys.M11)
Parameter
figure;plot(es_sys.M11)
figure;plot(sys.M11)
Parameter
figure;plot(sys.M11)
figure;plot(es_sys.M11)
Parameter
figure;plot(es_sys.M11)
figure;plot(sys.M11)
figure;plot(E.e1)
figure;plot(sys.M22)
figure;plot(es_sys.M22)
figure;plot(es_d.es_d1)
figure;plot(dt.d1)
Parameter
figure;plot(dt.d1)
figure;plot(es_d.es_d1)
Parameter
figure;plot(u.u1)
figure;plot(To.to1)
figure;plot(uc.uc1)
figure;plot(us.us1)
fuzzy('simple_To2')
fuzzy('simple_To1')
Parameter
%-- 03/05/2019 1:31 PM --%
Parameter
figure;plot(es_To.es_to1)
figure;plot(es_To.es_To1)
var
figure;plot(var.es_l1)
figure;plot(var.es_l2)
figure;plot(var.es_m1)
figure;plot(var.es_m2)
load('FD_FC_FSMC_road1.mat')
clear
load('FD_FC_FSMC_road1.mat')
b_ks
clear
clc
load('FD_FC_FSMC_road1.mat')
linspace(-1:1)
linspace(-1,1,3)
linspace(-10,10,9)
clear
clc
test_fuzzy2
linspace(-100,100,9)
c=ans;
linspace(-20,20,9)
c=ans;
linspace(-250,250,9)
c=ans;
prod(c)
x1 = -3;x2 = -8
x1 = -3;x2 = -8;
linspace(-250,250,5)
 MATLAB Command History Page 109
May 7, 2019 3:46:17 PM

c=ans;
clear
clc
test_fuzzy2
min(2,6)
min(2,6,8)
min([2,6,8])
fuzzy('simple_To1')
linspace(-5,5,5)
c=ans;
%-- 03/05/2019 8:41 PM --%
B = zeros(7,1);
a = [-5,-2.5,-0.5;-2.5,0,2.5;0.5,2.5,5];
b = [-10,-5,-1;-5,0,5;1,5,10];
c = [-250,-125,0,125,250];
length(a)
A = zeros(size(a))
a = [a;b]
length(a)
a = [6 5 4 3 2 1 0
5 4 3 2 1 0 -1
4 3 2 1 0 -1 -2
3 2 1 0 -1 -2 -3
2 1 0 -1 -2 -3 -4
1 0 -1 -2 -3 -4 -5
0 -1 -2 -3 -4 -5 -6
]
a
i=1;j=1;
6-i-j+2
i=1;j=2;
6-i-j+2
i=2;j=1;
6-i-j+2
i=1;j=3;
6-i-j+2
i=1;j=7;
6-i-j+2
i=2;j=7;
6-i-j+2
%-- 04/05/2019 7:33 AM --%
A = linspace(-5,5,7)
load('FD_FC_FSMC_road1.mat')
b_cs
clear
yi = linspace(-250,250,13)
yi = -250 -208 -167 -125 -83 -42 0 42 83 125 167 208 250
b = []
clear
clc
test_fuzzy2
r = zeros(length(yi))
r = zeros(length(yi),1)
r = zeros(1,length(yi))
clc
a
b
a
yi
x1 = 5;x2 = 10;
A = zeros(length(a),1);
A(1,1) = trapmf(x1,[-100,a(1,1),a(1,2),a(1,3)]);
A(length(a),1) = trapmf(x1,[a(7,1),a(7,2),a(7,3),100]);
for i = 2:(length(a)-1)
A(i,1) = trimf(x1,[a(i,1),a(i,2),a(i,3)]);
end
B = zeros(length(b),1);
B(1,1) = trapmf(x2,[-100,b(1,1),b(1,2),b(1,3)]);
B(length(b),1) = trapmf(x2,[b(7,1),b(7,2),b(7,3),100]);
for j = 2:(length(b)-1)
B(j,1) = trimf(x2,[b(j,1),b(j,2),b(j,3)]);
end
law = zeros(length(a),length(b));
for i = 1:length(a)
for j = 1:length(b)
law(i,j) = prod([A(i,1),B(j,1)]);
end
end
clear r
r(1) = law(7,7);
r(2) = sum([law(6,7),law(7,6)]);
r(1,3) = sum([law(5,7),law(6,6),law(7,5)]);
r(1,4) = sum([law(4,7),law(5,6),law(6,5),law(7,4)]);
r(1,5) = sum([law(3,7),law(4,6),law(5,5),law(6,4),law(7,3)]);
r(1,6) = sum([law(2,7),law(3,6),law(4,5),law(5,4),law(6,3),law(7,2)]);
r(1,7) = sum([law(7,1),law(6,2),law(5,3),law(4,4),law(3,5),law(2,6),law(1,7)]);
r(1,8) = sum([law(6,1),law(5,2),law(4,3),law(3,4),law(2,5),law(1,6)]);
r(1,9) = sum([law(5,1),law(4,2),law(3,3),law(2,4),law(1,5)]);
r(1,10) = sum([law(1,4),law(2,3),law(3,2),law(4,1)]);
r(1,11) = sum([law(1,3),law(2,2),law(3,1)]);
r(1,12) = sum([law(2,1),law(1,2)]);
r(1,13) = law(1,1);
yi*r
yi*r'
sum(r)
lambda = r/sum(r)
clear
clc
test_fuzzy2
clear
test_fuzzy2
clear
test_fuzzy2
r = [];
r(1) = 1
r(2) = 1
r(3) = 1
r = ();
r = {};
r = [];
clear
test_fuzzy2
length(a)
x1 = 2;
x2 = 5;
A = zeros(length(a),1);
A(1,1) = trapmf(x1,[-100,a(1,1),a(1,2),a(1,3)]);
A(length(a),1) = trapmf(x1,[a(7,1),a(7,2),a(7,3),100]);
for i = 2:(length(a)-1)
A(i,1) = trimf(x1,[a(i,1),a(i,2),a(i,3)]);
end
%% Input 2: B
B = zeros(length(b),1);
 MATLAB Command History Page 110
May 7, 2019 3:46:17 PM

B(1,1) = trapmf(x2,[-100,b(1,1),b(1,2),b(1,3)]);
B(length(b),1) = trapmf(x2,[b(7,1),b(7,2),b(7,3),100]);
for j = 2:(length(b)-1)
B(j,1) = trimf(x2,[b(j,1),b(j,2),b(j,3)]);
end
%% Rules
law = zeros(length(a),length(b));
for i = 1:length(a)
for j = 1:length(b)
law(i,j) = prod([A(i,1),B(j,1)]);
end
end
r = [];
r(1,1) = law(7,7);
r(1,2) = sum([law(6,7),law(7,6)]);
r(1,3) = sum([law(5,7),law(6,6),law(7,5)]);
r(1,4) = sum([law(4,7),law(5,6),law(6,5),law(7,4)]);
r(1,5) = sum([law(3,7),law(4,6),law(5,5),law(6,4),law(7,3)]);
r(1,6) = sum([law(2,7),law(3,6),law(4,5),law(5,4),law(6,3),law(7,2)]);
r(1,7) = sum([law(7,1),law(6,2),law(5,3),law(4,4),law(3,5),law(2,6),law(1,7)]);
r(1,8) = sum([law(6,1),law(5,2),law(4,3),law(3,4),law(2,5),law(1,6)]);
r(1,9) = sum([law(5,1),law(4,2),law(3,3),law(2,4),law(1,5)]);
r(1,10) = sum([law(1,4),law(2,3),law(3,2),law(4,1)]);
r(1,11) = sum([law(1,3),law(2,2),law(3,1)]);
r(1,12) = sum([law(2,1),law(1,2)]);
r(1,13) = law(1,1);
y = (yi*r')/sum(r);
lambda = r/sum(r);
y
clear
test_fuzzy2
fuzzy('simple_To1')
yi = linspace(-5,5,13)
test_fuzzy2
clear
clc
test_fuzzy2
clea
clear
test_fuzzy2
clear
test_fuzzy2
Parameter
clear
clc
Parameter
%-- 05/05/2019 5:23 AM --%
Parameter
main2
clear
clc
close all
a = 0;b = 1;T = 0.1;
alpha = 1;N = 25; M = 200;
U0 = @(x) sin(pi*x);
exact_sol = @(x,t) exp(-pi^2*t)*sin(pi*x');
[x1,t1,U1,err1] = FTCS_scheme(alpha,a,b,T,N,M,U0,exact_sol);
[x2,t2,U2,err2] = BTCS_scheme(alpha,a,b,T,N,M,U0,exact_sol);
[x3,t3,U3,err3] = C_N_scheme(alpha,a,b,T,N,M,U0,exact_sol);
figure; subplot(2,2,1); mesh(x,t,exact_sol(x,t)); % X(j), Y(i), Z(i,j)
xlabel('x');
ylabel('t');
zlabel('u(x,t)');
title('exact solution');
% Mesh approximated U - FTCS
subplot(2,2,2); mesh(x1,t1,U1');
xlabel('x');
ylabel('t');
zlabel('u(x,t)');
title('Approximate solution - FTCS');
% Mesh approximated U - BTCS
subplot(2,2,3); mesh(x2,t2,U2');
xlabel('x');
ylabel('t');
zlabel('u(x,t)');
title('Approximate solution - BTCS');
% Mesh approximated U - Crank - Niclson
subplot(2,2,4); mesh(x3,t3,U3');
xlabel('x');
ylabel('t');
zlabel('u(x,t)');
title('Approximate solution - Crank-Niclson');
figure; subplot(2,2,1); mesh(x,t,exact_sol(x,t)); % X(j), Y(i), Z(i,j)
xlabel('x1');
ylabel('t1');
zlabel('u(x,t)');
title('exact solution');
figure; subplot(2,2,1); mesh(x,t,exact_sol(x,t)); % X(j), Y(i), Z(i,j)
figure; subplot(2,2,1); mesh(x1,t,exact_sol(x,t)); % X(j), Y(i), Z(i,j)
xlabel('x');
ylabel('t');
zlabel('u(x,t)');
title('exact solution');
% Mesh approximated U - FTCS
subplot(2,2,2); mesh(x1,t1,U1');
xlabel('x');
ylabel('t');
zlabel('u(x,t)');
title('Approximate solution - FTCS');
% Mesh approximated U - BTCS
subplot(2,2,3); mesh(x2,t2,U2');
xlabel('x');
ylabel('t');
zlabel('u(x,t)');
title('Approximate solution - BTCS');
% Mesh approximated U - Crank - Niclson
subplot(2,2,4); mesh(x3,t3,U3');
xlabel('x');
ylabel('t');
zlabel('u(x,t)');
title('Approximate solution - Crank-Niclson');
figure; subplot(2,2,1); mesh(x1,t1,exact_sol(x,t)); % X(j), Y(i), Z(i,j)
xlabel('x');
ylabel('t');
zlabel('u(x,t)');
title('exact solution');
% Mesh approximated U - FTCS
subplot(2,2,2); mesh(x1,t1,U1');
xlabel('x');
ylabel('t');
zlabel('u(x,t)');
title('Approximate solution - FTCS');
% Mesh approximated U - BTCS
 MATLAB Command History Page 111
May 7, 2019 3:46:17 PM

subplot(2,2,3); mesh(x2,t2,U2');
xlabel('x');
ylabel('t');
zlabel('u(x,t)');
title('Approximate solution - BTCS');
% Mesh approximated U - Crank - Niclson
subplot(2,2,4); mesh(x3,t3,U3');
xlabel('x');
ylabel('t');
zlabel('u(x,t)');
title('Approximate solution - Crank-Niclson');
figure; subplot(2,2,1); mesh(x1,t1,exact_sol(x,t)); % X(j), Y(i), Z(i,j)
xlabel('x');
ylabel('t');
zlabel('u(x,t)');
title('exact solution');
figure; subplot(2,2,1); mesh(x1,t1,exact_sol(x,t)); % X(j), Y(i), Z(i,j)
figure; subplot(2,2,1); mesh(x1,t1,exact_sol(x1,t)); % X(j), Y(i), Z(i,j)
figure; subplot(2,2,1); mesh(x1,t1,exact_sol(x1,t1)); % X(j), Y(i), Z(i,j)
figure; subplot(2,2,1); mesh(x1,t1,exact_sol(x1,t1)); % X(j), Y(i), Z(i,j)
xlabel('x1');
ylabel('t');
zlabel('u(x,t)');
title('exact solution');
% Mesh approximated U - FTCS
subplot(2,2,2); mesh(x1,t1,U1');
xlabel('x');
ylabel('t');
zlabel('u(x,t)');
title('Approximate solution - FTCS');
% Mesh approximated U - BTCS
subplot(2,2,3); mesh(x2,t2,U2');
xlabel('x');
ylabel('t');
zlabel('u(x,t)');
title('Approximate solution - BTCS');
% Mesh approximated U - Crank - Niclson
subplot(2,2,4); mesh(x3,t3,U3');
xlabel('x');
ylabel('t');
zlabel('u(x,t)');
title('Approximate solution - Crank-Niclson');
err_t1 = norm(U1'-exact_sol(x,t),inf);
fprintf('FTCS: Error of t is %d \n',err_t1);
err_t2 = norm(U2'-exact_sol(x,t),inf);
fprintf('BTCS: Error of t is %d \n',err_t2);
err_t3 = norm(U3'-exact_sol(x,t),inf);
fprintf('C-N: Error of t is %d \n',err_t3);
figure;
plot(1:M+1,err,'-o');grid on;
xlabel('M');ylabel('err_t');title('Error of t');
err_t1 = norm(U1'-exact_sol(x,t),inf);
fprintf('FTCS: Error of t is %d \n',err_t1);
err_t2 = norm(U2'-exact_sol(x,t),inf);
fprintf('BTCS: Error of t is %d \n',err_t2);
err_t3 = norm(U3'-exact_sol(x,t),inf);
fprintf('C-N: Error of t is %d \n',err_t3);
err_t1 = norm(U1'-exact_sol(x1,t1),inf);
fprintf('FTCS: Error of t is %d \n',err_t1);
err_t2 = norm(U2'-exact_sol(x2,t2),inf);
fprintf('BTCS: Error of t is %d \n',err_t2);
err_t3 = norm(U3'-exact_sol(x3,t3),inf);
fprintf('C-N: Error of t is %d \n',err_t3);
figure;
plot(1:M+1,err1,'-ob',1:M+1,err2,'-or',1:M+1,err3,'-om');grid on;
xlabel('M');ylabel('err_t');title('Error of t');
err_t1 = norm(U1'-exact_sol(x1,t1),inf);
fprintf('FTCS: Error of t is %d \n',err_t1);
err_t2 = norm(U2'-exact_sol(x2,t2),inf);
fprintf('BTCS: Error of t is %d \n',err_t2);
err_t3 = norm(U3'-exact_sol(x3,t3),inf);
fprintf('C-N: Error of t is %d \n',err_t3);
figure;
plot(1:M+1,err1,'-ob',1:M+1,err2,'-^r',1:M+1,err3,'-sm');grid on;
xlabel('M');ylabel('err_t');title('Error of t');
err_x1 = zeros(1,N);
for ii = 1:N
[x1,t1,U1,err1] = FTCS_scheme(alpha,a,b,T,N,M,U0,exact_sol);
% err_x(ii) = norm(err);
err_x1(ii) = norm(U1'-exact_sol(x1,t1),inf);
end
err_x2 = zeros(1,N);
for ii = 1:N
[x2,t2,U2,err2] = FTCS_scheme(alpha,a,b,T,N,M,U0,exact_sol);
% err_x(ii) = norm(err);
err_x2(ii) = norm(U2'-exact_sol(x2,t2),inf);
end
err_x3 = zeros(1,N);
for ii = 1:N
[x3,t3,U3,err3] = FTCS_scheme(alpha,a,b,T,N,M,U0,exact_sol);
% err_x(ii) = norm(err);
err_x3(ii) = norm(U3'-exact_sol(x3,t3),inf);
end
figure; plot(1:N,err_x1,'-ob',1:N,err_x2,'-^r',1:N,err_x3,'-sm');grid on;
xlabel('N');ylabel('err_x');title('Error of x');
legend 'FTCS' 'BTCS' 'Crank-Nielson'
%-- 06/05/2019 12:13 PM --%
clc
x_dot = [0;0.000999999833333342;0.00199999866666693;0.00299999550000203;0.00399998933334187;0.00499997916669271;0.00599996400006480;0.00699994283347339;0.00799991466693973;
0.00899987850049208;0.00999983333416666;0.0109997781680088;0.0119997120020736;0.0129996338364274;0.0139995426711485;0.0149994375063281;0.0159993173420714;0.0169991811784987;
0.0179990280157463;0.0189988568539673;0.0199986666933331;0.0209984565340338;0.0219982253762798;0.0229979722203022;0.0239976960663543;0.0249973959147123;0.0259970707656765;
0.0269967196195722;0.0279963414767504;0.0289959353375895;0.0299955002024957;0.0309950350719041;0.0319945389462801;0.0329940108261198;0.0339934497119515;0.0349928546043362;
0.0359922245038693;0.0369915584111808;0.0379908553269370;0.0389901142518411;0.0399893341866342;0.0409885141320964;0.0419876530890479;0.0429867500583498;0.0439858040409052;
0.0449848140376602;0.0459837790496050;0.0469826980777745;0.0479815701232499;0.0489803941871592;0.0499791692706783;0.0509778943750324;0.0519765685014963;0.0529751906513960;
0.0539737598261096;0.0549722750270677;0.0559707352557555;0.0569691395137126;0.0579674868025350;0.0589657761238754;0.0599640064794446;0.0609621768710123;0.0619602863004082;
0.0629583337695230;0.0639563182803093;0.0649542388347826;0.0659520944350225;0.0669498840831735;0.0679476067814459;0.0689452615321172;0.0699428473375328;0.0709403632001068;
0.0719378081223236;0.0729351811067382;0.0739324811559777;0.0749297072727423;0.0759268584598059;0.0769239337200173;0.0779209320563015;0.0789178524716600;0.0799146939691727;
0.0809114555519981;0.0819081362233746;0.0829047349866217;0.0839012508451408;0.0848976828024160;0.0858940298620155;0.0868902910275923;0.0878864653028853;0.0888825516917203;
0.0898785491980110;0.0908744568257601;0.0918702735790598;0.0928659984620937;0.0938616304791368;0.0948571686345573;0.0958526119328170;0.0968479593784728;0.0978432099761773;
0.0988383627306800;0.0998334166468282;0.100828370729568;0.101823223983946;0.102817975415108;0.103812624028303;0.104807168828882;0.105801608822302;0.106795943014122;0.107790170410007;
0.108784290015732;0.109778300837175;0.110772201880326;0.111765992151285;0.112759670656261;0.113753236401576;0.114746688393664;0.115740025639073;0.116733247144466;0.117726351916621;
0.118719338962435;0.119712207288919;0.120704955903206;0.121697583812548;0.122690090024315;0.123682473546003;0.124674733385228;0.125666868549729;0.126658878047373;0.127650760886149;
0.128642516074174;0.129634142619695;0.130625639531083;0.131617005816843;0.132608240485608;0.133599342546144;0.134590311007348;0.135581144878253;0.136571843168024;0.137562404885963;
0.138552829041508;0.139543114644237;0.140533260703862;0.141523266230238;0.142513130233360;0.143502851723363;0.144492429710526;0.145481863205272;0.146471151218167;0.147460292759923;
0.148449286841398;0.149438132473599;0.150426828667680;0.151415374434945;0.152403768786848;0.153392010734995;0.154380099291143;0.155368033467206;0.156355812275248;0.157343434727491;
0.158330899836312;0.159318206614246;0.160305354073987;0.161292341228387;0.162279167090460;0.163265830673379;0.164252330990481;0.165238667055266;0.166224837881397;0.167210842482704;
0.168196679873183;0.169182349066996;0.170167849078474;0.171153178922117;0.172138337612595;0.173123324164751;0.174108137593596;0.175092776914318;0.176077241142278;0.177061529293012;
0.178045640382231;0.179029573425824;0.180013327439859;0.180996901440582;0.181980294444418;0.182963505467975;0.183946533528041;0.184929377641590;0.185912036825776;0.186894510097941;
0.187876796475611;0.188858894976501;0.189840804618511;0.190822524419732;0.191804053398445;0.192785390573121;0.193766534962422;0.194747485585204;0.195728241460517;0.196708801607605;
0.197689165045907;0.198669330795061;0.199649297874901;0.200629065305459;0.201608632106969;0.202587997299864;0.203567159904778;0.204546118942549;0.205524873434219;0.206503422401032;
0.207481764864439;0.208459899846100;0.209437826367877;0.210415543451846;0.211393050120289;0.212370345395700;0.213347428300782;0.214324297858455;0.215300953091847;0.216277393024304;
0.217253616679386;0.218229623080869;0.219205411252748;0.220180980219234;0.221156329004757;0.222131456633970;0.223106362131745;0.224081044523177;0.225055502833583;0.226029736088504;
0.227003743313708;0.227977523535188;0.228951075779164;0.229924399072082;0.230897492440621;0.231870354911687;0.232842985512417;0.233815383270181;0.234787547212581;0.235759476367453;
 MATLAB Command History Page 112
May 7, 2019 3:46:17 PM

0.236731169762869;0.237702626427135;0.238673845388794;0.239644825676627;0.240615566319655;0.241586066347137;0.242556324788572;0.243526340673703;0.244496113032513;0.245465640895231;
0.246434923292328;0.247403959254523;0.248372747812779;0.249341287998308;0.250309578842569;0.251277619377273;0.252245408634378;0.253212945646096;0.254180229444889;0.255147259063473;
0.256114033534820;0.257080551892155;0.258046813168959;0.259012816398972;0.259978560616190;0.260944044854869;0.261909268149524;0.262874229534934;0.263838928046136;0.264803362718431;
0.265767532587387;0.266731436688831;0.267695074058861;0.268658443733840;0.269621544750397;0.270584376145432;0.271546936956113;0.272509226219880;0.273471242974443;0.274432986257786;
0.275394455108166;0.276355648564114;0.277316565664436;0.278277205448215;0.279237566954813;0.280197649223866;0.281157451295294;0.282116972209294;0.283076211006345;0.284035166727209;
0.284993838412929;0.285952225104836;0.286910325844540;0.287868139673943;0.288825665635230;0.289782902770876;0.290739850123643;0.291696506736584;0.292652871653042;0.293608943916654;
0.294564722571346;0.295520206661340;0.296475395231151;0.297430287325593;0.298384881989772;0.299339178269093;0.300293175209262;0.301246871856280;0.302200267256451;0.303153360456380;
0.304106150502975;0.305058636443444;0.306010817325301;0.306962692196368;0.307914260104767;0.308865520098932;0.309816471227603;0.310767112539828;0.311717443084967;0.312667461912688;
0.313617168072974;0.314566560616118;0.315515638592727;0.316464401053724;0.317412847050347;0.318360975634148;0.319308785857001;0.320256276771094;0.321203447428938;0.322150296883360;
0.323096824187513;0.324043028394868;0.324988908559222;0.325934463734695;0.326879692975731;0.327824595337101;0.328769169873903;0.329713415641563;0.330657331695834;0.331600917092802;
0.332544170888880;0.333487092140814;0.334429679905685;0.335371933240903;0.336313851204216;0.337255432853706;0.338196677247791;0.339137583445227;0.340078150505108;0.341018377486867;
0.341958263450277;0.342897807455451;0.343837008562847;0.344775865833263;0.345714378327842;0.346652545108071;0.347590365235784;0.348527837773161;0.349464961782729;0.350401736327365;
0.351338160470293;0.352274233275090;0.353209953805683;0.354145321126352;0.355080334301729;0.356014992396802;0.356949294476911;0.357883239607756;0.358816826855392;0.359750055286230;
0.360682923967043;0.361615431964962;0.362547578347479;0.363479362182448;0.364410782538086;0.365341838482971;0.366272529086048;0.367202853416626;0.368132810544382;0.369062399539357;
0.369991619471964;0.370920469412983;0.371848948433563;0.372777055605225;0.373704789999863;0.374632150689742;0.375559136747501;0.376485747246155;0.377411981259094;0.378337837860082;
0.379263316123264;0.380188415123161;0.381113133934676;0.382037471633087;0.382961427294060;0.383884999993636;0.384808188808245;0.385730992814697;0.386653411090188;0.387575442712301;
0.388497086759003;0.389418342308651;0.390339208439988;0.391259684232150;0.392179768764660;0.393099461117435;0.394018760370780;0.394937665605399;0.395856175902384;0.396774290343227;
0.397692008009812;0.398609327984423;0.399526249349739;0.400442771188838;0.401358892585200;0.402274612622703;0.403189930385627;0.404104844958654;0.405019355426869;0.405933460875763;
0.406847160391230;0.407760453059570;0.408673337967491;0.409585814202109;0.410497880850946;0.411409537001937;0.412320781743425;0.413231614164165;0.414142033353326;0.415052038400488;
0.415961628395646;0.416870802429211;0.417779559592008;0.418687898975279;0.419595819670687;0.420503320770311;0.421410401366648;0.422317060552619;0.423223297421565;0.424129111067249;
0.425034500583857;0.425939465066000;0.426844003608713;0.427748115307458;0.428651799258124;0.429555054557026;0.430457880300909;0.431360275586948;0.432262239512747;0.433163771176343;
0.434064869676203;0.434965534111230;0.435865763580759;0.436765557184561;0.437664914022843;0.438563833196246;0.439462313805853;0.440360354953183;0.441257955740195;0.442155115269287;
0.443051832643301;0.443948106965520;0.444843937339668;0.445739322869916;0.446634262660879;0.447528755817616;0.448422801445634;0.449316398650889;0.450209546539782;0.451102244219166;
0.451994490796344;0.452886285379068;0.453777627075545;0.454668514994433;0.455558948244843;0.456448925936343;0.457338447178956;0.458227511083159;0.459116116759889;0.460004263320541;
0.460891949876968;0.461779175541483;0.462665939426861;0.463552240646339;0.464438078313614;0.465323451542850;0.466208359448673;0.467092801146175;0.467976775750915;0.468860282378919;
0.469743320146679;0.470625888171158;0.471507985569788;0.472389611460472;0.473270764961584;0.474151445191970;0.475031651270951;0.475911382318320;0.476790637454346;0.477669415799775;
0.478547716475827;0.479425538604203;0.480302881307080;0.481179743707116;0.482056124927449;0.482932024091696;0.483807440323960;0.484682372748824;0.485556820491355;0.486430782677107;
0.487304258432116;0.488177246882908;0.489049747156493;0.489921758380372;0.490793279682533;0.491664310191455;0.492534849036109;0.493404895345954;0.494274448250945;0.495143506881529;
0.496012070368647;0.496880137843737;0.497747708438730;0.498614781286056;0.499481355518642;0.500347430269914;0.501213004673798;0.502078077864719;0.502942648977604;0.503806717147881;
0.504670281511484;0.505533341204847;0.506395895364911;0.507257943129122;0.508119483635432;0.508980516022301;0.509841039428696;0.510701052994094;0.511560555858482;0.512419547162356;
0.513278026046726;0.514135991653113;0.514993443123551;0.515850379600589;0.516706800227290;0.517562704147234;0.518418090504517;0.519272958443753;0.520127307110073;0.520981135649130;
0.521834443207094;0.522687228930659;0.523539491967039;0.524391231463970;0.525242446569713;0.526093136433053;0.526943300203301;0.527792937030293;0.528642046064392;0.529490626456488;
0.530338677358002;0.531186197920883;0.532033187297611;0.532879644641195;0.533725569105180;0.534570959843639;0.535415816011183;0.536260136762956;0.537103921254637;0.537947168642441;
0.538789878083122;0.539632048733969;0.540473679752813;0.541314770298022;0.542155319528505;0.542995326603715;0.543834790683643;0.544673710928825;0.545512086500342;0.546349916559818;
0.547187200269423;0.548023936791874;0.548860125290433;0.549695764928912;0.550530854871673;0.551365394283624;0.552199382330228;0.553032818177495;0.553865700991989;0.554698029940829;
0.555529804191685;0.556361022912784;0.557191685272906;0.558021790441388;0.558851337588127;0.559680325883575;0.560508754498744;0.561336622605205;0.562163929375090;0.562990673981093;
0.563816855596468;0.564642473395035;0.565467526551176;0.566292014239837;0.567115935636531;0.567939289917337;0.568762076258900;0.569584293838434;0.570405941833722;0.571227019423116;
0.572047525785538;0.572867460100481;0.573686821548013;0.574505609308770;0.575323822563966;0.576141460495388;0.576958522285397;0.577775007116932;0.578590914173508;0.579406242639217;
0.580220991698733;0.581035160537305;0.581848748340765;0.582661754295525;0.583474177588580;0.584286017407505;0.585097272940462;0.585907943376195;0.586718027904033;0.587527525713892;
0.588336435996274;0.589144757942270;0.589952490743556;0.590759633592401;0.591566185681661;0.592372146204786;0.593177514355813;0.593982289329375;0.594786470320698;0.595590056525600;
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 MATLAB Command History Page 113
May 7, 2019 3:46:17 PM

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 MATLAB Command History Page 114
May 7, 2019 3:46:17 PM

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 MATLAB Command History Page 115
May 7, 2019 3:46:17 PM

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 MATLAB Command History Page 116
May 7, 2019 3:46:17 PM

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 MATLAB Command History Page 117
May 7, 2019 3:46:17 PM

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 MATLAB Command History Page 118
May 7, 2019 3:46:17 PM

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 MATLAB Command History Page 119
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0.0687237489584814;0.0677260790346088;0.0667283413846611;0.0657305370063792;0.0647326668975659;0.0637347320560893;0.0627367334798877;0.0617386721669578;0.0607405491153592;
0.0597423653232183;0.0587441217887170;0.0577458195100971;0.0567474594856642;0.0557490427137766;0.0547505701928492;0.0537520429213579;0.0527534618978281;0.0517548281208409;
0.0507561425890280;0.0497574063010786;0.0487586202557270;0.0477597854517575;0.0467609028880083;0.0457619735633600;0.0447629984767403;0.0437639786271276;0.0427649150135399;
0.0417658086350389;0.0407666604907346;0.0397674715797732;0.0387682429013418;0.0377689754546724;0.0367696702390308;0.0357703282537220;0.0347709504980861;0.0337715379715044;
0.0327720916733875;0.0317726126031800;0.0307731017603642;0.0297735601444493;0.0287739887549749;0.0277743885915159;0.0267747606536707;0.0257751059410652;0.0247754254533578;
0.0237757201902269;0.0227759911513761;0.0217762393365378;0.0207764657454619;0.0197766713779221;0.0187768572337107;0.0177770243126455;0.0167771736145574;0.0157773061392954;
0.0147774228867302;0.0137775248567435;0.0127776130492312;0.0117776884641087;0.0107777521012988;0.00977780496073587;0.00877784804237057;0.00777788234615796;0.00677790887206188;
0.00577792862005926;0.00477794259012851;0.00377795178225557;0.00277795719642938;0.00177795983264800;0.000777960690906943;-0.000222039228796520;-0.00122203892645900;-0.00222203740208265;
-0.00322203365567086;-0.00422202668722391;-0.00522201549675062;-0.00622199908426405;-0.00722197644977713;-0.00822194659331437;-0.00922190851490748;-0.0102218612145911;-0.0112218036924143;
-0.0122217349484347;-0.0132216539827230;-0.0142215597953567;-0.0152214513864317;-0.0162213277560584;-0.0172211879043570;-0.0182210308314690;-0.0192208555375535;-0.0202206610227823;
-0.0212204462873518;-0.0222202103314785;-0.0232199521553950;-0.0242196707593612;-0.0252193651436605;-0.0262190343085950;-0.0272186772544973;-0.0282182929817247;-0.0292178804906631;
-0.0302174387817218;-0.0312169668553442;-0.0322164637120041;-0.0332159283522013;-0.0342153597764728;-0.0352147569853892;-0.0362141189795497;-0.0372134447595943;-0.0382127333261991;
-0.0392119836800719;-0.0402111948219642;-0.0412103657526669;-0.0422094954730055;-0.0432085829838522;-0.0442076272861194;-0.0452066273807649;-0.0462055822687849;-0.0472044909512265;
-0.0482033524291829;-0.0492021657037891;-0.0502009297762337;-0.0511996436477545;-0.0521983063196341;-0.0531969167932117;-0.0541954740698788;-0.0551939771510745;-0.0561924250382977;
-0.0571908167331005;-0.0581891512370932;-0.0591874275519376;-0.0601856446793595;-0.0611838016211434;-0.0621818973791291;-0.0631799309552226;-0.0641779013513921;-0.0651758075696639;
-0.0661736486121335;-0.0671714234809619;-0.0681691311783705;-0.0691667707066537;-0.0701643410681737;-0.0711618412653566;-0.0721592703007043;-0.0731566271767877;-0.0741539108962517;
-0.0751511204618093;-0.0761482548762527;-0.0771453131424493;-0.0781422942633374;-0.0791391972419378;-0.0801360210813493;-0.0811327647847446;-0.0821294273553820;-0.0831260077966005;
-0.0841225051118164;-0.0851189183045343;-0.0861152463783426;-0.0871114883369101;-0.0881076431839964;-0.0891037099234469;-0.0900996875591967;-0.0910955750952646;-0.0920913715357650;
-0.0930870758849034;-0.0940826871469718;-0.0950782043263610;-0.0960736264275555;-0.0970689524551298;-0.0980641814137597;-0.0990593123082182;-0.100054344143371;-0.101049275924188;
-0.102044106655739;-0.103038835343190;-0.104033460991814;-0.105027982606987;-0.106022399194187;-0.107016709758995;-0.108010913307102;-0.109005008844306;-0.109998995376509;
-0.110992871909726;-0.111986637450082;-0.112980291003808;-0.113973831577252;-0.114967258176876;-0.115960569809250;-0.116953765481064;-0.117946844199123;-0.118939804970347;
-0.119932646801775;-0.120925368700567;-0.121917969674002;-0.122910448729475;-0.123902804874510;-0.124895037116752;-0.125887144463966;-0.126879125924046;-0.127870980505012;
-0.128862707215007;-0.129854305062305;-0.130845773055310;-0.131837110202552;-0.132828315512695;-0.133819387994534;-0.134810326656996;-0.135801130509141;-0.136791798560168;
-0.137782329819409;-0.138772723296330;-0.139762978000540;-0.140753092941784;-0.141743067129946;-0.142732899575053;-0.143722589287273;-0.144712135276915;-0.145701536554433;
-0.146690792130428;-0.147679901015642;-0.148668862220968;-0.149657674757445;-0.150646337636258;-0.151634849868746;-0.152623210466397;-0.153611418440852;-0.154599472803899;
-0.155587372567486;-0.156575116743716;-0.157562704344840;-0.158550134383273;-0.159537405871587;-0.160524517822506;-0.161511469248921;-0.162498259163882;-0.163484886580595;
-0.164471350512435;-0.165457649972941;-0.166443783975808;-0.167429751534906;-0.168415551664265;-0.169401183378089;-0.170386645690742;-0.171371937616763;-0.172357058170863;
-0.173342006367917;-0.174326781222980;-0.175311381751277;-0.176295806968205;-0.177280055889342;-0.178264127530438;-0.179248020907421;-0.180231735036397;-0.181215268933654;
-0.182198621615658;-0.183181792099054;-0.184164779400673;-0.185147582537530;-0.186130200526819;-0.187112632385922;-0.188094877132410;-0.189076933784035;-0.190058801358741;
-0.191040478874665;-0.192021965350123;-0.193003259803632;-0.193984361253899;-0.194965268719819;-0.195945981220487;-0.196926497775190;-0.197906817403413;-0.198886939124834;
-0.199866861959332;-0.200846584926986;-0.201826107048071;-0.202805427343065;-0.203784544832651;-0.204763458537707;-0.205742167479321;-0.206720670678787;-0.207698967157598;
-0.208677055937459;-0.209654936040283;-0.210632606488187;-0.211610066303501;-0.212587314508768;-0.213564350126739;-0.214541172180376;-0.215517779692859;-0.216494171687581;
-0.217470347188149;-0.218446305218387;-0.219422044802340;-0.220397564964265;-0.221372864728643;-0.222347943120177;-0.223322799163784;-0.224297431884611;-0.225271840308026;
-0.226246023459618;-0.227219980365205;-0.228193710050831;-0.229167211542768;-0.230140483867511;-0.231113526051788;-0.232086337122561;-0.233058916107014;-0.234031262032571;
-0.235003373926887;-0.235975250817846;-0.236946891733575;-0.237918295702433;-0.238889461753014;-0.239860388914153;-0.240831076214924;-0.241801522684638;-0.242771727352849;
 MATLAB Command History Page 120
May 7, 2019 3:46:17 PM

-0.243741689249353;-0.244711407404190;-0.245680880847638;-0.246650108610226;-0.247619089722728;-0.248587823216158;-0.249556308121786;-0.250524543471129;-0.251492528295947;
-0.252460261628258;-0.253427742500330;-0.254394969944679;-0.255361942994079;-0.256328660681559;-0.257295122040398;-0.258261326104137;-0.259227271906571;-0.260192958481756;
-0.261158384864003;-0.262123550087887;-0.263088453188244;-0.264053093200168;-0.265017469159021;-0.265981580100429;-0.266945425060277;-0.267909003074722;-0.268872313180188;
-0.269835354413362;-0.270798125811204;-0.271760626410944;-0.272722855250079;-0.273684811366381;-0.274646493797895;-0.275607901582939;-0.276569033760103;-0.277529889368257;
-0.278490467446546;-0.279450767034389;-0.280410787171488;-0.281370526897825;-0.282329985253657;-0.283289161279527;-0.284248054016261;-0.285206662504964;-0.286164985787027;
-0.287123022904130;-0.288080772898233;-0.289038234811587;-0.289995407686730;-0.290952290566491;-0.291908882493984;-0.292865182512619;-0.293821189666097;-0.294776902998409;
-0.295732321553842;-0.296687444376980;-0.297642270512697;-0.298596799006168;-0.299551028902866;-0.300504959248559;-0.301458589089318;-0.302411917471513;-0.303364943441817;
-0.304317666047201;-0.305270084334945;-0.306222197352631;-0.307174004148144;-0.308125503769678;-0.309076695265736;-0.310027577685123;-0.310978150076958;-0.311928411490670;
-0.312878360975996;-0.313827997582986;-0.314777320362006;-0.315726328363731;-0.316675020639154;-0.317623396239582;-0.318571454216643;-0.319519193622274;-0.320466613508738;
-0.321413712928617;-0.322360490934808;-0.323306946580535;-0.324253078919344;-0.325198887005099;-0.326144369891995;-0.327089526634549;-0.328034356287603;-0.328978857906327;
-0.329923030546223;-0.330866873263114;-0.331810385113159;-0.332753565152847;-0.333696412438999;-0.334638926028765;-0.335581104979632;-0.336522948349425;-0.337464455196295;
-0.338405624578738;-0.339346455555587;-0.340286947186006;-0.341227098529507;-0.342166908645939;-0.343106376595490;-0.344045501438692;-0.344984282236424;-0.345922718049900;
-0.346860807940687;-0.347798550970695;-0.348735946202183;-0.349672992697752;-0.350609689520357;-0.351546035733304;-0.352482030400242;-0.353417672585180;-0.354352961352476;
-0.355287895766838;-0.356222474893335;-0.357156697797388;-0.358090563544771;-0.359024071201620;-0.359957219834430;-0.360890008510049;-0.361822436295688;-0.362754502258922;
-0.363686205467686;-0.364617544990272;-0.365548519895344;-0.366479129251928;-0.367409372129412;-0.368339247597555;-0.369268754726482;-0.370197892586683;-0.371126660249023;
-0.372055056784735;-0.372983081265420;-0.373910732763054;-0.374838010349989;-0.375764913098942;-0.376691440083014;-0.377617590375678;-0.378543363050784;-0.379468757182556;
-0.380393771845604;-0.381318406114912;-0.382242659065845;-0.383166529774151;-0.384090017315960;-0.385013120767783;-0.385935839206516;-0.386858171709445;-0.387780117354232;
-0.388701675218934;-0.389622844381995;-0.390543623922243;-0.391464012918899;-0.392384010451575;-0.393303615600274;-0.394222827445389;-0.395141645067710;-0.396060067548420;
-0.396978093969094;-0.397895723411707;-0.398812954958632;-0.399729787692633;-0.400646220696879;-0.401562253054940;-0.402477883850780;-0.403393112168770;-0.404307937093682;
-0.405222357710690;-0.406136373105373;-0.407049982363718;-0.407963184572115;-0.408875978817360;-0.409788364186661;-0.410700339767633;-0.411611904648298;-0.412523057917093;
-0.413433798662865;-0.414344125974872;-0.415254038942788;-0.416163536656701;-0.417072618207110;-0.417981282684935;-0.418889529181513;-0.419797356788598;-0.420704764598360;
-0.421611751703392;-0.422518317196709;-0.423424460171743;-0.424330179722352;-0.425235474942818;-0.426140344927843;-0.427044788772558;-0.427948805572522;-0.428852394423715;
-0.429755554422548;-0.430658284665865;-0.431560584250931;-0.432462452275449;-0.433363887837551;-0.434264890035803;-0.435165457969199;-0.436065590737173;-0.436965287439595;
-0.437864547176764;-0.438763369049423;-0.439661752158750;-0.440559695606360;-0.441457198494312;-0.442354259925103;-0.443250879001670;-0.444147054827395;-0.445042786506103;
-0.445938073142061;-0.446832913839982;-0.447727307705027;-0.448621253842803;-0.449514751359361;-0.450407799361205;-0.451300396955289;-0.452192543249012;-0.453084237350229;
-0.453975478367249;-0.454866265408826;-0.455756597584175;-0.456646474002967;-0.457535893775321;-0.458424856011820;-0.459313359823502;-0.460201404321861;-0.461088988618855;
-0.461976111826898;-0.462862773058869;-0.463748971428104;-0.464634706048406;-0.465519976034043;-0.466404780499741;-0.467289118560697;-0.468172989332575;-0.469056391931502;
-0.469939325474075;-0.470821789077364;-0.471703781858901;-0.472585302936696;-0.473466351429228;-0.474346926455448;-0.475227027134780;-0.476106652587125;-0.476985801932858;
-0.477864474292828;-0.478742668788363;-0.479620384541271;-0.480497620673832;-0.481374376308813;-0.482250650569460;-0.483126442579494;-0.484001751463126;-0.484876576345049;
-0.485750916350434;-0.486624770604943;-0.487498138234724;-0.488371018366406;-0.489243410127110;-0.490115312644444;-0.490986725046508;-0.491857646461887;-0.492728076019660;
-0.493598012849400;-0.494467456081166;-0.495336404845518;-0.496204858273508;-0.497072815496679;-0.497940275647076;-0.498807237857240;-0.499673701260207;-0.500539664989514;
-0.501405128179199;-0.502270089963796;-0.503134549478346;-0.503998505858387;-0.504861958239966;-0.505724905759628;-0.506587347554426;-0.507449282761920;-0.508310710520172;
-0.509171629967756;-0.510032040243754;-0.510891940487753;-0.511751329839854;-0.512610207440669;-0.513468572431318;-0.514326423953437;-0.515183761149177;-0.516040583161197;
-0.516896889132677;-0.517752678207311;-0.518607949529311;-0.519462702243403;-0.520316935494837;-0.521170648429379;-0.522023840193316;-0.522876509933455;-0.523728656797130;
-0.524580279932190;-0.525431378487014;-0.526281951610505;-0.527131998452086;-0.527981518161713;-0.528830509889867;-0.529678972787554;-0.530526906006312;-0.531374308698209;
-0.532221180015842;-0.533067519112339;-0.533913325141361;-0.534758597257103;-0.535603334614291;-0.536447536368190;-0.537291201674598;-0.538134329689848;-0.538976919570813;
-0.539818970474905;-0.540660481560069;-0.541501451984798;-0.542341880908119;-0.543181767489606;-0.544021110889370]
%-- 06/05/2019 1:47 PM --%
clear all
close all
-cos(0.001)+cos(0)
(0.001/2)*(sin(0)+sin(0.001))
-cos(0.002)+cos(0.001)
(0.001/2)*(sin(0.001)+sin(0.002))
sin(0)
sin(0.001)
0.001
sin(0.002)
-cos(0)
-cos(0.001)
-cos(0.002)
trapz([0;0.001])
clc
Parameter
X.x3.data
C1 = -m2*l1*l2*sin(X.x3.data).*X.x4.data^2 - 2*m2*l1*l2*sin(X.x3.data).*X.x2.data.*X.x4.data
C1 = -m2*l1*l2*sin(X.x3.data).*X.x4.data.^2 - 2*m2*l1*l2*sin(X.x3.data).*X.x2.data.*X.x4.data
plot(C1)
figure; plot(X.x3);
figure; plot(X.x4);
figure; plot(X.x4.^2);
figure; plot(X.x4^2);
figure; plot(X.x4.time,X.x4.data.^2);
load('SMC.mat')
figure; plot(sys.C1);
figure; plot(sys);
load('FD_FC_FSMC2.mat')
figure; plot(sys);
figure; plot(sys.C1);
figure; plot(X.x1);
figure; plot(sys.C2);
figure; plot(sys.M11);
figure; plot(sys.M12);
figure; plot(sys.M21);
figure; plot(sys.M22);
figure; plot(sys.C2);
figure; plot(sys.G2);
figure; plot(sys.G1);
close all
clear
load('SMC.mat')
figure; plot(sys.M11);
figure; plot(sys.M12);
figure; plot(sys.M21);
figure; plot(sys.M22);
figure; plot(sys.C1);
figure; plot(sys.C2);
figure; plot(sys.G1);
figure; plot(sys.G2);
figure; plot(X.x2dot);
figure; plot(x2dot);
figure; plot(x4dot);
figure; plot(x2ddot);
hold on
plot(x2dot,'r')
figure; plot(x2ddot);
hold on
figure; plot(x1d);
hold on
plot(x1,'r')
figure; plot(-m2*l1*l2*sin(x3.data).*x4.data.^2);
figure; plot(- 2*m2*l1*l2*sin(x3.data).*x2.data.*x4.data);
close all
Parameter
figure; plot(sys.M11);
figure; plot(sys.M12);
figure; plot(sys.M22);
figure; plot(sys.C1);
figure; plot(sys.C2);
figure; plot(sys.G1);
figure; plot(sys.G2);
figure; plot(Xd.x1d);
hold on
plot(X.x1,'r')
figure; plot(X.x2);
figure; plot(X.x3);
figure; plot(X.x4);
figure; plot(X.x2);
figure; plot(-m2*l1*l2*sin(X.x3.data).*X.x4.data.^2);
close all
Parameter
figure; plot(sys.C1);
figure; plot(X.x2dot);
 MATLAB Command History Page 121
May 7, 2019 3:46:17 PM

hold on; plot(Xd.x2ddot,'r');

Parameter
figure; plot(sys.M11);
figure; plot(sys.M12);
figure; plot(sys.M22);
figure; plot(sys.C1);
figure; plot(sys.C2);
figure; plot(sys.G1);
figure; plot(sys.G2);
figure; plot(X.x1);
figure; plot(X.x2);
figure; plot(X.x2dot);
figure; plot(X.x3);
figure; plot(X.x4);
figure; plot(X.x4dot);
plot(Xd.x1d,'r')
figure; plot(X.x1);
hold on; plot(Xd.x1d,'r');
figure; plot(X.x2);
hold on; plot(Xd.x2d,'r');
figure; plot(X.x3);
hold on; plot(Xd.x3d,'r');
close all
Parameter
figure; plot(X.x1);
hold on; plot(Xd.x1d,'r');
figure; plot(X.x3);
hold on; plot(Xd.x3d,'r');
figure; plot(E.é);
figure; plot(E.e1);
figure; plot(E.e3);
figure; plot(E.e2);
figure; plot(es_d.es_d1);
figure; plot(es_sys.M11);
hold on; plot(sys.M11,'r');
figure; plot(es_sys.C1);
hold on; plot(sys.C1,'r');
figure; plot(es_sys.M22);
hold on; plot(sys.C1,'r');
figure; plot(es_sys.M22);
hold on; plot(sys.M22,'r');
Parameter
close all
Parameter
figure; plot(E.e1);
figure; plot(E.e2);
figure; plot(E.e3);
figure; plot(E.e4);
figure; plot(es_sys.M11);
hold on; plot(sys.M11,'r');
Parameter
close all
figure; plot(E.e1);
Parameter
figure; plot(E.e1);
figure; plot(E.e3);
figure; plot(sys.M11);
figure; plot(sys.M12);
figure; plot(sys.M22);
figure; plot(sys.MC1);
figure; plot(sys.C1);
figure; plot(sys.C2);
figure; plot(sys.G1);
figure; plot(sys.G2);
figure; plot(om.óm);
figure; plot(om.om1);
figure; plot(om.om2);
close all
figure; plot(rho_ad.rho1_ad);
om01
Parameter
figure; plot(E.e1);
figure; plot(X.x1);
hold on; plot(Xd.x1d,'r');
load('SMC.mat')
hold on; plot(Xd.x1d,'m');
hold on; plot(Xd.x1d,'k');
hold on; plot(x1,'r');
Parameter
figure; plot(E.e1);
close all
clear all
close all
clc
main2
A = sparse(diag((1-c)*ones(N+1,1),0) - c/2*diag(ones(N,1),-1) - c/2*diag(ones(N,1),1))
dx = (b-a)/N;
x = [a:dx:b]';
%% t
dt = T/M;
t = [0:dt:T]';
%% U(x0,t0)
c = alpha*dt/(2*dx^2);
A = sparse(diag((1-c)*ones(N+1,1),0) - c/2*diag(ones(N,1),-1) - c/2*diag(ones(N,1),1))
1-c
-c/2
A(1,1) = 1; A(1,2) = 0;
A(2,1) = 0; A(N,N+1) = 0;
A(N+1,N) = 0; A(N+1,N+1) = 1;
B = sparse(diag((1-c)*ones(N+1,1),0) + c/2*diag(ones(N,1),-1) + c/2*diag(ones(N,1),1))
B(1,1) = 1; B(1,2) = 0;
B(2,1) = 0; B(N,N+1) = 0;
B(N+1,N) = 0; B(N+1,N+1) = 1;
main2
clear
clc
main2
C_N_scheme
main2
%-- 07/05/2019 8:58 AM --%
Parameter
test_solver
clear
test_solver
command history
command