[MATLAB混合编程] 直接模糊自适应

[桃仙公主]

求助！紧急求助！
这里有一段关于直接模糊自适应的程序，看不懂，希望各位专家能帮忙看一下。
function [sys,x0,str,ts] = spacemodel(t,x,u,flag)
switch flag,
case 0,
[sys,x0,str,ts]=mdlInitializeSizes;
case 1,
sys=mdlDerivatives(t,x,u);
case 3,
sys=mdlOutputs(t,x,u);
case {2,4,9}
sys=[];
otherwise
error(['Unhandled flag = ',num2str(flag)]);
end
function [sys,x0,str,ts]=mdlInitializeSizes
sizes = simsizes;
sizes.NumContStates = 36;
sizes.NumDiscStates = 0;
sizes.NumOutputs = 1;
sizes.NumInputs = 4;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 0; sys = simsizes(sizes);
x0 = [zeros(36,1)];
str = [];
ts = [];
function sys=mdlDerivatives(t,x,u)
r=u(1);
dr=u(2);
xi(1)=u(3);
xi(2)=u(4);

e=r-xi(1);
de=dr-xi(2);

gama=100;

k2=1;
k1=10;
E=[e,de]';
A=[0 -k2;
1 -k1];
Q=[150 0;0 150];
P=lyap(A,Q);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FS1=0;

u1(1)=1/(1+exp(5*(xi(1)+2)));
u1(6)=1/(1+exp(-5*(xi(1)-2)));
for i=2:1:5
u1(i)=exp(-(xi(1)+1.5-(i-2))^2);
end

u2(1)=1/(1+exp(5*(xi(2)+2)));
u2(6)=1/(1+exp(-5*(xi(2)-2)));
for i=2:1:5
u2(i)=exp(-(xi(2)+1.5-(i-2))^2);
end

for i=1:1:6
for j=1:1:6
FS2(6*(i-1)+j)=u1(i)*u2(j);
FS1=FS1+u1(i)*u2(j);
end
end
FS=FS2/FS1;

b=[0;1];
S=gama*E'*P(:,2)*FS;

for i=1:1:36
sys(i)=S(i);
end

function sys=mdlOutputs(t,x,u)

r=u(1);
dr=u(2);
xi(1)=u(3);
xi(2)=u(4);

for i=1:1:36
thtau(i,1)=x(i);
end

FS1=0;
u1(1)=1/(1+exp(5*(xi(1)+2)));
u1(6)=1/(1+exp(-5*(xi(1)-2)));
for i=2:1:5
u1(i)=exp(-(xi(1)+1.5-(i-2))^2);
end

u2(1)=1/(1+exp(5*(xi(2)+2)));
u2(6)=1/(1+exp(-5*(xi(2)-2)));
for i=2:1:5
u2(i)=exp(-(xi(2)+1.5-(i-2))^2);
end

for i=1:1:6
for j=1:1:6
FS2(6*(i-1)+j)=u1(i)*u2(j);
FS1=FS1+u1(i)*u2(j);
end
end
FS=FS2/FS1;

ut=thtau'*FS';
sys(1)=ut;
下面我把其他段落的程序也附上，以及simulink仿真图，麻烦各位了。