Upload Case01

FraCTune-1.0/Case1-InvertedPendulum/Basinofattraction.m

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+clc; clear; close all;
+
+disp(' ------------------- ')
+disp(' Basinofattraction.m ')
+disp(' ------------------- ')
+
+% system parameters
+m       = 0.1;
+M       = 2.0;
+L       = 0.5;
+J       = 0.006;
+r       = 0.0;
+xdisp0  = 0.0;
+dxdisp0 = 0.0;
+
+% simulation window
+t_end  = 3.0;
+dt     = 0.0001;
+
+% auxiliar parameters
+A = (M+m)*(J+m*L^2);
+B = m*L;
+C = M+m;
+
+% Load optimized controller parameters
+ load('Results_GA_SMC.mat','Xopt')
+% load('Results_CE_SMC.mat','Xopt')
+% load('Results_GA_FOSMC.mat','Xopt')
+% load('Results_CE_FOSMC.mat','Xopt')
+k = Xopt(1);
+lambda1 = Xopt(2);
+% lambda2 = Xopt(3);
+% lambda3 = Xopt(4);
+% OrderD = Xopt(5);
+
+% Initial angular velocity (dtheta0) and position (theta0) of the pendulum
+% Define ranges of theta0 (degrees) and dtheta0 (rad/s)
+theta_range = -60:1:60;  % range of theta0 in degrees
+dtheta_range = -15:0.5:15;   % range of dtheta0 in rad/s
+
+% Initialize arrays to store valid initial conditions
+valid_theta0 = [];
+valid_dtheta0 = [];
+
+% Run simulations over the grid of initial conditions
+for theta0_deg = theta_range
+    for dtheta0 = dtheta_range
+        % Convert theta0 to radians
+        theta0 = theta0_deg * pi / 180;
+
+% Run the simulation
+            sim('SMCControllerCartPendulum.slx');
+           %  sim('FOSMCControllerCartPendulum.slx');
+
+        % Check final value of theta (convert to degrees)
+        theta_final_deg = abs(theta(end)) * 180 / pi;
+        xdisp_final = max(abs(xdisp));
+
+        % If theta_final is less than 10 degrees, store the initial conditions
+        if theta_final_deg < 2 && xdisp_final < 2.5
+            valid_theta0 = [valid_theta0; theta0_deg]; % Store theta0 in degrees
+            valid_dtheta0 = [valid_dtheta0; dtheta0];   % Store dtheta0 in rad/s
+        end
+    end
+end     
+
+% Save the results
+ save('Basin_GA_SMC.mat'  , 'valid_theta0', 'valid_dtheta0');
+% save('Basin_CE_SMC.mat'  , 'valid_theta0', 'valid_dtheta0');
+% save('Basin_GA_FOSMC.mat', 'valid_theta0', 'valid_dtheta0');
+% save('Basin_CE_FOSMC.mat', 'valid_theta0', 'valid_dtheta0');