UAV 自动驾驶的

				function ret = sat(s,L,U)				% This is the saturation function.  				%				%       { U: s >= U				%  ret ={ s				%       { L: s 				%  				% ret = sat(s,L,U)								n = length(s);								[N,M] = size(s);				ret = zeros(N,M);				for j=1:n					if s(j) 				   	ret(j) = L(j);					elseif s(j) >= U(j)				    	ret(j) = U(j);					else				    	ret(j) = s(j);				    end				 end