#! /bin/sh
## nppp_rep.sh
## DIY representation "nppp" for mtt
# Copyright (C) 2002 by Peter J. Gawthrop
sys=$1
rep=nppp
lang=$2
target=${sys}_${rep}.${lang}
## Make the _nppp.m file
make_nppp() {
filename=${sys}_${rep}.m
echo Creating ${filename}
cat > ${filename} <<EOF
function [y,u,t] = ${sys}_nppp (last, ppp_names, par_names, extras)
## usage: [y,u,t] = ${sys}_nppp (N, ppp_names, par_names, extras)
##
## last last time in run
## ppp_names Column vector of names of ppp params
## par_names Column vector of names of estimated params
## extras Structure containing additional info
##Sanity check
if nargin<2
printf("Usage: [y,u,t] = ${sys}_nppp(N, ppp_names[, par_names, extras])\n");
return
endif
if nargin<4
## Set up optional parameters
extras.criterion = 1e-5;
extras.emulate_timing = 0;
extras.max_iterations = 10;
extras.simulate = 1;
extras.v = 1e-6;
extras.verbose = 0;
extras.visual = 0;
endif
## System info
[n_x,n_y,n_u,n_z,n_yz] = ${sys}_def;
sympar = ${sys}_sympar;
simpar = ${sys}_simpar;
sympars = s${sys}_sympar;
simpars = s${sys}_simpar;
t_ol = simpar.last;
## Number of intervals needed
N = ceil(last/t_ol);
## Setpoints
if extras.verbose
printf("Open-loop interval %3.2f \n", simpar.last);
printf(" -- using info in ${sys}_simpar.txt\n");
printf("PPP optimisation from %3.2f to %3.2f\n", simpars.first, simpars.last);
printf(" -- using info in s${sys}_simpar.txt\n");
endif
t_horizon = [simpars.first+simpars.dt:simpars.dt:simpars.last]';
w = zeros(n_y,1); w(1) = 1;
w_s = ones(size(t_horizon))*w';
## Setup the indices of the adjustable stuff
if nargin<2
i_ppp = []
else
i_ppp = ppp_indices (ppp_names,sympar,sympars); # Parameters
endif
n_ppp = length(i_ppp(:,1));
if nargin<3
i_par = []
else
i_par = ppp_indices (par_names,sympar,sympars); # Parameters
endif
## Specify basis functions
A_w = zeros(1,1);
A_u = ppp_aug(A_w,laguerre_matrix(n_ppp-1,5.0));
## Do it
[y,u,t,p,U,t_open,t_ppp,t_est,its_ppp,its_est] \
= ppp_nlin_run ("${sys}",i_ppp,i_par,A_u,w_s,N,extras);
## Compute values at ends of ol intervals
T_open = cumsum(t_open);
T_open = T_open(1:length(T_open)-1); # Last point not in t
j=[];
for i = 1:length(T_open)
j = [j; find(T_open(i)*ones(size(t))==t)];
endfor
y_open = y(j,:);
u_open = u(j,:);
if extras.visual
## Plots
gset grid; xlabel "Time (sec)"; title "${sys}"
ty = [t y] ;
tu = [t u];
ty_open = [T_open y_open];
tu_open = [T_open u_open];
gplot tu \
title "u", tu_open with impulses title "Sample times"
figfig("${sys}_u","eps");
gplot ty \
title "y", ty_open with impulses title "Sample times"
figfig("${sys}_y","eps");
system("gv ${sys}_y.eps&");
system("gv ${sys}_u.eps&");
endif
endfunction
EOF
}
make_model() {
echo "Making sensitivity simulation for system ${sys} (lang ${lang})"
if [ "${lang}" = "oct" ]; then
oct='-oct'
fi
## System
mtt -q -stdin ${sys} sympar m
mtt -q -stdin ${sys} simpar m
mtt -q -stdin ${oct} ${sys} state ${lang}
mtt -q -stdin ${oct} ${sys} numpar ${lang}
mtt -q -stdin ${oct} ${sys} input ${lang}
mtt -q -stdin ${oct} ${sys} ode2odes ${lang}
mtt -q -stdin ${sys} sim m
## Sensitivity system
mtt -q -stdin -s s${sys} sympar m
mtt -q -stdin -s s${sys} simpar m
mtt -q -stdin ${oct} -s s${sys} state ${lang}
mtt -q -stdin ${oct} -s s${sys} numpar ${lang}
mtt -q -stdin ${oct} -s s${sys} input ${lang}
mtt -q -stdin ${oct} -s s${sys} ode2odes ${lang}
mtt -q -stdin -s s${sys} ssim m
## Additional system reps for PPP
mtt -q -stdin ${sys} sm m
mtt -q -stdin ${sys} def m
mtt -q -stdin -s s${sys} def m
}
## Make the code
make_model;
make_nppp;