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function [y,u,t,y_e,t_e,e_e] = ppp_lin_run (Name,Simulate,ControlType,w,x_0,p_c,p_o)
function [t,y,u,t_e,y_e,e_e] = ppp_lin_run (Name,Simulate,ControlType,w,x_0,p_c,p_o)
## usage: [y,u,t,y_e,t_e,e_e] = ppp_lin_run (Name,Simulate,ControlType,w,x_0,p_c,p_o);
## usage: [t,y,u,t_e,y_e,e_e] = ppp_lin_run (Name,Simulate,ControlType,w,x_0,p_c,p_o)
##
##
## Linear closed-loop PPP of lego system (and simulation)
##
## Name: Name of system (in mtt terms)
## Simulate = 0: real thing
## Simulate = 1: simulate
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endif
if nargin<5
x_0 = zeros(n_x,1);
endif
if nargin<6
p_c.N = 25;
p_c.N = 50;
endif
if nargin<7
p_o.sigma = 1e-1;
endif
if !struct_contains(p_c,"delta_ol")
p_c.delta_ol = 0.5; # OL sample interval
endif
if !struct_contains(p_c,"T")
p_c.T = 10.0; # Last time point.
p_c.T = 2.5; # Last time point.
endif
if !struct_contains(p_c,"augment")
p_c.augment = 1; # Augment basis funs with contand
endif
if !struct_contains(p_c,"Method")
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endif
if !struct_contains(p_o,"method")
##p_o.method = "continuous";
p_o.method = "intermittent";
endif
## Check w.
[n_w,m_w] = size(w);
if ( (n_w!=n_y) || (m_w!=1) )
error(sprintf("ppp_lin_run: w must a column vector with %i elements",n_y));
endif
## Initialise
x_est = p_o.x_0;
## Initilise simulation state
## Initialise simulation state
x = x_0;
if ControlType==0 # Step input
I = 1; # 1 large sample
p_c.delta_ol = p_c.T # I
K_w = zeros(p_c.n_U,n_y);
K_w(1,1) = 1;
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endif
##Sanity check A_u
[p_c.n_U,M_u] = size(p_c.A_u);
if (p_c.n_U!=M_u)
error("A_u must be square");
endif
U = K_w*w; # Initial control U
## Checks
[ol_zeros, ol_poles] = sys2zp(sys)
cl_poles = eig(A - B*k_x)
endif
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u = [];
t = [];
y_e = [];
t_e = [];
e_e = [];
tick = time;
i=0;
for j=1:20
for j=1:10
for k=1:I
i++;
tim=time; # Timing
i++
if Simulate # Exact simulation
if Simulate # Exact simulation
t_sim = [1:p_c.N]*dt; # Simulation time points
[yi,ui,xsi] = ppp_ystar(A,B,C,D,x,p_c.A_u,U,t_sim); # Simulate
x = xsi(:,p_c.N); # Current state (for next time)
y_i = yi(:,p_c.N); # Current output
ti = [(i-1)*p_c.N:i*p_c.N-1]*dt;
y_i = yi(1); # Current output
t_i = ti(1);
else # The real thing
# to_rt(U'); # Send U
# data = from_rt(p_c.N); # Receive data
# [yi,ui,ti] = convert_data(data); # And convert from integer format
[t_i,y_i,u_i] = ppp_put_get(U); # Generic interface to real-time
# y_i = yi(:,p_c.N); # Current output
endif
sample_time = (time-tim)/p_c.N;
tim = time;
## Observer
if strcmp(p_o.method, "intermittent")
[x_est y_est e_est] = ppp_int_obs \
(x_est,y_i,U,A,B,C,D,p_c.A_u,p_c.delta_ol,L);
elseif strcmp(p_o.method, "continuous")
Ui = U; # U at sub intervals
for k = 1:p_c.N
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## Save data
if Simulate
t = [t;ti'];
y = [y;yi'];
u = [u;ui'];
else
t = [t;t_i];
y = [y;y_i];
u = [u;u_i];
y = [y;y_i'];
u = [u;u_i'];
endif
if strcmp(p_o.method, "intermittent")
y_e = [y_e; y_est'];
e_e = [e_e; e_est];
t_e = [t_e; (i*p_c.N)*dt];
e_e = [e_e; e_est'];
t_e = [t_e; t_i];
endif
overrun = time-tim;
delta_comp = time-tim;
usleep(floor(1e6*(p_c.delta_ol-delta_comp-0.01)));
endfor # Main loop
w = -w
w = -w;
endfor # Outer loop
if !Simulate
ppp_put_get(0*U); # Reset to zero
endif
if strcmp(p_o.method, "continuous")
t_e = t;
endif
sample_interval = (time-tick)/(I*p_c.N)
sample_interval = (time-tick)/i
## Put data on file (so can use for identification)
filename = sprintf("%s_ident_data.dat",Name);
eval(sprintf("save -ascii %s t y u",filename));
endfunction
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