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if !struct_contains(p_c,"delta_ol")
p_c.delta_ol = 1.0; # OL sample interval
endif
if !struct_contains(p_c,"T")
p_c.T = 10.0; # 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")
p_c.Method = "lq";
endif
if struct_contains(p_c,"Method")
if strcmp(p_c.Method,"lq")
p_c.Q = eye(n_y);
p_c.R = (0.25^2)*eye(n_u);
p_c.n_U = n_x;
elseif strcmp(p_c.Method,"original");
if !struct_contains(p_c,"A_w")
p_c.A_w = 0;
endif
if !struct_contains(p_c,"A_u")
p_c.n_U = n_x;
a_u = 2.0;
p_c.A_u = laguerre_matrix(p_c.n_U,a_u)
p_c.A_u = laguerre_matrix(p_c.n_U,a_u);
if p_c.augment # Put in constant term
A_u = ppp_aug(0,A_u);
endif
endif
else
error(sprintf("Method %s not recognised", p_c.Method));
endif
endif
if !struct_contains(p_o,"x_0")
p_o.x_0 = zeros(n_x,1);
endif
if !struct_contains(p_o,"method")
p_o.method = "continuous";
## p_o.method = "intermittent";
##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));
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U = K_w*w; # Initial control U
else
I = ceil(p_c.T/p_c.delta_ol) # Number of large samples
if strcmp(p_c.Method, "original")
tau = [10:0.1:11]*(2/a_u); # Time horizons
[k_x,k_w,K_x,K_w] = ppp_lin(A,B,C,D,p_c.A_u,p_c.A_w,tau); # Design
elseif strcmp(p_c.Method, "lq") # LQ design
tau = [0:0.001:1.0]*5; # Time horizons
tau = [0:0.1:2.0]*1; # Time horizons
[k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,A_u] \
= ppp_lin_quad (A,B,C,D,tau,p_c.Q,p_c.R);
p_c.A_u = A_u
= ppp_lin_quad (A,B,C,D,tau,p_c.Q,p_c.R,p_c.augment);
p_c.A_u = A_u;
else
error(sprintf("Control method %s not recognised", p_c.Method));
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
K_w,w
U = K_w*w # Initial control U
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