69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
|
## Unconstrained OL simulation
[uu,Uu] = ppp_qp (x_0,W,J_uu,J_ux,J_uw,Us0,[],[]);
[ysu,usu] = ppp_ystar (A,B,C,D,x_0,A_u,Uu,T);
title("Constained and unconstrained y*");
xlabel("t");
grid;
plot(T,ys,T,ysu)
## Non-linear - closed-loop
delta_ol = 0.1;
[T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, \
Tau_u,Min_u,Max_u,Order_u, \
Tau_y,Min_y,Max_y,Order_y,W,x_0,delta_ol);
title("y,y*,u and u*");
xlabel("t");
grid;
plot(T,y,T,u,T,ysu,T,usu);
endfunction
|
>
|
|
|
|
|
|
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
|
## Unconstrained OL simulation
[uu,Uu] = ppp_qp (x_0,W,J_uu,J_ux,J_uw,Us0,[],[]);
[ysu,usu] = ppp_ystar (A,B,C,D,x_0,A_u,Uu,T);
title("Constained and unconstrained y*");
xlabel("t");
grid;
figure(1);
plot(T,ys,"-;y* (constrained);", T,ysu,"--;y* (unconstrained);")
## Non-linear - closed-loop
delta_ol = 0.1; mu = 1e-4;
[T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, \
Tau_u,Min_u,Max_u,Order_u, \
Tau_y,Min_y,Max_y,Order_y,W,x_0,delta_ol,mu);
title("y and u");
xlabel("t");
grid;
plot(T,y,"1;y (constrained);", T,u,"2;u (constrained);");
endfunction
|