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#! /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;
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#! /bin/sh
## nppp_rep.sh
## DIY representation "nppp" for mtt
# Copyright (C) 2002 by Peter J. Gawthrop
sys=$1
rep=nppp
lang=$2
mtt_parameters=$3
parameters=$4
target=${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 (last, 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-3;
extras.emulate_timing = 0;
extras.max_iterations = 15;
extras.simulate = 1;
extras.v = 1e-6;
extras.verbose = 0;
extras.visual = 1;
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;
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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';
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)];
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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-1,2.0));
## Weights
Q = [1;0]
if extras.visual # Do some simulations
## System itself
par = ${sys}_numpar;
x_0_ol = ${sys}_state(par);
[y_ol,x_ol, t_ol] = ${sys}_sim(x_0_ol, par, simpar, ones(1,n_u));
simpar_OL = simpar;
simpar_OL.last = simpars.last;
[y_OL,x_OL, t_OL] = ${sys}_sim(x_0_ol, par, simpar_OL, ones(1,n_u));
pars = s${sys}_numpar;
x_0_ppp = s${sys}_state(pars);
[y_ppp,y_par,x_ppp, t_ppp] = s${sys}_ssim(x_0_ppp, pars, simpars, ones(1,n_u));
simpar_PPP = simpars;
simpar_PPP.first = simpar.first;
[y_PPP,y_par,x_PPP, t_PPP] = s${sys}_ssim(x_0_ppp, pars, simpar_PPP, ones(1,n_u));
figure(2);
grid; title("Outputs of ${sys}_sim and s${sys}_ssim");
plot(t_ol,y_ol, '*', t_ppp, y_ppp, '+', t_OL, y_OL, t_PPP, y_PPP);
## Basis functions
Us = ppp_ustar(A_u,1,t_OL',0,0)';
figure(3);
grid; title("Basis functions");
plot(t_OL, Us);
endif
## 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,Q,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)];
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