17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
|
##Defaults
if nargin<1 # Default name to dir name
names = split(pwd,"/");
[n_name,m_name] = size(names);
Name = deblank(names(n_name,:));
endif
## System
sys = mtt2sys(Name); # Create system
[A,B,C,D] = sys2ss(sys); # SS form
[n_x, n_u, n_y] = abcddim(A,B,C,D); # Dimensions
if nargin<6
p_c.N = 50;
endif
if nargin<7
p_o.sigma = 1e-1;
endif
|
>
>
>
>
>
>
>
>
|
>
>
>
>
>
>
>
>
>
>
>
>
>
>
|
>
<
<
<
<
<
<
<
|
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
|
##Defaults
if nargin<1 # Default name to dir name
names = split(pwd,"/");
[n_name,m_name] = size(names);
Name = deblank(names(n_name,:));
endif
if nargin<6
p_c.N = 50;
endif
if nargin<7
p_o.sigma = 1e-1;
endif
## System
sys = mtt2sys(Name); # Create system
[A,B,C_0,D_0] = sys2ss(sys); # SS form
## Extract matrices for controlled and constrained outputs.
if !struct_contains(p_c,"I_0") # Indices for controlled outputs
p_c.I_0 = 1:n_y
endif
if !struct_contains(p_c,"I_1") # Indices for constarined outputs
p_c.I_1 = 1:n_y
endif
C = C_0(p_c.I_0,:)
C_c = C_0(p_c.I_1,:);
D = D_0(p_c.I_0,:)
D_c = D_0(p_c.I_1,:);
[n_x, n_u, n_y] = abcddim(A,B,C,D); # Dimensions
[n_x, n_u, n_y_c] = abcddim(A,B,C_c,D_c); # Dimensions
if nargin<2
Simulate = 1;
endif
if nargin<3
ControlType = 2;
endif
if nargin<4
w = ones(n_y,1);;
endif
if nargin<5
x_0 = zeros(n_x,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; # Last time point.
|
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
|
if !struct_contains(p_o,"method")
##p_o.method = "continuous";
p_o.method = "intermittent";
endif
|
<
|
148
149
150
151
152
153
154
155
156
157
158
159
160
161
|
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
|
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
|
##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
## Checks
[ol_zeros, ol_poles] = sys2zp(sys)
## Initial control U
U = zeros(p_c.n_U,1)
|
<
|
<
|
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
|
##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
## Checks
cl_poles = eig(A - B*k_x)
t_max = 1/min(abs(cl_poles))
t_min = 1/max(abs(cl_poles))
endif
## Initial control U
U = zeros(p_c.n_U,1)
## Short sample interval
dt = p_c.delta_ol/p_c.N;
## Observer design
G = eye(n_x); # State noise gain
sigma_x = eye(n_x); # State noise variance
|
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
|
else
## Input constraints
[Gamma_u, gamma_u] = \
ppp_input_constraints(p_c.A_u,p_c.Tau_u,p_c.Min_u,p_c.Max_u);
## Output constraints
[Gamma_y,gamma_y] = \
ppp_output_constraints(A,B,C,D,x_est,p_c.A_u,\
p_c.Tau_y,p_c.Min_y,p_c.Max_y);
## Composite constraints - t=0
Gamma = [Gamma_u; Gamma_y];
gamma = [gamma_u; gamma_y];
[u_qp,U] = ppp_qp \
|
|
|
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
|
else
## Input constraints
[Gamma_u, gamma_u] = \
ppp_input_constraints(p_c.A_u,p_c.Tau_u,p_c.Min_u,p_c.Max_u);
## Output constraints
[Gamma_y,gamma_y] = \
ppp_output_constraints(A,B,C_c,D_c,x_est,p_c.A_u,\
p_c.Tau_y,p_c.Min_y,p_c.Max_y);
## Composite constraints - t=0
Gamma = [Gamma_u; Gamma_y];
gamma = [gamma_u; gamma_y];
[u_qp,U] = ppp_qp \
|