39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
|
endif
if nargin<6
p_o.sigma = 0.001;
endif
if !struct_contains(p_c,"N")
p_c.N = 10; # Number of small samples
endif
if !struct_contains(p_c,"A_w")
p_c.A_w = 0;
endif
if !struct_contains(p_c,"A_u")
|
|
>
>
>
>
>
>
>
>
|
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
|
endif
if nargin<6
p_o.sigma = 0.001;
endif
if !struct_contains(p_c,"N")
p_c.N = 10; # Number of small samples per large sample
endif
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 = 5.0; # Last time point.
endif
if !struct_contains(p_c,"A_w")
p_c.A_w = 0;
endif
if !struct_contains(p_c,"A_u")
|
63
64
65
66
67
68
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
95
96
|
## 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)
ol_poles = eig(A)
## Initialise
x_0 = zeros(n_x,1);
x_est = x_0;
## Initilise simulation state
x = x_0;
##x(2) = 0.2;
# x(2) = y_0(1);
# x(4) = y_0(2);
if ControlType==0 # Step input
N = 50; # Number of small samples
I = 1; # Number of large samples
I = ceil(50/p_c.N); # Number of large samples
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
U = K_w*w # Initial control U
## Checks
cl_poles = eig(A - B*k_x)
endif
|
>
>
>
>
>
>
<
|
>
|
|
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
|
## 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)
ol_poles = eig(A)
## 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_0 = zeros(n_x,1);
x_est = x_0;
## Initilise simulation state
x = x_0;
##x(2) = 0.2;
# x(2) = y_0(1);
# x(4) = y_0(2);
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;
K_w(2,1) = -1;
K_x = zeros(p_c.N_u,n_x);
U = K_w*w; # Initial control U
else # PPP control
I = ceil(p_c.T/p_c.delta_ol); # Number of large samples
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
U = K_w*w # Initial control U
## Checks
cl_poles = eig(A - B*k_x)
endif
|