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# Copyright (c) P.J.Gawthrop 1991, 1992, 1994, 1995, 1996.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.4 1998/04/07 05:45:12 peterg
## Reverted to an older version due to untraceable bug in new version
##
## Revision 1.3 1996/08/25 10:07:05 peter
## Remove a du state ment causaing touble
## - but needs more work.
##
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# Copyright (c) P.J.Gawthrop 1991, 1992, 1994, 1995, 1996.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.5 1998/04/07 08:12:12 peterg
## Added affine form.
##
## Revision 1.4 1998/04/07 05:45:12 peterg
## Reverted to an older version due to untraceable bug in new version
##
## Revision 1.3 1996/08/25 10:07:05 peter
## Remove a du state ment causaing touble
## - but needs more work.
##
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% END;
% END;
% Try and split the obs function into affine form (O(x,u) = o(x) + h(x)u)
affine := 1;
MTTNuu := (MTTGPCNu+1)*MTTNu;
IF affine=1 THEN
BEGIN
MATRIX MTTObs_o(MTTNyy,1);
MATRIX MTTObs_h(MTTNyy,MTTNuu);
FOR i := 1:MTTNyy DO
BEGIN
MTTObs_o(i,1) := MTTYY(i,1);
FOR j := 1:MTTNuu DO
BEGIN
%Expand as polynomial in uj
coeffs := coeff(MTTObs_o(i,1), MTTu(j,1));
MTTObs_o(i,1) := first(coeffs);
IF length(coeffs)>1 THEN
MTTObs_h(i,j) := second(coeffs);
IF length(coeffs)>2 THEN affine := 0;
END;
END;
END;
%%Create the _obs.r file
OUT "$1_obs.r";
affine := affine;
mtt_matrix := MTTYY$
mtt_matrix_n := MTTNyy$
mtt_matrix_m := 1$
mtt_matrix_name := "MTTYY"$
reduce_matrix();
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% END;
% END;
% Try and split the obs function into affine form (O(x,u) = o(x) + h(x)u)
affine := 1;
MTTNuu := (MTTGPCNu+1)*MTTNu;
write "1 affine := ", affine, ";";
%IF (affine=1) THEN
%BEGIN
MATRIX MTTObs_o(MTTNyy,1);
MATRIX MTTObs_h(MTTNyy,MTTNuu);
write "2 affine := ", affine, ";";
FOR i := 1:MTTNyy DO
BEGIN
write "3 affine := ", affine, ";";
MTTObs_o(i,1) := MTTYY(i,1);
k := 0;
FOR j := 1:MTTNu DO
FOR jj := 0:MTTGPCNu DO
BEGIN
k := k+1;
%Expand as polynomial in u_j^[jj]
coeffs := coeff(MTTObs_o(i,1), MTTUU(j,jj+1));
MTTObs_o(i,1) := first(coeffs);
IF length(coeffs)>1 THEN
MTTObs_h(i,k) := second(coeffs);
IF length(coeffs)>2 THEN
affine := -1;
END;
END;
%END;
%%Create the _obs.r file
OUT "$1_obs.r";
IF affine=1 THEN
write "affine := 1; % The O function is affine in u"
ELSE
write "affine := 0; % The O function is not affine in u";
write "% The matrix sizes";
write "MTTNyy := ", MTTNyy, ";";
write "MTTNuu := ", MTTNuu, ";";
mtt_matrix := MTTYY$
mtt_matrix_n := MTTNyy$
mtt_matrix_m := 1$
mtt_matrix_name := "MTTYY"$
reduce_matrix();
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