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function [T,y,u,X,Iterations] = 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,movie)
## usage: [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,movie)
## Needs documentation - see ppp_ex11 for example of use.
## OUTPUTS
## T: Time vector
## y,u,J output, input and cost
## Copyright (C) 1999 by Peter J. Gawthrop
## $Id$
if nargin<19 # No intermittent control
Delta_ol = 0;
endif
if nargin<20 # No movie
mu = 0;
endif
if nargin<21 # No movie
movie = 0;
endif
## Check some sizes
[n_x,n_u,n_y] = abcddim(A,B,C,D);
[n_x0,m_x0] = size(x_0);
if (n_x0 != n_x)||(m_x0 != 1)
error(sprintf("Initial state x_0 must be %ix1 not %ix%i",n_x,n_x0,m_x0));
endif
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function [T,y,u,X,Iterations] = 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,test,movie)
## usage: [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,movie)
## Needs documentation - see ppp_ex11 for example of use.
## OUTPUTS
## T: Time vector
## y,u,J output, input and cost
## Copyright (C) 1999 by Peter J. Gawthrop
## $Id$
if nargin<19 # No intermittent control
Delta_ol = 0;
endif
if nargin<20 # Mu
mu = 0;
endif
if nargin<21
test=0
endif
if nargin<22 # No movie
movie = 0;
endif
test = test
## Check some sizes
[n_x,n_u,n_y] = abcddim(A,B,C,D);
[n_x0,m_x0] = size(x_0);
if (n_x0 != n_x)||(m_x0 != 1)
error(sprintf("Initial state x_0 must be %ix1 not %ix%i",n_x,n_x0,m_x0));
endif
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Gamma = [Gamma_u; Gamma_y];
gamma = [gamma_u; gamma_y];
## Current Setpoint value
w = W(:,floor(t/dt)+1);
## Compute U(t) via QP optimisation
[uu, U, iterations] = ppp_qp (x,w,J_uu,J_ux,J_uw,Us0,Gamma,gamma,mu); # Compute U
## Compute the cost (not necessary but maybe interesting)
# [J_t] = ppp_cost (U,x,W,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww); # cost
# J = [J J_t];
## OL Simulation (exact)
[ys,us,xs] = ppp_ystar (A,B,C,D,x,A_u,U,T_ol);
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Gamma = [Gamma_u; Gamma_y];
gamma = [gamma_u; gamma_y];
## Current Setpoint value
w = W(:,floor(t/dt)+1);
## Compute U(t) via QP optimisation
[uu, U, iterations] = ppp_qp (x,w,J_uu,J_ux,J_uw,Us0,Gamma,gamma,mu,test); # Compute U
## Compute the cost (not necessary but maybe interesting)
# [J_t] = ppp_cost (U,x,W,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww); # cost
# J = [J J_t];
## OL Simulation (exact)
[ys,us,xs] = ppp_ystar (A,B,C,D,x,A_u,U,T_ol);
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