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if !struct_contains(p_c,"Method")
p_c.Method = "lq";
endif
if struct_contains(p_c,"Method")
if strcmp(p_c.Method,"lq")
p_c.Q = eye(n_y);
p_c.R = (0.5^2)*eye(n_u);
p_c.n_U = n_x;
elseif strcmp(p_c.Method,"original");
if !struct_contains(p_c,"A_w")
p_c.A_w = 0;
endif
if !struct_contains(p_c,"A_u")
p_c.n_U = n_x;
a_u = 1.0;
p_c.A_u = laguerre_matrix(p_c.n_U,a_u)
endif
else
error(sprintf("Method %s not recognised", p_c.Method));
endif
endif
if !struct_contains(p_o,"x_0")
p_o.x_0 = zeros(n_x,1);
endif
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));
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if !struct_contains(p_c,"Method")
p_c.Method = "lq";
endif
if struct_contains(p_c,"Method")
if strcmp(p_c.Method,"lq")
p_c.Q = eye(n_y);
p_c.R = (0.25^2)*eye(n_u);
p_c.n_U = n_x;
elseif strcmp(p_c.Method,"original");
if !struct_contains(p_c,"A_w")
p_c.A_w = 0;
endif
if !struct_contains(p_c,"A_u")
p_c.n_U = n_x;
a_u = 2.0;
p_c.A_u = laguerre_matrix(p_c.n_U,a_u)
endif
else
error(sprintf("Method %s not recognised", p_c.Method));
endif
endif
if !struct_contains(p_o,"x_0")
p_o.x_0 = zeros(n_x,1);
endif
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));
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t_e = [];
e_e = [];
tick = time;
for i=1:I
i
tim=time; # Timing
if Simulate # Exact simulation
t_sim = [0:p_c.N]*dt; # Simulation time points
[yi,ui,xsi] = ppp_ystar(A,B,C,D,x,p_c.A_u,U,t_sim); # Simulate
x = xsi(:,p_c.N+1); # Current state (for next time)
y_now = yi(:,p_c.N+1); # Current output
else # The real thing
to_rt(U'); # Send U
data = from_rt(p_c.N); # Receive data
[yi,ui] = convert_data(data); # And convert from integer format
y_now = yi(:,p_c.N); # Current output
endif
## Observer
if strcmp(p_o.method, "intermittent")
[x_est y_est e_est] = ppp_int_obs \
(x_est,y_now,U,A,B,C,D,p_c.A_u,p_c.delta_ol,L);
elseif strcmp(p_o.method, "continuous")
Ui = U; # U at sub intervals
for k = 1:p_c.N
[x_est y_est e_est] = ppp_int_obs \
(x_est,yi(:,k+1),Ui,A,B,C,D,p_c.A_u,dt,L);
Ui = A_ud*Ui;
y_e = [y_e; y_est'];
e_e = [e_e; e_est];
##U = K_w*w - K_x*x_est;
U = expm(p_c.A_u*(p_c.delta_ol))*U
## Save data
ti = [(i-1)*p_c.N:i*p_c.N-1]*dt;
y = [y;yi(:,1:p_c.N)'];
u = [u;ui(:,1:p_c.N)'];
sample_time = (time-tim)/p_c.N
if strcmp(p_o.method, "intermittent")
y_e = [y_e; y_est'];
e_e = [e_e; e_est];
t_e = [t_e; (i*p_c.N)*dt];
endif
dt
## Plot
gset nokey
title("");
boxed=0;
monochrome=1;
grid;
xlabel("t");
ylabel("y");
figure(1);plot(t,y, t_e,y_e,"+");
ylabel("u");
figure(2);plot(t,u);
ylabel("e");
figure(3);plot(t_e,e_e);
endfunction
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t_e = [];
e_e = [];
tick = time;
for i=1:I
i
tim=time; # Timing
if Simulate # Exact simulation
t_sim = [1:p_c.N]*dt; # Simulation time points
[yi,ui,xsi] = ppp_ystar(A,B,C,D,x,p_c.A_u,U,t_sim); # Simulate
x = xsi(:,p_c.N); # Current state (for next time)
y_now = yi(:,p_c.N); # Current output
ti = [(i-1)*p_c.N:i*p_c.N-1]*dt;
else # The real thing
to_rt(U'); # Send U
data = from_rt(p_c.N); # Receive data
[yi,ui,ti] = convert_data(data); # And convert from integer format
y_now = yi(:,p_c.N); # Current output
endif
sample_time = (time-tim)/p_c.N
tim = time;
## Observer
if strcmp(p_o.method, "intermittent")
[x_est y_est e_est] = ppp_int_obs \
(x_est,y_now,U,A,B,C,D,p_c.A_u,p_c.delta_ol,L);
elseif strcmp(p_o.method, "continuous")
Ui = U; # U at sub intervals
for k = 1:p_c.N
[x_est y_est e_est] = ppp_int_obs \
(x_est,yi(:,k),Ui,A,B,C,D,p_c.A_u,dt,L);
Ui = A_ud'*Ui;
y_e = [y_e; y_est'];
e_e = [e_e; e_est];
endfor
endif
##Control
U = K_w*w - K_x*x_est;
## Save data
t = [t;ti'];
y = [y;yi'];
u = [u;ui'];
if strcmp(p_o.method, "intermittent")
y_e = [y_e; y_est'];
e_e = [e_e; e_est];
t_e = [t_e; (i*p_c.N)*dt];
endif
overrun = time-tim
endfor # Main loop
if strcmp(p_o.method, "continuous")
t_e = t;
endif
sample_interval = (time-tick)/(I*p_c.N)
## Put data on file (so can use for identification)
filename = sprintf("%s_ident_data.dat",Name);
eval(sprintf("save -ascii %s t y u",filename));
# ## Plot
# gset nokey
# title("");
# boxed=0;
# monochrome=1;
# grid;
# xlabel("t");
# ylabel("y");
# figure(1);plot(t,y, t_e,y_e,"+");
# ylabel("u");
# figure(2);plot(t,u);
# ylabel("e");
# figure(3);plot(t_e,e_e);
endfunction
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