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endif
if nargin<5
x_0 = zeros(n_x,1);
endif
if nargin<6
p_c.N = 5;
endif
if nargin<7
p_o.sigma = 1e-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 = 5.0; # Last time point.
endif
if !struct_contains(p_c,"Method")
p_c.Method = "lq";
endif
if struct_contains(p_c,"Method")
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endif
if nargin<5
x_0 = zeros(n_x,1);
endif
if nargin<6
p_c.N = 10;
endif
if nargin<7
p_o.sigma = 1e-1;
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 = 10.0; # Last time point.
endif
if !struct_contains(p_c,"Method")
p_c.Method = "lq";
endif
if struct_contains(p_c,"Method")
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## Display the poles
obs_poles
## Short sample interval
dt = p_c.delta_ol/p_c.N;
## Write the include file for the real-time function
disp("Writing Ustar.h");
ppp_ustar2h(ppp_ustar (p_c.A_u, n_u, [0:dt:p_c.delta_ol], 0,0));
## Control loop
y = [];
u = [];
t = [];
y_e = [];
t_e = [];
e_e = [];
tick = time;
for i=1:I
i
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
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
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## Display the poles
obs_poles
## Short sample interval
dt = p_c.delta_ol/p_c.N;
## Write the include file for the real-time function
## Use double length to allow for overuns
disp("Writing Ustar.h");
overrun = 2;
ppp_ustar2h(ppp_ustar (p_c.A_u, n_u, [0:dt:overrun*p_c.delta_ol], 0,0));
## Control loop
y = [];
u = [];
t = [];
y_e = [];
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
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ti = [(i-1)*p_c.N:i*p_c.N-1]*dt;
t = [t;ti'];
y = [y;yi(:,1:p_c.N)'];
u = [u;ui(:,1:p_c.N)'];
y_e = [y_e; y_est'];
t_e = [t_e; (i*p_c.N)*dt];
e_e = [e_e; e_est];
endfor # Main loop
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));
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ti = [(i-1)*p_c.N:i*p_c.N-1]*dt;
t = [t;ti'];
y = [y;yi(:,1:p_c.N)'];
u = [u;ui(:,1:p_c.N)'];
y_e = [y_e; y_est'];
t_e = [t_e; (i*p_c.N)*dt];
e_e = [e_e; e_est];
sample_time = (time-tim)/p_c.N
dt
endfor # Main loop
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));
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