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x_0 = zeros(n_x,1); # Initial state
## Closed-loop intermittent solution
Delta_ol = 0.5 # Intermittent time
disp("Intermittent control simulation");
[T,y,u] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, \
[],[],[],[], \
[],[],[],[],W,x_0,Delta_ol);
size(T)
## Exact closed-loop
disp("Exact closed-loop");
[k_x,k_w] = ppp_lin (A,B,C,D,A_u,A_w,t,Q)
[ye,Xe] = ppp_sm2sr(A-B*k_x, B, C, D, T, k_w*W, x_0); # Compute Closed-loop control
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x_0 = zeros(n_x,1); # Initial state
## Closed-loop intermittent solution
Delta_ol = 0.5 # Intermittent time
disp("Intermittent control simulation");
R=1;P=0;
[T,y,u] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q,R,P, \
[],[],[],[], \
[],[],[],[],W,x_0,Delta_ol);
size(T)
## Exact closed-loop
disp("Exact closed-loop");
[k_x,k_w] = ppp_lin (A,B,C,D,A_u,A_w,t,Q)
[ye,Xe] = ppp_sm2sr(A-B*k_x, B, C, D, T, k_w*W, x_0); # Compute Closed-loop control
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