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endif
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";
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endif
endif
else
error(sprintf("Method %s not recognised", p_c.Method));
endif
endif
if !struct_contains(p_c,"tau") # Time horizon
if strcmp(p_c.Method,"lq")
p_c.tau = [0:0.1:1]*2;
elseif strcmp(p_c.Method,"original");
p_c.tau = [10:0.1:11];
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";
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K_w = zeros(p_c.n_U,n_y);
K_w(1,1) = 1;
K_w(2,1) = -1;
K_x = zeros(p_c.n_U,n_x);
else
I = ceil(p_c.T/p_c.delta_ol) # Number of large samples
if strcmp(p_c.Method, "original")
tau = [10:0.1:11]*(2/a_u); # Time horizons
[k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww] =\
ppp_lin(A,B,C,D,p_c.A_u,p_c.A_w,tau); # Design
elseif strcmp(p_c.Method, "lq") # LQ design
tau = [0:0.1:2]; # Time horizons
[k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,A_u] \
= ppp_lin_quad (A,B,C,D,tau,p_c.Q,p_c.R);
p_c.A_u = A_u;
else
error(sprintf("Control method %s not recognised", p_c.Method));
endif
##Sanity check A_u
[p_c.n_U,M_u] = size(p_c.A_u);
if (p_c.n_U!=M_u)
error("A_u must be square");
endif
## Checks
[ol_zeros, ol_poles] = sys2zp(sys)
cl_poles = eig(A - B*k_x)
endif
## Initial control U
U = zeros(p_c.n_U,1);
## Short sample interval
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K_w = zeros(p_c.n_U,n_y);
K_w(1,1) = 1;
K_w(2,1) = -1;
K_x = zeros(p_c.n_U,n_x);
else
I = ceil(p_c.T/p_c.delta_ol) # Number of large samples
if strcmp(p_c.Method, "original")
## tau = [10:0.1:11]*(2/a_u); # Time horizons
[k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww] =\
ppp_lin(A,B,C,D,p_c.A_u,p_c.A_w,p_c.tau); # Design
elseif strcmp(p_c.Method, "lq") # LQ design
## tau = [0:0.001:1]*2; # Time horizons
[k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,A_u] \
= ppp_lin_quad (A,B,C,D,p_c.tau,p_c.Q,p_c.R);
p_c.A_u = A_u;
else
error(sprintf("Control method %s not recognised", p_c.Method));
endif
##Sanity check A_u
[p_c.n_U,M_u] = size(p_c.A_u);
if (p_c.n_U!=M_u)
error("A_u must be square");
endif
## Checks
[ol_zeros, ol_poles] = sys2zp(sys)
cl_poles = eig(A - B*k_x)
t_max = 1/min(abs(cl_poles))
t_min = 1/max(abs(cl_poles))
endif
## Initial control U
U = zeros(p_c.n_U,1);
## Short sample interval
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