%% Tex file (TwoLinkGPC_input.txt)
%% Generated by MTT at Wed Apr 29 11:21:32 BST 1998
\begin{verbatim}
# Numerical parameter file (TwoLinkGPC_input.txt)
# Generated by MTT at Mon Apr 13 11:02:37 BST 1998
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
global ObserverGain;
if t<10
tau = 0;
elseif t<20
tau = 0.1;
else
tau = 0.2;
end
# Reference signals
Period = 20;
u(1) = -pi*sign(cos(2*pi*t/Period))*(t>5); # TwoLinkGPC (Ref_1)
u(2) = pi*sign(sin(2*pi*t/Period)); # TwoLinkGPC (Ref_2)
w = u(1:2); # Reference signal
# Control signals
x_model = x(9:12); # Observed states
[O_o, O_h] = TwoLinkPS_obs(x_model) #GPC O function (affine case)
[spec_n,spec_d] = msdP_tf; # Spec transfer function
P = spec_d(3:-1:1); # P poly with ascending coeffs
PP = [eye(2)*P(1) eye(2)*P(2) eye(2)*P(3)]; # Matrix version
PO_o = PP*O_o; # Compute Py with u zero
PO_h = PP*O_h; # Coefficient of u
u_control = PO_h\(w - PO_o); # GMV control signal
u(3:4) = u_control; # TwoLinkGPC (Tau_1)
# Observer
x_system = x(5:8); # System states
error = x_system-x_model; # Error in states
ObserverInput = ObserverGain*error;
u(5:8) = ObserverInput; # Set the state-input to the observer
\end{verbatim}