#! /bin/sh
## nppp_rep.sh
## DIY representation "nppp" for mtt
# Copyright (C) 2002 by Peter J. Gawthrop
sys=$1
rep=nppp
lang=$2
mtt_parameters=$3
rep_parameters=$4
## Some names
target=${sys}_${rep}.${lang}
def_file=${sys}_def.r
dat2_file=${sys}_nppp.dat2
dat2s_file=${sys}_nppps.dat2
nppp_numpar_file=${sys}_nppp_numpar.m
## Get system information
if [ -f "${def_file}" ]; then
echo Using ${def_file}
else
mtt -q ${sys} def r
fi
ny=`mtt_getsize $1 y`
nu=`mtt_getsize $1 u`
## Help documentation
help_short() {
cat<<EOF
Nonlinear predictive pole placement
EOF
}
help_long() {
cat<<EOF
Details go here
EOF
}
## Make the _nppp.m file
make_nppp() {
filename=${sys}_${rep}.m
echo Creating ${filename}
cat > ${filename} <<EOF
function [y,u,t] = ${sys}_nppp (last, ppp_names, par_names, A_u, A_w, w, Q, extras)
## usage: [y,u,t] = ${sys}_nppp (last, ppp_names, par_names, A_u, A_w, w, Q, extras)
##
## last last time in run
## ppp_names Column vector of names of ppp params
## par_names Column vector of names of estimated params
## extras Structure containing additional info
##Sanity check
if nargin<2
printf("Usage: [y,u,t] = ${sys}_nppp(N, ppp_names[, par_names, extras])\n");
return
endif
if nargin<4
## Set up optional parameters
extras.criterion = 1e-3;
extras.emulate_timing = 0;
extras.max_iterations = 15;
extras.simulate = 1;
extras.v = 1e-6;
extras.verbose = 0;
extras.visual = 1;
endif
## System info
[n_x,n_y,n_u,n_z,n_yz] = ${sys}_def;
sympar = ${sys}_sympar;
simpar = ${sys}_simpar;
sympars = s${sys}_sympar;
simpars = s${sys}_simpar;
t_ol = simpar.last;
## Number of intervals needed
N = ceil(last/t_ol);
## Setpoints
if extras.verbose
printf("Open-loop interval %3.2f \n", simpar.last);
printf(" -- using info in ${sys}_simpar.txt\n");
printf("PPP optimisation from %3.2f to %3.2f\n", simpars.first, simpars.last);
printf(" -- using info in s${sys}_simpar.txt\n");
endif
t_horizon = [simpars.first+simpars.dt:simpars.dt:simpars.last]';
w_s = ones(size(t_horizon))*w';
## Setup the indices of the adjustable stuff
if nargin<2
i_ppp = []
else
i_ppp = ppp_indices (ppp_names,sympar,sympars); # Parameters
endif
n_ppp = length(i_ppp(:,1));
if nargin<3
i_par = []
else
i_par = ppp_indices (par_names,sympar,sympars); # Parameters
endif
if extras.visual # Do some simulations
## System itself
par = ${sys}_numpar;
x_0_ol = ${sys}_state(par);
[y_ol,x_ol, t_ol] = ${sys}_sim(x_0_ol, par, simpar, ones(1,n_u));
simpar_OL = simpar;
simpar_OL.last = simpars.last;
[y_OL,x_OL, t_OL] = ${sys}_sim(x_0_ol, par, simpar_OL, ones(1,n_u));
pars = s${sys}_numpar;
x_0_ppp = s${sys}_state(pars);
[y_ppp,y_par,x_ppp, t_ppp] = s${sys}_ssim(x_0_ppp, pars, simpars, ones(1,n_u));
simpar_PPP = simpars;
simpar_PPP.first = simpar.first;
[y_PPP,y_par,x_PPP, t_PPP] = s${sys}_ssim(x_0_ppp, pars, simpar_PPP, ones(1,n_u));
figure(2);
grid; title("Outputs of ${sys}_sim and s${sys}_ssim");
plot(t_ol,y_ol, '*', t_ppp, y_ppp, '+', t_OL, y_OL, t_PPP, y_PPP);
## Basis functions
Us = ppp_ustar(A_u,1,t_OL',0,0)';
figure(3);
grid; title("Basis functions");
plot(t_OL, Us);
endif
## Do it
[y,u,t,p,U,t_open,t_ppp,t_est,its_ppp,its_est] \
= ppp_nlin_run ("${sys}",i_ppp,i_par,A_u,w_s,N,Q,extras);
## Compute values at ends of ol intervals
T_open = cumsum(t_open);
T_open = T_open(1:length(T_open)-1); # Last point not in t
j=[];
for i = 1:length(T_open)
j = [j; find(T_open(i)*ones(size(t))==t)];
endfor
y_open = y(j,:);
u_open = u(j,:);
if extras.visual
## Plots
gset grid; xlabel "Time (sec)"; title "${sys}"
ty = [t y] ;
tu = [t u];
ty_open = [T_open y_open];
tu_open = [T_open u_open];
gplot tu \
title "u", tu_open with impulses title "Sample times"
figfig("${sys}_u","eps");
gplot ty \
title "y", ty_open with impulses title "Sample times"
figfig("${sys}_y","eps");
system("gv ${sys}_y.eps&");
system("gv ${sys}_u.eps&");
endif
endfunction
EOF
}
make_nppp_numpar() {
echo Creating ${nppp_numpar_file}
cat > ${sys}_nppp_numpar.m <<EOF
function [last, ppp_names, par_names, A_u, A_w, w, Q, extras] = ${sys}_nppp_numpar
## usage: [last, ppp_names, par_names, A_u, A_w, w, Q, extras] = ${sys}_nppp_numpar ()
##
##
## Last time of run
last = 10;
## Specify basis functions
A_w = zeros(1,1);
n_ppp = ${nu};
A_u = ppp_aug(A_w,laguerre_matrix(n_ppp-1,2.0));
## Names of ppp parameters
ppp_names = "";
for i=1:n_ppp
name = sprintf("ppp_%i", i);
ppp_names = [ppp_names; name];
endfor
## Estimated parameters
par_names = [];
## Weights
Q = ones(${ny},1);
## Setpoint
w = zeros(${ny},1); w(1) = 1;
## Set up optional parameters
extras.criterion = 1e-3;
extras.emulate_timing = 0;
extras.max_iterations = 15;
extras.simulate = 1;
extras.v = 1e-6;
extras.verbose = 0;
extras.visual = 0;
endfunction
EOF
}
make_model() {
echo "Making sensitivity simulation for system ${sys} (lang ${lang})"
if [ "${lang}" = "oct" ]; then
oct='-oct'
fi
## System
mtt -q ${mtt_parameters} -stdin ${sys} sympar m
mtt -q ${mtt_parameters} -stdin ${sys} simpar m
mtt -q ${mtt_parameters} -stdin ${oct} ${sys} state ${lang}
mtt -q ${mtt_parameters} -stdin ${oct} ${sys} numpar ${lang}
mtt -q ${mtt_parameters} -stdin ${oct} ${sys} input ${lang}
mtt -q ${mtt_parameters} -stdin ${oct} ${sys} ode2odes ${lang}
mtt -q ${mtt_parameters} -stdin ${sys} sim m
## Sensitivity system
mtt -q ${mtt_parameters} -stdin -s s${sys} sympar m
mtt -q ${mtt_parameters} -stdin -s s${sys} simpar m
mtt -q ${mtt_parameters} -stdin ${oct} -s s${sys} state ${lang}
mtt -q ${mtt_parameters} -stdin ${oct} -s s${sys} numpar ${lang}
mtt -q ${mtt_parameters} -stdin ${oct} -s s${sys} input ${lang}
mtt -q ${mtt_parameters} -stdin ${oct} -s s${sys} ode2odes ${lang}
mtt -q ${mtt_parameters} -stdin -s s${sys} ssim m
## Additional system reps for PPP
mtt -q ${mtt_parameters} -stdin ${sys} sm m
mtt -q ${mtt_parameters} -stdin ${sys} def m
mtt -q ${mtt_parameters} -stdin -s s${sys} def m
}
make_dat2() {
## Inform user
echo Creating ${dat2_file}
## Use octave to generate the data
octave -q <<EOF
[last, ppp_names, par_names, A_u, A_w, w, Q, extras] = ${sys}_nppp_numpar;
[y,u,t] = ${sys}_nppp(last, ppp_names, par_names, A_u, A_w, w, Q, extras);
data = [t,y,u];
save -ascii ${dat2_file} data
EOF
}
case ${lang} in
help_short)
help_short
;;
help_long)
help_long
;;
numpar.m)
## Make the numpar stuff
make_nppp_numpar;
;;
m)
## Make the code
make_nppp;
;;
dat2)
## The dat2 language (output data)
if [ -f "${dat2_file}" ]; then
if [ "${dat2_file}" -ot "${nppp_numpar_file}" ]; then
make_dat2;
else
echo Using ${dat2_file}
fi
else
make_dat2;
fi
;;
gdat)
cp ${dat2_file} ${dat2s_file}
dat22dat ${sys} ${rep}
dat2gdat ${sys} ${rep}
;;
fig)
gdat2fig ${sys}_${rep}
;;
ps)
fig2dev -Leps ${sys}_${rep}.fig > ${sys}_${rep}.ps
;;
view)
;;
*)
echo Language ${lang} not supported by nppp representation
exit 3
esac