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Comment:Prediction matices for open-loop control
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SHA3-256: 02f50158569c526d0370d706026b04bc1fd7867e0b90b257f5379dea60da6a82
User & Date: gawthrop@users.sourceforge.net on 2005-10-13 07:28:50
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Context
2005-10-13
10:01:57
Explicitly set U to zero check-in: 6d004534e5 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
07:28:50
Prediction matices for open-loop control check-in: 02f5015856 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
2005-09-29
13:46:25
Converts labg.fig -> ps/eps correctly (using fig2ps) check-in: 58de3a505e user: gawthrop@users.sourceforge.net tags: origin/master, trunk
Changes

Added mttroot/mtt/lib/control/PPP/ppp_pred.m version [a109d8be6c].































































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function [A_p,B_p] = ppp_pred (A,B,C,D,A_u,Ust0,T)

  ## usage:  [A_p,B_p] = ppp_pred (A,B,C,D,A_u,Ust0,T)
  ##
  ## PPP prediction matrices: x_pred = A_p*x + B_p*U

  ## Sanity
  [n_x,n_u,n_y] = abcddim(A,B,C,D); # System dimensions
  if (n_x==-1)
    error("A B C D not compatible");
  endif
  
  n_U = issquare(A_u);
  if (n_U!=n_x)
    error(sprintf("A_u must be %ix%i",n_x,n_x));
  endif
  
  [nn,mm] = size(Ust0);
  if (nn!=1)||(mm!=n_x)
    error(sprintf("Ust0 must be 1x%i",n_x));
  endif
  
      Z = zeros(n_x,n_x);
      AA = [A   B*Ust0
	    Z   A_u'];

      eAA = expm(AA*T);
      A_p = eAA(1:n_x,1:n_x);
      B_p = eAA(1:n_x,n_x+1:2*n_x);
  
endfunction


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