Overview
| Comment: | Added terminal cost for w |
|---|---|
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| Timelines: | family | ancestors | descendants | both | origin/master | trunk |
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| SHA3-256: |
64f6ad2f154593a912612ab203668700 |
| User & Date: | gawthrop@users.sourceforge.net on 2002-12-20 12:48:41 |
| Other Links: | branch diff | manifest | tags |
Context
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2002-12-23
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| 11:17:47 | Now GPL only check-in: 7c8a3e086b user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
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2002-12-20
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| 12:48:41 | Added terminal cost for w check-in: 64f6ad2f15 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
| 10:44:23 | Don't augment A_u with A_w - do it externally check-in: 08172cee79 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
Changes
Modified mttroot/mtt/lib/control/PPP/ppp_lin.m from [db890617e0] to [badb5c2ae2].
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## Exit if badly conditioned
cond_uu = cond(J_uu);
if cond_uu>max_cond
error(sprintf("J_uu is badly conditioned. Condition number = 10^%i",log10(cond_uu)));
endif
| < < < < < < > > > > > > > > > > > > > > > > > > > > | 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 |
## Exit if badly conditioned
cond_uu = cond(J_uu);
if cond_uu>max_cond
error(sprintf("J_uu is badly conditioned. Condition number = 10^%i",log10(cond_uu)));
endif
## w bits
if n_W>0
for i = 1:n_y # For each output
QQ = ones(n_U,1)*Q(i,:); # Resize Q
J_uw = J_uw + (QQ .* y_u(:,i:n_y:n_yu)') * Ws (:,i:n_y:n_yw);
QQ = ones(n_x,1)*Q(i,:); # Resize Q
J_xw = J_xw + (QQ .* y_x(:,i:n_y:n_yx)') * Ws (:,i:n_y:n_yw);
QQ = ones(n_W,1)*Q(i,:); # Resize Q
J_ww = J_ww + (QQ .* Ws (:,i:n_y:n_yw)') * Ws (:,i:n_y:n_yw);
endfor
endif
## Terminal constraint
tau_last = tau(m_t);
x_x_t = expm(A*tau_last); # deriv. of x*(tau_2) wrt x(0)
J_ux = J_ux + x_u_t'*P*x_x_t;
J_uu = J_uu + x_u_t'*P*x_u_t;
## Terminal constraint - w bits
## NB SISO ONLY at the moment
C = C(1,:); # REMOVE ME
## deriv of x* wrt W
if (cond(A)<1e10) # Finite ss gain
x_W_t = (A\B)*inv(C*(A\B));
else # Infinite ss gain
Y_0 = zeros(n_x,n_y); Y_0(1,:) = ones(1,n_y);
x_W_t = obsv(A,C)\Y_0;
endif
J_uw = J_uw + x_u_t'*P*x_W_t;
## Compute the open-loop gains
K_w = J_uu\J_uw;
K_x = J_uu\J_ux;
## U*(tau) at tau=0
Us0 = ppp_ustar(A_u,n_u,0);
## Compute the closed-loop gains
k_x = Us0*K_x;
k_w = Us0*K_w;
endfunction
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