Overview
| Comment: | New identification example - friction components only |
|---|---|
| Downloads: | Tarball | ZIP archive | SQL archive |
| Timelines: | family | ancestors | descendants | both | origin/master | trunk |
| Files: | files | file ages | folders |
| SHA3-256: |
6e8c859b73671e870302af37b8b4f0f3 |
| User & Date: | gawthrop@users.sourceforge.net on 2001-04-11 15:41:45 |
| Other Links: | branch diff | manifest | tags |
Context
|
2001-04-12
| ||
| 00:49:13 | Fixed .oct use of Octave globals: MTT_input_last MTT_input_index check-in: 6c2ed05516 user: geraint@users.sourceforge.net tags: origin/master, trunk | |
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2001-04-11
| ||
| 15:41:45 | New identification example - friction components only check-in: 6e8c859b73 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
| 15:34:56 | Fixed bug to do with multiple outputs check-in: a230d6637d user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
Changes
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/Cart_abg.fig version [451fec60c3].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 | #FIG 3.2 Portrait Center Metric A4 100.00 Single -2 1200 2 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 4050 2925 4050 1575 4275 1800 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 4275 3150 5625 3150 5400 3375 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 4275 4950 5625 4950 5400 5175 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 2475 3825 2475 4275 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 2475 3150 3825 3150 3600 3375 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 3825 4950 2475 4950 2700 5175 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 3825 2925 2870 1970 2870 2289 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 4288 2957 5243 2002 5243 2320 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 6525 3150 7875 3150 7650 3375 2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 9900 5850 225 5850 225 900 9900 900 9900 5850 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 2475 4050 3825 4050 3600 4275 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 4275 4050 5625 4050 5400 4275 4 1 1 101 0 3 20 0.0000 4 270 1155 4140 3600 x-velocity\001 4 1 0 100 0 18 20 0.0000 4 195 150 4050 3240 1\001 4 1 4 100 0 18 20 0.0000 4 270 1320 1710 3240 SS:[drive]\001 4 1 1 101 0 3 20 0.0000 4 270 1125 4185 4500 y-velocity\001 4 1 1 101 0 3 20 0.0000 4 270 1905 4050 5490 angular-velocity\001 4 1 0 100 0 18 20 0.0000 4 195 150 4050 5040 1\001 4 1 4 100 0 18 20 0.0000 4 270 825 6165 5040 SS:[a]\001 4 2 0 100 0 18 20 0.0000 4 270 735 2430 5040 R:r_p\001 4 1 0 100 0 18 20 0.0000 4 270 720 2835 1845 R:r_c\001 4 1 4 100 0 18 20 0.0000 4 270 825 4050 1440 SS:[x]\001 4 1 0 100 0 18 20 0.0000 4 270 735 5355 1845 I:m_c\001 4 1 0 100 0 18 20 0.0000 4 210 630 6075 3240 INTF\001 4 0 0 100 0 18 20 0.0000 4 210 1590 8010 3240 De:Position\001 4 1 0 100 0 18 20 0.0000 4 195 150 4050 4140 1\001 4 1 4 100 0 18 20 0.0000 4 270 825 6165 4140 SS:[y]\001 4 2 0 100 0 18 20 0.0000 4 270 2190 2430 4140 Sf:zero_velocity\001 |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/Cart_lbl.txt version [947eebb4f2].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 | %% Label file for system Cart (Cart_lbl.txt) %SUMMARY Cart %DESCRIPTION Simple cart model % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% Version control history % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% $Id$ % %% $Log$ % %% Revision 1.1 2000/12/28 18:00:45 peterg % %% To RCS % %% % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Port aliases %ALIAS in drive %ALIAS pendulum|out x,y,a %UNITS drive translational N m/s b%UNITS x translational N m/s %UNITS y translational N m/s %UNITS a rotational N*m radian/s % Argument aliases %ALIAS $1 m_c %% Each line should be of one of the following forms: % a comment (ie starting with %) % component-name cr_name arg1,arg2,..argn % blank % ---- Component labels ---- % Component type I m_c lin flow,m_c % Component type R r_c lin flow,r_c r_p lin flow,r_p % Component type SS [a] SS external,external [drive] SS external,external [x] SS external,external [y] SS external,external % Component type De Position SS external % Component type Sf zero_velocity SS 0 |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulumOnCart_lbl.txt version [1aacf49abf].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 | %% Label file for system InvertedPendulumOnCart (InvertedPendulumOnCart_lbl.txt) %SUMMARY InvertedPendulumOnCart %DESCRIPTION An Inverted Pendulum on a Cart % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% Version control history % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% $Id$ % %% $Log$ % %% Revision 1.1 2000/12/28 18:00:45 peterg % %% To RCS % %% % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Port aliases %ALIAS in F %UNITS F translational N m/s % Argument aliases %% Each line should be of one of the following forms: % a comment (ie starting with %) % component-name cr_name arg1,arg2,..argn % blank % ---- Component labels ---- % Component type SS [F] SS external,internal |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulum_abg.fig version [df06a3e7f2].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 | #FIG 3.2 Portrait Center Metric A4 100.00 Single -2 1200 2 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 6840 4950 8190 4950 7965 5175 2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 9675 7425 3150 7425 3150 2475 9675 2475 9675 7425 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 4950 5400 4950 6750 5175 6525 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 6075 5400 6075 6750 6300 6525 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 3825 5400 3825 6750 4050 6525 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 4950 3150 4950 4500 5175 4275 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 6075 3150 6075 4500 6300 4275 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 3825 3150 3825 4500 4050 4275 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 4050 6750 3600 6750 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 5175 6750 4725 6750 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 6300 5400 5850 5400 4 1 4 100 0 18 20 0.0000 4 270 825 3825 7065 SS:[x]\001 4 1 4 100 0 18 20 0.0000 4 270 825 4950 7065 SS:[y]\001 4 1 4 100 0 18 20 0.0000 4 270 825 6075 7065 SS:[a]\001 4 1 0 100 0 18 20 0.0000 4 270 1545 4964 5040 gRODa:rod\001 4 1 0 100 0 18 20 0.0000 4 270 915 3825 3015 Se:x_0\001 4 1 0 100 0 18 20 0.0000 4 270 915 4950 3015 Se:y_0\001 4 1 0 100 0 18 20 0.0000 4 270 915 6030 3015 Se:a_0\001 4 1 4 100 0 18 14 0.0000 4 210 270 6660 4995 [a]\001 4 1 0 100 0 18 20 0.0000 4 210 1140 8865 5040 De:theta\001 4 1 4 100 0 18 14 0.0000 4 210 495 3825 4725 [x_a]\001 4 1 4 100 0 18 14 0.0000 4 210 510 4950 4725 [y_a]\001 4 1 4 100 0 18 14 0.0000 4 210 510 6075 4725 [a_a]\001 4 1 4 100 0 18 14 0.0000 4 210 510 3825 5265 [x_b]\001 4 1 4 100 0 18 14 0.0000 4 210 525 4950 5265 [y_b]\001 4 1 4 100 0 18 14 0.0000 4 210 525 6075 5265 [a_b]\001 |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulum_lbl.txt version [4d5db894bb].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 | %% Label file for system InvertedPendulum (InvertedPendulum_lbl.txt) %SUMMARY InvertedPendulum %DESCRIPTION <Detailed description here> % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% Version control history % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% $Id$ % %% $Log$ % %% Revision 1.1 2000/12/28 18:00:45 peterg % %% To RCS % %% % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Port aliases %UNITS x translational N m/s %UNITS y translational N m/s %UNITS a rotational N*m radian/s %ALIAS in|cart x,y,a % Argument aliases %% Each line should be of one of the following forms: % a comment (ie starting with %) % component-name cr_name arg1,arg2,..argn % blank % ---- Component labels ---- % Component type De theta SS external % Component type SS [a] SS external,external [x] SS external,external [y] SS external,external % Component type Se a_0 SS 0 x_0 SS 0 y_0 SS 0 % Component type gRod rod none l;l;j_r;m_r;g |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_abg.fig version [0bf799ade7].
> > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 | #FIG 3.2 Portrait Center Metric A4 100.00 Single -2 1200 2 1 4 0 2 1 7 51 0 -1 0.000 1 0.0000 3700 4909 203 203 3497 4909 3903 4909 1 4 0 2 1 7 51 0 -1 0.000 1 0.0000 4817 4902 203 203 4614 4902 5020 4902 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 2475 4275 3825 4275 3600 4500 2 4 0 2 1 7 101 0 -1 0.000 0 0 7 0 0 5 5175 4725 3375 4725 3375 3825 5175 3825 5175 4725 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 4275 4050 5230 3095 5230 3414 2 1 0 2 1 7 101 0 -1 0.000 0 0 -1 0 0 5 4477 3712 5872 2317 6052 2497 4702 3847 4522 3667 2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5 6750 5400 1125 5400 1125 2025 6750 2025 6750 5400 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 3825 4050 3825 4500 4 1 0 100 0 18 20 0.0000 4 210 570 4275 4365 Cart\001 4 1 0 100 0 18 20 0.0000 4 210 630 2070 4365 Se:F\001 4 1 0 100 0 18 20 0.0000 4 210 2445 5355 3060 InvertedPendulum\001 |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_desc.tex version [d9a35eec71].
> > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 |
% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system idInvertedPendulumOnCart (InvertedPendulumOnCart_desc.tex)
% Generated by MTT on Thu Aug 5 10:38:16 BST 1999.
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1 2000/12/28 18:00:45 peterg
% %% To RCS
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
The acausal bond graph of system \textbf{idInvertedPendulumOnCart} is
displayed in Figure \Ref{fig:InvertedPendulumOnCart_abg.ps} and its label
file is listed in Section \Ref{sec:InvertedPendulumOnCart_lbl}.
The subsystems are listed in Section \Ref{sec:InvertedPendulumOnCart_sub}.
This is a one input, two output nonlinear system comprising an
inverted pendulum attached by a hinge to a cart constrained to move in
the horizontal direction. The input is the horizontal force acting on
the cart, and the two outputs are the horizontal position and the
pendulum angle respectively.
The identification procedure estimates the two friction parameters
$r_c$ and $r_c$
|
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_input.txt version [2630e61eae].
> > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 | ## -*-octave-*- Put Emacs into octave-mode ## ## ## System idInvertedPendulumOnCart, representation input, language txt; ## File idInvertedPendulumOnCart_input.txt; ## Generated by MTT on Thu Apr 5 15:27:30 BST 2001; idInvertedPendulumOnCart_f = 1.0*(t<1); # Force for 1 sec |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_ippp.m version [030265f188].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 |
## Set up parameters
name = "idInvertedPendulumOnCart";
sim = sidInvertedPendulumOnCart_simpar; # Simulation parameter
sym = sidInvertedPendulumOnCart_sympar; # Parameter names
par = sidInvertedPendulumOnCart_numpar; # Parameter values
x0 = sidInvertedPendulumOnCart_state(par); # Initial state
## Simulation of "actual" system
t = [0:sim.dt:sim.last]';
one = ones(size(t));
u = 1.0*(t<one);
y_0 = sidInvertedPendulumOnCart_ssim(x0,par,sim,u);
## Initial parameter
par_0 = par;
par_0(sym.r_c) = 0.0;
par_0(sym.r_p) = 0.0;
## Identify
extras.criterion = 1e-5;
extras.max_iterations = 10;
extras.v = 1e-5;
extras.verbose = 1; # Show what is going on
[par,Par,Error,Y] = ppp_identify (name,u,y_0,["r_c";"r_p"],par_0,extras);
par = par
grid;
xlabel("Time")
title("Estimated output");
plot(t,y_0,t,Y);
figfig("idInvertedPendulumOnCart_outputs","pdf");
figfig("idInvertedPendulumOnCart_outputs","ps");
xlabel("Iteration")
title("Estimation error");
plot(Error);
figfig("idInvertedPendulumOnCart_error","pdf");
figfig("idInvertedPendulumOnCart_error","ps");
xlabel("Iteration")
title("Estimated Parameters");
plot(Par([sym.r_c,sym.r_p],:)');
figfig("idInvertedPendulumOnCart_parameters","pdf");
figfig("idInvertedPendulumOnCart_parameters","ps");
|
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_lbl.txt version [6eb2071b1b].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 | %% Label file for system idInvertedPendulumOnCart (InvertedPendulumOnCart_lbl.txt) %SUMMARY InvertedPendulumOnCart %DESCRIPTION An Inverted Pendulum on a Cart % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% Version control history % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% $Id$ % %% $Log$ % %% Revision 1.1 2000/12/28 18:00:45 peterg % %% To RCS % %% % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Port aliases % Argument aliases %% Each line should be of one of the following forms: % a comment (ie starting with %) % component-name cr_name arg1,arg2,..argn % blank % ---- Component labels ---- % Component type Se F SS external |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_numpar.txt version [cff682d8fd].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 | # -*-octave-*- Put Emacs into octave-mode # Numerical parameter file (InvertedPendulumOnCart_numpar.txt) # Generated by MTT at Thu Aug 5 10:07:08 BST 1999 # %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% # %% Version control history # %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% # %% $Id$ # %% $Log$ # %% Revision 1.1 2000/12/28 18:00:45 peterg # %% To RCS # %% # %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% # Parameters ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: e_s = 1.0; # Se ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: f_s = 1.0; # Sf g = 1.0; # Pendulum,gRODa ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: j_m = 1.0; # gRODa j_r = 1.0; # Pendulum l = 1.0; # Pendulum ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: l_a = 1.0; # gRODa ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: l_b = 1.0; # gRODa ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: m = 1.0; # gRODa ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: m_c = 1.0; # Cart ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: m_r = 1.0; # Pendulum r_c = 0.1; # Cart r_p = 0.1; # Cart m_c = 1.0; # Added by MTT on Thu Nov 09 17:22:55 GMT 2000 m_r = 1.0; # Added by MTT on Thu Nov 09 17:22:55 GMT 2000 |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_rep.txt version [e8c9cda982].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 | ## -*-octave-*- Put Emacs into octave-mode ## Outline report file for system idInvertedPendulumOnCart (idRC_rep.txt) ## Generated by MTT on" Thu Apr 5 11:17:27 BST 2001. ############################################################### ## Version control history ############################################################### ## $Id$ ## $Log$ ## Revision 1.1 2001/04/05 11:57:29 gawthrop ## Identification example ## ## Revision 1.1 2000/12/28 11:58:07 peterg ## Put under RCS ## ############################################################### mtt idInvertedPendulumOnCart abg tex # The system description mtt idInvertedPendulumOnCart cbg ps # The causal bond graph mtt idInvertedPendulumOnCart struc tex # The system structure mtt idInvertedPendulumOnCart sympar tex # The system parameters ## Uncomment the following lines or add others ## mtt idInvertedPendulumOnCart dae tex # The system dae ## mtt idInvertedPendulumOnCart ode tex # The system ode ## mtt idInvertedPendulumOnCart sspar tex # Steady-state parameters ## mtt idInvertedPendulumOnCart ss tex # Steady state ## mtt idInvertedPendulumOnCart dm tex # Descriptor matrices (of linearised system) ## mtt idInvertedPendulumOnCart sm tex # State matrices (of linearised system) ## mtt idInvertedPendulumOnCart tf tex # Transfer function (of linearised system) ## mtt idInvertedPendulumOnCart lmfr ps # log modulus of frequency response (of linearised system) ## mtt idInvertedPendulumOnCart simpar tex # Simulation parameters ## mtt idInvertedPendulumOnCart numpar tex # Numerical simulation parameters ## mtt idInvertedPendulumOnCart state tex # Simulation initial state ## mtt idInvertedPendulumOnCart input tex # Simulation input ## mtt idInvertedPendulumOnCart logic tex # Logic control mtt -oct idInvertedPendulumOnCart ippp ps mtt idInvertedPendulumOnCart rep txt # This file |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_simpar.txt version [3498895858].
> > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 | # -*-octave-*- Put Emacs into octave-mode # Simulation parameters for system idInvertedPendulumOnCart (InvertedPendulumOnCart_simpar.txt) # Generated by MTT on Thu Aug 5 09:17:05 BST 1999. ############################################################### ## Version control history ############################################################### ## $Id$ ## $Log$ ## Revision 1.1 2000/12/28 18:00:45 peterg ## To RCS ## ############################################################### LAST = 100.0; # Last time in simulation DT = 0.1; # Print interval STEPFACTOR = 1; # Integration steps per print interval WMIN = -1; # Minimum frequency = 10^WMIN WMAX = 2; # Maximum frequency = 10^WMAX WSTEPS = 100; # Number of frequency steps INPUT = 1; # Index of the input |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_subs.r version [752962d684].
> > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 | % Default SUBS file % File InvertedPendulumOnCart_subs.r % Generated by MTT on Thu Nov 9 18:55:44 GMT 2000. % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% Version control history % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% $Id$ % %% $Log$ % %% Revision 1.2 2001/04/02 10:57:57 gawthrop % %% Added missing ; % %% % %% Revision 1.1 2000/12/28 18:00:45 peterg % %% To RCS % %% % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Put algebraic substitution commands here for all x let cos(x)^2+sin(x)^2 = 1; FOR ALL x,y LET x^y = pow(x,y); % Use the pow function ON ROUNDED; % No integer output END; |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idRC_rep.txt version [5572b35356].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 | ## -*-octave-*- Put Emacs into octave-mode ## Outline report file for system idRC (idRC_rep.txt) ## Generated by MTT on" Thu Apr 5 11:17:27 BST 2001. ############################################################### ## Version control history ############################################################### ## $Id$ ## $Log$ ## Revision 1.1 2001/04/05 11:57:29 gawthrop ## Identification example ## ## Revision 1.1 2000/12/28 11:58:07 peterg ## Put under RCS ## ############################################################### mtt idRC abg tex # The system description mtt idRC cbg ps # The causal bond graph mtt idRC struc tex # The system structure mtt idRC sympar tex # The system parameters ## Uncomment the following lines or add others ## mtt idRC dae tex # The system dae ## mtt idRC ode tex # The system ode ## mtt idRC sspar tex # Steady-state parameters ## mtt idRC ss tex # Steady state ## mtt idRC dm tex # Descriptor matrices (of linearised system) ## mtt idRC sm tex # State matrices (of linearised system) ## mtt idRC tf tex # Transfer function (of linearised system) ## mtt idRC lmfr ps # log modulus of frequency response (of linearised system) ## mtt idRC simpar tex # Simulation parameters ## mtt idRC numpar tex # Numerical simulation parameters ## mtt idRC state tex # Simulation initial state ## mtt idRC input tex # Simulation input ## mtt idRC logic tex # Logic control mtt -oct idRC odeso ps # Simulation output mtt -oct -i euler idRC ippp ps mtt idRC rep txt # This file |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sCart_lbl.txt version [628f0a2179].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 | %% Label file for system sCart (sCart_lbl.txt) %SUMMARY sCart %DESCRIPTION % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% Version control history % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% $Id$ % %% $Log$ % %% Revision 1.1 2000/12/28 09:13:38 peterg % %% Initial revision % %% % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Port aliases %ALIAS in|drive drive_1,drive_2 %ALIAS pendulum|out x_1,x_2,y_1,y_2,a_1,a_2 %ALIAS x x_1,x_2 %ALIAS y y_1,y_2 %ALIAS a a_1,a_2 % Argument aliases %% Each line should be of one of the following forms: % a comment (ie starting with %) % component-name cr_name arg1,arg2,..argn % blank % ---- Component labels ---- % Component type SS [a] SS external,external [drive] SS external,external [x] SS external,external [y] SS external,external % Component type De Position SS external % Component type I m_c lin flow,m_c;m_cs % Component type R r_c lin flow,r_c;r_cs r_p lin flow,r_p;r_ps % Component type Sf zero_velocity SS 0;0 |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sInvertedPendulum_lbl.txt version [3c3f92fdc0].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 | %% Label file for system sInvertedPendulum (sInvertedPendulum_lbl.txt) %SUMMARY sInvertedPendulum %DESCRIPTION % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% Version control history % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% $Id$ % %% $Log$ % %% Revision 1.1 2000/12/28 09:13:38 peterg % %% Initial revision % %% % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Port aliases %ALIAS in|cart x_1,x_2,y_1,y_2,a_1,a_2 %ALIAS x x_1,x_2 %ALIAS y y_1,y_2 %ALIAS a a_1,a_2 % Argument aliases %% Each line should be of one of the following forms: % a comment (ie starting with %) % component-name cr_name arg1,arg2,..argn % blank % ---- Component labels ---- % Component type SS [a] SS external,external [x] SS external,external [y] SS external,external % Component type De theta SS external % Component type Se a_0 SS 0;0 x_0 SS 0;0 y_0 SS 0;0 % Component type gRODa rod none m_p*l_p*l_p/12;m_ps*l_p*l_p/12;m_p;m_ps;l_p/2;l_p/2;g |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sgRODa_abg.fig version [ee579d4ee7].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 | #FIG 3.2 Portrait Center Metric A4 100.00 Single -2 1200 2 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 4728 4278 5403 4953 5178 4953 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 5854 5404 6529 6079 6304 6079 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 4728 6078 5403 5403 5403 5628 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 5853 4953 6528 4278 6528 4503 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 4277 3827 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 3152 2702 4277 3827 4052 3827 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 6977 6527 8102 7652 7877 7652 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 3152 7652 4277 6527 4277 6752 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 6977 3827 8102 2702 8102 2927 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 5852 5177 6527 5177 6392 5312 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 2927 2927 2927 4952 3152 4727 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 2927 5402 2927 7427 3152 7202 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 2701 5176 2026 5176 2161 5311 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 2926 1351 2926 2476 3196 2206 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 2926 7876 2926 9001 3196 8731 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 8328 2928 8328 4953 8553 4728 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 8328 5403 8328 7428 8553 7203 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 8327 1352 8327 2477 8597 2207 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 8327 7877 8327 9002 8597 8732 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 5626 1351 5626 4951 5851 4726 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 5626 5401 5626 9001 5851 8776 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1 6526 5401 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 6526 4951 6526 5401 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 8551 5176 9226 5176 9091 5311 2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 3826 4951 6526 4051 6436 4231 2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 2 3826 4996 3826 5356 2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 4276 5176 3826 5176 3961 5311 2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 3826 5401 6301 6301 6121 6301 2 1 0 1 5 -1 0 0 -1 0.000 0 0 -1 0 0 3 3601 5401 4051 6301 3826 6301 2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 3601 4951 4051 4051 4051 4276 2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3 5536 5176 5086 5176 5221 5311 2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 6300 9675 6300 675 4950 675 4950 9675 6300 9675 2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 9000 9675 9000 675 7650 675 7650 9675 9000 9675 2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5 11025 10305 11025 225 225 225 225 10305 11025 10305 2 4 0 1 1 7 0 0 -1 0.000 0 0 7 0 0 5 3600 9675 2250 9675 2250 675 3600 675 3600 9675 2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 10125 2250 990 2250 990 900 10125 900 10125 2250 2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 10125 5850 990 5850 990 4500 10125 4500 10125 5850 2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5 10125 9450 990 9450 990 8100 10125 8100 10125 9450 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 8550 5400 9225 6075 8955 6075 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 8685 5265 8415 5535 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3 3375 5175 2025 3825 2250 3825 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 2700 4950 2700 5400 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 8550 4950 8550 5400 4 1 6 0 0 0 20 0.0000 4 240 510 5629 5269 [1,2]\001 4 1 -1 0 0 0 20 0.0000 4 195 135 5629 5268 1\001 4 1 -1 0 0 0 20 0.0000 4 195 375 6933 5268 sI:J\001 4 1 6 0 0 0 20 0.0000 4 240 510 2928 5313 [1,2]\001 4 1 -1 0 0 0 20 0.0000 4 195 135 2928 5312 1\001 4 1 6 0 0 0 20 0.0000 4 240 510 2973 2793 [1,2]\001 4 1 -1 0 0 0 20 0.0000 4 195 135 2973 2792 0\001 4 1 6 0 0 0 20 0.0000 4 240 510 2928 7743 [1,2]\001 4 1 -1 0 0 0 20 0.0000 4 195 135 2928 7742 0\001 4 1 6 0 0 0 20 0.0000 4 240 510 8329 5314 [1,2]\001 4 1 -1 0 0 0 20 0.0000 4 195 135 8329 5313 1\001 4 1 6 0 0 0 20 0.0000 4 240 510 8374 2794 [1,2]\001 4 1 -1 0 0 0 20 0.0000 4 195 135 8374 2793 0\001 4 1 6 0 0 0 20 0.0000 4 240 510 8329 7744 [1,2]\001 4 1 -1 0 0 0 20 0.0000 4 195 135 8329 7743 0\001 4 1 -1 0 0 0 20 0.0000 4 255 765 9676 5266 sI:m_y\001 4 1 -1 0 0 0 20 0.0000 4 255 765 1531 5221 sI:m_x\001 4 1 -1 0 0 0 20 0.0000 4 195 1215 4636 4141 sEMTF:c1\001 4 1 -1 0 0 0 20 0.0000 4 195 1215 4681 6391 sEMTF:c2\001 4 1 -1 0 0 0 20 0.0000 4 195 1200 7156 4141 sEMTF:s1\001 4 1 -1 0 0 0 20 0.0000 4 195 1200 7156 6391 sEMTF:s2\001 4 1 6 0 0 0 20 0.0000 4 240 510 3604 5314 [1,2]\001 4 1 5 0 0 0 20 0.0000 4 195 135 3604 5313 0\001 4 1 26 0 0 0 16 0.0000 4 210 345 6751 4456 [in]\001 4 1 26 0 0 0 16 0.0000 4 210 465 6751 3781 [out]\001 4 1 26 0 0 0 16 0.0000 4 210 345 6751 6076 [in]\001 4 1 26 0 0 0 16 0.0000 4 210 465 6751 6706 [out]\001 4 1 26 0 0 0 16 0.0000 4 210 585 6211 6526 [mod]\001 4 1 5 0 0 0 20 0.0000 4 195 1065 4681 5266 sINTF:th\001 4 1 1 1 0 0 20 0.0000 4 195 210 2925 10035 X\001 4 1 1 1 0 32 20 0.0000 4 135 180 5580 9990 a\001 4 1 1 1 0 0 20 0.0000 4 195 210 8280 9990 Y\001 4 2 26 0 0 0 16 0.0000 4 210 585 3960 4140 [mod]\001 4 2 26 0 0 0 16 0.0000 4 210 585 6345 4095 [mod]\001 4 2 26 0 0 0 16 0.0000 4 210 585 3960 6210 [mod]\001 4 1 26 0 0 0 16 0.0000 4 210 345 4590 4455 [in]\001 4 1 26 0 0 0 16 0.0000 4 210 465 4545 3780 [out]\001 4 1 26 0 0 0 16 0.0000 4 210 465 4590 6660 [out]\001 4 0 26 0 0 0 16 0.0000 4 210 345 4365 6030 [in]\001 4 1 6 0 0 0 20 0.0000 4 240 510 2972 1217 [1,2]\001 4 1 4 0 0 0 20 0.0000 4 255 1380 2972 1216 SS:[xTip_a]\001 4 1 6 0 0 0 20 0.0000 4 240 510 2972 9362 [1,2]\001 4 1 4 0 0 0 20 0.0000 4 255 1380 2972 9361 SS:[xTip_b]\001 4 1 6 0 0 0 20 0.0000 4 240 510 8373 1218 [1,2]\001 4 1 4 0 0 0 20 0.0000 4 255 1380 8373 1217 SS:[yTip_a]\001 4 1 6 0 0 0 20 0.0000 4 240 510 8418 9363 [1,2]\001 4 1 4 0 0 0 20 0.0000 4 255 1380 8418 9362 SS:[yTip_b]\001 4 1 6 0 0 0 20 0.0000 4 240 510 5672 1217 [1,2]\001 4 1 4 0 0 0 20 0.0000 4 255 2130 5672 1216 SS:[angularTip_a]\001 4 1 6 0 0 0 20 0.0000 4 240 510 5672 9362 [1,2]\001 4 1 4 0 0 0 20 0.0000 4 255 2130 5672 9361 SS:[angularTip_b]\001 4 1 1 1 0 0 20 0.0000 4 255 600 1350 2700 Tip a\001 4 1 1 1 0 0 20 0.0000 4 195 1380 1260 6300 Mass centre\001 4 1 1 1 0 0 20 0.0000 4 255 600 1350 9855 Tip b\001 4 2 6 0 0 0 20 0.0000 4 240 510 1936 3736 [1,2]\001 4 2 4 0 0 0 20 0.0000 4 255 1200 1936 3735 SS:[angle]\001 4 1 -1 0 0 0 20 0.0000 4 255 825 9405 6390 sSe:mg\001 |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sgRODa_lbl.txt version [b866d247dc].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 | %% Label file for system sgRODa (sgRODa_lbl.txt) %SUMMARY sgRODa %DESCRIPTION % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% Version control history % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% $Id$ % %% $Log$ % %% Revision 1.1 2000/12/28 09:13:38 peterg % %% Initial revision % %% % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Port aliases %ALIAS a angle_1,angle_2 %ALIAS a_a angularTip_a_1,angularTip_a_2 %ALIAS a_b angularTip_b_1,angularTip_b_2 %ALIAS x_a xTip_a_1,xTip_a_2 %ALIAS x_b xTip_b_1,xTip_b_2 %ALIAS y_a yTip_a_1,yTip_a_2 %ALIAS y_b yTip_b_1,yTip_b_2 % Argument aliases %ALIAS $1 J %ALIAS $2 Js %ALIAS $3 m %ALIAS $4 ms %ALIAS $5 l_a %ALIAS $6 l_b %ALIAS $7 g %% Each line should be of one of the following forms: % a comment (ie starting with %) % component-name cr_name arg1,arg2,..argn % blank % ---- Component labels ---- % Component type SS [angle] SS external,external [angularTip_a] SS external,external [angularTip_b] SS external,external [xTip_a] SS external,external [xTip_b] SS external,external [yTip_a] SS external,external [yTip_b] SS external,external % Component type EMTF s1 lsin;slsin l_a s2 lsin;slsin l_b c1 lcos;slcos l_a c2 lcos;slcos l_b % Component type I J lin flow,J;Js m_x lin flow,m;ms m_y lin flow,m;ms th % Component type Se mg SS m*g;0 |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_desc.tex version [ac7211d6eb].
> > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 |
% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system sidInvertedPendulumOnCart (InvertedPendulumOnCart_desc.tex)
% Generated by MTT on Thu Aug 5 10:38:16 BST 1999.
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1 2000/12/28 18:00:45 peterg
% %% To RCS
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
The acausal bond graph of system \textbf{sidInvertedPendulumOnCart} is
displayed in Figure \Ref{fig:InvertedPendulumOnCart_abg.ps} and its label
file is listed in Section \Ref{sec:InvertedPendulumOnCart_lbl}.
The subsystems are listed in Section \Ref{sec:InvertedPendulumOnCart_sub}.
This is a one input, two output nonlinear system comprising an
inverted pendulum attached by a hinge to a cart constrained to move in
the horizontal direction. The input is the horizontal force acting on
the cart, and the two outputs are the horizontal position and the
pendulum angle respectively.
|
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_input.txt version [deeadfdd68].
> > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 | ## -*-octave-*- Put Emacs into octave-mode ## ## ## System sidInvertedPendulumOnCart, representation input, language txt; ## File sidInvertedPendulumOnCart_input.txt; ## Generated by MTT on Wed Apr 11 12:03:25 BST 2001; sidInvertedPendulumOnCart_F_1_se_1_1_u = 1.0; # Default |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_lbl.txt version [a5fd637ffc].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 | %% Label file for system idInvertedPendulumOnCart (InvertedPendulumOnCart_lbl.txt) %SUMMARY InvertedPendulumOnCart %DESCRIPTION An Inverted Pendulum on a Cart % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% Version control history % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% $Id$ % %% $Log$ % %% Revision 1.1 2000/12/28 18:00:45 peterg % %% To RCS % %% % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Port aliases % Argument aliases %% Each line should be of one of the following forms: % a comment (ie starting with %) % component-name cr_name arg1,arg2,..argn % blank % ---- Component labels ---- % Component type Se F SS external;0 |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_numpar.txt version [bbbf09e198].
> > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 | ## -*-octave-*- Put Emacs into octave-mode ## ## ## System sidInvertedPendulumOnCart, representation numpar, language txt; ## File sidInvertedPendulumOnCart_numpar.txt; ## Generated by MTT on Wed Apr 11 14:07:41 BST 2001; ## Physical parameters m_c = 0.455; # Cart mass r_c = 1.5; # Cart friction l_p = 0.61; # Pendulum length m_p = 0.210; # Pendulum mass r_p = 0.5; # Pendulum friction g = 9.81; # Gravity ## Sensitivity paramenters - all zero m_cs = 0.0; m_ps = 0.0; r_cs = 0.0; r_ps = 0.0; |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_rep.txt version [b39d92d1c6].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 | ## -*-octave-*- Put Emacs into octave-mode ## Outline report file for system sidInvertedPendulumOnCart (InvertedPendulumOnCart_rep.txt) ## Generated by MTT on" Fri Oct 22 09:03:14 EST 1999. ############################################################### ## Version control history ############################################################### ## $Id$ ## $Log$ ## Revision 1.1 2000/12/28 18:00:45 peterg ## To RCS ## ############################################################### mtt sidInvertedPendulumOnCart abg tex # The system description mtt sidInvertedPendulumOnCart cbg ps # The causal bond graph ## Uncomment the following lines or add others mtt sidInvertedPendulumOnCart struc tex # The system structure mtt sidInvertedPendulumOnCart dae tex # The system dae ## mtt sidInvertedPendulumOnCart ode tex # The system ode ## mtt sidInvertedPendulumOnCart sspar tex # Steady-state parameters ## mtt sidInvertedPendulumOnCart ss tex # Steady state ## mtt sidInvertedPendulumOnCart dm tex # Descriptor matrices (of linearised system) mtt sidInvertedPendulumOnCart sm tex # State matrices (of linearised system) ## mtt sidInvertedPendulumOnCart tf tex # Transfer function (of linearised system) ## mtt sidInvertedPendulumOnCart lmfr ps # log modulus of frequency response (of linearised system) mtt sidInvertedPendulumOnCart simpar tex # Simulation parameters mtt sidInvertedPendulumOnCart numpar tex # Numerical simulation parameters mtt sidInvertedPendulumOnCart input tex # Simulation input mtt -c sidInvertedPendulumOnCart odeso ps # Simulation output |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_simpar.txt version [f8264c56f3].
> > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 | # -*-octave-*- Put Emacs into octave-mode # Simulation parameters for system sidInvertedPendulumOnCart (InvertedPendulumOnCart_simpar.txt) # Generated by MTT on Thu Aug 5 09:17:05 BST 1999. ############################################################### ## Version control history ############################################################### ## $Id$ ## $Log$ ## Revision 1.1 2000/12/28 18:00:45 peterg ## To RCS ## ############################################################### LAST = 10.0; # Last time in simulation DT = 0.1; # Print interval STEPFACTOR = 1; # Integration steps per print interval WMIN = -1; # Minimum frequency = 10^WMIN WMAX = 2; # Maximum frequency = 10^WMAX WSTEPS = 100; # Number of frequency steps INPUT = 1; # Index of the input |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_subs.r version [752962d684].
> > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 | % Default SUBS file % File InvertedPendulumOnCart_subs.r % Generated by MTT on Thu Nov 9 18:55:44 GMT 2000. % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% Version control history % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% $Id$ % %% $Log$ % %% Revision 1.2 2001/04/02 10:57:57 gawthrop % %% Added missing ; % %% % %% Revision 1.1 2000/12/28 18:00:45 peterg % %% To RCS % %% % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Put algebraic substitution commands here for all x let cos(x)^2+sin(x)^2 = 1; FOR ALL x,y LET x^y = pow(x,y); % Use the pow function ON ROUNDED; % No integer output END; |
Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulum_lbl.txt version [0a6e4d861b].
> > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 | %% Label file for system sidInvertedPendulum (sidInvertedPendulum_lbl.txt) %SUMMARY sidInvertedPendulum %DESCRIPTION % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% Version control history % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% $Id$ % %% $Log$ % %% Revision 1.1 2000/12/28 09:13:38 peterg % %% Initial revision % %% % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Port aliases % Argument aliases %% Each line should be of one of the following forms: % a comment (ie starting with %) % component-name cr_name arg1,arg2,..argn % blank % ---- Component labels ---- |