Overview
Comment:Deletes limits at inf and -inf
Downloads: Tarball | ZIP archive | SQL archive
Timelines: family | ancestors | descendants | both | origin/master | trunk
Files: files | file ages | folders
SHA3-256: 7d2473baf8ebcae03117df5bdeff6770c65cf2aad940a4ea1d112be0379aa3b2
User & Date: gawthrop@users.sourceforge.net on 2002-09-11 14:22:42
Other Links: branch diff | manifest | tags
Context
2002-09-11
14:24:02
Now correctly handles outputs with index >1 check-in: 795caac532 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
14:22:42
Deletes limits at inf and -inf check-in: 7d2473baf8 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
14:21:22
large limits set to inf or -inf check-in: 2d61c630e7 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
Changes
Hide Diffs Unified Diffs Ignore Whitespace Patch

Modified mttroot/mtt/lib/control/PPP/ppp_input_constraint.m from [7527131a2c] to [75b7c0f8a7]. 

1
2
3
4
5
6
7
8
9
10
11
12


13
14
15
16
17
18
19

function [Gamma,gamma] = ppp_input_constraint (A_u,Tau,Min,Max,Order,i_u,n_u)

  ## usage:  [Gamma,gamma] = ppp_input_constraint (A_u,Tau,Min,Max,Order)
  ##
  ## Derives the input constraint matrices Gamma and gamma
  ## For Constraints Min and max at times Tau 
  ## Order=0 - input constraints
  ## Order=1 - input derivative constraints
  ## etc
  ## i_u: Integer index of the input to be constrained
  ## n_u: Number of inputs
  ## NOTE You can stack up Gamma and gamma matrices for create multi-input constraints.



  ## Copyright (C) 1999 by Peter J. Gawthrop
  ## 	$Id$	


  ## Sizes
  [n_U,m_U] = size(A_u);	# Number of basis functions



|








|
>
>








1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21

function [Gamma,gamma] = ppp_input_constraint (A_u,Tau,Min,Max,Order,i_u,n_u)

  ## usage:  [Gamma,gamma] = ppp_input_constraint (A_u,Tau,Min,Max,Order,i_u,n_u)
  ##
  ## Derives the input constraint matrices Gamma and gamma
  ## For Constraints Min and max at times Tau 
  ## Order=0 - input constraints
  ## Order=1 - input derivative constraints
  ## etc
  ## i_u: Integer index of the input to be constrained
  ## n_u: Number of inputs
  ## NOTE You can stack up Gamma and gamma matrices for create 
  ##    multi-input constraints.
  ## Limits at inf and -inf are discarded

  ## Copyright (C) 1999 by Peter J. Gawthrop
  ## 	$Id$	


  ## Sizes
  [n_U,m_U] = size(A_u);	# Number of basis functions
︙︙
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

  endif
  
  n = length(Min);
  m = length(Max);
  o = length(Order);

  if (n != N_t)||(m != N_t)||(o != N_t)
    error("Tau, Min and max must be the same length");
  endif
  
  ## Extract the A_i matrix for this input
  A_i = ppp_extract(A_u,i_u);

  ## Create the constraints in the form: Gamma*U < gamma
  Gamma = [];
  gamma = [];
  one = ones(m_U,1);
  i=0;

  zero_l = zeros(1,(i_u-1)*m_U); # Pad left-hand
  zero_r = zeros(1,(n_u-i_u)*m_U); # Pad right-hand
  for tau = Tau			# Stack constraints for each tau
    i++;

    Gamma_tau = ( A_i^Order(i) * expm(A_i*tau) * one )';
    Gamma_tau = [ zero_l Gamma_tau zero_r ]; # Only for i_uth input


    Gamma = [Gamma;[-1;1]*Gamma_tau]; # One row for each of min and max



    gamma_tau = [-Min(i);Max(i)];

    gamma = [gamma;gamma_tau];


  endfor

endfunction








|















>


>
>
|
>
>
|
|
>
|
>
>




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

  endif
  
  n = length(Min);
  m = length(Max);
  o = length(Order);

  if (n != N_t)||(m != N_t)||(o != N_t)
    error("Tau, Min, Max and Order must be the same length");
  endif
  
  ## Extract the A_i matrix for this input
  A_i = ppp_extract(A_u,i_u);

  ## Create the constraints in the form: Gamma*U < gamma
  Gamma = [];
  gamma = [];
  one = ones(m_U,1);
  i=0;

  zero_l = zeros(1,(i_u-1)*m_U); # Pad left-hand
  zero_r = zeros(1,(n_u-i_u)*m_U); # Pad right-hand
  for tau = Tau			# Stack constraints for each tau
    i++;

    Gamma_tau = ( A_i^Order(i) * expm(A_i*tau) * one )';
    Gamma_tau = [ zero_l Gamma_tau zero_r ]; # Only for i_uth input

    if Max(i)<inf
      Gamma = [Gamma; Gamma_tau];
      gamma = [gamma; Max(i)];
    endif
    
    if Min(i)>-inf
      Gamma = [Gamma; -Gamma_tau];
      gamma = [gamma; -Min(i)];
    endif
    
  endfor

endfunction

MTT: Model Transformation Tools
[ GitHub | SourceHut | Sourceforge | Fossil RSS ]