Overview
| Comment: | Handle constraints on multiple variables. |
|---|---|
| Downloads: | Tarball | ZIP archive | SQL archive |
| Timelines: | family | ancestors | descendants | both | origin/master | trunk |
| Files: | files | file ages | folders |
| SHA3-256: |
7f672bd33ac6ef4bc55814bdbb52c394 |
| User & Date: | gawthrop@users.sourceforge.net on 2002-09-11 14:27:37 |
| Other Links: | branch diff | manifest | tags |
Context
|
2002-09-11
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| 15:04:59 | Optional boxing check-in: 6612bd3bdf user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
| 14:27:37 | Handle constraints on multiple variables. check-in: 7f672bd33a user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
| 14:24:02 | Now correctly handles outputs with index >1 check-in: 795caac532 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
Changes
Added mttroot/mtt/lib/control/PPP/ppp_input_constraints.m version [804cd7fa35].
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function [Gamma,gamma] = ppp_input_constraints (A_u,Tau,Min,Max,Order)
## usage: [Gamma,gamma] = ppp_input_constraints (A_u,Tau,Min,Max[,Order])
##
## Derives input copnstraint matrices Gamma and gamma
## for multi-input systems.
## A_u Input-generating matrix
## Tau row vector of times at which constraints occur
## Max, Maximum and minimum values
## Limits at inf and -inf are discarded
## Sanity check
[n_u,n_tau] = size(Min);
[n,m] = size(Max);
if (n!=n_u)||(m!=n_tau)
error("Max and Min must have the same dimensions");
endif
[n,m] = size(Tau);
if (m!=n_tau)
error("Max and Min must have same number of columns as Tau");
endif
if (n>1)
error("Tau must be a row vector");
endif
##Defaults
if nargin<5
Order=zeros(1,n_tau);
endif
## Stack up constraints for each input
Gamma=[];
gamma=[];
for i_u=1:n_u
[Gamma_i,gamma_i] = \
ppp_input_constraint(A_u,Tau,Min(i_u,:),Max(i_u,:),Order,i_u,n_u);
Gamma = [Gamma; Gamma_i];
gamma = [gamma; gamma_i];
endfor
endfunction
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Added mttroot/mtt/lib/control/PPP/ppp_output_constraints.m version [b5e964eaca].
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function [Gamma,gamma] = ppp_output_constraints (A,B,C,D,x_0,A_u,Tau,Min,Max,Order)
## usage:
## [Gamma,gamma] = ppp_output_constraints(A,B,C,D,x_0,A_u,Tau,Min,Max,Order)
##
##
## Sanity check
[n_y,n_tau] = size(Min);
[n,m] = size(Max);
if (n!=n_y)||(m!=n_tau)
error("Max and Min must have the same dimensions");
endif
[n,m] = size(Tau);
if (m!=n_tau)
error("Max and Min must have same number of columns as Tau");
endif
if (n>1)
error("Tau must be a row vector");
endif
##Defaults
if nargin<10
Order=zeros(n_y,n_tau);
endif
## Stack up constraints for each input
Gamma=[];
gamma=[];
for i_y=1:n_y
[Gamma_i,gamma_i] = \
ppp_output_constraint (A,B,C,D,x_0,A_u,Tau,\
Min(i_y,:),Max(i_y,:),Order(i_y,:),i_y);
Gamma = [Gamma; Gamma_i];
gamma = [gamma; gamma_i];
endfor
endfunction
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