Overview
| Comment: | Move condition test to reflect modified J_uu |
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| Downloads: | Tarball | ZIP archive | SQL archive |
| Timelines: | family | ancestors | descendants | both | origin/master | trunk |
| Files: | files | file ages | folders |
| SHA3-256: |
8e4d43f7e8aa762ce65d59ac4a7f2986 |
| User & Date: | gawthrop@users.sourceforge.net on 2002-12-23 12:24:57 |
| Other Links: | branch diff | manifest | tags |
Context
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2003-01-06
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| 21:22:53 | Updated SS entries. check-in: d59bfab999 user: geraint@users.sourceforge.net tags: origin/master, trunk | |
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2002-12-23
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| 12:24:57 | Move condition test to reflect modified J_uu check-in: 8e4d43f7e8 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
| 11:17:47 | Now GPL only check-in: 731d6ee8b5 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
Changes
Modified mttroot/mtt/lib/control/PPP/ppp_lin.m from [badb5c2ae2] to [2951f6d250].
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## Scale R
R = R*dt; # Scale to give correct units
for i = 1:m_t
Ust = Us(i,:);
J_uu = J_uu + Ust'*R*Ust;
endfor
| < < < < < < | 172 173 174 175 176 177 178 179 180 181 182 183 184 185 |
## Scale R
R = R*dt; # Scale to give correct units
for i = 1:m_t
Ust = Us(i,:);
J_uu = J_uu + Ust'*R*Ust;
endfor
## 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);
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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
| > > > > > > > | 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 |
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;
## 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
## 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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