Overview
Comment:Complete rewrite
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SHA3-256: 99eaa00ae684936f0a7265a6ac49fe7aa906fd1c8503cd02d6f9ebdbdb939e8b
User & Date: gawthrop@users.sourceforge.net on 2002-05-14 15:43:41
Other Links: branch diff | manifest | tags
Context
2002-05-14
20:19:06
Fixed some memory leaks. check-in: 17f786bed8 user: geraint@users.sourceforge.net tags: origin/master, trunk
15:43:41
Complete rewrite check-in: 99eaa00ae6 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
2002-05-13
22:46:30
Plant can now have multiple inputs. check-in: faa8358236 user: geraint@users.sourceforge.net tags: origin/master, trunk
Changes
Hide Diffs Unified Diffs Ignore Whitespace Patch

Modified mttroot/mtt/lib/rep/nppp_rep.make from [ad1e223858] to [ca75fec30a]. 

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# -*-makefile-*-
# Makefile for representation nppp
# File nppp_rep.make

#Copyright (C) 2000,2001,2002 by Peter J. Gawthrop



all: $(SYS)_nppp.$(LANG)




$(SYS)_nppp.view: $(SYS)_nppp.ps
	echo Viewing $(SYS)_nppp.ps; ghostview $(SYS)_nppp.ps&

$(SYS)_nppp.ps: $(SYS)_ode2odes.out s$(SYS)_ode2odes.out \
                $(SYS)_sim.m s$(SYS)_sim.m \
                $(SYS)_state.m $(SYS)_sympar.m $(SYS)_numpar.m  \


                s$(SYS)_state.m s$(SYS)_sympar.m s$(SYS)_numpar.m \


                $(SYS)_sm.m $(SYS)_def.m  s$(SYS)_def.m \

                $(SYS)_simpar.m s$(SYS)_simpar.m
	octave $(SYS)_nppp.m




$(SYS)_ode2odes.out: 
	echo Starting creation of $(SYS)_ode2odes.out '....'


	mtt -q -stdin $(SYS) ode2odes out

s$(SYS)_ode2odes.out:

	echo Starting creation of s$(SYS)_ode2odes.out '....'
	mtt  -q -stdin -s s$(SYS) ode2odes out



$(SYS)_sim.m:
	echo Starting creation of $(SYS)_sim '....'
	mtt -q $(SYS) sim m

s$(SYS)_sim.m:
	echo Starting creation of s$(SYS)_sim. '....'
	mtt -q  -s s$(SYS) sim m

$(SYS)_state.m:
	echo Starting creation of $(SYS)_state. '....'
	mtt -q $(SYS) state m

$(SYS)_sympar.m :
	echo Starting creation of $(SYS)_sympar.m '....'
	mtt -q $(SYS) sympar m 

$(SYS)_numpar.m:

	echo Starting creation of $(SYS)_numpar. '....'
	mtt -q $(SYS) numpar m


$(SYS)_simpar.m:

	echo Starting creation of $(SYS)_simpar. '....'
	mtt -q $(SYS) simpar m


s$(SYS)_state.m:

	echo Starting creation of s$(SYS)_state. '....'
	mtt -q -s s$(SYS) state m


s$(SYS)_sympar.m :
	echo Starting creation of s$(SYS)_sympar.m '....'
	mtt -q -s s$(SYS) sympar m 

s$(SYS)_numpar.m:
	echo Starting creation of s$(SYS)_numpar. '....'
	mtt -q -s s$(SYS) numpar m

s$(SYS)_simpar.m:
	echo Starting creation of s$(SYS)_simpar. '....'
	mtt -q -s s$(SYS) simpar m

$(SYS)_sm.m:
	echo Starting creation of $(SYS)_sm. '....'
	mtt -q $(SYS) sm m

$(SYS)_def.m:
	echo Starting creation of $(SYS)_def. '....'
	mtt -q $(SYS) def m

s$(SYS)_def.m:
	echo Starting creation of s$(SYS)_def. '....'
	mtt -q -s s$(SYS) def m
















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# -*-makefile-*-
# Makefile for representation nppp
# File nppp_rep.make

#Copyright (C) 2000,2001,2002 by Peter J. Gawthrop

model_reps = ${SYS}_sympar.m ${SYS}_simpar.m ${SYS}_state.m\
             ${SYS}_numpar.m ${SYS}_input.m ${SYS}_ode2odes.m\
             ${SYS}_sim.m ${SYS}_def.m

sensitivity_reps = s${SYS}_sympar.m s${SYS}_simpar.m s${SYS}_state.m\
                   s${SYS}_numpar.m s${SYS}_input.m s${SYS}_ode2odes.m\
                   s${SYS}_ssim.m s${SYS}_def.m

all: ${SYS}_nppp.${LANG}

${SYS}_nppp.help_short:
	nppp_rep.sh ${SYS} help_short

${SYS}_nppp.help_long:
	nppp_rep.sh ${SYS} help_long

${SYS}_nppp.view: ${SYS}_nppp.ps
	echo Viewing ${SYS}_nppp.ps; ghostview ${SYS}_nppp.ps&

${SYS}_nppp.ps: ${SYS}_nppp.fig
	nppp_rep.sh ${SYS} ps

${SYS}_nppp.fig: ${SYS}_nppp.gdat
	nppp_rep.sh ${SYS} fig

${SYS}_nppp.gdat: ${SYS}_nppp.dat2
	nppp_rep.sh ${SYS} gdat

${SYS}_nppp.dat2: ${SYS}_nppp.m ${SYS}_nppp_numpar.m \
                  ${model_reps} ${sensitivity_reps} ${SYS}_def.r
	nppp_rep.sh ${SYS} dat2

${SYS}_nppp.m: 
	nppp_rep.sh ${SYS} m

${SYS}_nppp_numpar.m:
	nppp_rep.sh ${SYS} numpar.m

## System model reps
${SYS}_sympar.m:

	mtt ${OPTS} -q -stdin ${SYS} sympar m

${SYS}_simpar.m:

	mtt ${OPTS} -q -stdin ${SYS} simpar m

${SYS}_state.m:

	mtt ${OPTS} -q -stdin ${SYS} state m

${SYS}_numpar.m:

	mtt ${OPTS} -q -stdin ${SYS} numpar m

${SYS}_input.m:
	mtt ${OPTS} -q -stdin ${SYS} input m

${SYS}_ode2odes.m:
	mtt ${OPTS} -q -stdin ${SYS} ode2odes m

${SYS}_sim.m:
	mtt ${OPTS} -q -stdin ${SYS} sim m

${SYS}_def.m:
	mtt ${OPTS} -q -stdin ${SYS} def m

${SYS}_def.r:
	mtt ${OPTS} -q -stdin ${SYS} def r



## Sensitivity model reps
s${SYS}_sympar.m:

	mtt -q -stdin ${OPTS} -s s${SYS} sympar m

s${SYS}_simpar.m:

	mtt -q -stdin ${OPTS} -s s${SYS} simpar m

s${SYS}_state.m:

	mtt -q -stdin ${OPTS} -s s${SYS} state m

s${SYS}_numpar.m:

	mtt -q -stdin ${OPTS} -s s${SYS} numpar m

s${SYS}_input.m:

	mtt -q -stdin ${OPTS} -s s${SYS} input m

s${SYS}_ode2odes.m:

	mtt -q -stdin ${OPTS} -s s${SYS} ode2odes m

s${SYS}_ssim.m:
	mtt -q -stdin ${OPTS} -s s${SYS} ssim m

s${SYS}_def.m:
	mtt -q -stdin ${OPTS} -s s${SYS} def m

Modified mttroot/mtt/lib/rep/nppp_rep.sh from [dd3ac0c981] to [55671a0d9d]. 

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#! /bin/sh

## nppp_rep.sh
## DIY representation "nppp" for mtt
# Copyright (C) 2002 by Peter J. Gawthrop

sys=$1
rep=nppp
lang=$2
mtt_parameters=$3
parameters=$4


target=${sys}_${rep}.${lang}





























## Make the _nppp.m file
make_nppp() {
filename=${sys}_${rep}.m
echo Creating ${filename}

cat > ${filename} <<EOF    
function [y,u,t] = ${sys}_nppp (last, ppp_names, par_names, extras)

  ## usage:  [y,u,t] = ${sys}_nppp (last, ppp_names, par_names, extras)
  ##
  ## last      last time in run
  ## ppp_names Column vector of names of ppp params
  ## par_names Column vector of names of estimated params
  ## extras    Structure containing additional info

  ##Sanity check
  if nargin<2
    printf("Usage: [y,u,t] = ${sys}_nppp(N, ppp_names[, par_names, extras])\n");
    return
  endif

    

  if nargin<4
    ## Set up optional parameters
    extras.criterion = 1e-3;
    extras.emulate_timing = 0;
    extras.max_iterations = 15;
    extras.simulate = 1;
    extras.v =  1e-6;











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#! /bin/sh

## nppp_rep.sh
## DIY representation "nppp" for mtt
# Copyright (C) 2002 by Peter J. Gawthrop

sys=$1
rep=nppp
lang=$2
mtt_parameters=$3
rep_parameters=$4

## Some names
target=${sys}_${rep}.${lang}
def_file=${sys}_def.r
dat2_file=${sys}_nppp.dat2
dat2s_file=${sys}_nppps.dat2
nppp_numpar_file=${sys}_nppp_numpar.m

## Get system information
if [ -f "${def_file}" ]; then
 echo Using ${def_file}
else
  mtt -q ${sys} def r
fi

ny=`mtt_getsize $1 y`
nu=`mtt_getsize $1 u`

## Help documentation
help_short() {
cat<<EOF
Nonlinear predictive pole placement
EOF
}

help_long() {
cat<<EOF
Details go here
EOF
}


## Make the _nppp.m file
make_nppp() {
filename=${sys}_${rep}.m
echo Creating ${filename}

cat > ${filename} <<EOF    
function [y,u,t] = ${sys}_nppp (last, ppp_names, par_names, A_u, A_w, w, Q, extras)

  ## usage:  [y,u,t] = ${sys}_nppp (last, ppp_names, par_names, A_u, A_w, w, Q, extras)
  ##
  ## last      last time in run
  ## ppp_names Column vector of names of ppp params
  ## par_names Column vector of names of estimated params
  ## extras    Structure containing additional info

  ##Sanity check
  if nargin<2
    printf("Usage: [y,u,t] = ${sys}_nppp(N, ppp_names[, par_names, extras])\n");
    return
  endif



  if nargin<4
    ## Set up optional parameters
    extras.criterion = 1e-3;
    extras.emulate_timing = 0;
    extras.max_iterations = 15;
    extras.simulate = 1;
    extras.v =  1e-6;
︙︙
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    printf("Open-loop interval %3.2f \n", simpar.last);
    printf(" -- using info in ${sys}_simpar.txt\n");
    printf("PPP optimisation from %3.2f to %3.2f\n", simpars.first, simpars.last);
    printf(" -- using info in s${sys}_simpar.txt\n");
  endif
  
  t_horizon = [simpars.first+simpars.dt:simpars.dt:simpars.last]';
  w = zeros(n_y,1); w(1) = 1
  w_s = ones(size(t_horizon))*w';

  ## Setup the indices of the adjustable stuff
  if nargin<2
    i_ppp = []
  else
    i_ppp = ppp_indices (ppp_names,sympar,sympars); # Parameters
  endif

  n_ppp = length(i_ppp(:,1));

  if nargin<3
    i_par = []
  else
    i_par = ppp_indices (par_names,sympar,sympars); # Parameters
  endif
  
  ## Specify basis functions
  A_w = zeros(1,1);
  A_u = ppp_aug(A_w,laguerre_matrix(n_ppp-1,2.0));

  ## Weights
    Q = [1;0]

  if extras.visual		# Do some simulations
    ## System itself
    par = ${sys}_numpar;
    x_0_ol = ${sys}_state(par);
    [y_ol,x_ol, t_ol] =  ${sys}_sim(x_0_ol, par, simpar, ones(1,n_u));
    simpar_OL = simpar;








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    printf("Open-loop interval %3.2f \n", simpar.last);
    printf(" -- using info in ${sys}_simpar.txt\n");
    printf("PPP optimisation from %3.2f to %3.2f\n", simpars.first, simpars.last);
    printf(" -- using info in s${sys}_simpar.txt\n");
  endif
  
  t_horizon = [simpars.first+simpars.dt:simpars.dt:simpars.last]';

  w_s = ones(size(t_horizon))*w';

  ## Setup the indices of the adjustable stuff
  if nargin<2
    i_ppp = []
  else
    i_ppp = ppp_indices (ppp_names,sympar,sympars); # Parameters
  endif

  n_ppp = length(i_ppp(:,1));

  if nargin<3
    i_par = []
  else
    i_par = ppp_indices (par_names,sympar,sympars); # Parameters
  endif
  







  if extras.visual		# Do some simulations
    ## System itself
    par = ${sys}_numpar;
    x_0_ol = ${sys}_state(par);
    [y_ol,x_ol, t_ol] =  ${sys}_sim(x_0_ol, par, simpar, ones(1,n_u));
    simpar_OL = simpar;
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    system("gv ${sys}_y.eps&");
    system("gv ${sys}_u.eps&");
  endif
endfunction

EOF
}
















































make_model() {
    
echo "Making sensitivity simulation for system ${sys} (lang ${lang})"

if [ "${lang}" = "oct" ]; then
    oct='-oct'








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    system("gv ${sys}_y.eps&");
    system("gv ${sys}_u.eps&");
  endif
endfunction

EOF
}

make_nppp_numpar() {
echo Creating ${nppp_numpar_file}
cat > ${sys}_nppp_numpar.m <<EOF
function [last, ppp_names, par_names, A_u, A_w, w, Q, extras] = ${sys}_nppp_numpar 

## usage:  [last, ppp_names, par_names, A_u, A_w, w, Q, extras] = ${sys}_nppp_numpar ()
##
## 

  ## Last time of run
  last = 10;

  ## Specify basis functions
  A_w = zeros(1,1);
  n_ppp = ${nu};
  A_u = ppp_aug(A_w,laguerre_matrix(n_ppp-1,2.0));

 
  ## Names of ppp parameters
  ppp_names = "";
  for i=1:n_ppp
    name = sprintf("ppp_%i", i);
    ppp_names = [ppp_names; name];
  endfor

  ## Estimated parameters
  par_names = [];

  ## Weights
  Q = ones(${ny},1);

  ## Setpoint
  w = zeros(${ny},1); w(1) = 1;

  ## Set up optional parameters
  extras.criterion = 1e-3;
  extras.emulate_timing = 0;
  extras.max_iterations = 15;
  extras.simulate = 1;
  extras.v =  1e-6;
  extras.verbose = 0;
  extras.visual = 0;

endfunction
EOF
}

make_model() {
    
echo "Making sensitivity simulation for system ${sys} (lang ${lang})"

if [ "${lang}" = "oct" ]; then
    oct='-oct'
︙︙
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## Additional system reps for PPP
mtt -q ${mtt_parameters} -stdin  ${sys} sm m
mtt -q ${mtt_parameters} -stdin  ${sys} def m
mtt -q ${mtt_parameters} -stdin  -s s${sys} def m

}


## Make the code


#


















#make_model;



make_nppp;










































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## Additional system reps for PPP
mtt -q ${mtt_parameters} -stdin  ${sys} sm m
mtt -q ${mtt_parameters} -stdin  ${sys} def m
mtt -q ${mtt_parameters} -stdin  -s s${sys} def m

}

make_dat2() {

## Inform user
echo Creating ${dat2_file}

## Use octave to generate the data
octave -q <<EOF
  [last, ppp_names, par_names, A_u, A_w, w, Q, extras] = ${sys}_nppp_numpar;
  [y,u,t] = ${sys}_nppp(last, ppp_names, par_names, A_u, A_w, w, Q, extras);
  data = [t,y,u];
  save -ascii ${dat2_file} data
EOF
}

case ${lang} in
    help_short)
        help_short
        ;;
    help_long)
        help_long
        ;;
    numpar.m)
        ## Make the numpar stuff
        make_nppp_numpar;
	;;
    m)
        ## Make the code
        make_nppp;
	;;
    dat2)
	## The dat2 language (output data)
	if [ -f "${dat2_file}" ]; then
	  if [ "${dat2_file}" -ot "${nppp_numpar_file}" ]; then
	    make_dat2; 
	  else 
	    echo Using ${dat2_file}
	  fi
	else
	  make_dat2;    
        fi
	;;
    gdat)
        cp ${dat2_file} ${dat2s_file} 
	dat22dat ${sys} ${rep} 
        dat2gdat ${sys} ${rep}
	;;
    fig)
	gdat2fig ${sys}_${rep}
	;;
    ps)
	fig2dev -Leps ${sys}_${rep}.fig > ${sys}_${rep}.ps
	;;

    view)
	
	;;
    *)
	echo Language ${lang} not supported by nppp representation
        exit 3
esac

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