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Comment:Add extra modes using p_c.A_e
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SHA3-256: a025e27f467165974bf592196f1ca034151efe0689e71dd849a48dc01ceea132
User & Date: gawthrop@users.sourceforge.net on 2003-10-28 20:58:16
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Context
2003-10-28
21:31:24
Don't default R if already set! check-in: 5ef421790a user: gawthrop@users.sourceforge.net tags: origin/master, trunk
20:58:16
Add extra modes using p_c.A_e check-in: a025e27f46 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
2003-10-26
22:55:11
Fixed installation of man page. check-in: 5e9c9e09ce user: geraint@users.sourceforge.net tags: origin/master, trunk
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Modified mttroot/mtt/lib/control/PPP/ppp_lin_run.m from [afe5f8a794] to [ef48377cb1].

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  endif

  if !struct_contains(p_c,"augment")
    p_c.augment = 0;		# Augment basis funs with constant
  endif
  
  if !struct_contains(p_c,"integrate")
    p_c.integrate = 0;		# Augment basis funs with constant
  endif
  
  if !struct_contains(p_c,"Tau_u")
    p_c.Tau_u = [];
    p_c.Min_u = [];
    p_c.Max_u = [];
  endif








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  endif

  if !struct_contains(p_c,"augment")
    p_c.augment = 0;		# Augment basis funs with constant
  endif
  
  if !struct_contains(p_c,"integrate")
    p_c.integrate = 0;		
  endif
  
  if !struct_contains(p_c,"Tau_u")
    p_c.Tau_u = [];
    p_c.Min_u = [];
    p_c.Max_u = [];
  endif
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    elseif strcmp(p_c.Method,"original");
      p_c.tau = [10:0.1:11];
    else
      error(sprintf("Method %s not recognised", p_c.Method));
    endif
  endif
  
      



  if !struct_contains(p_o,"x_0")
    p_o.x_0 = zeros(n_x,1);
  endif
  
  if !struct_contains(p_o,"method")
    ##p_o.method = "continuous";








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    elseif strcmp(p_c.Method,"original");
      p_c.tau = [10:0.1:11];
    else
      error(sprintf("Method %s not recognised", p_c.Method));
    endif
  endif
  
  if !struct_contains(p_c,"A_e")
    p_c.A_e = [];			# No extra modes
  endif

  if !struct_contains(p_o,"x_0")
    p_o.x_0 = zeros(n_x,1);
  endif
  
  if !struct_contains(p_o,"method")
    ##p_o.method = "continuous";
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    K_w = zeros(p_c.n_U,n_y);
    K_w(1,1) = 1;
    K_w(2,1) = -1;
    K_x = zeros(p_c.n_U,n_x);
  else
    I = ceil(p_c.T/p_c.delta_ol) # Number of large samples
    if strcmp(p_c.Method, "original")
##      tau = [10:0.1:11]*(2/a_u);	# Time horizons
      [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww] =\
	  ppp_lin(A,B,C,D,p_c.A_u,p_c.A_w,p_c.tau); # Design
    elseif strcmp(p_c.Method, "lq") # LQ design
##      tau = [0:0.001:1]*2; # Time horizons
      [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,A_u] \
	  = ppp_lin_quad (A,B,C,D,p_c.tau,p_c.Q,p_c.R);
      p_c.A_u = A_u;
    else
      error(sprintf("Control method %s not recognised", p_c.Method));
    endif

    ##Sanity check A_u
    [p_c.n_U,M_u] = size(p_c.A_u);
    if (p_c.n_U!=M_u)








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    K_w = zeros(p_c.n_U,n_y);
    K_w(1,1) = 1;
    K_w(2,1) = -1;
    K_x = zeros(p_c.n_U,n_x);
  else
    I = ceil(p_c.T/p_c.delta_ol) # Number of large samples
    if strcmp(p_c.Method, "original")

      [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww] =\
	  ppp_lin(A,B,C,D,p_c.A_u,p_c.A_w,p_c.tau); # Design
    elseif strcmp(p_c.Method, "lq") # LQ design

      [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,A_u] \
	  = ppp_lin_quad (A,B,C,D,p_c.tau,p_c.Q,p_c.R,p_c.A_e);
      p_c.A_u = A_u
    else
      error(sprintf("Control method %s not recognised", p_c.Method));
    endif

    ##Sanity check A_u
    [p_c.n_U,M_u] = size(p_c.A_u);
    if (p_c.n_U!=M_u)
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	    ppp_output_constraints(A,B,C,D,x_est,p_c.A_u,\
				   p_c.Tau_y,p_c.Min_y,p_c.Max_y);
	
	## Composite constraints - t=0
	Gamma = [Gamma_u; Gamma_y];
	gamma = [gamma_u; gamma_y];
	

	[u_qp,U] = ppp_qp (x_est,w,J_uu,J_ux,J_uw,Us0,Gamma,gamma,1e-6,1);
      endif
      

      ## Save data
      if Simulate
	t = [t;ti'];
	y = [y;yi'];
	u = [u;ui'];
      else








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	    ppp_output_constraints(A,B,C,D,x_est,p_c.A_u,\
				   p_c.Tau_y,p_c.Min_y,p_c.Max_y);
	
	## Composite constraints - t=0
	Gamma = [Gamma_u; Gamma_y];
	gamma = [gamma_u; gamma_y];
	
	[u_qp,U] = ppp_qp \
	    (x_est,w,J_uu,J_ux,J_uw,Us0,Gamma,gamma,1e-6,1);
      endif


      ## Save data
      if Simulate
	t = [t;ti'];
	y = [y;yi'];
	u = [u;ui'];
      else
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