Overview
| Comment: | Don't use terminal weighting if no P argument |
|---|---|
| Downloads: | Tarball | ZIP archive | SQL archive |
| Timelines: | family | ancestors | descendants | both | origin/master | trunk |
| Files: | files | file ages | folders |
| SHA3-256: |
a212aaaac62abacac7421af4dc96f2d2 |
| User & Date: | gawthrop@users.sourceforge.net on 2003-05-15 08:09:13 |
| Other Links: | branch diff | manifest | tags |
Context
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2003-05-16
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| 11:16:28 | Fixed bug with multiports check-in: bd26afc1a1 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
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2003-05-15
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| 08:09:13 | Don't use terminal weighting if no P argument check-in: a212aaaac6 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
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2003-05-14
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| 09:01:18 | *** empty log message *** check-in: 8fd4c4d09c user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
Changes
Modified mttroot/mtt/lib/control/PPP/ppp_lin.m from [2951f6d250] to [a5131f4e21].
| ︙ | ︙ | |||
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if nargin<9
R = zeros(n_u,1);
endif
## Default P (terminal weight)
if nargin<10
P = zeros(n_x,n_x);
endif
## Default condittion number
if nargin<11
max_cond = 1e20;
endif
| > > > | 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 |
if nargin<9
R = zeros(n_u,1);
endif
## Default P (terminal weight)
if nargin<10
P = zeros(n_x,n_x);
P_weighting = 0
else
P_weighting = 1
endif
## Default condittion number
if nargin<11
max_cond = 1e20;
endif
|
| ︙ | ︙ | |||
184 185 186 187 188 189 190 |
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);
QQ = ones(n_W,1)*Q(i,:); # Resize Q
J_ww = J_ww + (QQ .* Ws (:,i:n_y:n_yw)') * Ws (:,i:n_y:n_yw);
endfor
endif
| > | | | | | | | | | | | | | | | | | | | > | | > < | 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 |
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);
QQ = ones(n_W,1)*Q(i,:); # Resize Q
J_ww = J_ww + (QQ .* Ws (:,i:n_y:n_yw)') * Ws (:,i:n_y:n_yw);
endfor
endif
if P_weighting
## Terminal constraint
tau_last = tau(m_t);
x_x_t = expm(A*tau_last); # deriv. of x*(tau_2) wrt x(0)
J_ux = J_ux + x_u_t'*P*x_x_t;
J_uu = J_uu + x_u_t'*P*x_u_t;
## Terminal constraint - w bits
## NB SISO ONLY at the moment
C = C(1,:); # REMOVE ME
## deriv of x* wrt W
if (cond(A)<1e10) # Finite ss gain
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;
endif
## 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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