Overview
| Comment: | Added p_o.method = "remote" ; observer in rtlab |
|---|---|
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| Timelines: | family | ancestors | descendants | both | origin/master | trunk |
| Files: | files | file ages | folders |
| SHA3-256: |
b0088c4e0a4ba0e7128e1de316c8e46d |
| User & Date: | gawthrop@users.sourceforge.net on 2003-11-03 23:51:14 |
| Other Links: | branch diff | manifest | tags |
Context
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2003-11-04
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| 21:19:19 | Fixed simulation in remote observer mode check-in: b97106a191 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
|
2003-11-03
| ||
| 23:51:14 | Added p_o.method = "remote" ; observer in rtlab check-in: b0088c4e0a user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
| 02:47:47 | Show constained and controlled outputs seperately. check-in: ad19b07f17 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
Changes
Modified mttroot/mtt/lib/control/PPP/ppp_lin_run.m from [ffa3ddfa64] to [df48e84740].
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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";
| | > | 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 |
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";
##p_o.method = "intermittent";
p_o.method = "remote";
endif
## Check w.
[n_w,m_w] = size(w);
if ( (n_w!=n_y) || (m_w!=1) )
error(sprintf("ppp_lin_run: w must a column vector with %i elements",n_y));
|
| ︙ | ︙ | |||
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A_ud = expm(p_c.A_u*dt); # Discrete-time input transition
if (ControlType==2) #
[L, M, P, obs_poles] = dlqe(Ad,G,C,sigma_x,Sigma);
else
L = zeros(n_x,n_y);
obs_poles = eig(Ad);
endif
else
error(sprintf("Observer method ""%s"" unknown", p_o.method));
endif
## Display the poles
obs_poles
| > > > | 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 |
A_ud = expm(p_c.A_u*dt); # Discrete-time input transition
if (ControlType==2) #
[L, M, P, obs_poles] = dlqe(Ad,G,C,sigma_x,Sigma);
else
L = zeros(n_x,n_y);
obs_poles = eig(Ad);
endif
elseif strcmp(p_o.method, "remote")
L = zeros(n_x,n_y);
obs_poles = [];
else
error(sprintf("Observer method ""%s"" unknown", p_o.method));
endif
## Display the poles
obs_poles
|
| ︙ | ︙ | |||
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t_sim = [1:p_c.N]*dt; # Simulation time points
[yi,ui,xsi] = ppp_ystar(A,B,C,D,x,p_c.A_u,U,t_sim); # Simulate
x = xsi(:,p_c.N); # Current state (for next time)
ti = [(i-1)*p_c.N:i*p_c.N-1]*dt;
y_i = yi(1); # Current output
t_i = ti(1);
else # The real thing
| > > > > | > > > > > | 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 |
t_sim = [1:p_c.N]*dt; # Simulation time points
[yi,ui,xsi] = ppp_ystar(A,B,C,D,x,p_c.A_u,U,t_sim); # Simulate
x = xsi(:,p_c.N); # Current state (for next time)
ti = [(i-1)*p_c.N:i*p_c.N-1]*dt;
y_i = yi(1); # Current output
t_i = ti(1);
else # The real thing
if strcmp(p_o.method, "remote")
[t_i,y_i,X] = ppp_put_get_X(U); # Remote-state interface
u_i = X(3); # Integrated control is third state
else
[t_i,y_i,u_i] = ppp_put_get(U); # Generic interface to real-time
endif
endif
## Observer
if strcmp(p_o.method, "intermittent")
[x_est y_est y_new, e_est] = ppp_int_obs \
(x_est,y_i,U,A,B,C,D,p_c.A_u,p_c.delta_ol,L);
elseif strcmp(p_o.method, "continuous")
Ui = U; # U at sub intervals
for k = 1:p_c.N
[x_est y_est y_new e_est] = ppp_int_obs \
(x_est,yi(:,k),Ui,A,B,C,D,p_c.A_u,dt,L);
Ui = A_ud'*Ui;
y_e = [y_e; y_new'];
e_e = [e_e; e_est'];
endfor
elseif strcmp(p_o.method, "remote")
## predict from remote state (with zero L)
[x_est y_est y_new e_est] = ppp_int_obs \
(X,y_i,U,A,B,C,D,p_c.A_u,p_c.delta_ol,L);
endif
##Control
if ( (p_c.Tau_u==[])&&(p_c.Tau_y==[]) )
U = K_w*w - K_x*x_est;
else
## Input constraints
|
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