Overview
Comment:New identification DIY reps
Downloads: Tarball | ZIP archive | SQL archive
Timelines: family | ancestors | descendants | both | origin/master | trunk
Files: files | file ages | folders
SHA3-256: bca1a038ac1a16121e07948623d16ae34f71afccacf6af13c72e9db0596a64a4
User & Date: gawthrop@users.sourceforge.net on 2002-08-20 15:39:47
Other Links: branch diff | manifest | tags
Context
2002-08-20
15:43:45
Works with ident DIY rep check-in: b135670b5f user: gawthrop@users.sourceforge.net tags: origin/master, trunk
15:39:47
New identification DIY reps check-in: bca1a038ac user: gawthrop@users.sourceforge.net tags: origin/master, trunk
2002-08-19
14:37:05
Fixed eta, beta, theta, Theta and zeta. check-in: 4fe11382f5 user: geraint@users.sourceforge.net tags: origin/master, trunk
Changes

Modified mttroot/mtt/lib/rep/ident_rep.make from [042982e678] to [0ce701c93b].

1
2
3
4
5
6
7
8
9
10
11
12
13








14
15
16
17
18
19
20
21
22
23
24
25
26





27
28
29
30
31
32
33
34
35
36
37
38
39
40
41


42

43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65








66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82








83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
# -*-makefile-*-
# Makefile for representation ident
# File ident_rep.make

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

## Model targets
model_reps =  ${SYS}_sympar.m ${SYS}_simpar.m ${SYS}_state.m 
model_reps += ${SYS}_numpar.m ${SYS}_input.m ${SYS}_ode2odes.m  
model_reps += ${SYS}_def.m

## Prepend s to get the sensitivity targets
sensitivity_reps = ${model_reps:%=s%}









## Simulation targets
sims = ${SYS}_sim.m s${SYS}_ssim.m

## m-files needed for ident
ident_m = ${SYS}_ident.m ${SYS}_ident_numpar.m 

## Targets for the ident simulation
ident_reps = ${ident_m} ${sims} ${model_reps} ${sensitivity_reps}

## ps output files
psfiles = ${SYS}_ident.ps ${SYS}_ident.basis.ps ${SYS}_ident.par.ps ${SYS}_ident.U.ps
figfiles = ${psfiles:%.ps=%.fig}






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

echo:
	echo "sims: ${sims}"
	echo "model_reps: ${model_reps}"
	echo "sensitivity_reps: ${sensitivity_reps}"
	echo "ident_reps: ${ident_reps}"

${SYS}_ident.view: ${SYS}_ident.ps
	ident_rep.sh ${SYS} view

${psfiles}: ${SYS}_ident.fig
	ident_rep.sh ${SYS} ps



${SYS}_ident.gdat: ${SYS}_ident.dat2

	ident_rep.sh ${SYS} gdat

${SYS}_ident.fig ${SYS}_ident.dat2: ${ident_reps}
	ident_rep.sh ${SYS} dat2

${SYS}_ident.m: 
	ident_rep.sh ${SYS} m

${SYS}_ident_numpar.m:
	ident_rep.sh ${SYS} numpar.m

## System model reps
## Generic txt files 
${SYS}_%.txt:
	mtt ${OPTS} -q -stdin ${SYS} $* txt

## Specific m files
${SYS}_ode2odes.m: ${SYS}_rdae.r
	mtt -q -stdin ${OPTS} ${SYS} ode2odes m

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









## Generic txt to m
${SYS}_%.m: ${SYS}_%.txt
	mtt ${OPTS} -q -stdin ${SYS} $* m

## r files
${SYS}_def.r: ${SYS}_abg.fig
	mtt ${OPTS} -q -stdin ${SYS} def r

${SYS}_rdae.r: 
	mtt ${OPTS} -q -stdin ${SYS} rdae r

## Sensitivity model reps
## Generic txt files 
s${SYS}_%.txt:
	mtt ${OPTS} -q -stdin -s s${SYS} $* txt

## Specific m files








s${SYS}_ode2odes.m: s${SYS}_rdae.r
	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


## Generic txt to m
s${SYS}_%.m: s${SYS}_%.txt
	mtt ${OPTS} -q -stdin s${SYS} $* m

## r files
s${SYS}_rdae.r: 
	mtt ${OPTS} -q -stdin -s s${SYS} rdae r











|



>
>
>
>
>
>
>
>










|
|

>
>
>
>
>









|


|


>
>
|
>


|














|





>
>
>
>
>
>
>
>

















>
>
>
>
>
>
>
>
|

















<
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132

# -*-makefile-*-
# Makefile for representation ident
# File ident_rep.make

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

## Model targets
model_reps =  ${SYS}_sympar.m ${SYS}_simpar.m ${SYS}_state.m 
model_reps += ${SYS}_numpar.m ${SYS}_input.m ${SYS}_ode2odes.m  
model_reps += ${SYS}_def.m 

## Prepend s to get the sensitivity targets
sensitivity_reps = ${model_reps:%=s%}

## Model prerequisites
model_pre =  ${SYS}_abg.fig ${SYS}_lbl.txt 
model_pre += ${SYS}_rdae.r ${SYS}_numpar.txt

## Prepend s to get the sensitivity targets
sensitivity_pre = ${model_pre:%=s%}


## Simulation targets
sims = ${SYS}_sim.m s${SYS}_ssim.m

## m-files needed for ident
ident_m = ${SYS}_ident.m ${SYS}_ident_numpar.m 

## Targets for the ident simulation
ident_reps = ${ident_m} ${sims} ${model_reps} ${sensitivity_reps}

## ps output files etc
psfiles = ${SYS}_ident.ps ${SYS}_ident.comparison.ps
figfiles = ${psfiles:%.ps=%.fig}
gdatfiles = ${psfiles:%.ps=%.gdat}
datfiles = ${psfiles:%.ps=%.dat2}

## LaTeX files etc
latexfiles = ${SYS}_ident_par.tex

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

echo:
	echo "sims: ${sims}"
	echo "model_reps: ${model_reps}"
	echo "sensitivity_reps: ${sensitivity_reps}"
	echo "ident_reps: ${ident_reps}"

${SYS}_ident.view: ${psfiles}
	ident_rep.sh ${SYS} view

${psfiles}: ${figfiles}
	ident_rep.sh ${SYS} ps

${figfiles}: ${gdatfiles}
	ident_rep.sh ${SYS} fig

${gdatfiles}: ${datfiles}
	ident_rep.sh ${SYS} gdat

${datfiles} ${latexfiles}: ${ident_reps}
	ident_rep.sh ${SYS} dat2

${SYS}_ident.m: 
	ident_rep.sh ${SYS} m

${SYS}_ident_numpar.m:
	ident_rep.sh ${SYS} numpar.m

## System model reps
## Generic txt files 
${SYS}_%.txt:
	mtt ${OPTS} -q -stdin ${SYS} $* txt

## Specific m files
${SYS}_ode2odes.m: ${model_pre}
	mtt -q -stdin ${OPTS} ${SYS} ode2odes m

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

## Numpar files
${SYS}_numpar.m:
	mtt ${SYS} numpar m

## Sympar files
${SYS}_sympar.m:
	mtt ${SYS} sympar m

## Generic txt to m
${SYS}_%.m: ${SYS}_%.txt
	mtt ${OPTS} -q -stdin ${SYS} $* m

## r files
${SYS}_def.r: ${SYS}_abg.fig
	mtt ${OPTS} -q -stdin ${SYS} def r

${SYS}_rdae.r: 
	mtt ${OPTS} -q -stdin ${SYS} rdae r

## Sensitivity model reps
## Generic txt files 
s${SYS}_%.txt:
	mtt ${OPTS} -q -stdin -s s${SYS} $* txt

## Specific m files
## Numpar files
s${SYS}_numpar.m:
	mtt -s s${SYS} numpar m

## Sympar files
s${SYS}_sympar.m:
	mtt -s s${SYS} sympar m

s${SYS}_ode2odes.m: ${sensitivity_pre}
	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


## Generic txt to m
s${SYS}_%.m: s${SYS}_%.txt
	mtt ${OPTS} -q -stdin s${SYS} $* m

## r files
s${SYS}_rdae.r: 
	mtt ${OPTS} -q -stdin -s s${SYS} rdae r


Modified mttroot/mtt/lib/rep/ident_rep.sh from [509586cb1e] to [8c10f339dc].

1
2
3
4
5


6
7
8
9
10
11
12
#! /bin/sh

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



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






>
>







1
2
3
4
5
6
7
8
9
10
11
12
13
14
#! /bin/sh

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

ps=ps

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

38
39
40
41
42
43
44

45
46
47
48
49
50
51
52
53
54
55


56



57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83

84
85
86
87
88
89
90
91
92
93

94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133

134
135
136
137
138
139
140
141

142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
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
235
236
237
238
239
240
241




242
243
244



245




246








247




248








249
250

251

252

253
254
255
256
257
258
259
260
261
262
263
264
265
266
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
306
307
308
309
310
311



312
313
314
315
316
317





318
319
320
321
322
323
324
	echo ${mtt_options} > ${option_file}
    fi
}

## Make the _ident.m file
make_ident() {
filename=${sys}_${rep}.m

echo Creating ${filename}

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

  ## usage:  [y,u,t] = ${sys}_ident (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}_ident(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;
    extras.verbose = 0;
    extras.visual = 1;
  endif
  
  ## System info
  [n_x,n_y,n_u,n_z,n_yz] = ${sys}_def;
  sympar  = ${sys}_sympar;
  simpar  = ${sys}_simpar;
  sympars  = s${sys}_sympar;
  simpars  = s${sys}_simpar;
  t_ol = simpar.last;
    
  ## Number of intervals needed
  N = ceil(last/t_ol);


  ## Setpoints
  if extras.verbose
    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(length(t_horizon)-1,1)*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
  
    ## Do some simulations to check things out
    ## 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;
    simpar_OL.last = simpars.last;
    [y_OL,x_OL, t_OL] =  ${sys}_sim(x_0_ol, par, simpar_OL, ones(1,n_u));

    pars = s${sys}_numpar;
    x_0_ppp = s${sys}_state(pars);
    [y_ppp,y_par,x_ppp, t_ppp] =  s${sys}_ssim(x_0_ppp, pars, simpars, ones(1,n_u));

    simpar_PPP = simpars;
    simpar_PPP.first = simpar.first;
    [y_PPP,y_par,x_PPP, t_PPP] =  s${sys}_ssim(x_0_ppp, pars, simpar_PPP, ones(1,n_u));

    ## Basis functions
    Us = ppp_ustar(A_u,1,t_OL',0,0)';


  if extras.visual		#Show some graphs
    figure(2); 	

    grid; title("Outputs of ${sys}_sim and s${sys}_ssim");
    plot(t_ol,y_ol, '*', t_ppp, y_ppp, '+', t_OL, y_OL, t_PPP, y_PPP);


    figure(3); 	
    grid; title("Basis functions");
    plot(t_OL, Us);


  endif



  ## Do it
  [y,u,t,P,U,t_open,t_ppp,t_est,its_ppp,its_est] \
      = ppp_nlin_run ("${sys}",i_ppp,i_par,A_u,w_s,N,Q,extras);

  ## Compute values at ends of ol intervals
  T_open = cumsum(t_open);
  T_open = T_open(1:length(T_open)-1); # Last point not in t
  j=[];
  for i = 1:length(T_open)
    j = [j; find(T_open(i)*ones(size(t))==t)];
  endfor
  y_open = y(j,:);
  u_open = u(j,:);

  ## Plots

    gset nokey
    gset nogrid
    #eval(sprintf("gset xtics %g", simpar.last));
    #gset noytics
    gset format x "%.1f"
    gset format y "%.2f"
    gset term fig monochrome portrait fontsize 20 size 20 20 metric \
	     thickness 4
    gset output "${sys}_ident.fig"

    title("");
    xlabel("Time (s)");
    ylabel("u");
    subplot(2,1,2); plot(t,u,'-',  T_open, u_open,"+");
    #subplot(2,1,2); plot(t,u);   
    ylabel("y");
    subplot(2,1,1); plot(t,y,'-',  T_open, y_open,"+"); 
    #subplot(2,1,1); plot(t,y); 
    oneplot;
    gset term fig monochrome portrait fontsize 20 size 20 10 metric \
	     thickness 4
    gset output "${sys}_ident.basis.fig"
    title("");
    xlabel("Time (s)");
    ylabel("Basis functions");
    plot(t_OL, Us);


    ## Create plot against time
    TTT = [ [0;T_open] [T_open; last] ]';
    TT = TTT(:);

    [n,m] = size(P);
    if m>0
      P = P(1:n-1,:);  # Loose last point
      PP = [];
      for j=1:m
        pp = [P(:,j) P(:,j)]';
        PP = [PP pp(:)];
      endfor

      oneplot;
      gset output "${sys}_ident.par.fig"
      title("");
      xlabel("Time (s)");
      ylabel("Parameters");
      plot(TT,PP);
    endif

    [n,m] = size(U);
    if m>0    oneplot;
      gset output "${sys}_ident.U.fig"
      title("");
      xlabel("Time (s)");
      ylabel("U");
      [n,m] = size(U);
      U = U(1:n-1,:);  # Loose last point
      UU = [];
      for j=1:m
        uu = [U(:,j) U(:,j)]';
        UU = [UU uu(:)];
      endfor
      plot(TT,UU);
    endif

endfunction

EOF
}

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

## usage:  [last, ppp_names, par_names, A_u, A_w, w, Q, extras] = ${sys}_ident_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_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}_ident_numpar;
  [y,u,t] = ${sys}_ident(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
    numpar.m)
        ## Make the numpar stuff
        make_ident_numpar;
	;;
    m)
        ## Make the code
        make_ident;
	;;
    dat2|fig|basis.fig|par.fig|U.fig)
        ## The dat2 language (output data) & fig file
        rm ${sys}_ident*.fig
	make_dat2; 
	;;
    gdat)
        cp ${dat2_file} ${dat2s_file} 
	dat22dat ${sys} ${rep} 
        dat2gdat ${sys} ${rep}
	;;



    ps|basis.ps|par.ps|U.ps)
        figs=`ls ${sys}_ident*.fig | sed -e 's/\.fig//'`
        echo $figs
	for fig in ${figs}; do
            fig2dev -Leps ${fig}.fig > ${fig}.ps
	done





	;;
    view)
	pss=`ls ${sys}_ident*.ps` 
        echo Viewing ${pss}
        for ps in ${pss}; do
          gv ${ps}&
	done







>



|

|





>
>
|
>
>
>

|
|



|



|
|
|
|









<
|
|
<
>

|
|
<
<
<
<
<
|
<
>
|

<
<
<
<
|
<
|
|
|
<
|
<
<
<
|
<
|
<
<
<
|
<
<
|
|
<
<
|
|
<
<
|
<
<
|
|
<
<
>
|
<

|
|
<
<
|
>
|
|
|
|
<
<
<
|
<
<
<
<
|
|

<
<
|
<
|
<
<
<
<
<
<
<
<
<
|
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
|
|
<
<
<

<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<
<

<






|

|
|
|

|
>
>
>
>
|
|
|
>
>
>
|
>
>
>
>
|
>
>
>
>
>
>
>
>
|
>
>
>
>
|
>
>
>
>
>
>
>
>
|
|
>
|
>
|
>
|
|

|
<
<
|
<
|
|
<
<
<
|
|

|
|
|
|
|












|
|
>
>
|


>
>
>
>
>











|

<







>
>
>
|

<



>
>
>
>
>







40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87

88
89

90
91
92
93





94

95
96
97




98

99
100
101

102



103

104



105


106
107


108
109


110


111
112


113
114

115
116
117


118
119
120
121
122
123



124




125
126
127


128

129









130
















131
132



133

































134

135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
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
235
236
237
238
239
240
241
242
243
244

245
246
247
248
249
250
251
252
253
254
255
256

257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
	echo ${mtt_options} > ${option_file}
    fi
}

## Make the _ident.m file
make_ident() {
filename=${sys}_${rep}.m
date=`date`
echo Creating ${filename}

cat > ${filename} <<EOF    
function [epar,Y] = ${sys}_ident (y,u,t,par_names,Q,extras)

  ## usage:  [epar,Y] = ${sys}_ident (y,u,t,par_names,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
  ##
  ## Created by MTT on ${date}
 
  ## Sensitivity system name
  system_name = "s${sys}"

  ##Sanity check
  if nargin<3
    printf("Usage: [y,u,t] = ${sys}_ident(y,u,t,par_names,Q,extras);");
    return
  endif

  if nargin<6
    ## Set up optional parameters
    extras.criterion = 1e-3;
    extras.emulate_timing = 0;
    extras.max_iterations = 10;
    extras.simulate = 2;
    extras.v =  1e-2;
    extras.verbose = 1;
    extras.visual = 1;
  endif
  
  ## System info
  [n_x,n_y,n_u,n_z,n_yz] = ${sys}_def;
  sympar  = ${sys}_sympar;
  simpar  = ${sys}_simpar;
  sympars  = s${sys}_sympar;
  simpars  = s${sys}_simpar;


  ## Parameter indices

  i_par = ppp_indices (par_names,sympar,sympars);

  ## Initial model state
  x_0 = zeros(2*n_x,1);







  ## Initial model parameters
  par_0 = s${sys}_numpar;





  ## Reset simulation parameters

  [n_data,m_data] = size(y);
  dt = t(2)-t(1);
  simpars.last = (n_data-1)*dt;

  simpars.dt = dt;





  ## Identification



  [epar,Par,Error,Y,iterations,x] = ppp_optimise(system_name,x_0,par_0,simpars,u,y,i_par,Q,extras);


  
  ## Do some plots


  figure(1);
  title("Comparison of data");


  xlabel("t");


  ylabel("y");
  [N,M] = size(Y);


  plot(t,Y(:,M),"1;Estimated;", t,y,"3;Actual;");
  figfig("${sys}_ident_comparison");


  ## Create a table of the parameters
  [n_par,m_par] = size(i_par);


  fid = fopen("${sys}_ident_par.tex", "w");
  fprintf(fid,"\\\\begin{table}[htbp]\\n");
  fprintf(fid," \\\\centering\\n");
  fprintf(fid," \\\\begin{tabular}{|l|l|}\\n");
  fprintf(fid,"  \\\\hline\\n");
  fprintf(fid,"  Name & Value \\\\\\\\ \\n");



  fprintf(fid,"  \\\\hline\\n");




  for i = 1:n_par
    fprintf(fid,"$%s$ & %4.2f \\\\\\\\ \\n", par_names(i,:), epar(i_par(i,1)));
  endfor


  fprintf(fid,"  \\\\hline\\n");

  fprintf(fid,"\\\\end{tabular}\\n");









  fprintf(fid,"\\\\caption{Estimated Parameters}\\n");
















  fprintf(fid,"\\\\end{table}\\n");
  fclose(fid);





































endfunction

EOF
}

make_ident_numpar() {
echo Creating ${ident_numpar_file}
cat > ${sys}_ident_numpar.m <<EOF
function [y,u,t,par_names,Q,extras] = ${sys}_ident_numpar;

  ## usage: [y,u,t,par_names,Q,extras] = ${sys}_ident_numpar;
  ## Edit for your own requirements
  ## Created by MTT on ${date}

    
  ## This section sets up the data source
  ## simulate = 0  Real data (you supply ${sys}_ident_data.dat)
  ## simulate = 1  Real data input, simulated output
  ## simulate = 2  Unit step input, simulated output
  simulate = 2;
  

  ## System info
  [n_x,n_y,n_u,n_z,n_yz] = ${sys}_def;
  simpars = s${sys}_simpar;

  ## Access or create data
  if (simulate<2)		# Get the real data
    if (exist("${sys}_ident_data.dat")==2)
      printf("Loading ${sys}_ident_data.dat\n");
      load ${sys}_ident_data.dat
    else
      printf("Please create a loadable file ${sys}_ident_data.dat containing y,u and t\n");
      return
    endif
  else 
    switch simulate
      case 2			# Step simulation
	t = [0:simpars.dt:simpars.last]';
	u = ones(size(t));
      otherwise
	error(sprintf("simulate = %i not implemented", simulate));
    endswitch
  endif
  
  if (simulate>0)
    par = ${sys}_numpar();
    x_0 = ${sys}_state(par);
    dt = t(2)-t(1);
    simpars.dt = dt;
    simpars.last = t(length(t));
    y =  ${sys}_sim(zeros(n_x,1), par, simpars, u);
  endif

  ## Default parameter names - Put in your own here
  sympar = ${sys}_sympar;	# Symbolic params as structure
  par_names = struct_elements (sympar);	# Symbolic params as strings
  [n,m] = size(par_names);	# Size the string list

  ## Sort by index
  for [i,name] = sympar
    par_names(i,:) = sprintf("%s%s",name, blanks(m-length(name)));
  endfor
  


  ## Output weighting vector

  Q = ones(n_y,1);
  



  ## Extra parameters
  extras.criterion = 1e-5;
  extras.emulate_timing = 0;
  extras.max_iterations = 10;
  extras.simulate = simulate;
  extras.v =  1e-2;
  extras.verbose = 1;
  extras.visual = 1;

endfunction
EOF
}

make_dat2() {

## Inform user
echo Creating ${dat2_file}

## Use octave to generate the data
octave -q <<EOF
  [y,u,t,par_names,Q,extras] = ${sys}_ident_numpar;
  [epar,Y] = ${sys}_ident (y,u,t,par_names,Q,extras);
  [N,M] = size(Y);
  y_est = Y(:,M);
  data = [t,y_est,u];
  save -ascii ${dat2_file} data
EOF

## Tidy up the latex stuff - convert foo_123 to foo_{123}
cat ${sys}_ident_par.tex > mtt_junk
sed  -e "s/_\([a-z0-9,]*\)/_{\1}/g" < mtt_junk >${sys}_ident_par.tex
rm mtt_junk
}

case ${lang} in
    numpar.m)
        ## Make the numpar stuff
        make_ident_numpar;
	;;
    m)
        ## Make the code
        make_ident;
	;;
    dat2)
        ## The dat2 language (output data) & fig file

	make_dat2; 
	;;
    gdat)
        cp ${dat2_file} ${dat2s_file} 
	dat22dat ${sys} ${rep} 
        dat2gdat ${sys} ${rep}
	;;
    fig)
        gdat2fig ${sys}_${rep}
	;;
    ps)
        figs=`ls ${sys}_ident*.fig | sed -e 's/\.fig//'`

	for fig in ${figs}; do
            fig2dev -Leps ${fig}.fig > ${fig}.ps
	done
	texs=`ls ${sys}_ident*.tex | sed -e 's/\.tex//'`
	for tex in ${texs}; do
          makedoc "" "${sys}" "ident_par" "tex" "" "" "$ps"
          doc2$ps ${sys}_ident_par "$documenttype"
	done
	;;
    view)
	pss=`ls ${sys}_ident*.ps` 
        echo Viewing ${pss}
        for ps in ${pss}; do
          gv ${ps}&
	done


MTT: Model Transformation Tools
GitHub | SourceHut | Sourceforge | Fossil RSS ]