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Comment:Added "test" parameter to call to qp_mu. (Adrian's QP interior point alg.)
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SHA3-256: e495f1f8c5f697c3a0b53895c77bdc28b592e7b20371fc2956f1111fe2887a13
User & Date: gawthrop@users.sourceforge.net on 2002-11-04 23:41:41.000
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Context
2002-11-06
21:09:45
New operational amplifier component check-in: 043231dc86 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
2002-11-04
23:41:41
Added "test" parameter to call to qp_mu. (Adrian's QP interior point alg.) check-in: e495f1f8c5 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
23:40:04
Prunes inf and -inf from constraint list. check-in: 71ec8badbf user: gawthrop@users.sourceforge.net tags: origin/master, trunk
Changes
Unified Diff Ignore Whitespace Patch
Modified mttroot/mtt/lib/control/PPP/ppp_qp.m from [7d027370b3] to [fa82338072]. 
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function [u,U,iterations] = ppp_qp (x,W,J_uu,J_ux,J_uw,Us0,Gamma,gamma,mu)

  ## usage:  [u,U] = ppp_qp (x,W,J_uu,J_ux,J_uw,Gamma,gamma)
  ## INPUTS:
  ##      x: system state    
  ##      W: Setpoint vector
  ##      J_uu,J_ux,J_uw: Cost derivatives (see ppp_lin)
  ##      Us0: value of U* at tau=0 (see ppp_lin)

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function [u,U,iterations] = ppp_qp (x,W,J_uu,J_ux,J_uw,Us0,Gamma,gamma,mu,test)

  ## usage:  [u,U] = ppp_qp (x,W,J_uu,J_ux,J_uw,Gamma,gamma)
  ## INPUTS:
  ##      x: system state    
  ##      W: Setpoint vector
  ##      J_uu,J_ux,J_uw: Cost derivatives (see ppp_lin)
  ##      Us0: value of U* at tau=0 (see ppp_lin)
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  ## Copyright (C) 1999 by Peter J. Gawthrop
  ## 	$Id$	

  if nargin<9
    mu = 0
  endif






  ## Check the sizes
  n_x = length(x);

  [n_U,m_U] = size(J_uu);
  if n_U != m_U
    error("J_uu must be square");
  endif

  [n,m] = size(J_ux);
  if (n != n_U)||(m != n_x)
    error("J_ux should be %ix%i not %ix%i",n_U,n_x,n,m);
  endif


  if length(gamma)>0		# Constraints exist: do the QP algorithm
    ## QP solution for weights U	
    [U,iterations] = qp_mu(J_uu,(J_ux*x - J_uw*W),Gamma,gamma,mu);

    ##U = qp(J_uu,(J_ux*x - J_uw*W),Gamma,gamma); # QP solution for weights U
    ##U = pd_lcp04(J_uu,(J_ux*x - J_uw*W),Gamma,gamma); # QP solution for weights U
    u = Us0*U;			# Control signal
  else			# Do the unconstrained solution
    ## Compute the open-loop gains
    iterations = 0;








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  ## Copyright (C) 1999 by Peter J. Gawthrop
  ## 	$Id$	

  if nargin<9
    mu = 0
  endif

  if nargin<10
    test=0;
  endif
  

  ## Check the sizes
  n_x = length(x);

  [n_U,m_U] = size(J_uu);
  if n_U != m_U
    error("J_uu must be square");
  endif

  [n,m] = size(J_ux);
  if (n != n_U)||(m != n_x)
    error("J_ux should be %ix%i not %ix%i",n_U,n_x,n,m);
  endif


  if length(gamma)>0		# Constraints exist: do the QP algorithm
    ## QP solution for weights U	
    [U,iterations] = qp_mu(J_uu,(J_ux*x - J_uw*W),Gamma,gamma,mu,[],[],0,test);

    ##U = qp(J_uu,(J_ux*x - J_uw*W),Gamma,gamma); # QP solution for weights U
    ##U = pd_lcp04(J_uu,(J_ux*x - J_uw*W),Gamma,gamma); # QP solution for weights U
    u = Us0*U;			# Control signal
  else			# Do the unconstrained solution
    ## Compute the open-loop gains
    iterations = 0;
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Modified mttroot/mtt/lib/control/PPP/ppp_qp_sim.m from [986b2d0d8d] to [9da3cf8d4e]. 
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function [T,y,u,X,Iterations] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q,\
					    Tau_u,Min_u,Max_u,Order_u, \
					    Tau_y,Min_y,Max_y,Order_y, \
					    W,x_0,Delta_ol,mu,movie)

  ## usage: [T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, Tau_u,Min_u,Max_u,Order_u, Tau_y,Min_y,Max_y,Order_y, W,x_0,movie)
  ## Needs documentation - see ppp_ex11 for example of use.
  ## OUTPUTS
  ## T: Time vector
  ## y,u,J output, input and cost

  ## Copyright (C) 1999 by Peter J. Gawthrop
  ## 	$Id$	
  
  if nargin<19			# No intermittent control
    Delta_ol = 0;
  endif

  if nargin<20			# No movie
    mu = 0;
  endif

  if nargin<21			# No movie




    movie = 0;
  endif


  ## Check some sizes
  [n_x,n_u,n_y] = abcddim(A,B,C,D);

  [n_x0,m_x0] = size(x_0);
  if (n_x0 != n_x)||(m_x0 != 1)
    error(sprintf("Initial state x_0 must be %ix1 not %ix%i",n_x,n_x0,m_x0));
  endif




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function [T,y,u,X,Iterations] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q,\
					    Tau_u,Min_u,Max_u,Order_u, \
					    Tau_y,Min_y,Max_y,Order_y, \
					    W,x_0,Delta_ol,mu,test,movie)

  ## usage: [T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, Tau_u,Min_u,Max_u,Order_u, Tau_y,Min_y,Max_y,Order_y, W,x_0,movie)
  ## Needs documentation - see ppp_ex11 for example of use.
  ## OUTPUTS
  ## T: Time vector
  ## y,u,J output, input and cost

  ## Copyright (C) 1999 by Peter J. Gawthrop
  ## 	$Id$	
  
  if nargin<19			# No intermittent control
    Delta_ol = 0;
  endif

  if nargin<20			# Mu
    mu = 0;
  endif

  if nargin<21
    test=0
  endif
  
  if nargin<22			# No movie
    movie = 0;
  endif

test = test
  ## Check some sizes
  [n_x,n_u,n_y] = abcddim(A,B,C,D);

  [n_x0,m_x0] = size(x_0);
  if (n_x0 != n_x)||(m_x0 != 1)
    error(sprintf("Initial state x_0 must be %ix1 not %ix%i",n_x,n_x0,m_x0));
  endif
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    Gamma = [Gamma_u; Gamma_y];
    gamma = [gamma_u; gamma_y];
    
    ## Current Setpoint value
    w = W(:,floor(t/dt)+1);
    
    ## Compute U(t) via QP optimisation
    [uu, U, iterations] = ppp_qp (x,w,J_uu,J_ux,J_uw,Us0,Gamma,gamma,mu); # Compute U

    ## Compute the cost (not necessary but maybe interesting)
#    [J_t] = ppp_cost (U,x,W,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww); # cost
#    J = [J J_t];

    ## OL Simulation (exact)
    [ys,us,xs] = ppp_ystar (A,B,C,D,x,A_u,U,T_ol);








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    Gamma = [Gamma_u; Gamma_y];
    gamma = [gamma_u; gamma_y];
    
    ## Current Setpoint value
    w = W(:,floor(t/dt)+1);
    
    ## Compute U(t) via QP optimisation
    [uu, U, iterations] = ppp_qp (x,w,J_uu,J_ux,J_uw,Us0,Gamma,gamma,mu,test); # Compute U

    ## Compute the cost (not necessary but maybe interesting)
#    [J_t] = ppp_cost (U,x,W,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww); # cost
#    J = [J J_t];

    ## OL Simulation (exact)
    [ys,us,xs] = ppp_ystar (A,B,C,D,x,A_u,U,T_ol);
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