Overview
Comment: | Handle constraints on multiple variables. |
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Downloads: | Tarball | ZIP archive | SQL archive |
Timelines: | family | ancestors | descendants | both | origin/master | trunk |
Files: | files | file ages | folders |
SHA3-256: |
6279a162f803c18f663861938a395614 |
User & Date: | gawthrop@users.sourceforge.net on 2002-09-11 14:27:37 |
Other Links: | branch diff | manifest | tags |
Context
2002-09-11
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15:04:59 | Optional boxing check-in: bc62022292 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
14:27:37 | Handle constraints on multiple variables. check-in: 6279a162f8 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
14:24:02 | Now correctly handles outputs with index >1 check-in: 128b9fc8ba user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
Changes
Added mttroot/mtt/lib/control/PPP/ppp_input_constraints.m version [804cd7fa35].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 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 | function [Gamma,gamma] = ppp_input_constraints (A_u,Tau,Min,Max,Order) ## usage: [Gamma,gamma] = ppp_input_constraints (A_u,Tau,Min,Max[,Order]) ## ## Derives input copnstraint matrices Gamma and gamma ## for multi-input systems. ## A_u Input-generating matrix ## Tau row vector of times at which constraints occur ## Max, Maximum and minimum values ## Limits at inf and -inf are discarded ## Sanity check [n_u,n_tau] = size(Min); [n,m] = size(Max); if (n!=n_u)||(m!=n_tau) error("Max and Min must have the same dimensions"); endif [n,m] = size(Tau); if (m!=n_tau) error("Max and Min must have same number of columns as Tau"); endif if (n>1) error("Tau must be a row vector"); endif ##Defaults if nargin<5 Order=zeros(1,n_tau); endif ## Stack up constraints for each input Gamma=[]; gamma=[]; for i_u=1:n_u [Gamma_i,gamma_i] = \ ppp_input_constraint(A_u,Tau,Min(i_u,:),Max(i_u,:),Order,i_u,n_u); Gamma = [Gamma; Gamma_i]; gamma = [gamma; gamma_i]; endfor endfunction |
Added mttroot/mtt/lib/control/PPP/ppp_output_constraints.m version [b5e964eaca].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 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 | function [Gamma,gamma] = ppp_output_constraints (A,B,C,D,x_0,A_u,Tau,Min,Max,Order) ## usage: ## [Gamma,gamma] = ppp_output_constraints(A,B,C,D,x_0,A_u,Tau,Min,Max,Order) ## ## ## Sanity check [n_y,n_tau] = size(Min); [n,m] = size(Max); if (n!=n_y)||(m!=n_tau) error("Max and Min must have the same dimensions"); endif [n,m] = size(Tau); if (m!=n_tau) error("Max and Min must have same number of columns as Tau"); endif if (n>1) error("Tau must be a row vector"); endif ##Defaults if nargin<10 Order=zeros(n_y,n_tau); endif ## Stack up constraints for each input Gamma=[]; gamma=[]; for i_y=1:n_y [Gamma_i,gamma_i] = \ ppp_output_constraint (A,B,C,D,x_0,A_u,Tau,\ Min(i_y,:),Max(i_y,:),Order(i_y,:),i_y); Gamma = [Gamma; Gamma_i]; gamma = [gamma; gamma_i]; endfor endfunction |