Overview
Comment: | Make time horizon tau part of p_c struct |
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Timelines: | family | ancestors | descendants | both | origin/master | trunk |
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SHA3-256: |
fb3311a46fd82ae5b87aeddcacb5af37 |
User & Date: | gawthrop@users.sourceforge.net on 2003-10-21 09:55:02 |
Other Links: | branch diff | manifest | tags |
Context
2003-10-22
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23:49:43 | Put Xmtt into Debian|App|Math menu. check-in: cdfbf2e2fc user: geraint@users.sourceforge.net tags: origin/master, trunk | |
2003-10-21
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09:55:02 | Make time horizon tau part of p_c struct check-in: fb3311a46f user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
09:30:24 | Revised to work with LQ on alnalogue circuit example with integration check-in: 19c0c38dde user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
Changes
Modified mttroot/mtt/lib/control/PPP/ppp_lin_run.m from [fdb48937ab] to [afe5f8a794].
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102 103 104 105 106 107 108 109 110 111 112 113 114 115 | endif endif else error(sprintf("Method %s not recognised", p_c.Method)); endif endif 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"; | > > > > > > > > > > > > | 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 | endif endif else error(sprintf("Method %s not recognised", p_c.Method)); endif endif if !struct_contains(p_c,"tau") # Time horizon if strcmp(p_c.Method,"lq") p_c.tau = [0:0.1:1]*2; elseif strcmp(p_c.Method,"original"); p_c.tau = [10:0.1:11]; else error(sprintf("Method %s not recognised", p_c.Method)); endif endif 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"; |
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135 136 137 138 139 140 141 | K_w = zeros(p_c.n_U,n_y); K_w(1,1) = 1; K_w(2,1) = -1; K_x = zeros(p_c.n_U,n_x); else I = ceil(p_c.T/p_c.delta_ol) # Number of large samples if strcmp(p_c.Method, "original") | | | | | > > | 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 | K_w = zeros(p_c.n_U,n_y); K_w(1,1) = 1; K_w(2,1) = -1; K_x = zeros(p_c.n_U,n_x); else I = ceil(p_c.T/p_c.delta_ol) # Number of large samples if strcmp(p_c.Method, "original") ## tau = [10:0.1:11]*(2/a_u); # Time horizons [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww] =\ ppp_lin(A,B,C,D,p_c.A_u,p_c.A_w,p_c.tau); # Design elseif strcmp(p_c.Method, "lq") # LQ design ## tau = [0:0.001:1]*2; # Time horizons [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,A_u] \ = ppp_lin_quad (A,B,C,D,p_c.tau,p_c.Q,p_c.R); p_c.A_u = A_u; else error(sprintf("Control method %s not recognised", p_c.Method)); endif ##Sanity check A_u [p_c.n_U,M_u] = size(p_c.A_u); if (p_c.n_U!=M_u) error("A_u must be square"); endif ## Checks [ol_zeros, ol_poles] = sys2zp(sys) cl_poles = eig(A - B*k_x) t_max = 1/min(abs(cl_poles)) t_min = 1/max(abs(cl_poles)) endif ## Initial control U U = zeros(p_c.n_U,1); ## Short sample interval |
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