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Comment:Various changes
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SHA3-256: 079339165ec75e86fdf111bb0ce18ecadb076eb521da1a830f9dd24be90bed2a
User & Date: gawthrop@users.sourceforge.net on 2002-05-13 16:11:09
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Context
2002-05-13
22:46:30
Plant can now have multiple inputs. check-in: faa8358236 user: geraint@users.sourceforge.net tags: origin/master, trunk
16:11:09
Various changes check-in: 079339165e user: gawthrop@users.sourceforge.net tags: origin/master, trunk
16:01:10
Addes Q weighting matrix check-in: 8e162b30dc user: gawthrop@users.sourceforge.net tags: origin/master, trunk
Changes
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Modified mttroot/mtt/lib/rep/nppp_rep.sh from [149fe751d7] to [dd3ac0c981]. 

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#! /bin/sh

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

sys=$1
rep=nppp
lang=$2
mtt_parameters=$3
parameters=$4

target=${sys}_${rep}.${lang}

## Make the _nppp.m file
make_nppp() {
filename=${sys}_${rep}.m
echo Creating ${filename}

cat > ${filename} <<EOF    
function [y,u,t] = ${sys}_nppp (last, ppp_names, par_names, extras)

  ## usage:  [y,u,t] = ${sys}_nppp (N, ppp_names, par_names, extras)
  ## usage:  [y,u,t] = ${sys}_nppp (last, ppp_names, par_names, 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}_nppp(N, ppp_names[, par_names, extras])\n");
    return
  endif

    

  if nargin<4
    ## Set up optional parameters
    extras.criterion = 1e-5;
    extras.criterion = 1e-3;
    extras.emulate_timing = 0;
    extras.max_iterations = 10;
    extras.max_iterations = 15;
    extras.simulate = 1;
    extras.v =  1e-6;
    extras.verbose = 0;
    extras.visual = 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;
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    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 = zeros(n_y,1); w(1) = 1;
  w = zeros(n_y,1); w(1) = 1
  w_s = ones(size(t_horizon))*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
  
  ## Specify basis functions
  A_w = zeros(1,1);
  A_u = ppp_aug(A_w,laguerre_matrix(n_ppp-1,5.0));
  A_u = ppp_aug(A_w,laguerre_matrix(n_ppp-1,2.0));

  ## Weights
    Q = [1;0]

  if extras.visual		# Do some simulations
    ## 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));



    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);

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

    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 ("${sys}",i_ppp,i_par,A_u,w_s,N,extras);
      = ppp_nlin_run ("${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)];
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echo "Making sensitivity simulation for system ${sys} (lang ${lang})"

if [ "${lang}" = "oct" ]; then
    oct='-oct'
fi

## System
mtt -q -stdin ${sys} sympar m
mtt -q -stdin ${sys} simpar m
mtt -q -stdin ${oct} ${sys} state ${lang}
mtt -q -stdin ${oct} ${sys} numpar ${lang}
mtt -q -stdin ${oct} ${sys} input ${lang}
mtt -q -stdin ${oct} ${sys} ode2odes ${lang}
mtt -q -stdin ${sys} sim m
mtt -q ${mtt_parameters} -stdin ${sys} sympar m
mtt -q ${mtt_parameters} -stdin ${sys} simpar m
mtt -q ${mtt_parameters} -stdin ${oct} ${sys} state ${lang}
mtt -q ${mtt_parameters} -stdin ${oct} ${sys} numpar ${lang}
mtt -q ${mtt_parameters} -stdin ${oct} ${sys} input ${lang}
mtt -q ${mtt_parameters} -stdin ${oct} ${sys} ode2odes ${lang}
mtt -q ${mtt_parameters} -stdin ${sys} sim m

## Sensitivity system
mtt -q -stdin -s s${sys} sympar m
mtt -q -stdin -s s${sys} simpar m
mtt -q -stdin ${oct} -s s${sys} state ${lang}
mtt -q -stdin ${oct} -s s${sys} numpar ${lang}
mtt -q -stdin ${oct} -s s${sys} input ${lang}
mtt -q -stdin ${oct} -s s${sys} ode2odes ${lang}
mtt -q -stdin -s s${sys} ssim m
mtt -q ${mtt_parameters} -stdin -s s${sys} sympar m
mtt -q ${mtt_parameters} -stdin -s s${sys} simpar m
mtt -q ${mtt_parameters} -stdin ${oct} -s s${sys} state ${lang}
mtt -q ${mtt_parameters} -stdin ${oct} -s s${sys} numpar ${lang}
mtt -q ${mtt_parameters} -stdin ${oct} -s s${sys} input ${lang}
mtt -q ${mtt_parameters} -stdin ${oct} -s s${sys} ode2odes ${lang}
mtt -q ${mtt_parameters} -stdin -s s${sys} ssim m

## Additional system reps for PPP
mtt -q -stdin  ${sys} sm m
mtt -q -stdin  ${sys} def m
mtt -q -stdin  -s s${sys} def m
mtt -q ${mtt_parameters} -stdin  ${sys} sm m
mtt -q ${mtt_parameters} -stdin  ${sys} def m
mtt -q ${mtt_parameters} -stdin  -s s${sys} def m

}

## Make the code
#
make_model;
#make_model;
make_nppp;

MTT: Model Transformation Tools
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