Overview
Comment: | Additional argument to allow arbitary U*_0 |
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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: |
1206de24a5c89896f0ddf2ae43cedf32 |
User & Date: | gawthrop@users.sourceforge.net on 2005-04-11 10:25:28 |
Other Links: | branch diff | manifest | tags |
Context
2005-04-20
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13:50:40 | Allow state weighting check-in: b291e8d346 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
2005-04-11
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10:25:28 | Additional argument to allow arbitary U*_0 check-in: 1206de24a5 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
2005-03-31
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15:17:42 | Bug fix: A is sized MTTN not MTTNx check-in: a9552d90aa user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
Changes
Modified mttroot/mtt/lib/control/PPP/ppp_open2closed.m from [06ac18219c] to [fea943f4dc].
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| | | > | | | > > | 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 | function [K_x T] = ppp_open2closed (A_u,A_c,k_x,x_0,Us0); ## usage: [K_x T] = ppp_open2closed (A_u,A_c,k_x,x_0[,Us0]); ## K_x is the open-loop matrix as in U = K_w W - K_x x ## Note that K_x is a column vector of matrices - one matrix per input. ## T is the transformation matrix: x = T*Ustar; A_c = T*A_u*T^-1; U = (k_x*T)' ## A_u: The control basis-function matrix ## Us0: The initial value of Ustar ## A_c: closed-loop system matrix ## k_x: closed-loop feedback gain ## x_0: initial state ## Us0: initial basis fun state ## Copyright (C) 1999 by Peter J. Gawthrop ## $Id$ ## Check sizes n_o = is_square(A_u); n_c = is_square(A_c); if (n_o==0)||(n_c==0)||(n_o!=n_c) error("A_u and A_c must be square and of the same dimension"); endif [n_u,n_x] = size(k_x); ## Defaults if nargin<4 x_0 = zeros(n_c,1); endif if nargin<5 #Create U*(0) ##Us0 = ppp_ustar(A_u,n_u); Us0 = ones(1,n_o); endif ## Decompose A_u and Us0 into two bits: if n_o==n_c A_w = []; u_0 = Us0(1:n_c)'; # Assume same Us0 on each input else A_w = A_u(n_c+1:n_o, n_c+1:n_o) |
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