Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/Cart_abg.fig version [451fec60c3].
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#FIG 3.2
Portrait
Center
Metric
A4
100.00
Single
-2
1200 2
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
4050 2925 4050 1575 4275 1800
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
4275 3150 5625 3150 5400 3375
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
4275 4950 5625 4950 5400 5175
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
2475 3825 2475 4275
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
2475 3150 3825 3150 3600 3375
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
3825 4950 2475 4950 2700 5175
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
3825 2925 2870 1970 2870 2289
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
4288 2957 5243 2002 5243 2320
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
6525 3150 7875 3150 7650 3375
2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5
9900 5850 225 5850 225 900 9900 900 9900 5850
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
2475 4050 3825 4050 3600 4275
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
4275 4050 5625 4050 5400 4275
4 1 1 101 0 3 20 0.0000 4 270 1155 4140 3600 x-velocity\001
4 1 0 100 0 18 20 0.0000 4 195 150 4050 3240 1\001
4 1 4 100 0 18 20 0.0000 4 270 1320 1710 3240 SS:[drive]\001
4 1 1 101 0 3 20 0.0000 4 270 1125 4185 4500 y-velocity\001
4 1 1 101 0 3 20 0.0000 4 270 1905 4050 5490 angular-velocity\001
4 1 0 100 0 18 20 0.0000 4 195 150 4050 5040 1\001
4 1 4 100 0 18 20 0.0000 4 270 825 6165 5040 SS:[a]\001
4 2 0 100 0 18 20 0.0000 4 270 735 2430 5040 R:r_p\001
4 1 0 100 0 18 20 0.0000 4 270 720 2835 1845 R:r_c\001
4 1 4 100 0 18 20 0.0000 4 270 825 4050 1440 SS:[x]\001
4 1 0 100 0 18 20 0.0000 4 270 735 5355 1845 I:m_c\001
4 1 0 100 0 18 20 0.0000 4 210 630 6075 3240 INTF\001
4 0 0 100 0 18 20 0.0000 4 210 1590 8010 3240 De:Position\001
4 1 0 100 0 18 20 0.0000 4 195 150 4050 4140 1\001
4 1 4 100 0 18 20 0.0000 4 270 825 6165 4140 SS:[y]\001
4 2 0 100 0 18 20 0.0000 4 270 2190 2430 4140 Sf:zero_velocity\001
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Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/Cart_lbl.txt version [947eebb4f2].
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%% Label file for system Cart (Cart_lbl.txt)
%SUMMARY Cart
%DESCRIPTION Simple cart model
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1 2000/12/28 18:00:45 peterg
% %% To RCS
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Port aliases
%ALIAS in drive
%ALIAS pendulum|out x,y,a
%UNITS drive translational N m/s
b%UNITS x translational N m/s
%UNITS y translational N m/s
%UNITS a rotational N*m radian/s
% Argument aliases
%ALIAS $1 m_c
%% Each line should be of one of the following forms:
% a comment (ie starting with %)
% component-name cr_name arg1,arg2,..argn
% blank
% ---- Component labels ----
% Component type I
m_c lin flow,m_c
% Component type R
r_c lin flow,r_c
r_p lin flow,r_p
% Component type SS
[a] SS external,external
[drive] SS external,external
[x] SS external,external
[y] SS external,external
% Component type De
Position SS external
% Component type Sf
zero_velocity SS 0
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Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulumOnCart_lbl.txt version [1aacf49abf].
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%% Label file for system InvertedPendulumOnCart (InvertedPendulumOnCart_lbl.txt)
%SUMMARY InvertedPendulumOnCart
%DESCRIPTION An Inverted Pendulum on a Cart
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1 2000/12/28 18:00:45 peterg
% %% To RCS
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Port aliases
%ALIAS in F
%UNITS F translational N m/s
% Argument aliases
%% Each line should be of one of the following forms:
% a comment (ie starting with %)
% component-name cr_name arg1,arg2,..argn
% blank
% ---- Component labels ----
% Component type SS
[F] SS external,internal
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Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulum_abg.fig version [df06a3e7f2].
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#FIG 3.2
Portrait
Center
Metric
A4
100.00
Single
-2
1200 2
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
6840 4950 8190 4950 7965 5175
2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5
9675 7425 3150 7425 3150 2475 9675 2475 9675 7425
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
4950 5400 4950 6750 5175 6525
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
6075 5400 6075 6750 6300 6525
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
3825 5400 3825 6750 4050 6525
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
4950 3150 4950 4500 5175 4275
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
6075 3150 6075 4500 6300 4275
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
3825 3150 3825 4500 4050 4275
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
4050 6750 3600 6750
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
5175 6750 4725 6750
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
6300 5400 5850 5400
4 1 4 100 0 18 20 0.0000 4 270 825 3825 7065 SS:[x]\001
4 1 4 100 0 18 20 0.0000 4 270 825 4950 7065 SS:[y]\001
4 1 4 100 0 18 20 0.0000 4 270 825 6075 7065 SS:[a]\001
4 1 0 100 0 18 20 0.0000 4 270 1545 4964 5040 gRODa:rod\001
4 1 0 100 0 18 20 0.0000 4 270 915 3825 3015 Se:x_0\001
4 1 0 100 0 18 20 0.0000 4 270 915 4950 3015 Se:y_0\001
4 1 0 100 0 18 20 0.0000 4 270 915 6030 3015 Se:a_0\001
4 1 4 100 0 18 14 0.0000 4 210 270 6660 4995 [a]\001
4 1 0 100 0 18 20 0.0000 4 210 1140 8865 5040 De:theta\001
4 1 4 100 0 18 14 0.0000 4 210 495 3825 4725 [x_a]\001
4 1 4 100 0 18 14 0.0000 4 210 510 4950 4725 [y_a]\001
4 1 4 100 0 18 14 0.0000 4 210 510 6075 4725 [a_a]\001
4 1 4 100 0 18 14 0.0000 4 210 510 3825 5265 [x_b]\001
4 1 4 100 0 18 14 0.0000 4 210 525 4950 5265 [y_b]\001
4 1 4 100 0 18 14 0.0000 4 210 525 6075 5265 [a_b]\001
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Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/InvertedPendulum_lbl.txt version [4d5db894bb].
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%% Label file for system InvertedPendulum (InvertedPendulum_lbl.txt)
%SUMMARY InvertedPendulum
%DESCRIPTION <Detailed description here>
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1 2000/12/28 18:00:45 peterg
% %% To RCS
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Port aliases
%UNITS x translational N m/s
%UNITS y translational N m/s
%UNITS a rotational N*m radian/s
%ALIAS in|cart x,y,a
% Argument aliases
%% Each line should be of one of the following forms:
% a comment (ie starting with %)
% component-name cr_name arg1,arg2,..argn
% blank
% ---- Component labels ----
% Component type De
theta SS external
% Component type SS
[a] SS external,external
[x] SS external,external
[y] SS external,external
% Component type Se
a_0 SS 0
x_0 SS 0
y_0 SS 0
% Component type gRod
rod none l;l;j_r;m_r;g
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Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_abg.fig version [0bf799ade7].
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#FIG 3.2
Portrait
Center
Metric
A4
100.00
Single
-2
1200 2
1 4 0 2 1 7 51 0 -1 0.000 1 0.0000 3700 4909 203 203 3497 4909 3903 4909
1 4 0 2 1 7 51 0 -1 0.000 1 0.0000 4817 4902 203 203 4614 4902 5020 4902
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
2475 4275 3825 4275 3600 4500
2 4 0 2 1 7 101 0 -1 0.000 0 0 7 0 0 5
5175 4725 3375 4725 3375 3825 5175 3825 5175 4725
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
4275 4050 5230 3095 5230 3414
2 1 0 2 1 7 101 0 -1 0.000 0 0 -1 0 0 5
4477 3712 5872 2317 6052 2497 4702 3847 4522 3667
2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5
6750 5400 1125 5400 1125 2025 6750 2025 6750 5400
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
3825 4050 3825 4500
4 1 0 100 0 18 20 0.0000 4 210 570 4275 4365 Cart\001
4 1 0 100 0 18 20 0.0000 4 210 630 2070 4365 Se:F\001
4 1 0 100 0 18 20 0.0000 4 210 2445 5355 3060 InvertedPendulum\001
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Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_desc.tex version [d9a35eec71].
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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system idInvertedPendulumOnCart (InvertedPendulumOnCart_desc.tex)
% Generated by MTT on Thu Aug 5 10:38:16 BST 1999.
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1 2000/12/28 18:00:45 peterg
% %% To RCS
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
The acausal bond graph of system \textbf{idInvertedPendulumOnCart} is
displayed in Figure \Ref{fig:InvertedPendulumOnCart_abg.ps} and its label
file is listed in Section \Ref{sec:InvertedPendulumOnCart_lbl}.
The subsystems are listed in Section \Ref{sec:InvertedPendulumOnCart_sub}.
This is a one input, two output nonlinear system comprising an
inverted pendulum attached by a hinge to a cart constrained to move in
the horizontal direction. The input is the horizontal force acting on
the cart, and the two outputs are the horizontal position and the
pendulum angle respectively.
The identification procedure estimates the two friction parameters
$r_c$ and $r_c$
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Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_input.txt version [2630e61eae].
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## -*-octave-*- Put Emacs into octave-mode ##
##
## System idInvertedPendulumOnCart, representation input, language txt;
## File idInvertedPendulumOnCart_input.txt;
## Generated by MTT on Thu Apr 5 15:27:30 BST 2001;
idInvertedPendulumOnCart_f = 1.0*(t<1); # Force for 1 sec
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Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_ippp.m version [030265f188].
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## Set up parameters
name = "idInvertedPendulumOnCart";
sim = sidInvertedPendulumOnCart_simpar; # Simulation parameter
sym = sidInvertedPendulumOnCart_sympar; # Parameter names
par = sidInvertedPendulumOnCart_numpar; # Parameter values
x0 = sidInvertedPendulumOnCart_state(par); # Initial state
## Simulation of "actual" system
t = [0:sim.dt:sim.last]';
one = ones(size(t));
u = 1.0*(t<one);
y_0 = sidInvertedPendulumOnCart_ssim(x0,par,sim,u);
## Initial parameter
par_0 = par;
par_0(sym.r_c) = 0.0;
par_0(sym.r_p) = 0.0;
## Identify
extras.criterion = 1e-5;
extras.max_iterations = 10;
extras.v = 1e-5;
extras.verbose = 1; # Show what is going on
[par,Par,Error,Y] = ppp_identify (name,u,y_0,["r_c";"r_p"],par_0,extras);
par = par
grid;
xlabel("Time")
title("Estimated output");
plot(t,y_0,t,Y);
figfig("idInvertedPendulumOnCart_outputs","pdf");
figfig("idInvertedPendulumOnCart_outputs","ps");
xlabel("Iteration")
title("Estimation error");
plot(Error);
figfig("idInvertedPendulumOnCart_error","pdf");
figfig("idInvertedPendulumOnCart_error","ps");
xlabel("Iteration")
title("Estimated Parameters");
plot(Par([sym.r_c,sym.r_p],:)');
figfig("idInvertedPendulumOnCart_parameters","pdf");
figfig("idInvertedPendulumOnCart_parameters","ps");
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Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_lbl.txt version [6eb2071b1b].
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%% Label file for system idInvertedPendulumOnCart (InvertedPendulumOnCart_lbl.txt)
%SUMMARY InvertedPendulumOnCart
%DESCRIPTION An Inverted Pendulum on a Cart
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1 2000/12/28 18:00:45 peterg
% %% To RCS
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Port aliases
% Argument aliases
%% Each line should be of one of the following forms:
% a comment (ie starting with %)
% component-name cr_name arg1,arg2,..argn
% blank
% ---- Component labels ----
% Component type Se
F SS external
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Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_numpar.txt version [cff682d8fd].
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# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (InvertedPendulumOnCart_numpar.txt)
# Generated by MTT at Thu Aug 5 10:07:08 BST 1999
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %% Revision 1.1 2000/12/28 18:00:45 peterg
# %% To RCS
# %%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# Parameters
## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: e_s = 1.0; # Se
## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: f_s = 1.0; # Sf
g = 1.0; # Pendulum,gRODa
## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: j_m = 1.0; # gRODa
j_r = 1.0; # Pendulum
l = 1.0; # Pendulum
## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: l_a = 1.0; # gRODa
## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: l_b = 1.0; # gRODa
## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: m = 1.0; # gRODa
## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: m_c = 1.0; # Cart
## Removed by MTT on Thu Nov 9 17:21:31 GMT 2000: m_r = 1.0; # Pendulum
r_c = 0.1; # Cart
r_p = 0.1; # Cart
m_c = 1.0; # Added by MTT on Thu Nov 09 17:22:55 GMT 2000
m_r = 1.0; # Added by MTT on Thu Nov 09 17:22:55 GMT 2000
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Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_rep.txt version [e8c9cda982].
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## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system idInvertedPendulumOnCart (idRC_rep.txt)
## Generated by MTT on" Thu Apr 5 11:17:27 BST 2001.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.1 2001/04/05 11:57:29 gawthrop
## Identification example
##
## Revision 1.1 2000/12/28 11:58:07 peterg
## Put under RCS
##
###############################################################
mtt idInvertedPendulumOnCart abg tex # The system description
mtt idInvertedPendulumOnCart cbg ps # The causal bond graph
mtt idInvertedPendulumOnCart struc tex # The system structure
mtt idInvertedPendulumOnCart sympar tex # The system parameters
## Uncomment the following lines or add others
## mtt idInvertedPendulumOnCart dae tex # The system dae
## mtt idInvertedPendulumOnCart ode tex # The system ode
## mtt idInvertedPendulumOnCart sspar tex # Steady-state parameters
## mtt idInvertedPendulumOnCart ss tex # Steady state
## mtt idInvertedPendulumOnCart dm tex # Descriptor matrices (of linearised system)
## mtt idInvertedPendulumOnCart sm tex # State matrices (of linearised system)
## mtt idInvertedPendulumOnCart tf tex # Transfer function (of linearised system)
## mtt idInvertedPendulumOnCart lmfr ps # log modulus of frequency response (of linearised system)
## mtt idInvertedPendulumOnCart simpar tex # Simulation parameters
## mtt idInvertedPendulumOnCart numpar tex # Numerical simulation parameters
## mtt idInvertedPendulumOnCart state tex # Simulation initial state
## mtt idInvertedPendulumOnCart input tex # Simulation input
## mtt idInvertedPendulumOnCart logic tex # Logic control
mtt -oct idInvertedPendulumOnCart ippp ps
mtt idInvertedPendulumOnCart rep txt # This file
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Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_simpar.txt version [3498895858].
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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system idInvertedPendulumOnCart (InvertedPendulumOnCart_simpar.txt)
# Generated by MTT on Thu Aug 5 09:17:05 BST 1999.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.1 2000/12/28 18:00:45 peterg
## To RCS
##
###############################################################
LAST = 100.0; # Last time in simulation
DT = 0.1; # Print interval
STEPFACTOR = 1; # Integration steps per print interval
WMIN = -1; # Minimum frequency = 10^WMIN
WMAX = 2; # Maximum frequency = 10^WMAX
WSTEPS = 100; # Number of frequency steps
INPUT = 1; # Index of the input
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Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_subs.r version [752962d684].
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% Default SUBS file
% File InvertedPendulumOnCart_subs.r
% Generated by MTT on Thu Nov 9 18:55:44 GMT 2000.
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2 2001/04/02 10:57:57 gawthrop
% %% Added missing ;
% %%
% %% Revision 1.1 2000/12/28 18:00:45 peterg
% %% To RCS
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Put algebraic substitution commands here
for all x let cos(x)^2+sin(x)^2 = 1;
FOR ALL x,y LET x^y = pow(x,y); % Use the pow function
ON ROUNDED; % No integer output
END;
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Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idRC_rep.txt version [5572b35356].
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## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system idRC (idRC_rep.txt)
## Generated by MTT on" Thu Apr 5 11:17:27 BST 2001.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.1 2001/04/05 11:57:29 gawthrop
## Identification example
##
## Revision 1.1 2000/12/28 11:58:07 peterg
## Put under RCS
##
###############################################################
mtt idRC abg tex # The system description
mtt idRC cbg ps # The causal bond graph
mtt idRC struc tex # The system structure
mtt idRC sympar tex # The system parameters
## Uncomment the following lines or add others
## mtt idRC dae tex # The system dae
## mtt idRC ode tex # The system ode
## mtt idRC sspar tex # Steady-state parameters
## mtt idRC ss tex # Steady state
## mtt idRC dm tex # Descriptor matrices (of linearised system)
## mtt idRC sm tex # State matrices (of linearised system)
## mtt idRC tf tex # Transfer function (of linearised system)
## mtt idRC lmfr ps # log modulus of frequency response (of linearised system)
## mtt idRC simpar tex # Simulation parameters
## mtt idRC numpar tex # Numerical simulation parameters
## mtt idRC state tex # Simulation initial state
## mtt idRC input tex # Simulation input
## mtt idRC logic tex # Logic control
mtt -oct idRC odeso ps # Simulation output
mtt -oct -i euler idRC ippp ps
mtt idRC rep txt # This file
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Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sCart_lbl.txt version [628f0a2179].
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%% Label file for system sCart (sCart_lbl.txt)
%SUMMARY sCart
%DESCRIPTION
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1 2000/12/28 09:13:38 peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Port aliases
%ALIAS in|drive drive_1,drive_2
%ALIAS pendulum|out x_1,x_2,y_1,y_2,a_1,a_2
%ALIAS x x_1,x_2
%ALIAS y y_1,y_2
%ALIAS a a_1,a_2
% Argument aliases
%% Each line should be of one of the following forms:
% a comment (ie starting with %)
% component-name cr_name arg1,arg2,..argn
% blank
% ---- Component labels ----
% Component type SS
[a] SS external,external
[drive] SS external,external
[x] SS external,external
[y] SS external,external
% Component type De
Position SS external
% Component type I
m_c lin flow,m_c;m_cs
% Component type R
r_c lin flow,r_c;r_cs
r_p lin flow,r_p;r_ps
% Component type Sf
zero_velocity SS 0;0
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Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sInvertedPendulum_lbl.txt version [3c3f92fdc0].
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%% Label file for system sInvertedPendulum (sInvertedPendulum_lbl.txt)
%SUMMARY sInvertedPendulum
%DESCRIPTION
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1 2000/12/28 09:13:38 peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Port aliases
%ALIAS in|cart x_1,x_2,y_1,y_2,a_1,a_2
%ALIAS x x_1,x_2
%ALIAS y y_1,y_2
%ALIAS a a_1,a_2
% Argument aliases
%% Each line should be of one of the following forms:
% a comment (ie starting with %)
% component-name cr_name arg1,arg2,..argn
% blank
% ---- Component labels ----
% Component type SS
[a] SS external,external
[x] SS external,external
[y] SS external,external
% Component type De
theta SS external
% Component type Se
a_0 SS 0;0
x_0 SS 0;0
y_0 SS 0;0
% Component type gRODa
rod none m_p*l_p*l_p/12;m_ps*l_p*l_p/12;m_p;m_ps;l_p/2;l_p/2;g
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Added mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sgRODa_abg.fig version [ee579d4ee7].