Overview
Comment:Further modifications. Now works on rcPPP
-- next jobs:
add identification to ppp_nlin_sim
create real-time ppp_nlin_run
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SHA3-256: 3f62cd4a52e5aa6065db409366d39d5ddeaa44970bb64c2318ca30bd91f6456a
User & Date: gawthrop@users.sourceforge.net on 2001-05-26 18:36:43
Other Links: branch diff | manifest | tags
Context
2001-05-30
19:57:08
Fixes to sensitivity components for non-linear PPP check-in: 795053893c user: gawthrop@users.sourceforge.net tags: origin/master, trunk
2001-05-26
18:36:43
Further modifications. Now works on rcPPP
-- next jobs:
add identification to ppp_nlin_sim
create real-time ppp_nlin_run check-in: 3f62cd4a52 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
15:46:38
Updated to account for new nonlinear ppp check-in: 6632bcb60e user: gawthrop@users.sourceforge.net tags: origin/master, trunk
Changes
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Modified mttroot/mtt/bin/mtt from [56e4bd9cb2] to [7d4b078005].

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# Copyright (C) 2001 by Peter J. Gawthrop

###############################################################
## Version control history
###############################################################
## $Header$
## $Log$
## Revision 1.310  2001/05/08 08:30:12  gawthrop
## Added line to reverse the x^y --> pow(x,y) in default  _simp file to
## prettyfy LaTeX
##
## Revision 1.309  2001/04/28 03:15:03  geraint
## Fixed comment (interfered with "mtt help representations").
##
## Revision 1.308  2001/04/25 22:17:45  geraint
## Fixed icd.txt2 dependency.
##
## Revision 1.307  2001/04/15 21:15:41  geraint
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		$1_ode.p $1_odeo.p  $1_logic.p
	mtt_m2p $1_ode2odes.m $integration_method $stdin
endif

$1_ode2odes.c: $1_ode2odes.p 
	mtt_p2c $info_switch $1 ode2odes

#SUMMARY sim Octave simulation function (m)
##SUMMARY sim Octave simulation function (m)

ifeq ($computation,octave)
$1_sim.m: $1_def.r $1_sympar.txt $1_cse.m $1_cseo.m $1_smxa.m $1_smxax.m $1_numpar.m $1_state.m
#ifeq ($computation,octave)
#$1_sim.m: $1_def.r $1_sympar.txt $1_cse.m $1_cseo.m $1_smxa.m $1_smxax.m $1_numpar.m $1_state.m
	mtt_make_sim $1 $integration_method $computation 
endif
#endif

ifeq ($computation,c)
$1_sim.m: $1_def.r $1_sympar.txt $1_ode2odes.out $1_numpar.m $1_state.m
	mtt_make_sim $1 $integration_method $computation 
endif
#ifeq ($computation,c)
#$1_sim.m: $1_def.r $1_sympar.txt $1_ode2odes.out $1_numpar.m $1_state.m
#	mtt_make_sim $1 $integration_method $computation 
#endif

#SUMMARY ssim Octave sensitivity simulation function (m)
$1_ssim.m: $1_def.r
	make_ssim $1 m

#SUMMARY sim Octave simulation function (m)
$1_sim.m: $1_def.r
	make_sim $1 m

#SUMMARY obs	observer equations for CGPC (r)
#SUMMARY obs*	observer equations for CGPC (m)
#SUMMARY obs	observer equations for CGPC (tex)
#SUMMARY obs*	observer equations for CGPC (view)
#SUMMARY obs	observer equations for CGPC (ps)
#Observer functions for GPC
︙

Modified mttroot/mtt/bin/trans/mtt_header from [63911c75bc] to [f2723c0fc8].

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# Copyright (C) 2000 by Peter J. Gawthrop

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.33  2001/05/26 15:46:38  gawthrop
## Updated to account for new nonlinear ppp
##
## Revision 1.32  2001/05/24 07:42:12  gawthrop
## Included and updated the missing tf_r2m
##
## Revision 1.31  2001/04/03 14:49:42  gawthrop
## Revised to incorporate new ssim (sensitivity simulation)
## representation (m only just now).
##
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	states=no;
	inputs=no;
	parameters=yes;
        output=mttx
        args=mttpar
        declarestates=yes
	;;
    sim)
	states=no;
        inputs=no;
	parameters=no;
        output='y,x'
        args='x0,par,simpar,u'
	;;
    ssim)
	states=no;
        inputs=no;
	parameters=no;
        output='y,y_par,x'
        args='x0,par,simpar,u,index'
	;;
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Modified mttroot/mtt/lib/control/PPP/ppp_nlin_sim.m from [7a76a326ac] to [8be58fd40d].

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  ## Names
  s_system_name = sprintf("s%s", system_name);

  ## System details -- defines simulation within ol interval
  par = eval(sprintf("%s_numpar;", system_name));
  simpar = eval(sprintf("%s_simpar;", system_name))
  x_0 = eval(sprintf("%s_state(par);", system_name))
  simpar = eval(sprintf("%s_simpar;", system_name));
  x_0 = eval(sprintf("%s_state(par);", system_name));
  [n_x,n_y,n_u] = eval(sprintf("%s_def;", system_name));

  ## Sensitivity system details -- defines moving horizon simulation
  simpars = eval(sprintf("%s_simpar;", s_system_name))
  simpars = eval(sprintf("%s_simpar;", s_system_name));
  sympars = eval(sprintf("%s_sympar;", s_system_name));
  pars = eval(sprintf("%s_numpar;", s_system_name));

  ## Times
  ## -- within opt horizon
  n_Tau = round(simpars.last/simpars.dt)
  dtau = simpars.dt
  n_Tau = round(simpars.last/simpars.dt);
  dtau = simpars.dt;
  Tau = [0:n_Tau-1]'*dtau;
  [n_tau,n_w] = size(w_s);
  tau = Tau(n_Tau-n_tau+1:n_Tau);
  w = w_s(length(w_s));		# Final value of setpoint

  ## -- within ol interval
  n_t = round(simpar.last/simpar.dt)
  n_t = round(simpar.last/simpar.dt);
  dt = simpar.dt;
  t_ol = [0:n_t-1]'*dt;
  T_ol = n_t*dt;

  ## Weight and moving-horizon setpoint
#   weight = [zeros(n_y,n_Tau-n_tau), ones(n_y,n_tau)]; 
#   w_s = w*ones(n_tau,1);

  ## Create input basis functions
  [n_U,junk] = size(A_u);

  ## For moving horizon
  eA = expm(A_u*dtau);
  u_star_i = ones(n_U,1);
  u_star_tau = [];
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      pars(i_ppp(:,1)) = U;	# Put final value of U into the parameter vector
    else
      Error = [];
    endif
    opt_time = time-tick;  
    printf("Optimisation %i took %i iterations and %2.2f sec\n", i, \
	   length(Error), opt_time);
    ##title(sprintf("Moving horizon trajectories: Interval %i",i));
    ##grid;
    ##plot(tau,Y)
    
    ## Generate control
    u_ol = u_star_t*U;		# Not used - just for show

    ## Simulate system over one ol interval
    ## (Assumes that first gain parameter is one)
    ##U = [u_ol zeros(n_t,n_u-1)]; # Generate the vector input
    [y_ol,y_s,x_ol] = eval(sprintf("%s_ssim(x_0s, pars, simpar, u_star_t);", s_system_name));
    
    [y_ol,ys_ol,x_ol] = eval(sprintf("%s_ssim(x_0s, pars, simpar, u_star_t);", s_system_name));

    x_0  = x_ol(n_t+1,:)';	# Extract state for next time
    y_ol = y_ol(1:n_t,:);	# Avoid extra points due to rounding error 
    x_ol = x_ol(1:n_t,:);	# Avoid extra points due to rounding error 


    y = [y; y_ol];
    x = [x; x_ol];
︙

Modified mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/Figures.m from [df50e03584] to [0d87023b1f]. 

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## Figures.m
## Makes figures for the rc_PPP exasmple.
## $Log$
## Revision 1.2  2000/05/17 17:02:58  peterg
## Fixed documentation
##
## Revision 1.1  2000/05/17 09:14:37  peterg
## Initial revision
##
system_name = "rcPPP";

## Uncomment the following the first time
## (Or do ./Make rcPPP in this directory)

## MTT stuff for the system simulation
##system("Make rcPPP");



t_s=[0:0.1:10];
# ## System info
par  = rcPPP_numpar;
simpar  = rcPPP_simpar;
u = [ones(1,length(t_s));ones(1,length(t_s))];
x_0 = rcPPP_state;
x_0 = rcPPP_state(par);
par  = rcPPP_numpar;

## Simulate the system
tick=time;
[y,x] = rcPPP_sim(x_0,u,t_s,par);
Elapsed = time-tick
# ## Set up the input
# t = [0:simpar.dt:simpar.last];
# A_w = 0;
# A_u = ppp_aug(A_w,laguerre_matrix(1,2.0)) # Specify basis functions: constant & exp(-t/T)
# u = ppp_ustar(A_u,1,t,0,0);
plot(t_s,y,t_s,x);

## Simulate the system to give just the final few point
# ## Simulate the system
t_s1 = [9:0.1:10];
tick=time;
[y,x] = rcPPP_sim(x_0,u,t_s1,par);
Elapsed = time-tick
plot(t_s1,y,t_s1,x);
# tick=time;
# [y,x] = rcPPP_sim(x_0,par,simpar,u);
# Elapsed = time-tick
# plot(t,y)

## Sensitivity system simulation parameters
x_0s = srcPPP_state;
simpars  = srcPPP_simpar;
sympars  = srcPPP_sympar;
pars  = srcPPP_numpar;
sympars  = srcPPP_sympar;
x_0s = srcPPP_state(pars);

t = [0:simpars.dt:simpars.last];
A_w = 0;
A_u = ppp_aug(A_w,laguerre_matrix(1,2.0)) # Specify basis functions: constant & exp(-t/T)
u = ppp_ustar(A_u,1,t,0,0);


## Setup the indices of the adjustable stuff
i_ppp = [sympars.ppp_1, sympars.ppp_1s
	 sympars.ppp_2, sympars.ppp_2s]; # PPP params
i_par = [sympars.x_0,  sympars.x_0s
	 sympars.r,    sympars.rs]; # State and r component

## Simulate the sensitivity system
sensitivities = [sympars.ppp_1s,sympars.ppp_2s,sympars.rs]
sensitivities = [i_ppp(:,2); i_par(:,2)]
u = ppp_ustar(A_u,1,t,0,0); 
tick=time;
[y,ys] = srcPPP_sim(x_0s,u,t_s,[sympars.r,2.0],sensitivities);
[y,ys,x] = srcPPP_ssim(x_0s,pars,simpars,u,sensitivities);
Elapsed = time-tick
plot(t_s,y,t_s,ys);
plot(t,y,t,ys);

### PPP parameters
A_w = 0;
A_u = ppp_aug(A_w,laguerre_matrix(1,10)); # Specify basis functions: constant & exp(-5t)
tau = [0.9:0.01:1];		# Optimisation interval
t_ol = [0:0.01:0.2];		# Open-loop interval
N = 5;				# Number of open-loop intervals in simulation
N = 10;				# Number of open-loop intervals in simulation
w = 1;				# Setpoint
w_s = w*ones(10,1);                  # The setpoint witnin the horizon

## Linear system
n_Tau = round(simpars.last/simpars.dt);
dtau = simpars.dt;
Tau = [0:n_Tau-1]'*dtau;
[n_tau,n_w] = size(w_s);
tau = Tau(n_Tau-n_tau+1:n_Tau)
[A,B,C,D] = rcPPP_sm;
[A,B,C,D] = rcPPP_sm(par);
Q = 1;
w = 1;
ppp_lin_plot (A,B(:,1),C(1,:),D(1,1),A_u,A_w,tau,Q,w,x_0);
ppp_lin_plot (A,B(:,1),C(1,:),D(1,1),A_u,A_w,tau',Q,w);
psfig("rcPPP_lin");

## Simulate non-linear PPP (on this linear system)
extras.U_initial = "zero";
extras.U_next = "continuation";
extras.criterion = 1e-5;
extras.max_iterations = 10;
extras.alpha = 0.1;
extras.verbose = 0;
extras.v = 1e-5;

##  -- with no optimisation using linear PPP with continuation
extras.U_initial = "linear";
extras.U_next = "continuation";
extras.criterion = 1e-5;
extras.max_iterations = 0;
[y_c,x,u_c,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras);
[y_c,x,u_c,t,U,U_c,U_l] = ppp_nlin_sim (system_name,i_ppp,i_par,A_u,w_s,N,extras);

##  -- with no optimisation using linear PPP at each step
extras.U_initial = "linear";
extras.U_next = "linear";
extras.criterion = 1e-5;
extras.max_iterations = 0;
[y_l,x,u_l,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras);
[y_l,x,u_l,t,U,U_c,U_l] = ppp_nlin_sim (system_name,i_ppp,i_par,A_u,w_s,N,extras);

##  -- with no optimisation using nonlinear PPP with continuation
##  -- with optimisation using nonlinear PPP with continuation
extras.U_initial = "zero";
extras.U_next = "continuation";
extras.criterion = 1e-5;
extras.max_iterations = 100;
[y,x,u,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras);
[y,x,u,t,U,U_c,U_l] = ppp_nlin_sim (system_name,i_ppp,i_par,A_u,w_s,N,extras);


## Plots
title("");

## U, U_c and U_l
I = 1:N;
IU1 = [I' U(1,:)'];
IU1_c = [I' U_c(1,:)'];
IU1_l = [I' U_l(1,:)'];
I = [1:N]';
IU1 = [I U(:,1)];
IU1_c = [I U_c(:,1)];
IU1_l = [I U_l(:,1)];
gset grid; xlabel "Interval"
gplot IU1 title "U_1", IU1_c title "U_c1", IU1_l title "U_l1"
psfig("rcPPP_U1");

IU2 = [I' U(2,:)'];
IU2_c = [I' U_c(2,:)'];
IU2_l = [I' U_l(2,:)'];
IU2 = [I U(:,2)];
IU2_c = [I U_c(:,2)];
IU2_l = [I U_l(:,2)];
gset grid; xlabel "Interval "
gplot IU2 title "U_2", IU2_c title "U_c2", IU2_l title "U_l2"
psfig("rcPPP_U2");

## y & u
gset grid; xlabel "Time (sec)"
ty = [t' y'] ; tu =  [t' u']; 
ty = [t y] ; tu =  [t u]; 
gplot ty title "Output", tu title "Input"

psfig("rcPPP_yu");

title("");
gset grid; xlabel "Time (sec)"
ty_c = [t' y_c'] ; 
ty_l = [t' y_l'] ; 
ty = [t' y'] ; 
tu =  [t' u']; 
ty_c = [t y_c] ; 
ty_l = [t y_l] ; 
ty = [t y] ; 
tu =  [t u]; 
gplot ty_c title "Continuation", ty_l title "Linear", ty title "Optimisation"
psfig("rcPPP_ylco");

Modified mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/Make from [e246f48d9d] to [37eadad62c]. 

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#!/bin/sh

## Makes the files needed for Figures.m
## Copyright (C) 2000 by Peter J. Gawthrop

sys=$1

if [ -z "$2" ]; then
    code=oct
else
    code=$2
fi

if [ -z "$1" ]; then
    echo Usage ./Make system_name
    echo 'Usage ./Make system_name [m|oct]'
    exit
else
    echo "Making sensitivity simulation for system ${sys} (code ${code})"
fi
    echo "Making simulation for system $1 (for use in Figures.m)"

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

echo Switches ${oct}

## System
mtt -q -c -stdin $1 ode2odes out
mtt -q -c -stdin $1 sim m
mtt -q  $1 state m
mtt -q  $1 sympar m
mtt -q  $1 numpar m
mtt -q ${sys} sympar m
mtt -q ${sys} simpar m
mtt -q ${sys} numpar m
mtt -q ${sys} state m


## Sensitivity system
mtt -q -c -stdin -s s$1 ode2odes out
mtt -q -c -stdin -s s$1 sim m
mtt -q  -s s$1 state m
mtt -q  -s s$1 sympar m
mtt -q  -s s$1 numpar m
mtt -q -stdin -s s${sys} ssim m
mtt -q -stdin -s s${sys} sympar m
mtt -q -stdin -s s${sys} simpar m
mtt -q -stdin ${oct} -s s${sys} input ${code}
mtt -q -stdin ${oct} -s s${sys} ode2odes ${code}
mtt -q -stdin ${oct} -s s${sys} state ${code}
mtt -q -stdin ${oct} -s s${sys} numpar ${code}

## Additional system reps for PPP
mtt -q  $1 sm m
mtt -q  $1 def m
mtt -q  -s s$1 def m
mtt -q -stdin  ${sys} sm m
mtt -q -stdin  ${sys} def m
mtt -q -stdin  -s s${sys} def m

Modified mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_numpar.txt from [622bfa4d7a] to [e921254017]. 

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# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (rcPPP_numpar.txt)
# Generated by MTT at Tue Apr 18 18:53:40 BST 2000

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %% Revision 1.1  2000/12/28 17:31:27  peterg
# %% To RCS
# %%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
c = 	1.0; # CS,rcPPP
e_0 = 	1.0; # CS
e_s = 	1.0; # Se
## Removed by MTT on Sat May 26 07:46:29 BST 2001: e_0 = 	1.0; # CS
## Removed by MTT on Sat May 26 07:46:29 BST 2001: e_s = 	1.0; # Se

ppp_1 = 	1.0; # rcPPP
ppp_2 = 	0.0; # rcPPP
q_0 = 	1.0; # rcPPP
r = 	1.0; # rcPPP

## Physical parameters
c =     1.0;
q_0 =   0.0;
r =     1.0;

Modified mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/srcPPP_lbl.txt from [4b14133500] to [bea2eabf2a]. 

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%% Label file for system srcPPP (srcPPP_lbl.txt)
%SUMMARY srcPPP
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/12/28 17:31:27  peterg
% %% To RCS
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases

% Argument aliases
%ALIAS	$1	ppp_1
︙
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%% 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 Ae
	ppp_1	lin		ppp_1;ppp_1s
	ppp_2	lin		ppp_2;ppp_2s
	ppp_1	slin		ppp_1;ppp_1s
	ppp_2	slin		ppp_2;ppp_2s

% Component type CS
	c	lin		effort,c;x_0;cs;x_0s
	c	slin		effort,c;x_0;cs;x_0s

% Component type De
	y	SS		external

% Component type R
	r	lin		flow,r;rs
	r	slin		flow,r;rs

% Component type Se
	u1	SS		external;0
	u2	SS		external;0

Modified mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/srcPPP_numpar.txt from [ab280343fb] to [00ff26769b]. 

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# -*-octave-*- Put Emacs into octave-mode
## -*-octave-*- Put Emacs into octave-mode ##
# Numerical parameter file (srcPPP_numpar.txt)
# Generated by MTT at Tue Apr 18 09:13:31 BST 2000

 
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
## 
## System srcPPP, representation numpar, language txt; 
## File srcPPP_numpar.txt; 
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

## Generated by MTT on Sat May 26 08:47:19 BST 2001; 

## Dummies
c = 0.0;
c_s = 0.0;
cs = 0.0;
e_0 = 0.0;
e_0s = 0.0;
e_s = 0.0;
g = 0.0;
k = 0.0;
k_s = 0.0;
ppp_1 = 0.0;
ppp_1s = 0.0;
ppp_2 = 0.0;
ppp_2s = 0.0;
r = 0.0;
rs = 0.0;
x_0 = 0.0;
x_0s = 0.0;

# Parameters
c = 	1.0; # CS,rcPPP
e_0 = 	1.0; # CS
e_s = 	1.0; # Se
ppp_1 = 	1.0; # rcPPP
ppp_2 = 	0.0; # rcPPP
#q_0 = 	1.0;
r = 	1.0; # rcPPP
## Parameters
c	= 1.0;
r	= 1.0;

## PPP coefficients
ppp_1	= 0.0; # Default
ppp_2	= 1.0; # Default

## State
x_0	= 0.0; # Default

## Physical parameters
c =     1.0;
q_0 =   0.0;
r =     1.0;

## Sensitivities
cs	= 0.0; # Default
ppp_1s	= 0.0; # Default
ppp_2s	= 0.0; # Default
rs	= 0.0; # Default
x_0s	= 0.0; # Default

Modified mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/srcPPP_simpar.txt from [8ad9573e20] to [370b8dff18]. 

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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system srcPPP (srcPPP_simpar.txt)
# Generated by MTT on Fri Apr 14 17:43:36 BST 2000.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.1  2000/12/28 17:31:27  peterg
## To RCS
##
###############################################################


LAST        = 10.0;       # Last time in simulation
DT          = 0.1;        # Print interval
FIRST        = 0.0;       # Last time in simulation
LAST        = 2.0;       # Last time in simulation
DT          = 0.01;        # 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

MTT: Model Transformation Tools
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