Overview
Comment: | Updated to use qp_mu (Adrian Wills/Will Heath) |
---|---|
Downloads: | Tarball | ZIP archive | SQL archive |
Timelines: | family | ancestors | descendants | both | origin/master | trunk |
Files: | files | file ages | folders |
SHA3-256: |
5ed5baf95700f7707eabcbf4e1559b44 |
User & Date: | gawthrop@users.sourceforge.net on 2002-08-26 10:12:55 |
Other Links: | branch diff | manifest | tags |
Context
2002-08-27
| ||
10:48:29 | Corrected documentation check-in: d0e482a408 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
2002-08-26
| ||
10:12:55 | Updated to use qp_mu (Adrian Wills/Will Heath) check-in: 5ed5baf957 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
2002-08-23
| ||
09:13:58 | Sensitivity version check-in: 8553f17d95 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
Changes
Modified mttroot/mtt/lib/control/PPP/ppp_qp.m from [e94ddba2d2] to [519bc8a390].
| 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 45 46 47 48 49 50 51 52 53 54 55 56 57 58 | - + + + + + + + - - - + + + + + |
|
Modified mttroot/mtt/lib/control/PPP/ppp_qp_sim.m from [58fd63cdfa] to [442bf78425].
| 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 | - + + + + + + |
|
︙ | |||
45 46 47 48 49 50 51 | 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 | - + | disp("Designing controller"); [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,A_u,A_w,t,Q); ## Set up various time vectors dt = t(2)-t(1); # Time increment ## Make sure Delta_ol is multiple of dt |
︙ | |||
71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 | 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 | + - + + + - | [Ad, Bd] = sys2ss(dsys); x = x_0; # Initialise state ## Initialise the saved variable arrays X = []; u = []; Iterations = []; du = []; J = []; tick= time; i = 0; disp("Simulating ..."); for t=T_cl # Outer loop at Delta_ol ##disp(sprintf("Time %g", t)); ## Output constraints [Gamma_y,gamma_y] = ppp_output_constraint (A,B,C,D,x,A_u,Tau_y,Min_y,Max_y,Order_y); ## Composite constraints Gamma = [Gamma_u; Gamma_y]; gamma = [gamma_u; gamma_y]; ## Compute U(t) |