Overview
Comment: | Added terminal cost for w |
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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: |
64f6ad2f154593a912612ab203668700 |
User & Date: | gawthrop@users.sourceforge.net on 2002-12-20 12:48:41 |
Other Links: | branch diff | manifest | tags |
Context
2002-12-23
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11:17:47 | Now GPL only check-in: 7c8a3e086b user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
2002-12-20
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12:48:41 | Added terminal cost for w check-in: 64f6ad2f15 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
10:44:23 | Don't augment A_u with A_w - do it externally check-in: 08172cee79 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
Changes
Modified mttroot/mtt/lib/control/PPP/ppp_lin.m from [db890617e0] to [badb5c2ae2].
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178 179 180 181 182 183 184 | ## Exit if badly conditioned cond_uu = cond(J_uu); if cond_uu>max_cond error(sprintf("J_uu is badly conditioned. Condition number = 10^%i",log10(cond_uu))); endif | < < < < < < > > > > > > > > > > > > > > > > > > > > | 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 | ## Exit if badly conditioned cond_uu = cond(J_uu); if cond_uu>max_cond error(sprintf("J_uu is badly conditioned. Condition number = 10^%i",log10(cond_uu))); endif ## w bits if n_W>0 for i = 1:n_y # For each output QQ = ones(n_U,1)*Q(i,:); # Resize Q J_uw = J_uw + (QQ .* y_u(:,i:n_y:n_yu)') * Ws (:,i:n_y:n_yw); QQ = ones(n_x,1)*Q(i,:); # Resize Q J_xw = J_xw + (QQ .* y_x(:,i:n_y:n_yx)') * Ws (:,i:n_y:n_yw); QQ = ones(n_W,1)*Q(i,:); # Resize Q J_ww = J_ww + (QQ .* Ws (:,i:n_y:n_yw)') * Ws (:,i:n_y:n_yw); endfor endif ## Terminal constraint tau_last = tau(m_t); x_x_t = expm(A*tau_last); # deriv. of x*(tau_2) wrt x(0) J_ux = J_ux + x_u_t'*P*x_x_t; J_uu = J_uu + x_u_t'*P*x_u_t; ## Terminal constraint - w bits ## NB SISO ONLY at the moment C = C(1,:); # REMOVE ME ## deriv of x* wrt W if (cond(A)<1e10) # Finite ss gain x_W_t = (A\B)*inv(C*(A\B)); else # Infinite ss gain Y_0 = zeros(n_x,n_y); Y_0(1,:) = ones(1,n_y); x_W_t = obsv(A,C)\Y_0; endif J_uw = J_uw + x_u_t'*P*x_W_t; ## Compute the open-loop gains K_w = J_uu\J_uw; K_x = J_uu\J_ux; ## U*(tau) at tau=0 Us0 = ppp_ustar(A_u,n_u,0); |
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