Overview
Comment:Added comments
Correct observer pole computation
Downloads: Tarball | ZIP archive | SQL archive
Timelines: family | ancestors | descendants | both | origin/master | trunk
Files: files | file ages | folders
SHA3-256: 67624576836fddff12f4cf912636a0d1d731435b6459b2a5bb9509934101b243
User & Date: gawthrop@users.sourceforge.net on 2003-06-26 08:01:46
Other Links: branch diff | manifest | tags
Context
2003-06-26
11:55:05
Write longer sequence to Ustar.h check-in: 7ffabd23a1 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
08:01:46
Added comments
Correct observer pole computation
check-in: 6762457683 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
07:52:24
Added e_e to argout
Tidy
check-in: 9735dda4eb user: gawthrop@users.sourceforge.net tags: origin/master, trunk
Changes

Modified mttroot/mtt/lib/control/PPP/ppp_lin_run.m from [13e6d6b016] to [c55486575a].

123
124
125
126
127
128
129
130

131
132
133
134
135
136
137
138
139
140
141
142

143
144

145
146

147
148

149

150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173





174
175
176
177

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
123
124
125
126
127
128
129

130
131
132
133
134
135
136
137
138
139
140
141

142
143

144
145
146
147
148
149
150

151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170





171
172
173
174
175
176
177
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







-
+











-
+

-
+


+


+
-
+



















-
-
-
-
-
+
+
+
+
+



-
+







-
+

-
+







-
+







    ##Sanity check A_u
    [p_c.N_u,M_u] = size(p_c.A_u);
    if (p_c.N_u<>M_u)
      error("A_u must be square");
    endif
    
    
    U = K_w*w			# Initial control U
    U = K_w*w;			# Initial control U

    ## Checks
    [ol_zeros, ol_poles] = sys2zp(sys)
    cl_poles = eig(A - B*k_x)
  endif

  ## Observer design
  Ad = expm(A*p_c.delta_ol);		# Discrete-time transition matrix
  if (ControlType==2)		# 
    G = eye(n_x);		# State noise gain 
    sigma_x = eye(n_x);		# State noise variance
    Sigma = p_o.sigma*eye(n_y)	# Measurement noise variance
    Sigma = p_o.sigma*eye(n_y);	# Measurement noise variance
    
    L = dlqe(Ad,G,C,sigma_x,Sigma)
    [L, M, P, obs_poles] = dlqe(Ad,G,C,sigma_x,Sigma);
  else
    L = zeros(n_x,n_y);
    obs_poles = eig(Ad);
  endif
  
  ## Display the poles
  obs_poles = eig(Ad-L*C);
  obs_poles

  ## Short sample interval
  dt = p_c.delta_ol/p_c.N;

  ## Write the include file for the real-time function
  disp("Writing Ustar.h");
  ppp_ustar2h(ppp_ustar (p_c.A_u, n_u, [0:dt:p_c.delta_ol], 0,0)); 


  ## Control loop
  y = [];
  u = [];
  t = [];
  y_e = [];
  t_e = [];
  e_e = [];
  tick = time;
  for i=1:I
    i
    if Simulate
      t_sim = [0:p_c.N]*dt;
      [yi,ui,xsi] = ppp_ystar (A,B,C,D,x,p_c.A_u,U,t_sim);
      x = xsi(:,p_c.N+1);
      y_now = yi(:,p_c.N+1);
    if Simulate			# Exact simulation 
      t_sim = [0:p_c.N]*dt;	# Simulation time points
      [yi,ui,xsi] = ppp_ystar(A,B,C,D,x,p_c.A_u,U,t_sim); # Simulate
      x = xsi(:,p_c.N+1);	# Current state
      y_now = yi(:,p_c.N+1);	# Current output
    else			# The real thing
      to_rt(U');		# Send U
      data = from_rt(p_c.N);	# Receive data
      [yi,ui] = convert_data(data); 
      [yi,ui] = convert_data(data); # And convert from integer format
      y_now = yi(:,p_c.N);	# Current output
    endif

    ## Observer
    [x_est y_est e_est] = ppp_int_obs (x_est,y_now,U,A,B,C,D,p_c.A_u,p_c.delta_ol,L);
    
    ##Control
    U = K_w*w - K_x*x_est
    U = K_w*w - K_x*x_est;

    ## Save
    ## Save data
    ti  = [(i-1)*p_c.N:i*p_c.N-1]*dt; 
    t = [t;ti'];
    y = [y;yi(:,1:p_c.N)'];
    u = [u;ui(:,1:p_c.N)'];
    y_e = [y_e; y_est'];
    t_e = [t_e; (i*p_c.N)*dt];
    e_e = [e_e; e_est];
  endfor
  endfor			# Main loop
  
  sample_interval = (time-tick)/(I*p_c.N)

  ## Put data on file (so can use for identification)
  filename = sprintf("%s_ident_data.dat",Name);
  eval(sprintf("save -ascii %s t y u",filename));


MTT: Model Transformation Tools
GitHub | SourceHut | Sourceforge | Fossil RSS ]