Overview
Comment:Add extra modes using p_c.A_e
Downloads: Tarball | ZIP archive | SQL archive
Timelines: family | ancestors | descendants | both | origin/master | trunk
Files: files | file ages | folders
SHA3-256: 7f0e4f295f06644b63d1811aad8a328ce08588d086d7b406f6d99fc0a9da7e29
User & Date: gawthrop@users.sourceforge.net on 2003-10-28 20:58:16
Other Links: branch diff | manifest | tags
Context
2003-10-28
21:31:24
Don't default R if already set! check-in: 79405d91da user: gawthrop@users.sourceforge.net tags: origin/master, trunk
20:58:16
Add extra modes using p_c.A_e check-in: 7f0e4f295f user: gawthrop@users.sourceforge.net tags: origin/master, trunk
2003-10-26
22:55:11
Fixed installation of man page. check-in: 822e802530 user: geraint@users.sourceforge.net tags: origin/master, trunk
Changes
Hide Diffs Unified Diffs Ignore Whitespace Patch

Modified mttroot/mtt/lib/control/PPP/ppp_lin_run.m from [afe5f8a794] to [ef48377cb1].

︙︙
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74

  endif

  if !struct_contains(p_c,"augment")
    p_c.augment = 0;		# Augment basis funs with constant
  endif
  
  if !struct_contains(p_c,"integrate")
    p_c.integrate = 0;		# Augment basis funs with constant
  endif
  
  if !struct_contains(p_c,"Tau_u")
    p_c.Tau_u = [];
    p_c.Min_u = [];
    p_c.Max_u = [];
  endif








|








60
61
62
63
64
65
66
67
68
69
70
71
72
73
74

  endif

  if !struct_contains(p_c,"augment")
    p_c.augment = 0;		# Augment basis funs with constant
  endif
  
  if !struct_contains(p_c,"integrate")
    p_c.integrate = 0;		
  endif
  
  if !struct_contains(p_c,"Tau_u")
    p_c.Tau_u = [];
    p_c.Min_u = [];
    p_c.Max_u = [];
  endif
︙︙
112
113
114
115
116
117
118
119


120
121
122
123
124
125
126

    elseif strcmp(p_c.Method,"original");
      p_c.tau = [10:0.1:11];
    else
      error(sprintf("Method %s not recognised", p_c.Method));
    endif
  endif
  
      



  if !struct_contains(p_o,"x_0")
    p_o.x_0 = zeros(n_x,1);
  endif
  
  if !struct_contains(p_o,"method")
    ##p_o.method = "continuous";








|
>
>








112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128

    elseif strcmp(p_c.Method,"original");
      p_c.tau = [10:0.1:11];
    else
      error(sprintf("Method %s not recognised", p_c.Method));
    endif
  endif
  
  if !struct_contains(p_c,"A_e")
    p_c.A_e = [];			# No extra modes
  endif

  if !struct_contains(p_o,"x_0")
    p_o.x_0 = zeros(n_x,1);
  endif
  
  if !struct_contains(p_o,"method")
    ##p_o.method = "continuous";
︙︙
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168

    K_w = zeros(p_c.n_U,n_y);
    K_w(1,1) = 1;
    K_w(2,1) = -1;
    K_x = zeros(p_c.n_U,n_x);
  else
    I = ceil(p_c.T/p_c.delta_ol) # Number of large samples
    if strcmp(p_c.Method, "original")
##      tau = [10:0.1:11]*(2/a_u);	# Time horizons
      [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,p_c.A_u,p_c.A_w,p_c.tau); # Design
    elseif strcmp(p_c.Method, "lq") # LQ design
##      tau = [0:0.001:1]*2; # Time horizons
      [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,A_u] \
	  = ppp_lin_quad (A,B,C,D,p_c.tau,p_c.Q,p_c.R);
      p_c.A_u = A_u;
    else
      error(sprintf("Control method %s not recognised", p_c.Method));
    endif

    ##Sanity check A_u
    [p_c.n_U,M_u] = size(p_c.A_u);
    if (p_c.n_U!=M_u)








<



<

|
|








149
150
151
152
153
154
155

156
157
158

159
160
161
162
163
164
165
166
167
168

    K_w = zeros(p_c.n_U,n_y);
    K_w(1,1) = 1;
    K_w(2,1) = -1;
    K_x = zeros(p_c.n_U,n_x);
  else
    I = ceil(p_c.T/p_c.delta_ol) # Number of large samples
    if strcmp(p_c.Method, "original")

      [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,p_c.A_u,p_c.A_w,p_c.tau); # Design
    elseif strcmp(p_c.Method, "lq") # LQ design

      [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,A_u] \
	  = ppp_lin_quad (A,B,C,D,p_c.tau,p_c.Q,p_c.R,p_c.A_e);
      p_c.A_u = A_u
    else
      error(sprintf("Control method %s not recognised", p_c.Method));
    endif

    ##Sanity check A_u
    [p_c.n_U,M_u] = size(p_c.A_u);
    if (p_c.n_U!=M_u)
︙︙
277
278
279
280
281
282
283

284
285
286
287
288
289
290
291
292
293

	    ppp_output_constraints(A,B,C,D,x_est,p_c.A_u,\
				   p_c.Tau_y,p_c.Min_y,p_c.Max_y);
	
	## Composite constraints - t=0
	Gamma = [Gamma_u; Gamma_y];
	gamma = [gamma_u; gamma_y];
	

	[u_qp,U] = ppp_qp (x_est,w,J_uu,J_ux,J_uw,Us0,Gamma,gamma,1e-6,1);
      endif
      

      ## Save data
      if Simulate
	t = [t;ti'];
	y = [y;yi'];
	u = [u;ui'];
      else








>
|

<








277
278
279
280
281
282
283
284
285
286

287
288
289
290
291
292
293

	    ppp_output_constraints(A,B,C,D,x_est,p_c.A_u,\
				   p_c.Tau_y,p_c.Min_y,p_c.Max_y);
	
	## Composite constraints - t=0
	Gamma = [Gamma_u; Gamma_y];
	gamma = [gamma_u; gamma_y];
	
	[u_qp,U] = ppp_qp \
	    (x_est,w,J_uu,J_ux,J_uw,Us0,Gamma,gamma,1e-6,1);
      endif


      ## Save data
      if Simulate
	t = [t;ti'];
	y = [y;yi'];
	u = [u;ui'];
      else
︙︙

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