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: a025e27f467165974bf592196f1ca034151efe0689e71dd849a48dc01ceea132
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: 5ef421790a user: gawthrop@users.sourceforge.net tags: origin/master, trunk
20:58:16
Add extra modes using p_c.A_e check-in: a025e27f46 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
2003-10-26
22:55:11
Fixed installation of man page. check-in: 5e9c9e09ce user: geraint@users.sourceforge.net tags: origin/master, trunk
Changes
Hide Diffs Side-by-Side 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

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
    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

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

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;
	  = 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

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