Overview
Comment:New identification DIY reps
Downloads: Tarball | ZIP archive
Timelines: family | ancestors | descendants | both | origin/master | trunk
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SHA3-256: bca1a038ac1a16121e07948623d16ae34f71afccacf6af13c72e9db0596a64a4
User & Date: gawthrop@users.sourceforge.net on 2002-08-20 15:39:47.000
Other Links: branch diff | manifest | tags
Context
2002-08-20
15:43:45
Works with ident DIY rep check-in: b135670b5f user: gawthrop@users.sourceforge.net tags: origin/master, trunk
15:39:47
New identification DIY reps check-in: bca1a038ac user: gawthrop@users.sourceforge.net tags: origin/master, trunk
2002-08-19
14:37:05
Fixed eta, beta, theta, Theta and zeta. check-in: 4fe11382f5 user: geraint@users.sourceforge.net tags: origin/master, trunk
Changes
Unified Diff Ignore Whitespace Patch
Modified mttroot/mtt/lib/rep/ident_rep.make from [042982e678] to [0ce701c93b]. 
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# -*-makefile-*-
# Makefile for representation ident
# File ident_rep.make

#Copyright (C) 2000,2001,2002 by Peter J. Gawthrop

## Model targets
model_reps =  ${SYS}_sympar.m ${SYS}_simpar.m ${SYS}_state.m 
model_reps += ${SYS}_numpar.m ${SYS}_input.m ${SYS}_ode2odes.m  
model_reps += ${SYS}_def.m

## Prepend s to get the sensitivity targets
sensitivity_reps = ${model_reps:%=s%}









## Simulation targets
sims = ${SYS}_sim.m s${SYS}_ssim.m

## m-files needed for ident
ident_m = ${SYS}_ident.m ${SYS}_ident_numpar.m 

## Targets for the ident simulation
ident_reps = ${ident_m} ${sims} ${model_reps} ${sensitivity_reps}

## ps output files
psfiles = ${SYS}_ident.ps ${SYS}_ident.basis.ps ${SYS}_ident.par.ps ${SYS}_ident.U.ps
figfiles = ${psfiles:%.ps=%.fig}






all: ${SYS}_ident.${LANG}

echo:
	echo "sims: ${sims}"
	echo "model_reps: ${model_reps}"
	echo "sensitivity_reps: ${sensitivity_reps}"
	echo "ident_reps: ${ident_reps}"

${SYS}_ident.view: ${SYS}_ident.ps
	ident_rep.sh ${SYS} view

${psfiles}: ${SYS}_ident.fig
	ident_rep.sh ${SYS} ps



${SYS}_ident.gdat: ${SYS}_ident.dat2

	ident_rep.sh ${SYS} gdat

${SYS}_ident.fig ${SYS}_ident.dat2: ${ident_reps}
	ident_rep.sh ${SYS} dat2

${SYS}_ident.m: 
	ident_rep.sh ${SYS} m

${SYS}_ident_numpar.m:
	ident_rep.sh ${SYS} numpar.m

## System model reps
## Generic txt files 
${SYS}_%.txt:
	mtt ${OPTS} -q -stdin ${SYS} $* txt

## Specific m files
${SYS}_ode2odes.m: ${SYS}_rdae.r
	mtt -q -stdin ${OPTS} ${SYS} ode2odes m

${SYS}_sim.m: ${SYS}_ode2odes.m
	mtt ${OPTS} -q -stdin ${SYS} sim m









## Generic txt to m
${SYS}_%.m: ${SYS}_%.txt
	mtt ${OPTS} -q -stdin ${SYS} $* m

## r files
${SYS}_def.r: ${SYS}_abg.fig
	mtt ${OPTS} -q -stdin ${SYS} def r

${SYS}_rdae.r: 
	mtt ${OPTS} -q -stdin ${SYS} rdae r

## Sensitivity model reps
## Generic txt files 
s${SYS}_%.txt:
	mtt ${OPTS} -q -stdin -s s${SYS} $* txt

## Specific m files








s${SYS}_ode2odes.m: s${SYS}_rdae.r
	mtt -q -stdin ${OPTS} -s s${SYS} ode2odes m

s${SYS}_ssim.m:
	mtt -q -stdin ${OPTS} -s s${SYS} ssim m

s${SYS}_def.m:
	mtt -q -stdin ${OPTS} -s s${SYS} def m


## Generic txt to m
s${SYS}_%.m: s${SYS}_%.txt
	mtt ${OPTS} -q -stdin s${SYS} $* m

## r files
s${SYS}_rdae.r: 
	mtt ${OPTS} -q -stdin -s s${SYS} rdae r












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# -*-makefile-*-
# Makefile for representation ident
# File ident_rep.make

#Copyright (C) 2000,2001,2002 by Peter J. Gawthrop

## Model targets
model_reps =  ${SYS}_sympar.m ${SYS}_simpar.m ${SYS}_state.m 
model_reps += ${SYS}_numpar.m ${SYS}_input.m ${SYS}_ode2odes.m  
model_reps += ${SYS}_def.m 

## Prepend s to get the sensitivity targets
sensitivity_reps = ${model_reps:%=s%}

## Model prerequisites
model_pre =  ${SYS}_abg.fig ${SYS}_lbl.txt 
model_pre += ${SYS}_rdae.r ${SYS}_numpar.txt

## Prepend s to get the sensitivity targets
sensitivity_pre = ${model_pre:%=s%}


## Simulation targets
sims = ${SYS}_sim.m s${SYS}_ssim.m

## m-files needed for ident
ident_m = ${SYS}_ident.m ${SYS}_ident_numpar.m 

## Targets for the ident simulation
ident_reps = ${ident_m} ${sims} ${model_reps} ${sensitivity_reps}

## ps output files etc
psfiles = ${SYS}_ident.ps ${SYS}_ident.comparison.ps
figfiles = ${psfiles:%.ps=%.fig}
gdatfiles = ${psfiles:%.ps=%.gdat}
datfiles = ${psfiles:%.ps=%.dat2}

## LaTeX files etc
latexfiles = ${SYS}_ident_par.tex

all: ${SYS}_ident.${LANG}

echo:
	echo "sims: ${sims}"
	echo "model_reps: ${model_reps}"
	echo "sensitivity_reps: ${sensitivity_reps}"
	echo "ident_reps: ${ident_reps}"

${SYS}_ident.view: ${psfiles}
	ident_rep.sh ${SYS} view

${psfiles}: ${figfiles}
	ident_rep.sh ${SYS} ps

${figfiles}: ${gdatfiles}
	ident_rep.sh ${SYS} fig

${gdatfiles}: ${datfiles}
	ident_rep.sh ${SYS} gdat

${datfiles} ${latexfiles}: ${ident_reps}
	ident_rep.sh ${SYS} dat2

${SYS}_ident.m: 
	ident_rep.sh ${SYS} m

${SYS}_ident_numpar.m:
	ident_rep.sh ${SYS} numpar.m

## System model reps
## Generic txt files 
${SYS}_%.txt:
	mtt ${OPTS} -q -stdin ${SYS} $* txt

## Specific m files
${SYS}_ode2odes.m: ${model_pre}
	mtt -q -stdin ${OPTS} ${SYS} ode2odes m

${SYS}_sim.m: ${SYS}_ode2odes.m
	mtt ${OPTS} -q -stdin ${SYS} sim m

## Numpar files
${SYS}_numpar.m:
	mtt ${SYS} numpar m

## Sympar files
${SYS}_sympar.m:
	mtt ${SYS} sympar m

## Generic txt to m
${SYS}_%.m: ${SYS}_%.txt
	mtt ${OPTS} -q -stdin ${SYS} $* m

## r files
${SYS}_def.r: ${SYS}_abg.fig
	mtt ${OPTS} -q -stdin ${SYS} def r

${SYS}_rdae.r: 
	mtt ${OPTS} -q -stdin ${SYS} rdae r

## Sensitivity model reps
## Generic txt files 
s${SYS}_%.txt:
	mtt ${OPTS} -q -stdin -s s${SYS} $* txt

## Specific m files
## Numpar files
s${SYS}_numpar.m:
	mtt -s s${SYS} numpar m

## Sympar files
s${SYS}_sympar.m:
	mtt -s s${SYS} sympar m

s${SYS}_ode2odes.m: ${sensitivity_pre}
	mtt -q -stdin ${OPTS} -s s${SYS} ode2odes m

s${SYS}_ssim.m:
	mtt -q -stdin ${OPTS} -s s${SYS} ssim m

s${SYS}_def.m:
	mtt -q -stdin ${OPTS} -s s${SYS} def m


## Generic txt to m
s${SYS}_%.m: s${SYS}_%.txt
	mtt ${OPTS} -q -stdin s${SYS} $* m

## r files
s${SYS}_rdae.r: 
	mtt ${OPTS} -q -stdin -s s${SYS} rdae r
Modified mttroot/mtt/lib/rep/ident_rep.sh from [509586cb1e] to [8c10f339dc]. 
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#! /bin/sh

## ident_rep.sh
## DIY representation "ident" for mtt
# Copyright (C) 2002 by Peter J. Gawthrop



sys=$1
rep=ident
lang=$2
mtt_parameters=$3
rep_parameters=$4







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#! /bin/sh

## ident_rep.sh
## DIY representation "ident" for mtt
# Copyright (C) 2002 by Peter J. Gawthrop

ps=ps

sys=$1
rep=ident
lang=$2
mtt_parameters=$3
rep_parameters=$4
︙︙
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	echo ${mtt_options} > ${option_file}
    fi
}

## Make the _ident.m file
make_ident() {
filename=${sys}_${rep}.m

echo Creating ${filename}

cat > ${filename} <<EOF    
function [y,u,t] = ${sys}_ident (last, ppp_names, par_names, A_u, A_w, w, Q, extras)

  ## usage:  [y,u,t] = ${sys}_ident (last, ppp_names, par_names, A_u, A_w, w, Q, extras)
  ##
  ## last      last time in run
  ## ppp_names Column vector of names of ppp params
  ## par_names Column vector of names of estimated params
  ## extras    Structure containing additional info






  ##Sanity check
  if nargin<2
    printf("Usage: [y,u,t] = ${sys}_ident(N, ppp_names[, par_names, extras])\n");
    return
  endif

  if nargin<4
    ## Set up optional parameters
    extras.criterion = 1e-3;
    extras.emulate_timing = 0;
    extras.max_iterations = 15;
    extras.simulate = 1;
    extras.v =  1e-6;
    extras.verbose = 0;
    extras.visual = 1;
  endif
  
  ## System info
  [n_x,n_y,n_u,n_z,n_yz] = ${sys}_def;
  sympar  = ${sys}_sympar;
  simpar  = ${sys}_simpar;
  sympars  = s${sys}_sympar;
  simpars  = s${sys}_simpar;
  t_ol = simpar.last;
    
  ## Number of intervals needed
  N = ceil(last/t_ol);


  ## Setpoints
  if extras.verbose
    printf("Open-loop interval %3.2f \n", simpar.last);
    printf(" -- using info in ${sys}_simpar.txt\n");
    printf("PPP optimisation from %3.2f to %3.2f\n", simpars.first, simpars.last);
    printf(" -- using info in s${sys}_simpar.txt\n");
  endif
  
  t_horizon = [simpars.first+simpars.dt:simpars.dt:simpars.last]';

  w_s = ones(length(t_horizon)-1,1)*w';

  ## Setup the indices of the adjustable stuff
  if nargin<2
    i_ppp = []
  else
    i_ppp = ppp_indices (ppp_names,sympar,sympars); # Parameters
  endif

  n_ppp = length(i_ppp(:,1));

  if nargin<3
    i_par = []
  else
    i_par = ppp_indices (par_names,sympar,sympars); # Parameters
  endif
  
    ## Do some simulations to check things out
    ## System itself
    par = ${sys}_numpar;
    x_0_ol = ${sys}_state(par);
    [y_ol,x_ol, t_ol] =  ${sys}_sim(x_0_ol, par, simpar, ones(1,n_u));
    simpar_OL = simpar;
    simpar_OL.last = simpars.last;
    [y_OL,x_OL, t_OL] =  ${sys}_sim(x_0_ol, par, simpar_OL, ones(1,n_u));

    pars = s${sys}_numpar;
    x_0_ppp = s${sys}_state(pars);
    [y_ppp,y_par,x_ppp, t_ppp] =  s${sys}_ssim(x_0_ppp, pars, simpars, ones(1,n_u));

    simpar_PPP = simpars;
    simpar_PPP.first = simpar.first;
    [y_PPP,y_par,x_PPP, t_PPP] =  s${sys}_ssim(x_0_ppp, pars, simpar_PPP, ones(1,n_u));

    ## Basis functions
    Us = ppp_ustar(A_u,1,t_OL',0,0)';


  if extras.visual		#Show some graphs
    figure(2); 	

    grid; title("Outputs of ${sys}_sim and s${sys}_ssim");
    plot(t_ol,y_ol, '*', t_ppp, y_ppp, '+', t_OL, y_OL, t_PPP, y_PPP);


    figure(3); 	
    grid; title("Basis functions");
    plot(t_OL, Us);


  endif



  ## Do it
  [y,u,t,P,U,t_open,t_ppp,t_est,its_ppp,its_est] \
      = ppp_nlin_run ("${sys}",i_ppp,i_par,A_u,w_s,N,Q,extras);

  ## Compute values at ends of ol intervals
  T_open = cumsum(t_open);
  T_open = T_open(1:length(T_open)-1); # Last point not in t
  j=[];
  for i = 1:length(T_open)
    j = [j; find(T_open(i)*ones(size(t))==t)];
  endfor
  y_open = y(j,:);
  u_open = u(j,:);

  ## Plots

    gset nokey
    gset nogrid
    #eval(sprintf("gset xtics %g", simpar.last));
    #gset noytics
    gset format x "%.1f"
    gset format y "%.2f"
    gset term fig monochrome portrait fontsize 20 size 20 20 metric \
	     thickness 4
    gset output "${sys}_ident.fig"

    title("");
    xlabel("Time (s)");
    ylabel("u");
    subplot(2,1,2); plot(t,u,'-',  T_open, u_open,"+");
    #subplot(2,1,2); plot(t,u);   
    ylabel("y");
    subplot(2,1,1); plot(t,y,'-',  T_open, y_open,"+"); 
    #subplot(2,1,1); plot(t,y); 
    oneplot;
    gset term fig monochrome portrait fontsize 20 size 20 10 metric \
	     thickness 4
    gset output "${sys}_ident.basis.fig"
    title("");
    xlabel("Time (s)");
    ylabel("Basis functions");
    plot(t_OL, Us);


    ## Create plot against time
    TTT = [ [0;T_open] [T_open; last] ]';
    TT = TTT(:);

    [n,m] = size(P);
    if m>0
      P = P(1:n-1,:);  # Loose last point
      PP = [];
      for j=1:m
        pp = [P(:,j) P(:,j)]';
        PP = [PP pp(:)];
      endfor

      oneplot;
      gset output "${sys}_ident.par.fig"
      title("");
      xlabel("Time (s)");
      ylabel("Parameters");
      plot(TT,PP);
    endif

    [n,m] = size(U);
    if m>0    oneplot;
      gset output "${sys}_ident.U.fig"
      title("");
      xlabel("Time (s)");
      ylabel("U");
      [n,m] = size(U);
      U = U(1:n-1,:);  # Loose last point
      UU = [];
      for j=1:m
        uu = [U(:,j) U(:,j)]';
        UU = [UU uu(:)];
      endfor
      plot(TT,UU);
    endif

endfunction

EOF
}

make_ident_numpar() {
echo Creating ${ident_numpar_file}
cat > ${sys}_ident_numpar.m <<EOF
function [last, ppp_names, par_names, A_u, A_w, w, Q, extras] = ${sys}_ident_numpar 

## usage:  [last, ppp_names, par_names, A_u, A_w, w, Q, extras] = ${sys}_ident_numpar ()
##
## 

  ## Last time of run




  last = 10;

  ## Specify basis functions



  A_w = zeros(1,1);




  n_ppp = ${nu};








  A_u = ppp_aug(A_w,laguerre_matrix(n_ppp-1,2.0));













 
  ## Names of ppp parameters

  ppp_names = "";

  for i=1:n_ppp

    name = sprintf("ppp_%i", i);
    ppp_names = [ppp_names; name];
  endfor

  ## Estimated parameters
  par_names = [];

  ## Weights
  Q = ones(${ny},1);

  ## Setpoint
  w = zeros(${ny},1); w(1) = 1;

  ## Set up optional parameters
  extras.criterion = 1e-3;
  extras.emulate_timing = 0;
  extras.max_iterations = 15;
  extras.simulate = 1;
  extras.v =  1e-6;
  extras.verbose = 0;
  extras.visual = 0;

endfunction
EOF
}

make_dat2() {

## Inform user
echo Creating ${dat2_file}

## Use octave to generate the data
octave -q <<EOF
  [last, ppp_names, par_names, A_u, A_w, w, Q, extras] = ${sys}_ident_numpar;
  [y,u,t] = ${sys}_ident(last, ppp_names, par_names, A_u, A_w, w, Q, extras);


  data = [t,y,u];
  save -ascii ${dat2_file} data
EOF





}

case ${lang} in
    numpar.m)
        ## Make the numpar stuff
        make_ident_numpar;
	;;
    m)
        ## Make the code
        make_ident;
	;;
    dat2|fig|basis.fig|par.fig|U.fig)
        ## The dat2 language (output data) & fig file
        rm ${sys}_ident*.fig
	make_dat2; 
	;;
    gdat)
        cp ${dat2_file} ${dat2s_file} 
	dat22dat ${sys} ${rep} 
        dat2gdat ${sys} ${rep}
	;;



    ps|basis.ps|par.ps|U.ps)
        figs=`ls ${sys}_ident*.fig | sed -e 's/\.fig//'`
        echo $figs
	for fig in ${figs}; do
            fig2dev -Leps ${fig}.fig > ${fig}.ps
	done





	;;
    view)
	pss=`ls ${sys}_ident*.ps` 
        echo Viewing ${pss}
        for ps in ${pss}; do
          gv ${ps}&
	done








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	echo ${mtt_options} > ${option_file}
    fi
}

## Make the _ident.m file
make_ident() {
filename=${sys}_${rep}.m
date=`date`
echo Creating ${filename}

cat > ${filename} <<EOF    
function [epar,Y] = ${sys}_ident (y,u,t,par_names,Q,extras)

  ## usage:  [epar,Y] = ${sys}_ident (y,u,t,par_names,Q,extras)
  ##
  ## last      last time in run
  ## ppp_names Column vector of names of ppp params
  ## par_names Column vector of names of estimated params
  ## extras    Structure containing additional info
  ##
  ## Created by MTT on ${date}
 
  ## Sensitivity system name
  system_name = "s${sys}"

  ##Sanity check
  if nargin<3
    printf("Usage: [y,u,t] = ${sys}_ident(y,u,t,par_names,Q,extras);");
    return
  endif

  if nargin<6
    ## Set up optional parameters
    extras.criterion = 1e-3;
    extras.emulate_timing = 0;
    extras.max_iterations = 10;
    extras.simulate = 2;
    extras.v =  1e-2;
    extras.verbose = 1;
    extras.visual = 1;
  endif
  
  ## System info
  [n_x,n_y,n_u,n_z,n_yz] = ${sys}_def;
  sympar  = ${sys}_sympar;
  simpar  = ${sys}_simpar;
  sympars  = s${sys}_sympar;
  simpars  = s${sys}_simpar;


  ## Parameter indices

  i_par = ppp_indices (par_names,sympar,sympars);

  ## Initial model state
  x_0 = zeros(2*n_x,1);







  ## Initial model parameters
  par_0 = s${sys}_numpar;





  ## Reset simulation parameters

  [n_data,m_data] = size(y);
  dt = t(2)-t(1);
  simpars.last = (n_data-1)*dt;

  simpars.dt = dt;





  ## Identification



  [epar,Par,Error,Y,iterations,x] = ppp_optimise(system_name,x_0,par_0,simpars,u,y,i_par,Q,extras);


  
  ## Do some plots


  figure(1);
  title("Comparison of data");


  xlabel("t");


  ylabel("y");
  [N,M] = size(Y);


  plot(t,Y(:,M),"1;Estimated;", t,y,"3;Actual;");
  figfig("${sys}_ident_comparison");


  ## Create a table of the parameters
  [n_par,m_par] = size(i_par);


  fid = fopen("${sys}_ident_par.tex", "w");
  fprintf(fid,"\\\\begin{table}[htbp]\\n");
  fprintf(fid," \\\\centering\\n");
  fprintf(fid," \\\\begin{tabular}{|l|l|}\\n");
  fprintf(fid,"  \\\\hline\\n");
  fprintf(fid,"  Name & Value \\\\\\\\ \\n");



  fprintf(fid,"  \\\\hline\\n");




  for i = 1:n_par
    fprintf(fid,"$%s$ & %4.2f \\\\\\\\ \\n", par_names(i,:), epar(i_par(i,1)));
  endfor


  fprintf(fid,"  \\\\hline\\n");

  fprintf(fid,"\\\\end{tabular}\\n");









  fprintf(fid,"\\\\caption{Estimated Parameters}\\n");
















  fprintf(fid,"\\\\end{table}\\n");
  fclose(fid);





































endfunction

EOF
}

make_ident_numpar() {
echo Creating ${ident_numpar_file}
cat > ${sys}_ident_numpar.m <<EOF
function [y,u,t,par_names,Q,extras] = ${sys}_ident_numpar;

  ## usage: [y,u,t,par_names,Q,extras] = ${sys}_ident_numpar;
  ## Edit for your own requirements
  ## Created by MTT on ${date}

    
  ## This section sets up the data source
  ## simulate = 0  Real data (you supply ${sys}_ident_data.dat)
  ## simulate = 1  Real data input, simulated output
  ## simulate = 2  Unit step input, simulated output
  simulate = 2;
  

  ## System info
  [n_x,n_y,n_u,n_z,n_yz] = ${sys}_def;
  simpars = s${sys}_simpar;

  ## Access or create data
  if (simulate<2)		# Get the real data
    if (exist("${sys}_ident_data.dat")==2)
      printf("Loading ${sys}_ident_data.dat\n");
      load ${sys}_ident_data.dat
    else
      printf("Please create a loadable file ${sys}_ident_data.dat containing y,u and t\n");
      return
    endif
  else 
    switch simulate
      case 2			# Step simulation
	t = [0:simpars.dt:simpars.last]';
	u = ones(size(t));
      otherwise
	error(sprintf("simulate = %i not implemented", simulate));
    endswitch
  endif
  
  if (simulate>0)
    par = ${sys}_numpar();
    x_0 = ${sys}_state(par);
    dt = t(2)-t(1);
    simpars.dt = dt;
    simpars.last = t(length(t));
    y =  ${sys}_sim(zeros(n_x,1), par, simpars, u);
  endif

  ## Default parameter names - Put in your own here
  sympar = ${sys}_sympar;	# Symbolic params as structure
  par_names = struct_elements (sympar);	# Symbolic params as strings
  [n,m] = size(par_names);	# Size the string list

  ## Sort by index
  for [i,name] = sympar
    par_names(i,:) = sprintf("%s%s",name, blanks(m-length(name)));
  endfor
  


  ## Output weighting vector

  Q = ones(n_y,1);
  



  ## Extra parameters
  extras.criterion = 1e-5;
  extras.emulate_timing = 0;
  extras.max_iterations = 10;
  extras.simulate = simulate;
  extras.v =  1e-2;
  extras.verbose = 1;
  extras.visual = 1;

endfunction
EOF
}

make_dat2() {

## Inform user
echo Creating ${dat2_file}

## Use octave to generate the data
octave -q <<EOF
  [y,u,t,par_names,Q,extras] = ${sys}_ident_numpar;
  [epar,Y] = ${sys}_ident (y,u,t,par_names,Q,extras);
  [N,M] = size(Y);
  y_est = Y(:,M);
  data = [t,y_est,u];
  save -ascii ${dat2_file} data
EOF

## Tidy up the latex stuff - convert foo_123 to foo_{123}
cat ${sys}_ident_par.tex > mtt_junk
sed  -e "s/_\([a-z0-9,]*\)/_{\1}/g" < mtt_junk >${sys}_ident_par.tex
rm mtt_junk
}

case ${lang} in
    numpar.m)
        ## Make the numpar stuff
        make_ident_numpar;
	;;
    m)
        ## Make the code
        make_ident;
	;;
    dat2)
        ## The dat2 language (output data) & fig file

	make_dat2; 
	;;
    gdat)
        cp ${dat2_file} ${dat2s_file} 
	dat22dat ${sys} ${rep} 
        dat2gdat ${sys} ${rep}
	;;
    fig)
        gdat2fig ${sys}_${rep}
	;;
    ps)
        figs=`ls ${sys}_ident*.fig | sed -e 's/\.fig//'`

	for fig in ${figs}; do
            fig2dev -Leps ${fig}.fig > ${fig}.ps
	done
	texs=`ls ${sys}_ident*.tex | sed -e 's/\.tex//'`
	for tex in ${texs}; do
          makedoc "" "${sys}" "ident_par" "tex" "" "" "$ps"
          doc2$ps ${sys}_ident_par "$documenttype"
	done
	;;
    view)
	pss=`ls ${sys}_ident*.ps` 
        echo Viewing ${pss}
        for ps in ${pss}; do
          gv ${ps}&
	done
︙︙
MTT: Model Transformation Tools
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