Overview
Comment:Move condition test to reflect modified J_uu
Downloads: Tarball | ZIP archive | SQL archive
Timelines: family | ancestors | descendants | both | origin/master | trunk
Files: files | file ages | folders
SHA3-256: cec1b202bf5335c6a6bc29456c44f29b52e559c9ffbaa93dbebb6e978d555814
User & Date: gawthrop@users.sourceforge.net on 2002-12-23 12:24:57
Other Links: branch diff | manifest | tags
Context
2003-01-06
21:22:53
Updated SS entries. check-in: f972704606 user: geraint@users.sourceforge.net tags: origin/master, trunk
2002-12-23
12:24:57
Move condition test to reflect modified J_uu check-in: cec1b202bf user: gawthrop@users.sourceforge.net tags: origin/master, trunk
11:17:47
Now GPL only check-in: 7c8a3e086b user: gawthrop@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.m from [badb5c2ae2] to [2951f6d250].

︙
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191

172
173
174
175
176
177
178






179
180
181
182
183
184
185








-
-
-
-
-
-








  ## Scale R
  R = R*dt;			# Scale to give correct units
  for i = 1:m_t
    Ust = Us(i,:);
    J_uu = J_uu + Ust'*R*Ust;
  endfor
  
  ## 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);
︙
209
210
211
212
213
214
215







216
217
218
219
220
221
222
223
224
225
226
227
228

203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229








+
+
+
+
+
+
+














    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;

  ## 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


  ## 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);		
  
  ## Compute the closed-loop gains
  k_x = Us0*K_x;
  k_w = Us0*K_w;

endfunction

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