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SHA3-256: cf57d50cce3ac232eca4b52b597e10f59bea52b9fc48184fb153c5b0d2b1db96
User & Date: gawthrop@users.sourceforge.net on 2000-12-28 18:17:57
Other Links: branch diff | manifest | tags
Context
2000-12-28
18:42:18
New input definition.
NB Needs to handle mutiports properly and state.txt modified accordingly check-in: cd65829108 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
18:17:57
To RCS check-in: cf57d50cce user: gawthrop@users.sourceforge.net tags: origin/master, trunk
17:12:57
To RCS check-in: 0109c21441 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
Changes
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Added mttroot/mtt/lib/examples/Chemical/ReactorTQ/MakeFigure.m version [f0f759751c]. 





















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## Makes the figures

par = ReactorTQ_numpar;		# Parameters
sym = ReactorTQ_sympar;		# Parameter indices

F_s= [90:10:500];		# Range of flows

Z = [];
for f_s=F_s
  par(sym.f_s) = f_s;
  z = sort(eig(ReactorTQ_sm(par)));
  Z = [Z z];
endfor


grid; xlabel("f_s"); ylabel("z");
plot(F_s,Z);
psfig("ReactorTQ_zero");









Added mttroot/mtt/lib/examples/Chemical/ReactorTQ/Makefile version [1134f9d9da].















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## Makes the schematic diagram and the zero figure
all: ReactorTQ_pic.ps ReactorTQ_zero.ps

ReactorTQ_pic.ps: ReactorTQ_pic.fig
	fig2dev -Lps ReactorTQ_pic.fig> ReactorTQ_pic.ps

ReactorTQ_zero.ps: ReactorTQ_abg.fig
	mtt -q ReactorTQ sm m; mtt -q ReactorTQ numpar m;
	mtt -q ReactorTQ sympar m;
	octave MakeFigure.m









Added mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_abg.fig version [cd7058cbd0].




































































































































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#FIG 3.2
Portrait
Center
Inches
A4      
100.00
Single
-2
1200 2
2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3
	 3001 8701 3001 7801 3151 7951
2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3
	 1801 9001 2701 9001 2551 9151
2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2
	 2701 8776 2701 9226
2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3
	 3301 9001 4201 9001 4051 9151
2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3
	 4201 9301 3601 9901 3826 9901
2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3
	 5701 9001 4801 9001 4951 9151
2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3
	 1800 6000 2700 6000 2550 6150
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 1
	 10350 5025
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 1800 6000 1800 5775
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 1800 6225 1800 6000
2 4 1 2 1 7 0 0 -1 4.000 0 0 7 0 0 5
	 11100 10200 600 10200 600 7500 11100 7500 11100 10200
2 4 1 2 1 7 0 0 -1 4.000 0 0 7 0 0 5
	 11100 6600 600 6600 600 5400 11100 5400 11100 6600
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4500 4800 4500 8700 4650 8550
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6000 4800 4800 8700 5025 8625
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 9000 4800 5100 8700 5400 8700
2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2
	 4725 4800 4275 4800
2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2
	 4725 4200 4275 4200
2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2
	 6225 4800 5775 4800
2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2
	 6225 4200 5775 4200
2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2
	 9225 4800 8775 4800
2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2
	 9225 4200 8775 4200
2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3
	 3000 7200 3000 6300 3150 6450
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 10500 4800 3300 6000 3525 6075
2 4 1 2 1 7 0 0 -1 4.000 0 0 7 0 0 5
	 11100 5100 600 5100 600 3300 11100 3300 11100 5100
2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3
	 4485 2395 4485 4130 4633 3841
2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3
	 2999 2395 2999 4130 3148 3841
2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3
	 5970 2395 5970 4130 6119 3841
2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3
	 10428 2397 10428 4132 10577 3843
2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3
	 8943 2397 8943 4132 9091 3843
2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3
	 1800 2100 2700 2100 2550 2250
2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3
	 3300 2100 4200 2100 4050 2250
2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3
	 4800 2100 5700 2100 5550 2250
2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3
	 4200 1800 3600 1200 3600 1425
2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2
	 2700 1875 2700 2325
2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3
	 8701 1801 8101 1201 8101 1426
2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3
	 9301 2101 10201 2101 10051 2251
2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3
	 9301 1801 9901 1201 9901 1426
2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3
	 6300 2100 7200 2100 7050 2250
2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3
	 7800 2100 8700 2100 8550 2250
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4050 1950 4350 1650
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 10050 1350 9900 1200
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9900 1200 9750 1050
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8550 1950 8850 1650
2 4 1 2 1 7 0 0 -1 4.000 0 0 7 0 0 5
	 11100 300 600 300 600 2700 11100 2700 11100 300
2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 3
	 3000 4800 3000 5700 3150 5550
2 1 0 2 0 0 0 0 -1 0.000 0 0 0 0 0 2
	 4800 8775 4800 9225
4 1 0 0 0 0 20 0.0000 4 210 1035 3075 4575 FMR:rfa\001
4 1 0 0 0 0 20 0.0000 4 210 1065 4575 4575 Rate:AD\001
4 1 0 0 0 0 20 0.0000 4 210 1050 6000 4575 Rate:AB\001
4 2 0 0 0 0 20 0.0000 4 285 780 1651 9076 SS:t_0\001
4 2 0 0 0 0 20 0.0000 4 285 690 3451 9976 C:h_r\001
4 1 0 0 0 0 20 0.0000 4 210 150 3000 6075 1\001
4 2 0 0 0 0 20 0.0000 4 210 480 1725 6075 SS:f\001
4 1 0 0 0 0 20 0.0000 4 210 150 3001 9076 1\001
4 1 0 0 0 0 20 0.0000 4 210 150 4501 9076 0\001
4 1 0 0 0 0 20 0.0000 4 210 1005 9001 4576 Rate:BC\001
4 1 0 0 0 0 20 0.0000 4 210 1050 10576 4576 FMR:rfb\001
4 1 1 1 0 3 20 0.0000 4 210 2625 9600 7800 THERMAL MODEL\001
4 1 1 1 0 3 20 0.0000 4 210 2940 9450 5700 HYDRAULIC MODEL\001
4 1 0 0 0 0 20 0.0000 4 210 900 3000 7575 FMR:rt\001
4 1 1 1 0 3 20 0.0000 4 210 2700 9675 3750 REACTION MODEL\001
4 2 0 0 0 0 20 0.0000 4 285 825 1650 2175 SS:c_0\001
4 1 0 0 0 0 20 0.0000 4 210 150 3000 2175 1\001
4 1 0 0 0 0 20 0.0000 4 210 150 4500 2175 0\001
4 1 0 0 0 0 20 0.0000 4 210 150 6000 2175 1\001
4 1 0 0 0 0 20 0.0000 4 210 150 9001 2176 0\001
4 1 0 0 0 0 20 0.0000 4 210 150 10501 2176 1\001
4 1 0 0 0 0 20 0.0000 4 210 420 7500 2175 AF\001
4 1 0 0 0 0 20 0.0000 4 285 795 8100 1050 C:m_b\001
4 1 0 0 0 0 20 0.0000 4 285 825 9975 1050 SS:c_b\001
4 1 0 0 0 0 20 0.0000 4 285 780 3600 1050 C:m_a\001
4 1 1 0 0 3 20 0.0000 4 210 3735 9075 600 CONCENTRATION MODEL\001
4 1 0 0 0 0 20 0.0000 4 210 480 6151 9076 SS:t\001








Added mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_args.new version [5936bc7523].





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Added mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_desc.tex version [74095d0a13].




















































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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system ReactorTQ (ReactorTQ_desc.tex)
% Generated by MTT on Fri Mar 3 12:43:33 GMT 2000.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

\fig{ReactorTQ_pic}
{ReactorTQ_pic} {0.9} {System \textbf{ReactorTQ}, Schematic}

Figure \Ref{fig:ReactorTQ_pic} is the schematic diagram of a chemical
reactor.

The acausal bond graph of system \textbf{ReactorTQ} is displayed in
Figure \Ref{fig:ReactorTQ_abg.ps} and its label file is listed in
Section \Ref{sec:ReactorTQ_lbl}.  The subsystems are listed in Section
\Ref{sec:ReactorTQ_sub}.

This example of a (nonlinear) chemical reactor is due to Trickett and
Bogle\footnote{ K. J. Tricket, \emph{Quantification of Inverse
    Responses for Controllability Assessment of Nonlinear Processes},
  PhD Thesis, University College London, 1994} is used in this
section.  The reactor has two reaction mechanisms: $\text{A}
\rightarrow \text{B} \rightarrow \text{C}$ and $\text{2A} \rightarrow
\text{D}$.  The reactor mass inflow and outflow $f_r$ are identical.
$q$ represents the heat inflow to the reactor.

The control loop $t$/$q$ has been inverted. The resulting SISO
system has two interpretations:
\begin{enumerate}
\item the \emph{dynamics} of the $c_b$/$f$ loop when the $t$/$q$ loop
  is under perfect control and
\item the \emph{inverse} dynamics of the  $t$/$q$ loop.
\end{enumerate}

\fig{ReactorTQ_zero} {ReactorTQ_zero} {0.9}
{System\textbf{ReactorTQ}: zeros v flow} 

Figure \Ref{fig:ReactorTQ_zero}
shows the poles of the linearised system as the steady-state flow
varies: these are the \emph{zeros} of the $c_b$/$f$ control-loop when
the $t$/$q$ loop is \emph{open}.










Added mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_input.txt version [322195a7f3].



















































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# -*-octave-*- Put Emacs into octave-mode
# Input specification (ReactorTQ_input.txt)
# Generated by MTT at Fri Mar  3 11:52:23 GMT 2000
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

## Reduce steady-state parameter file (ReactorTQ_sspar.r)
## as siso_sspar ecxept that inputs/states have different meaning
## Steady state for constant c_a, c_b and t=t_s and f=f_s

## Unit volume ReactorTQ:
v_r = 1;


## The exponentials.
e_1 = exp(-q_1/t_s);
e_2 = exp(-q_2/t_s);
e_3 = exp(-q_3/t_s);

## Solve for the steady-state concentrations
## Solve for ca - a quadratic.
a 	= k_3*e_3;	#ca^2 
b 	= k_1*e_1 + f_s;	#ca^1 
c 	= -c_0*f_s;

c_a	= (-b + sqrt(b^2 - 4*a*c))/(2*a);

## solve for c_b
c_b 	= c_a*k_1*e_1/(f_s+k_2*e_2);


#States (masses)
x1 = c_a*v_r;
x2 = c_b*v_r;

#Thermal state
x3 = c_p*t_s*v_r;

# Set the inputs
mttu(1) = f_s + 0.1*f_s*(t>0.01); # f (ReactorTQ)











Added mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_lbl.txt version [a4a8cc895a].









































































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%% Label file for system ReactorTQ (ReactorTQ_lbl.txt)
%SUMMARY ReactorTQ: Simple reactor model - with TQ loop inverted
%DESCRIPTION Pseudo bond graph reactor model (based on ancient version)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


%ALIAS Rate Chemical/Rate

% Extra variables
%VAR t_s
%VAR f_s
%VAR t_0
%VAR c_0
%VAR rho
%VAR v_r
%VAR e_1
%VAR e_2
%VAR e_3
%VAR a
%VAR b
%VAR c
%VAR c_A
%VAR c_B
%VAR x1
%VAR x2
%VAR x3
%VAR q_S


% Port aliases

% Argument aliases

%% each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----
% Component type C
	m_a	lin		effort,1
	m_b	lin		effort,1
	h_r	lin		effort,c_p

% Component type FMR
	rfa	lin		effort,1		
	rfb	lin		effort,1		
	rt	lin		effort,c_p

% Component type Rate
        AB	Rate	k_1,q_1,h_1,1
	BC	Rate	k_2,q_2,h_2,1
	AD	Rate	k_3,q_3,h_3,2

% Component type SS
	c_0	SS		c_0,internal
	c_b	SS		external,0
	f	SS		internal,external
	t	SS		t_s,internal
	t_0	SS		t_0,internal











Added mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_numpar.m version [ae40d20e8b].






























































































































































































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function mttpar = ReactorTQ_numpar();
% mttpar = ReactorTQ_numpar();
%System ReactorTQ, representation numpar, language m;
%File ReactorTQ_numpar.m;
%Generated by MTT on Thu Aug 24 14:29:20 BST 2000;
%

#====== Set up the global variables ======#
global ...
     a ...
     b ...
     c ...
     c_0 ...
     c_a ...
     c_b ...
     c_p ...
     e_1 ...
     e_2 ...
     e_3 ...
     f_s ...
     h ...
     h_1 ...
     h_2 ...
     h_3 ...
     k ...
     k_1 ...
     k_2 ...
     k_3 ...
     n ...
     q ...
     q_1 ...
     q_2 ...
     q_3 ...
     q_s ...
     rho ...
     t_0 ...
     t_s ...
     v_r ...
     x1 ...
     x2 ...
     x3 ;
## Set parameters to zero
 a = 0.0;
 b = 0.0;
 c = 0.0;
 c_0 = 0.0;
 c_a = 0.0;
 c_b = 0.0;
 c_p = 0.0;
 e_1 = 0.0;
 e_2 = 0.0;
 e_3 = 0.0;
 f_s = 0.0;
 h = 0.0;
 h_1 = 0.0;
 h_2 = 0.0;
 h_3 = 0.0;
 k = 0.0;
 k_1 = 0.0;
 k_2 = 0.0;
 k_3 = 0.0;
 n = 0.0;
 q = 0.0;
 q_1 = 0.0;
 q_2 = 0.0;
 q_3 = 0.0;
 q_s = 0.0;
 rho = 0.0;
 t_0 = 0.0;
 t_s = 0.0;
 v_r = 0.0;
 x1 = 0.0;
 x2 = 0.0;
 x3 = 0.0;
 %  -*-octave-*- Put Emacs into octave-mode
 %  Numerical parameter file (ReactorTQ_numpar.txt)
 %  Generated by MTT at Fri Mar  3 09:22:56 GMT 2000

 %  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 %  %% Version control history
 %  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 %  %% $Id$
 %  %% $Log$
 %  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

 % 
a =  0;				 %  Dummy
b =  0;				 %  Dummy
c =  0;				 %  Dummy
c_0 =  0;			 %  Dummy
c_a =  0;			 %  Dummy
c_b =  0;			 %  Dummy
c_p =  0;			 %  Dummy
e_1 =  0;			 %  Dummy
e_2 =  0;			 %  Dummy
e_3 =  0;			 %  Dummy
f_s =  0;			 %  Dummy
h =  0;				 %  Dummy
h_1 =  0;			 %  Dummy
h_2 =  0;			 %  Dummy
h_3 =  0;			 %  Dummy
k =  0;				 %  Dummy
k_1 =  0;			 %  Dummy
k_2 =  0;			 %  Dummy
k_3 =  0;			 %  Dummy
n =  0;				 %  Dummy
q =  0;				 %  Dummy
q_1 =  0;			 %  Dummy
q_2 =  0;			 %  Dummy
q_3 =  0;			 %  Dummy
q_s =  0;			 %  Dummy
rho =  0;			 %  Dummy
t_0 =  0;			 %  Dummy
t_s =  0;			 %  Dummy
v_r =  0;			 %  Dummy
x1 =  0;				 %  Dummy
x2 =  0;				 %  Dummy
x3 =  0;				 %  Dummy

 % 
rho =  900;			 %  Density
c_p =  5.0;			 %  Specific heat

 % 
k_1 =  2.5e10;			 %  Reaction rate constant
q_1 =  1e4;			 %  Exotherm constant
h_1 =  1e4;			 %  Heat of reaction

 % 
k_2 =  2.65e12;			 %  Reaction rate constant
q_2 =  1.2e4;			 %  Exotherm constant
h_2 =  1.2e4;			 %  Heat of reaction

 % 
k_3 =  6e7;			 %  Reaction rate constant
q_3 =  8e3;			 %  Exotherm constant
h_3 =  3e4;			 %  Heat of reaction

 % 
c_0 =  10;			 %  Inflow conc
t_0 =  530;			 %  Inflow temp

 % 
t_s =  530;			 %  Steady-state temp
f_s =  100;			 %  Steady-state flow








## Set up the parameter vector
  mttpar(1) 	= a;
  mttpar(2) 	= b;
  mttpar(3) 	= c;
  mttpar(4) 	= c_0;
  mttpar(5) 	= c_a;
  mttpar(6) 	= c_b;
  mttpar(7) 	= c_p;
  mttpar(8) 	= e_1;
  mttpar(9) 	= e_2;
  mttpar(10) 	= e_3;
  mttpar(11) 	= f_s;
  mttpar(12) 	= h;
  mttpar(13) 	= h_1;
  mttpar(14) 	= h_2;
  mttpar(15) 	= h_3;
  mttpar(16) 	= k;
  mttpar(17) 	= k_1;
  mttpar(18) 	= k_2;
  mttpar(19) 	= k_3;
  mttpar(20) 	= n;
  mttpar(21) 	= q;
  mttpar(22) 	= q_1;
  mttpar(23) 	= q_2;
  mttpar(24) 	= q_3;
  mttpar(25) 	= q_s;
  mttpar(26) 	= rho;
  mttpar(27) 	= t_0;
  mttpar(28) 	= t_s;
  mttpar(29) 	= v_r;
  mttpar(30) 	= x1;
  mttpar(31) 	= x2;
  mttpar(32) 	= x3;








Added mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_numpar.txt version [099621e14f].



















































































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# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (ReactorTQ_numpar.txt)
# Generated by MTT at Fri Mar  3 09:22:56 GMT 2000

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

## Dummies
a = 0;				# Dummy
b = 0;				# Dummy
c = 0;				# Dummy
c_0 = 0;			# Dummy
c_a = 0;			# Dummy
c_b = 0;			# Dummy
c_p = 0;			# Dummy
e_1 = 0;			# Dummy
e_2 = 0;			# Dummy
e_3 = 0;			# Dummy
f_s = 0;			# Dummy
h = 0;				# Dummy
h_1 = 0;			# Dummy
h_2 = 0;			# Dummy
h_3 = 0;			# Dummy
k = 0;				# Dummy
k_1 = 0;			# Dummy
k_2 = 0;			# Dummy
k_3 = 0;			# Dummy
n = 0;				# Dummy
q = 0;				# Dummy
q_1 = 0;			# Dummy
q_2 = 0;			# Dummy
q_3 = 0;			# Dummy
q_s = 0;			# Dummy
rho = 0;			# Dummy
t_0 = 0;			# Dummy
t_s = 0;			# Dummy
v_r = 0;			# Dummy
x1 = 0;				# Dummy
x2 = 0;				# Dummy
x3 = 0;				# Dummy

## The bulk liquid
rho = 900;			# Density
c_p = 5.0;			# Specific heat

## Substance A
k_1 = 2.5e10;			# Reaction rate constant
q_1 = 1e4;			# Exotherm constant
h_1 = 1e4;			# Heat of reaction

## Substance B
k_2 = 2.65e12;			# Reaction rate constant
q_2 = 1.2e4;			# Exotherm constant
h_2 = 1.2e4;			# Heat of reaction

## Substance C
k_3 = 6e7;			# Reaction rate constant
q_3 = 8e3;			# Exotherm constant
h_3 = 3e4;			# Heat of reaction

## Inflow parameters
c_0 = 10;			# Inflow conc
t_0 = 530;			# Inflow temp

## Steady-state values
t_s = 530;			# Steady-state temp
f_s = 100;			# Steady-state flow
















Added mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_pic.fig version [c396b14562].
























































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#FIG 3.2
Landscape
Center
Inches
Letter  
100.00
Single
-2
1200 2
6 2400 3150 3225 3375
2 1 0 1 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2
	0 0 1.00 60.00 120.00
	 2625 3300 2925 3300
4 0 -1 0 0 2 20 0.0000 4 210 210 2400 3375 A\001
4 0 -1 0 0 2 20 0.0000 4 210 225 3000 3375 D\001
-6
2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3
	 2100 2100 2100 3900 1500 3900
2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2
	 1500 4050 3900 4050
2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2
	0 0 2.00 120.00 240.00
	 1500 4350 2100 4350
2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 2100 3600 3900 4200 3900
2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2
	0 0 2.00 120.00 240.00
	 3600 4350 4200 4350
2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 0 0 2
	 3900 4050 4200 4050
2 1 1 2 -1 -1 0 0 -1 6.000 0 0 -1 0 0 2
	 2100 2400 3600 2400
2 1 0 1 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2
	0 0 1.00 60.00 120.00
	 2400 2925 2700 2925
2 1 0 1 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2
	0 0 1.00 60.00 120.00
	 3000 2925 3300 2925
2 1 0 2 -1 -1 0 0 -1 0.000 0 0 -1 1 0 2
	0 0 2.00 120.00 240.00
	 2850 4800 2850 3750
4 0 -1 0 0 2 20 0.0000 4 210 210 2175 3000 A\001
4 0 -1 0 0 2 20 0.0000 4 210 195 2775 3000 B\001
4 0 -1 0 0 2 20 0.0000 4 210 210 3375 3000 C\001
4 0 -1 0 0 2 20 0.0000 4 210 150 2250 3375 2\001
4 0 -1 0 0 3 12 0.0000 4 135 90 1875 4950 0\001
4 0 -1 0 0 3 12 0.0000 4 135 90 2250 4950 0\001
4 0 -1 0 0 3 20 0.0000 4 210 150 2775 5025 q\001
4 0 -1 0 0 3 20 0.0000 4 285 765 1500 4800 f , c  , t\001
4 0 -1 0 0 3 20 0.0000 4 285 765 3600 4800 f , c  , t\001
4 0 -1 0 0 3 12 0.0000 4 135 90 3975 4950 b\001
4 0 -1 0 0 3 12 0.0000 4 90 75 4350 4950 r\001








Added mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_rep.txt version [532236426b].

































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## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system ReactorTQ (ReactorTQ_rep.txt)
## Generated by MTT on" Fri Mar  3 12:13:34 GMT 2000.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

mtt ReactorTQ abg tex			# The system description
mtt ReactorTQ cbg ps 		        # The causal bond graph
## Uncomment the following lines or add others
mtt ReactorTQ struc tex	        # The system structure
## mtt ReactorTQ dae tex	        # The system dae
mtt ReactorTQ ode tex	        # The system ode 
## mtt ReactorTQ sspar tex		# Steady-state parameters
## mtt ReactorTQ ss tex 		# Steady state
## mtt ReactorTQ dm tex		# Descriptor matrices (of linearised system)
mtt ReactorTQ sm tex		# State matrices (of linearised system)
## mtt ReactorTQ tf tex		# Transfer function (of linearised system)
## mtt ReactorTQ lmfr ps		# log modulus of frequency response (of linearised system)
mtt ReactorTQ simpar tex		# Simulation parameters
mtt ReactorTQ numpar tex		# Numerical simulation parameters
mtt ReactorTQ input tex		# Simulation input
mtt ReactorTQ state tex		# Simulation initial state

mtt -c ReactorTQ odeso ps








Added mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_simp.r version [c0625028b5].

























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%% Reduce comands to simplify output (mimo_sim.r)
m_r   := rho*v_r;
%mttx1 := c_a*v_r;
%mttx2 := c_b*v_r;

% THIS MUST BE CHANGED - probs with cp and FMRs
%c_p := 1;

%let mttx3/c_p = t;

let  e^(q_1/(mttx3/c_p)) = 1/epsilon_1;
let  e^(q_2/(mttx3/c_p)) = 1/epsilon_2;
let  e^(q_3/(mttx3/c_p)) = 1/epsilon_3;

let  e^(q_1/t_s) = 1/epsilon_1;
let  e^(q_2/t_s) = 1/epsilon_2;
let  e^(q_3/t_s) = 1/epsilon_3;

FACTOR mttx1,mttx2;

END;








Added mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_simpar.txt version [c234b6a60c].






















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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system ReactorTQ (ReactorTQ_simpar.txt)
# Generated by MTT on Fri Mar 3 12:11:48 GMT 2000.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################


LAST        = 0.05;       # Last time in simulation
DT          = 0.0002;        # Print interval
STEPFACTOR  = 1;          # Integration steps per print interval
WMIN        = -1;         # Minimum frequency = 10^WMIN
WMAX        = 2;          # Maximum frequency = 10^WMAX
WSTEPS      = 100;        # Number of frequency steps
INPUT       = 1;          # Index of the input








Added mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_sm.m version [7b078c7c09].







































































































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function [mtta,mttb,mttc,mttd] = ReactorTQ_sm(mttpar);
% [mtta,mttb,mttc,mttd] = ReactorTQ_sm(mttpar);
%System ReactorTQ, representation sm, language m;
%File ReactorTQ_sm.m;
%Generated by MTT on Thu Aug 24 14:47:46 BST 2000;
%
%====== Set up the global variables ======%
global ...
a ...
b ...
c ...
c_0 ...
c_a ...
c_b ...
c_p ...
e_1 ...
e_2 ...
e_3 ...
f_s ...
h ...
h_1 ...
h_2 ...
h_3 ...
k ...
k_1 ...
k_2 ...
k_3 ...
n ...
q ...
q_1 ...
q_2 ...
q_3 ...
q_s ...
rho ...
t_0 ...
t_s ...
v_r ...
x1 ...
x2 ...
x3 ;
a 	= mttpar(1);
b 	= mttpar(2);
c 	= mttpar(3);
c_0 	= mttpar(4);
c_a 	= mttpar(5);
c_b 	= mttpar(6);
c_p 	= mttpar(7);
e_1 	= mttpar(8);
e_2 	= mttpar(9);
e_3 	= mttpar(10);
f_s 	= mttpar(11);
h 	= mttpar(12);
h_1 	= mttpar(13);
h_2 	= mttpar(14);
h_3 	= mttpar(15);
k 	= mttpar(16);
k_1 	= mttpar(17);
k_2 	= mttpar(18);
k_3 	= mttpar(19);
n 	= mttpar(20);
q 	= mttpar(21);
q_1 	= mttpar(22);
q_2 	= mttpar(23);
q_3 	= mttpar(24);
q_s 	= mttpar(25);
rho 	= mttpar(26);
t_0 	= mttpar(27);
t_s 	= mttpar(28);
v_r 	= mttpar(29);
x1 	= mttpar(30);
x2 	= mttpar(31);
x3 	= mttpar(32);
%a matrix%
mtta = zeros(2,2);
mtt_t1 = exp((2.0*q_1+q_3)/t_s)*f_s^2+4.0*exp((2.0*q_1)/t_s)*c_0*f_s*k_3;
mtt_t1 = -sqrt((mtt_t1+2.0*exp((q_1+q_3)/t_s)*f_s*k_1+exp(q_3/t_s)*k_1^2)/exp(q_3/t_s));
mtta(1,1) = mtt_t1/abs(exp(q_1/t_s));
mtta(2,1) = k_1/exp(q_1/t_s);
mtta(2,2) = (-(exp(q_2/t_s)*f_s)-k_2)/exp(q_2/t_s);
%b matrix%
mttb = zeros(2,1);
mtt_t1 = exp((q_1+q_3)/t_s)*abs(exp(q_1/t_s))*f_s+2.0*exp(q_1/t_s)*abs(exp(q_1/t_s))*c_0*k_3;
mtt_t1 = mtt_t1+exp(q_3/t_s)*abs(exp(q_1/t_s))*k_1;
mtt_t3 = exp((q_1+q_3)/t_s);
mtt_t2 = exp((2.0*q_1+q_3)/t_s)*f_s^2+4.0*exp((2.0*q_1)/t_s)*c_0*f_s*k_3;
mtt_t1 = mtt_t1-(mtt_t3*sqrt((mtt_t2+2.0*exp((q_1+q_3)/t_s)*f_s*k_1+exp(q_3/t_s)*k_1^2)/exp(q_3/t_s)));
mttb(1) = mtt_t1/(2.0*exp(q_1/t_s)*abs(exp(q_1/t_s))*k_3);
mtt_t1 = exp((q_1+q_2+q_3)/t_s)*abs(exp(q_1/t_s))*f_s*k_1;
mtt_t3 = exp((q_1+q_2+q_3)/t_s);
mtt_t2 = exp((2.0*q_1+q_3)/t_s)*f_s^2+4.0*exp((2.0*q_1)/t_s)*c_0*f_s*k_3;
mtt_t3 = mtt_t3*sqrt((mtt_t2+2.0*exp((q_1+q_3)/t_s)*f_s*k_1+exp(q_3/t_s)*k_1^2)/exp(q_3/t_s));
mtt_t1 = mtt_t1+exp((q_2+q_3)/t_s)*abs(exp(q_1/t_s))*k_1^2-(mtt_t3*k_1);
mtt_t2 = 2.0*exp((2.0*q_1+q_2)/t_s)*abs(exp(q_1/t_s))*f_s*k_3;
mttb(2) = mtt_t1/(mtt_t2+2.0*exp((2.0*q_1)/t_s)*abs(exp(q_1/t_s))*k_2*k_3);
%c matrix%
mttc = zeros(1,2);
mttc(1,2) = 1.0;
%d matrix%
mttd = zeros(1,1);








Added mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_sspar.r version [686130de9e].























































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%% Reduce steady-state parameter file (ReactorTQ_sspar.r)
%% as siso_sspar ecxept that inputs/states have different meaning
%% Steady state for constant c_a, c_b and t=t_s and f=f_s

%% Unit volume ReactorTQ:
v_r := 1;

%% Do the inputs first -- this avoids problems with reduce not
%% recognising that complicated expressions are zero

%% The exponentials.
e_1 := e^(-q_1/t_s);
e_2 := e^(-q_2/t_s);
e_3 := e^(-q_3/t_s);

%Steady-state input q needed to achieve steady-state t_s
q_s := -( 
        + (t_0-t_s)*f_s
        + e_1*h_1*k_1*x1
        + e_2*h_2*k_2*x2
        + e_3*h_3*k_3*x1^2
       );

%% The input at steady-state
MTTu1 := f_s;

%States (masses)
x1 := c_a*v_r;
x2 := c_b*v_r;

%Load up the vectors
MTTx1 := x1;
MTTx2 := x2;

MTTy1 := c_b;

%% Finally, solve for the steady-state concentrations
%% Solve for ca - a quadratic.
a 	:= k_3*e_3;	%ca^2 
b 	:= k_1*e_1 + f_s;	%ca^1 
c 	:= -c_0*f_s;

c_a	:= (-b + sqrt(b^2 - 4*a*c))/(2*a);

%% solve for c_b
c_b 	:= c_a*k_1*e_1/(f_s+k_2*e_2);


END;










Added mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_state.txt version [c8a0452632].






















































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# -*-octave-*- Put Emacs into octave-mode
# State specification (ReactorTQ_state.txt)
# Generated by MTT at Fri Mar  3 11:52:23 GMT 2000
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

## Reduce steady-state parameter file (ReactorTQ_sspar.r)
## as siso_sspar ecxept that states/states have different meaning
## Steady state for constant c_a, c_b and t=t_s and f=f_s

## Unit volume ReactorTQ:
v_r = 1;


## The exponentials.
e_1 = exp(-q_1/t_s);
e_2 = exp(-q_2/t_s);
e_3 = exp(-q_3/t_s);

## Solve for the steady-state concentrations
## Solve for ca - a quadratic.
a 	= k_3*e_3;	#ca^2 
b 	= k_1*e_1 + f_s;	#ca^1 
c 	= -c_0*f_s;

c_a	= (-b + sqrt(b^2 - 4*a*c))/(2*a);

## solve for c_b
c_b 	= c_a*k_1*e_1/(f_s+k_2*e_2);


#States (masses)
x1 = c_a*v_r;
x2 = c_b*v_r;


## The two inputs at steady-state
##mttu(1) = f_s;

## Load up the states
mttx(1) = x1;
mttx(2) = x2;












Added mttroot/mtt/lib/examples/Chemical/ReactorTQ/ReactorTQ_sympar.m version [b5bf2c1d7a].












































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function sympar = ReactorTQ_sympar();
% sympar = ReactorTQ_sympar();
%System ReactorTQ, representation sympar, language m;
%File ReactorTQ_sympar.m;
%Generated by MTT on Thu Aug 24 14:47:48 BST 2000;
%
global ...
mtt_no_globals ;
  sympar.a 	= 1; # ReactorTQ
  sympar.b 	= 2; # ReactorTQ
  sympar.c 	= 3; # ReactorTQ
  sympar.c_0 	= 4; # ReactorTQ
  sympar.c_A 	= 5; # ReactorTQ
  sympar.c_B 	= 6; # ReactorTQ
  sympar.c_p 	= 7; # ReactorTQ
  sympar.e_1 	= 8; # ReactorTQ
  sympar.e_2 	= 9; # ReactorTQ
  sympar.e_3 	= 10; # ReactorTQ
  sympar.f_s 	= 11; # ReactorTQ
  sympar.h 	= 12; # Rate
  sympar.h_1 	= 13; # ReactorTQ
  sympar.h_2 	= 14; # ReactorTQ
  sympar.h_3 	= 15; # ReactorTQ
  sympar.k 	= 16; # Rate
  sympar.k_1 	= 17; # ReactorTQ
  sympar.k_2 	= 18; # ReactorTQ
  sympar.k_3 	= 19; # ReactorTQ
  sympar.n 	= 20; # Rate
  sympar.q 	= 21; # Rate
  sympar.q_1 	= 22; # ReactorTQ
  sympar.q_2 	= 23; # ReactorTQ
  sympar.q_3 	= 24; # ReactorTQ
  sympar.q_S 	= 25; # ReactorTQ
  sympar.rho 	= 26; # ReactorTQ
  sympar.t_0 	= 27; # ReactorTQ
  sympar.t_s 	= 28; # ReactorTQ
  sympar.v_r 	= 29; # ReactorTQ
  sympar.x1 	= 30; # ReactorTQ
  sympar.x2 	= 31; # ReactorTQ
  sympar.x3 	= 32; # ReactorTQ








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/INTFX_abg.fig version [d546a8c405].
























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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1801 3151 2701 3151 2476 3376
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 3151 4501 3151 4276 3376
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 2926 4726 2026 4951 2251
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4951 3151 5851 3151 5626 3376
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 6975 4050 6975 1350 450 1350 450 4050 6975 4050
4 1 -1 0 0 0 20 0.0000 4 195 375 3151 3241 AF\001
4 1 -1 0 0 0 20 0.0000 4 195 135 4726 3241 0\001
4 1 -1 0 0 0 20 0.0000 4 195 600 4726 1891 CX:c\001
4 1 -1 0 0 0 20 0.0000 4 240 810 1306 3241 SS:[in]\001
4 1 -1 0 0 0 20 0.0000 4 240 960 6346 3241 SS:[out]\001








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/INTFX_desc.tex version [9521268b12].
























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% Verbal description for system INTFX (INTFX_desc.tex)
% Generated by MTT on Fri Aug 15 09:53:16 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1997/08/24 11:20:18  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{INTFX} is
   displayed in Figure \Ref{INTFX_abg} and its label
   file is listed in Section \Ref{sec:INTFX_lbl}.
   The subsystems are listed in Section \Ref{sec:INTFX_sub}.

\textbf{INTFX} is a two-port component where the effort on port [out]
   is the integral of the flow on port [in].








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/INTFX_lbl.txt version [795adc6745].




























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%SUMMARY INTFX
%DESCRIPTION <Detailed description here>
%% Label file for system INTFX (INTFX_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type CX
	c		lin	effort,1

% Component type SS
	[in]		SS	external,external
	[out]		SS	external,external








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/Makefile version [bb886d4f73].





























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# Makefile for the Two link GMV example

all: msdp_tf.m twolinkp_obs.m twolinkp_sm.m TwoLinkGMV_numpar.m 

msdP_tf.m: msdP_abg.fig 
	mtt -q msdP tf m

msdp_tf.m: msdP_tf.m
	tr [A-Z] [a-z] <msdP_tf.m >msdp_tf.m

TwoLinkP_obs.m: TwoLinkP_abg.fig TwoLinkP_lbl.txt
	mtt -q TwoLinkP obs m

twolinkp_obs.m: TwoLinkP_obs.m
	tr [A-Z] [a-z] <TwoLinkP_obs.m >twolinkp_obs.m

TwoLinkP_sm.m: TwoLinkP_abg.fig TwoLinkP_lbl.txt
	mtt -q TwoLinkP sm m

twolinkp_sm.m: TwoLinkP_sm.m
	tr [A-Z] [a-z] <TwoLinkP_sm.m >twolinkp_sm.m

TwoLinkGMV_numpar.m: TwoLinkGMV_numpar.txt
	mtt -q TwoLinkGMV numpar m









Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/RODaX_abg.fig version [69d5bf8861].
































































































































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 4278 5403 4953 5178 4953
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5854 5404 6529 6079 6304 6079
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 6078 5403 5403 5403 5628
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5853 4953 6528 4278 6528 4503
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1
	 4277 3827
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3152 2702 4277 3827 4052 3827
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6977 6527 8102 7652 7877 7652
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3152 7652 4277 6527 4277 6752
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6977 3827 8102 2702 8102 2927
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5852 5177 6527 5177 6392 5312
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 2927 2927 4952 3152 4727
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 5402 2927 7427 3152 7202
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2701 5176 2026 5176 2161 5311
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2926 1351 2926 2476 3196 2206
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2926 7876 2926 9001 3196 8731
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8328 2928 8328 4953 8553 4728
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8328 5403 8328 7428 8553 7203
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8327 1352 8327 2477 8597 2207
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8327 7877 8327 9002 8597 8732
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5626 1351 5626 4951 5851 4726
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5626 5401 5626 9001 5851 8776
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1
	 6526 5401
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6526 4951 6526 5401
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8551 5176 9226 5176 9091 5311
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3826 4951 6526 4051 6436 4231
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3826 4996 3826 5356
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4276 5176 3826 5176 3961 5311
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3826 5401 6301 6301 6121 6301
2 1 0 1 5 -1 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 5401 4051 6301 3826 6301
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 4951 4051 4051 4051 4276
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5536 5176 5086 5176 5221 5311
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6300 9675 6300 675 4950 675 4950 9675 6300 9675
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 9000 9675 9000 675 7650 675 7650 9675 9000 9675
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 11025 10305 11025 225 225 225 225 10305 11025 10305
2 4 0 1 1 7 0 0 -1 0.000 0 0 7 0 0 5
	 3600 9675 2250 9675 2250 675 3600 675 3600 9675
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 10125 2250 990 2250 990 900 10125 900 10125 2250
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 10125 5850 990 5850 990 4500 10125 4500 10125 5850
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 10125 9450 990 9450 990 8100 10125 8100 10125 9450
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3375 4950 1800 3375 1800 3600
4 1 -1 0 0 0 20 0.0000 4 195 135 5628 5268 1\001
4 1 -1 0 0 0 20 0.0000 4 195 270 6933 5268 IX:J\001
4 1 -1 0 0 0 20 0.0000 4 195 135 2927 5312 1\001
4 1 -1 0 0 0 20 0.0000 4 195 135 2972 2792 0\001
4 1 -1 0 0 0 20 0.0000 4 195 135 2927 7742 0\001
4 1 -1 0 0 0 20 0.0000 4 195 135 8328 5313 1\001
4 1 -1 0 0 0 20 0.0000 4 195 135 8373 2793 0\001
4 1 -1 0 0 0 20 0.0000 4 195 135 8328 7743 0\001
4 1 -1 0 0 0 20 0.0000 4 255 660 9676 5266 I:m_y\001
4 1 -1 0 0 0 20 0.0000 4 255 660 1531 5221 I:m_x\001
4 1 -1 0 0 0 20 0.0000 4 195 1110 4636 4141 EMTF:c1\001
4 1 -1 0 0 0 20 0.0000 4 195 1110 4681 6391 EMTF:c2\001
4 1 -1 0 0 0 20 0.0000 4 195 1095 7156 4141 EMTF:s1\001
4 1 -1 0 0 0 20 0.0000 4 195 1095 7156 6391 EMTF:s2\001
4 1 5 0 0 0 20 0.0000 4 195 135 3603 5313 0\001
4 1 26 0 0 0 16 0.0000 4 210 345 6751 4456 [in]\001
4 1 26 0 0 0 16 0.0000 4 210 465 6751 3781 [out]\001
4 1 26 0 0 0 16 0.0000 4 210 345 6751 6076 [in]\001
4 1 26 0 0 0 16 0.0000 4 210 465 6751 6706 [out]\001
4 1 26 0 0 0 16 0.0000 4 210 585 6211 6526 [mod]\001
4 1 5 0 0 0 20 0.0000 4 195 960 4681 5266 INTFX:th\001
4 1 1 1 0 0 20 0.0000 4 195 210 2925 10035 X\001
4 1 1 1 0 32 20 0.0000 4 135 180 5580 9990 a\001
4 1 1 1 0 0 20 0.0000 4 195 210 8280 9990 Y\001
4 2 26 0 0 0 16 0.0000 4 210 585 3960 4140 [mod]\001
4 2 26 0 0 0 16 0.0000 4 210 585 6345 4095 [mod]\001
4 2 26 0 0 0 16 0.0000 4 210 585 3960 6210 [mod]\001
4 1 26 0 0 0 16 0.0000 4 210 345 4590 4455 [in]\001
4 1 26 0 0 0 16 0.0000 4 210 465 4545 3780 [out]\001
4 1 26 0 0 0 16 0.0000 4 210 465 4590 6660 [out]\001
4 0 26 0 0 0 16 0.0000 4 210 345 4365 6030 [in]\001
4 1 4 0 0 0 20 0.0000 4 255 990 2971 1216 SS:[x_a]\001
4 1 4 0 0 0 20 0.0000 4 255 990 2971 9361 SS:[x_b]\001
4 1 4 0 0 0 20 0.0000 4 255 990 8372 1217 SS:[y_a]\001
4 1 4 0 0 0 20 0.0000 4 255 990 8417 9362 SS:[y_b]\001
4 1 4 0 0 0 20 0.0000 4 255 1485 5671 1216 SS:[alpha_a]\001
4 1 4 0 0 0 20 0.0000 4 255 1485 5671 9361 SS:[alpha_b]\001
4 1 1 1 0 0 20 0.0000 4 255 600 1350 2700 Tip a\001
4 1 1 1 0 0 20 0.0000 4 195 1380 1260 6300 Mass centre\001
4 1 1 1 0 0 20 0.0000 4 255 600 1350 9855 Tip b\001
4 1 4 0 0 0 20 0.0000 4 255 1215 1756 3286 SS:[alpha]\001








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/RODaX_desc.tex version [df20b89acf].





























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% Verbal description for system RODaX (RODaX_desc.tex)
% Generated by MTT on Fri Aug 15 09:53:23 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1998/04/12 15:25:35  peterg
% %% Initial revision
% %%
% Revision 1.1  1997/08/15  09:41:19  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{RODaX} is
   displayed in Figure \Ref{RODaX_abg} and its label
   file is listed in Section \Ref{sec:RODaX_lbl}.
   The subsystems are listed in Section \Ref{sec:RODaX_sub}.

{\bf RODaX} is essentially as described in Figure 10.2 of
``Metamodelling''. It has an additional port ``[angle]'' to provide
access to the rod angle.









Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/RODaX_lbl.txt version [25a69a9380].



























































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%SUMMARY	RODaX: rigid rod in two dimensions - angle port.
%DESCRIPTION	Port [alpha_a]:	Angular torque/velocity - end a
%DESCRIPTION	Port [alpha_b]:	Angular torque/velocity - end b
%DESCRIPTION	Port [x_a]:	x force/velocity - end a
%DESCRIPTION	Port [x_b]:	x force/velocity - end b
%DESCRIPTION	Port [y_a]:	y force/velocity - end a
%DESCRIPTION	Port [y_b]:	y force/velocity - end b
%DESCRIPTION	Port [alpha]:	rod angle
%DESCRIPTION
%DESCRIPTION	Parameter 1:	length from end 1 to mass centre
%DESCRIPTION	Parameter 2:	length from end 2 to mass centre
%DESCRIPTION	Parameter 3:	inertia about mass centre
%DESCRIPTION	Parameter 4:	mass
%DESCRIPTION	See Section 10.2 of "Metamodelling"


%% Label file for system RODaX (RODaX_lbl.txt)




% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % $Id$
% % $Log$
% % Revision 1.1  1998/04/12 15:24:06  peterg
% % Initial revision
% %
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%



%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Inertias
J	lin	flow,$3
m_x	lin	flow,$4
m_y	lin	flow,$4

%Integrate angular velocity to get angle
th

%Modulated transformers
s1	lsin	flow,$1
s2	lsin	flow,$2
c1	lcos	flow,$1
c2	lcos	flow,$2



	








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_abg.fig version [b9d6a07d06].


































































































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7875 8550 9225 8550 9000 8775
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9225 8325 9225 8775
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7875 9450 9225 9450 9000 9675
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9225 9225 9225 9675
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 11025 10215 2475 10215 2475 7650 11025 7650 11025 10215
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5625 8325 5625 8775
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5625 9225 5625 9675
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 4
	 3825 5625 3825 8550 5625 8550 5400 8775
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 4
	 3375 6525 3375 9450 5625 9450 5400 9675
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7875 5400 9225 5400 9000 5625
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9225 5175 9225 5625
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7875 6300 9225 6300 9000 6525
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9225 6075 9225 6525
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 11025 7065 2475 7065 2475 4500 11025 4500 11025 7065
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4050 5400 5625 5400 5400 5625
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5625 5175 5625 5625
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 6300 5625 6300 5400 6525
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5625 6075 5625 6525
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2025 5400 3600 5400 3375 5625
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3600 5175 3600 5625
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2025 6300 3150 6300 2925 6525
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3150 6075 3150 6525
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7875 2250 9225 2250 9000 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9225 2025 9225 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7875 3150 9225 3150 9000 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9225 2925 9225 3375
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 11025 3915 2475 3915 2475 1350 11025 1350 11025 3915
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4050 2250 5625 2250 5400 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5625 2025 5625 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4050 3150 5625 3150 5400 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5625 2925 5625 3375
4 0 -1 0 0 22 20 0.0000 4 270 1935 9315 8640 SS:Theta_1_m\001
4 0 -1 0 0 22 20 0.0000 4 270 1935 9315 9540 SS:Theta_2_m\001
4 1 -1 0 0 22 20 0.0000 4 210 2445 6750 9090 TwoLinkPX:model\001
4 0 4 0 0 22 20 0.0000 4 270 1230 7920 8415 [Theta_1]\001
4 0 4 0 0 22 20 0.0000 4 270 1230 7920 9315 [Theta_2]\001
4 2 4 0 0 22 20 0.0000 4 270 1140 5535 8415 [Joint_1]\001
4 2 4 0 0 22 20 0.0000 4 270 1140 5535 9315 [Joint_2]\001
4 1 1 1 0 3 26 0.0000 4 270 1005 6750 10080 Model\001
4 1 -1 0 0 22 20 0.0000 4 270 2415 6750 5940 TwoLinkP:system\001
4 0 4 0 0 22 20 0.0000 4 270 1230 7920 5265 [Theta_1]\001
4 0 4 0 0 22 20 0.0000 4 270 1230 7920 6165 [Theta_2]\001
4 0 -1 0 0 22 20 0.0000 4 270 1530 9315 5490 SS:Theta_1\001
4 0 -1 0 0 22 20 0.0000 4 270 1530 9315 6390 SS:Theta_2\001
4 2 4 0 0 22 20 0.0000 4 270 1140 5535 5265 [Joint_1]\001
4 2 4 0 0 22 20 0.0000 4 270 1140 5535 6165 [Joint_2]\001
4 1 -1 0 0 22 20 0.0000 4 195 150 3825 5490 0\001
4 2 -1 0 0 22 20 0.0000 4 270 1275 1935 6390 SS:Tau_2\001
4 2 -1 0 0 22 20 0.0000 4 270 1275 1980 5490 SS:Tau_1\001
4 1 -1 0 0 22 20 0.0000 4 195 150 3375 6390 0\001
4 1 1 1 0 3 26 0.0000 4 360 1110 6705 6885 System\001
4 0 -1 0 0 22 20 0.0000 4 270 1785 9315 2340 SS:Theta_1_r\001
4 0 -1 0 0 22 20 0.0000 4 270 1785 9315 3240 SS:Theta_2_r\001
4 1 1 1 0 3 26 0.0000 4 360 2055 6705 3735 Specification\001
4 1 -1 0 0 22 20 0.0000 4 270 1860 6795 2340 msdP:spec_1\001
4 1 -1 0 0 22 20 0.0000 4 270 1860 6795 3195 msdP:spec_2\001
4 2 -1 0 0 22 20 0.0000 4 270 1260 4005 2340 SS:Ref_1\001
4 2 -1 0 0 22 20 0.0000 4 270 1260 3960 3240 SS:Ref_2\001








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_args.new version [5936bc7523].





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Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_desc.tex version [430b6e90d4].





































































































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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system TwoLinkGMV (TwoLinkGMV_desc.tex)
% Generated by MTT on Wed Apr 15 18:15:23 BST 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1998/04/15 18:41:58  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{TwoLinkGMV} is
   displayed in Figure \Ref{TwoLinkGMV_abg} and its label
   file is listed in Section \Ref{sec:TwoLinkGMV_lbl}.
   The subsystems are listed in Section \Ref{sec:TwoLinkGMV_sub}.

This composite system provides an illustration of nonlinear
generalised minimum variance (GMV) control (continuous-time) operating on a
twolink manipulator. GMV can also be interpreted as:
\begin{itemize}
\item the exact linearisation (by feedback) followed by a
  pole-placement design on the resulting linear system and
\item a special case of generalised predictive control (GPC) were the
  prediction horizon is zero and the $P(s)$ polynomial is the same as
  the system relative degree and
\item One possible instance of physical-model-based control.
\end{itemize}

The composite system of Figure \Ref{TwoLinkGMV_abg} has three
(visible) parts:
\begin{enumerate}
\item a linear decoupled \emph{specification} system that describes the desired
  closed-loop system in terms of a physical system (two decoupled
  mass-spring-damper systems),
\item the system itself (a two-link manipulator) representing the
  system to be controlled, more details are given in Sections
  \Ref{sec:TwoLinkP_ode.tex} and \Ref{sec:TwoLinkP_rfe.tex}.
\item a model of the system with additional state inputs to be used as
  a state observer.
\end{enumerate}
The invisible parts are implemented in the text file
``TwoLinkGMV\_input.txt'' (see Section \Ref{sec:TwoLinkGMV_input.txt}).
These parts are:
\begin{itemize}
\item the reference signal (joint angles)
  \begin{equation}
    w(t) = 
    \begin{cases}
      \begin{pmatrix}
        \pi \\
        0
      \end{pmatrix} & 0 \ge t > 10 \\
      \begin{pmatrix}
        2\pi \\
        0
      \end{pmatrix} & 10 \ge t > 15 \\
      \begin{pmatrix}
        2\pi \\
        \pi
      \end{pmatrix} & 15 \ge t > 30 \\
    \end{cases}
  \end{equation}
\item The control signal (joint torques) being the solution of 
  \begin{equation}
    \phi^*(t) = O_o(\hat x(t)) + O_h(\hat x(t)) u(t) = w(t)
  \end{equation}
where $\hat x$ is the observed state.
\item The observer feedback signal
  \begin{equation}
    u_x = K ( y - \hat y)
  \end{equation}
where $K$ is the observer gain matrix and $y$ and $\hat y$ are the
system and model outputs respectively.
\end{itemize}
The observer gain is set up on the basis of the \emph{linearised}
system using LQ theory. This is implemented in the text file
``TwoLinkGMV\_state.txt'' (see Section \Ref{sec:TwoLinkGMV_state.txt})
using the Octave function ``lqe'' together with the MTT-generated
linearised system ``TwoLink\_sm''.


The system was simulated using Octave under MTT with the results given
in Figures
\Ref{fig:TwoLinkGMV_odeso.ps-TwoLinkGMV-Theta-1,TwoLinkGMV-Theta-1-r}
and
\Ref{fig:TwoLinkGMV_odeso.ps-TwoLinkGMV-Theta-2,TwoLinkGMV-Theta-2-r}
giving the actual and specification angles for joints 1 and 2
respectively.

The initial \emph{system} state was zero except that the angle of the
first rod was $\frac{\pi}{4}$. The initial \emph{observer} state was
(erroneously but deliberately) set at zero. This explains the
(decaying) discrepancy between the actual and specification angles.
Simulations with zero initial state gave precise matching.








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_input.txt version [4899e515e0].







































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# Numerical parameter file (TwoLinkGMV_input.txt)
# Generated by MTT at Mon Apr 13 11:02:37 BST 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

global ObserverGain;

# Reference signals
u(1) =	 pi + pi*(t>10) ;			# TwoLinkGMV (Ref_1)
u(2) =	 pi*(t>15) ;			# TwoLinkGMV (Ref_2)

# Control signals
w = u(1:2);			# Reference signal
x_model = x(9:12);		# Observed states
[O_o, O_h] = TwoLinkP_obs(x_model) #GPC O function (affine case)
[spec_n,spec_d] = msdP_tf;	# Spec transfer function
P = spec_d(3:-1:1);		# P poly with ascending coeffs
PP = [eye(2)*P(1) eye(2)*P(2) eye(2)*P(3)]; 
PO_o = PP*O_o;			# Compute Py with u zero
PO_h = PP*O_h;			# Coefficient of u
u_control =  PO_h\(w - PO_o);	# GMV control signal

u(3:4) = u_control;		# TwoLinkGMV (Tau_1)

# Observer
x_system = x(5:8);		# System states
error = x_system-x_model;	# Error in states
ObserverInput = ObserverGain*error;
u(5:8) = ObserverInput;		# Set the state-input to the observer









Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_lbl.txt version [ad79cbc64e].



















































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%SUMMARY TwoLinkGMV - GMV control of two-link manipulator
%DESCRIPTION This composite system provides an illustration
%DESCRIPTION of nonlinear generalised minimum variance (GMV) control
%DESCRIPTION (continuous-time) operating on a twolink manipulator. 

%% Label file for system TwoLinkGMV (TwoLinkGMV_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type SS
	Ref_1		SS	external,internal
	Ref_2		SS	external,internal
	Tau_1		SS	external,internal
	Tau_2		SS	external,internal

	Theta_1		SS	external,0
	Theta_2		SS	external,0

	Theta_1_m	SS	external,0
	Theta_2_m	SS	external,0

	Theta_1_r	SS	external,0
	Theta_2_r	SS	external,0

% Component type msdP
	spec_1
	spec_2

% Component type TwoLinkP
	system

% Component type TwoLinkPX
	model










Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_numpar.txt version [ccf91065f0].






















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# Numerical parameter file (TwoLinkGMV_numpar.txt)
# Generated by MTT at Mon Apr 13 10:57:02 BST 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
c_s = 	1.0; # msdP
j_s = 	1.0; # msdP
r_s = 	1.414; # msdP

j_r = 	1.0; # TwoLinkP,TwoLinkPX
l_r = 	1.0; # TwoLinkP,TwoLinkPX
m_r = 	1.0; # TwoLinkP,TwoLinkPX








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_obspar.r version [c3ef6ba928].

































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%% Reduce  GPC observability function parameters for system TwoLinkGMV (TwoLinkGMV_obspar.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

MTTGPCNy := 2;
MTTGPCNu := 0;
Matrix MTTdU(5,1);
MTTdU(1,1) := MTTdU1;
MTTdU(2,1) := MTTdU2;
MTTdU(3,1) := MTTdU3;
MTTdU(4,1) := MTTdU4;
MTTdU(5,1) := MTTdU5;
Matrix MTTUU(2,5);
MTTUU(1,1) := MTTu1;
MTTUU(1,2) := MTTu11;
MTTUU(1,3) := MTTu12;
MTTUU(1,4) := MTTu13;
MTTUU(1,5) := MTTu14;
MTTUU(2,1) := MTTu2;
MTTUU(2,2) := MTTu21;
MTTUU(2,3) := MTTu22;
MTTUU(2,4) := MTTu23;
MTTUU(2,5) := MTTu24;
END;








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_rep.txt version [5a83bbbd32].
































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# Outline report file for system TwoLinkGMV (TwoLinkGMV_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt TwoLinkGMV abg tex
mtt TwoLinkGMV struc tex
mtt TwoLinkGMV sympar tex

mtt TwoLinkP struc tex
mtt TwoLinkP rfe tex
mtt TwoLinkP ode tex
mtt TwoLinkP obs tex

mtt TwoLinkP ss tex
mtt TwoLinkP sm tex

mtt msdP tf tex

mtt TwoLinkGMV numpar txt
mtt TwoLinkGMV state txt
mtt TwoLinkGMV input txt
mtt TwoLinkGMV odeso ps 'TwoLinkGMV_Theta_1,TwoLinkGMV_Theta_1_r'
mtt TwoLinkGMV odeso ps 'TwoLinkGMV_Theta_2,TwoLinkGMV_Theta_2_r'








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_simpar.txt version [49dd11c4f0].
















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%% Simulation parameters for system TwoLinkGMV (TwoLinkGMV_simpar.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

LAST=30.0
DT=0.2
STEPFACTOR=1








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_simpar.txt_old version [49dd11c4f0].
















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%% Simulation parameters for system TwoLinkGMV (TwoLinkGMV_simpar.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

LAST=30.0
DT=0.2
STEPFACTOR=1








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_sspar.r version [5689628a58].







































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% Steady-state parameter file (TwoLinkGMV_sspar.r)
% Generated by MTT at Tue Apr 14 08:47:47 BST 1998

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % $Id$
% % $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%



% Steady-state states
MTTX1 := 	0; % TwoLinkGMV_spec_1 (c_s)
MTTX2 := 	0; % TwoLinkGMV_spec_1 (j_s)
MTTX3 := 	0; % TwoLinkGMV_spec_2 (c_s)
MTTX4 := 	0; % TwoLinkGMV_spec_2 (j_s)
MTTX5 := 	0; % TwoLinkGMV_system_rod1 (J)
MTTX6 := 	0; % TwoLinkGMV_system_rod1_th (3)
MTTX7 := 	0; % TwoLinkGMV_system_rod2 (J)
MTTX8 := 	0; % TwoLinkGMV_system_rod2_th (3)
MTTX9 := 	0; % TwoLinkGMV_model_rod1_J (i)
MTTX10 := 	0; % TwoLinkGMV_model_rod1_th_c (c)
MTTX11 := 	0; % TwoLinkGMV_model_rod2_J (i)
MTTX12 := 	0; % TwoLinkGMV_model_rod2_th_c (c)
% Steady-state inputs
MTTU1 := 	1; % TwoLinkGMV (Ref_1)
MTTU2 := 	1; % TwoLinkGMV (Ref_2)
MTTU3 := 	0; % TwoLinkGMV (Tau_1)
MTTU4 := 	0; % TwoLinkGMV (Tau_2)
MTTU5 := 	0; % TwoLinkGMV_model_rod1_J (X)
MTTU6 := 	0; % TwoLinkGMV_model_rod1_th_c (X)
MTTU7 := 	0; % TwoLinkGMV_model_rod2_J (X)
MTTU8 := 	0; % TwoLinkGMV_model_rod2_th_c (X)
;;END;








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkGMV_state.txt version [73974e101a].



































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# Numerical parameter file (TwoLinkGMV_state.txt)
# Generated by MTT at Tue Apr 14 08:54:28 BST 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

global ObserverGain;

# Set the states
x(1) =	 0 ; # TwoLinkGMV_spec_1 (c_s)
x(2) =	 0 ; # TwoLinkGMV_spec_1 (j_s)
x(3) =	 0 ; # TwoLinkGMV_spec_2 (c_s)
x(4) =	 0 ; # TwoLinkGMV_spec_2 (j_s)
x(5) =	 0 ; # TwoLinkGMV_system_rod1 (J)
x(6) =	 pi/4 ; # TwoLinkGMV_system_rod1_th (3)
x(7) =	 0 ; # TwoLinkGMV_system_rod2 (J)
x(8) =	 0 ; # TwoLinkGMV_system_rod2_th (3)
x(9) =	 0 ; # TwoLinkGMV_model_rod1_J (i)
x(10) =	 0 ; # TwoLinkGMV_model_rod1_th_c (c)
x(11) =	 0 ; # TwoLinkGMV_model_rod2_J (i)
x(12) =	 0 ; # TwoLinkGMV_model_rod2_th_c (c)

# Observer design
[A,B,C] = TwoLinkP_sm;		# Get the linearised system
sigma = 0.1;			# Measurement noise variance (pretend)
k = lqe(A,eye(4),C,eye(4),sigma*eye(2))
ObserverGain = k*C;		# This system happens to have a linear output








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkPX_abg.fig version [9ab26d89d5].












































































































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#FIG 3.1
Portrait
Center
Metric
1200 2
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 1125 485 485 8550 1125 8730 1575
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 5625 485 485 8550 5625 9035 6110
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3468 1128 3738 1128
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5720 1130 5990 1130
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4593 2703 4863 2703
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 1128 4728 2703 4953 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4502 5492 4502 5762
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 5627 4502 5627 4277 5852
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 5851 4726 7426 4951 7201
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3472 8647 3742 8647
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4597 8647 4867 8647
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5724 8649 5994 8649
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4730 8645 4730 10220 4955 9995
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5855 8645 5855 10220 6080 9995
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 3826 3601 7426 3826 7201
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5851 3826 5851 7426 6076 7201
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 8775 6525 7200 2925 7200 2925 8775 6525 8775
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 2025 6525 450 2925 450 2925 2025 6525 2025
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 6435 6525 4860 2925 4860 2925 6435 6525 6435
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 11250 6525 9675 2925 9675 2925 11250 6525 11250
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 9450 11475 9450 225 180 225 180 11475 9450 11475
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3603 1128 3603 2703 3828 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5853 1128 5853 2703 6078 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 3826 4726 5401 4951 5176
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 4050 2925 4050 2925 2475 6525 2475 6525 4050
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 8622 3600 10197 3825 9972
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8775 5175 8775 1575 8325 1575 8325 5175 8775 5175
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8775 9675 8775 6075 8325 6075 8325 9675 8775 9675
2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5
	 7650 450 9405 450 9405 675 7650 675 7650 450
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3150 3285 1575 3285 1800 3510
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3195 8055 1620 8055 1845 8280
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1350 3150 1350 2025 1575 2250
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1350 8325 1350 9450 1575 9225
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1350 7875 1350 3600 1575 3825
4 1 -1 0 0 0 20 0.0000 4 255 810 3603 948 SS:v_x\001
4 0 -1 0 0 0 20 0.0000 4 195 135 4683 5718 0\001
4 1 -1 0 0 0 20 0.0000 4 255 840 3608 10673 SS:F_x\001
4 1 -1 0 0 0 20 0.0000 4 255 840 4733 10673 SS:F_a\001
4 1 -1 0 0 0 20 0.0000 4 255 840 5903 10673 SS:F_y\001
4 1 -1 0 0 0 20 0.0000 4 195 1335 4729 3379 RODaX:rod1\001
4 1 -1 0 0 0 20 0.0000 4 195 1335 4731 8196 RODaX:rod2\001
4 1 4 0 0 0 20 0.0000 4 255 1410 4771 946 SS:[Joint_1]\001
4 0 1 1 0 3 20 0.0000 4 210 720 6795 3375 Link 1\001
4 0 1 1 0 3 20 0.0000 4 225 795 6750 5760 Joint 2\001
4 0 1 1 0 3 20 0.0000 4 210 720 6750 8190 Link 2\001
4 0 1 1 0 3 20 0.0000 4 270 375 6750 10485 Tip\001
4 0 1 1 0 3 20 0.0000 4 225 795 6750 1260 Joint 1\001
4 1 4 0 0 0 16 0.0000 4 225 900 4725 2970 [alpha_a]\001
4 1 4 0 0 0 16 0.0000 4 210 510 3600 3780 [x_b]\001
4 1 4 0 0 0 16 0.0000 4 225 915 4725 3780 [alpha_b]\001
4 1 4 0 0 0 16 0.0000 4 225 510 5850 3780 [y_b]\001
4 1 4 0 0 0 16 0.0000 4 225 495 5850 2970 [y_a]\001
4 1 4 0 0 0 16 0.0000 4 210 495 3605 7835 [x_a]\001
4 1 4 0 0 0 16 0.0000 4 225 900 4730 7835 [alpha_a]\001
4 1 4 0 0 0 16 0.0000 4 225 495 5855 7835 [y_a]\001
4 1 4 0 0 0 16 0.0000 4 210 510 3607 8512 [x_b]\001
4 1 4 0 0 0 16 0.0000 4 225 915 4733 8513 [alpha_b]\001
4 1 4 0 0 0 16 0.0000 4 225 510 5859 8514 [y_b]\001
4 1 -1 0 0 0 20 0.0000 4 255 810 5850 945 SS:v_y\001
4 2 4 0 0 0 20 0.0000 4 255 1410 2882 5717 SS:[Joint_2]\001
4 1 4 0 0 0 16 0.0000 4 210 495 3600 2970 [x_a]\001
4 1 4 0 0 0 16 0.0000 4 225 675 3510 3375 [alpha]\001
4 1 4 0 0 0 16 0.0000 4 225 675 3555 8145 [alpha]\001
4 0 -1 0 0 0 20 0.0000 4 195 135 1308 8193 1\001
4 1 4 0 0 0 20 0.0000 4 255 1530 1397 1892 SS:[Theta_1]\001
4 1 4 0 0 0 20 0.0000 4 255 1530 1352 9767 SS:[Theta_2]\001
4 0 -1 0 0 0 20 0.0000 4 195 135 1263 3468 0\001








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkPX_desc.tex version [df58265a5a].














































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% Verbal description for system TwoLinkPX (TwoLinkPX_desc.tex)
% Generated by MTT on Fri Jun 13 16:30:23 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1998/01/19 14:20:07  peterg
% %% Initial revision
% %%
% Revision 1.1  1997/08/15  13:31:00  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{TwoLinkPX} is
   displayed in Figure \Ref{TwoLinkPX_abg} and its label
   file is listed in Section \Ref{sec:TwoLinkPX_lbl}.
   The subsystems are listed in Section \Ref{sec:TwoLinkPX_sub}.

This is a heirachical version of the example from Section 10.5 of
"Metamodelling".  It uses the compound components: {\bf ROD}.  {\bf
ROD} is essentially as described in Figure 10.2.
There is no gravity included in this model.

This system has a number of dynamic elements (those corresponding to translation
motion) in derivative causality, thus the system is represnted as a
Differential-Algebraic Equation (Section
\Ref{sec:TwoLinkPX_dae.tex}). Hovever, this is of contrained-state form and
therfore can be written as a set of constrained-state equations (Section
\Ref{sec:TwoLinkPX_cse.tex}). The corresponding ordinary differential
equation is complicated due to the trig functions involved in
inverting the E matrix.

As well as the standard representation the ``robot-form'' equations
appear in Section  \Ref{sec:TwoLinkPX_rfe}. 

%%% Local Variables: 
%%% mode: plain-tex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkPX_lbl.txt version [fbab683c87].





























































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%SUMMARY TwoLinkPX: two-link manipulator from Section 10.5 of "Metamodelling"
%DESCRIPTION This is a heirachical version of the 
%DESCRIPTION example from Section 10.5 of "Metamodelling".
%DESCRIPTION It uses two compound components: ROD and GRA
%DESCRIPTION ROD is essentially as described in Figure 10.2
%DESCRIPTION GRAV represents gravity by a vertical accelleration
%DESCRIPTION as in Section 10.9 of "Metamodelling"


%% Label (TwoLinkPX_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1996/12/05  12:39:49  peterg
% %% Documentation
% %%
% %% Revision 1.1  1996/12/05 12:17:15  peterg
% %% Initial revision
% %%
% %% Revision 1.1  1996/11/14  10:48:42  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Rod parameters - uniform rods
rod1	none	l_r;l_r;j_r;m_r
rod2	none	l_r;l_r;j_r;m_r

%Zero velocity sources
v_x	SS     internal,0
v_y	SS     internal,0


%Zero force/torque sources
F_x	SS	   0,internal
F_a	SS	   0,internal
F_y	SS	   0,internal

%Named ports
[Joint_1]		SS	external,internal
[Joint_2]		SS	external,internal
[Theta_1]		SS	external,0
[Theta_2]		SS	external,0

%Torque/velocity at joints
%f_a1	SS	 external,external
%f_a2	SS	 external,external










Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_abg.fig version [44cfade14b].












































































































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#FIG 3.1
Portrait
Center
Metric
1200 2
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 1125 485 485 8550 1125 8730 1575
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 5625 485 485 8550 5625 9035 6110
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3468 1128 3738 1128
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5720 1130 5990 1130
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4593 2703 4863 2703
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 1128 4728 2703 4953 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4502 5492 4502 5762
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 5627 4502 5627 4277 5852
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 5851 4726 7426 4951 7201
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3472 8647 3742 8647
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4597 8647 4867 8647
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5724 8649 5994 8649
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4730 8645 4730 10220 4955 9995
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5855 8645 5855 10220 6080 9995
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 3826 3601 7426 3826 7201
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5851 3826 5851 7426 6076 7201
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 8775 6525 7200 2925 7200 2925 8775 6525 8775
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 2025 6525 450 2925 450 2925 2025 6525 2025
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 6435 6525 4860 2925 4860 2925 6435 6525 6435
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 11250 6525 9675 2925 9675 2925 11250 6525 11250
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 9450 11475 9450 225 180 225 180 11475 9450 11475
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3603 1128 3603 2703 3828 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5853 1128 5853 2703 6078 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 3826 4726 5401 4951 5176
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 4050 2925 4050 2925 2475 6525 2475 6525 4050
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 8622 3600 10197 3825 9972
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8775 5175 8775 1575 8325 1575 8325 5175 8775 5175
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8775 9675 8775 6075 8325 6075 8325 9675 8775 9675
2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5
	 7650 450 9405 450 9405 675 7650 675 7650 450
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3150 3285 1575 3285 1800 3510
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3195 8055 1620 8055 1845 8280
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1350 3150 1350 2025 1575 2250
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1350 8325 1350 9450 1575 9225
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1350 7875 1350 3600 1575 3825
4 1 -1 0 0 0 20 0.0000 4 255 810 3603 948 SS:v_x\001
4 0 -1 0 0 0 20 0.0000 4 195 135 4683 5718 0\001
4 1 -1 0 0 0 20 0.0000 4 255 840 3608 10673 SS:F_x\001
4 1 -1 0 0 0 20 0.0000 4 255 840 4733 10673 SS:F_a\001
4 1 -1 0 0 0 20 0.0000 4 255 840 5903 10673 SS:F_y\001
4 1 -1 0 0 0 20 0.0000 4 195 1335 4729 3379 RODa:rod1\001
4 1 -1 0 0 0 20 0.0000 4 195 1335 4731 8196 RODa:rod2\001
4 1 4 0 0 0 20 0.0000 4 255 1410 4771 946 SS:[Joint_1]\001
4 0 1 1 0 3 20 0.0000 4 210 720 6795 3375 Link 1\001
4 0 1 1 0 3 20 0.0000 4 225 795 6750 5760 Joint 2\001
4 0 1 1 0 3 20 0.0000 4 210 720 6750 8190 Link 2\001
4 0 1 1 0 3 20 0.0000 4 270 375 6750 10485 Tip\001
4 0 1 1 0 3 20 0.0000 4 225 795 6750 1260 Joint 1\001
4 1 4 0 0 0 16 0.0000 4 225 900 4725 2970 [alpha_a]\001
4 1 4 0 0 0 16 0.0000 4 210 510 3600 3780 [x_b]\001
4 1 4 0 0 0 16 0.0000 4 225 915 4725 3780 [alpha_b]\001
4 1 4 0 0 0 16 0.0000 4 225 510 5850 3780 [y_b]\001
4 1 4 0 0 0 16 0.0000 4 225 495 5850 2970 [y_a]\001
4 1 4 0 0 0 16 0.0000 4 210 495 3605 7835 [x_a]\001
4 1 4 0 0 0 16 0.0000 4 225 900 4730 7835 [alpha_a]\001
4 1 4 0 0 0 16 0.0000 4 225 495 5855 7835 [y_a]\001
4 1 4 0 0 0 16 0.0000 4 210 510 3607 8512 [x_b]\001
4 1 4 0 0 0 16 0.0000 4 225 915 4733 8513 [alpha_b]\001
4 1 4 0 0 0 16 0.0000 4 225 510 5859 8514 [y_b]\001
4 1 -1 0 0 0 20 0.0000 4 255 810 5850 945 SS:v_y\001
4 2 4 0 0 0 20 0.0000 4 255 1410 2882 5717 SS:[Joint_2]\001
4 1 4 0 0 0 16 0.0000 4 210 495 3600 2970 [x_a]\001
4 1 4 0 0 0 16 0.0000 4 225 675 3510 3375 [alpha]\001
4 1 4 0 0 0 16 0.0000 4 225 675 3555 8145 [alpha]\001
4 0 -1 0 0 0 20 0.0000 4 195 135 1308 8193 1\001
4 1 4 0 0 0 20 0.0000 4 255 1530 1397 1892 SS:[Theta_1]\001
4 1 4 0 0 0 20 0.0000 4 255 1530 1352 9767 SS:[Theta_2]\001
4 0 -1 0 0 0 20 0.0000 4 195 135 1263 3468 0\001








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_cr.txt version [981cde0c6a].







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lcos
lin
lsin








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_desc.tex version [6d2b3ecef6].














































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% Verbal description for system TwoLinkP (TwoLinkP_desc.tex)
% Generated by MTT on Fri Jun 13 16:30:23 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1998/01/19 14:20:07  peterg
% %% Initial revision
% %%
% Revision 1.1  1997/08/15  13:31:00  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{TwoLinkP} is
   displayed in Figure \Ref{TwoLinkP_abg} and its label
   file is listed in Section \Ref{sec:TwoLinkP_lbl}.
   The subsystems are listed in Section \Ref{sec:TwoLinkP_sub}.

This is a heirachical version of the example from Section 10.5 of
"Metamodelling".  It uses the compound components: {\bf ROD}.  {\bf
ROD} is essentially as described in Figure 10.2.
There is no gravity included in this model.

This system has a number of dynamic elements (those corresponding to translation
motion) in derivative causality, thus the system is represnted as a
Differential-Algebraic Equation (Section
\Ref{sec:TwoLinkP_dae.tex}). Hovever, this is of contrained-state form and
therfore can be written as a set of constrained-state equations (Section
\Ref{sec:TwoLinkP_cse.tex}). The corresponding ordinary differential
equation is complicated due to the trig functions involved in
inverting the E matrix.

As well as the standard representation the ``robot-form'' equations
appear in Section  \Ref{sec:TwoLinkP_rfe}. 

%%% Local Variables: 
%%% mode: plain-tex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_lbl.txt version [a70a30e484].





























































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%SUMMARY TwoLinkP: two-link manipulator from Section 10.5 of "Metamodelling"
%DESCRIPTION This is a heirachical version of the 
%DESCRIPTION example from Section 10.5 of "Metamodelling".
%DESCRIPTION It uses two compound components: ROD and GRA
%DESCRIPTION ROD is essentially as described in Figure 10.2
%DESCRIPTION GRAV represents gravity by a vertical accelleration
%DESCRIPTION as in Section 10.9 of "Metamodelling"


%% Label (TwoLinkP_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1996/12/05  12:39:49  peterg
% %% Documentation
% %%
% %% Revision 1.1  1996/12/05 12:17:15  peterg
% %% Initial revision
% %%
% %% Revision 1.1  1996/11/14  10:48:42  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Rod parameters - uniform rods
rod1	none	l_r;l_r;j_r;m_r
rod2	none	l_r;l_r;j_r;m_r

%Zero velocity sources
v_x	SS     internal,0
v_y	SS     internal,0


%Zero force/torque sources
F_x	SS	   0,internal
F_a	SS	   0,internal
F_y	SS	   0,internal

%Named ports
[Joint_1]		SS	external,internal
[Joint_2]		SS	external,internal
[Theta_1]		SS	external,0
[Theta_2]		SS	external,0

%Torque/velocity at joints
%f_a1	SS	 external,external
%f_a2	SS	 external,external










Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_obspar.r version [ea44a77131].

































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%% Reduce  GPC observability function parameters for system TwoLinkP (TwoLinkP_obspar.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

MTTGPCNy := 2;
MTTGPCNu := 0;
Matrix MTTdU(5,1);
MTTdU(1,1) := MTTdU1;
MTTdU(2,1) := MTTdU2;
MTTdU(3,1) := MTTdU3;
MTTdU(4,1) := MTTdU4;
MTTdU(5,1) := MTTdU5;
Matrix MTTUU(2,5);
MTTUU(1,1) := MTTu1;
MTTUU(1,2) := MTTu11;
MTTUU(1,3) := MTTu12;
MTTUU(1,4) := MTTu13;
MTTUU(1,5) := MTTu14;
MTTUU(2,1) := MTTu2;
MTTUU(2,2) := MTTu21;
MTTUU(2,3) := MTTu22;
MTTUU(2,4) := MTTu23;
MTTUU(2,5) := MTTu24;
END;








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/TwoLinkP_subs.r version [87b1a943f2].




























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%% Reduce  substitution statements for system TwoLinkPX (TwoLinkPX_subs.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1998/03/22 20:13:25  peterg
% %% Trig simplification added
% %%
% %% Revision 1.1  1998/03/22 20:12:51  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

        trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2,
                  cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2,
                  sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2,
                  cos(~x)^2       => (1+cos(2*x))/2,
                  sin(~x)^2       => (1-cos(2*x))/2};
       LET trig1;

END;









Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/msdP_abg.fig version [783d02bd00].































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3825 4050 4950 4050 4725 4275
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 4275 3600 5400 3825 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2250 4050 3375 4050 3150 4275
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 8325 6975 8325 1125 1125 1125 1125 6975 8325 6975
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5400 4050 6525 4050 6300 4275
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5175 3825 5175 2700 5400 2925
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 3825 3600 2700 3825 2925
4 1 -1 0 0 0 20 0.0000 4 195 135 3600 4185 1\001
4 2 4 0 0 0 20 0.0000 4 240 810 2160 4140 SS:[in]\001
4 1 -1 0 0 0 20 0.0000 4 255 480 3600 5715 I:j_s\001
4 1 1 1 0 0 20 0.0000 4 255 5355 4815 6345 Mass-spring-damper system (position output)\001
4 1 -1 0 0 0 20 0.0000 4 195 135 5175 4140 0\001
4 0 4 0 0 0 20 0.0000 4 240 960 6660 4140 SS:[out]\001
4 1 -1 0 0 0 20 0.0000 4 255 615 3600 2565 R:r_s\001
4 1 -1 0 0 0 20 0.0000 4 255 630 5175 2565 C:c_s\001








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/msdP_desc.tex version [be83adfdb1].



































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% Verbal description for system msdP (msdP_desc.tex)
% Generated by MTT on Thu Nov 13 09:38:17 GMT 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{msdP} is
   displayed in Figure \Ref{msdP_abg} and its label
   file is listed in Section \Ref{sec:msdP_lbl}.
   The subsystems are listed in Section \Ref{sec:msdP_sub}.


 \textbf{msdP} is a simple Mass-Spring-Damper system with 
 force input and position output. It is set up to provide a specification system
 for each link of the two-link maipulator. This is appropriate because
 \begin{itemize}
 \item  it has compatible physical behaviour with the system itself,
 \item it specifies two decoupled systems,
 \item it has linear behaviour and
 \item it has a simple performance interpretation in terms of system
   rise-time and overshoot.
 \end{itemize}

%%% Local Variables: 
%%% mode: latex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Control/GMV/TwoLinkGMV/msdP_lbl.txt version [dee478e657].


































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%SUMMARY msdP
%DESCRIPTION <Detailed description here>
%% Label file for system msdP (msdP_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type C
	c_s		lin	effort,c_s

% Component type I
	j_s		lin	flow,j_s

% Component type R
	r_s		lin	flow,r_s

% Component type SS
	[in]		SS	external,internal
	[out]		SS	external,0








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/INTFX_abg.fig version [d546a8c405].
























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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1801 3151 2701 3151 2476 3376
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 3151 4501 3151 4276 3376
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 2926 4726 2026 4951 2251
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4951 3151 5851 3151 5626 3376
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 6975 4050 6975 1350 450 1350 450 4050 6975 4050
4 1 -1 0 0 0 20 0.0000 4 195 375 3151 3241 AF\001
4 1 -1 0 0 0 20 0.0000 4 195 135 4726 3241 0\001
4 1 -1 0 0 0 20 0.0000 4 195 600 4726 1891 CX:c\001
4 1 -1 0 0 0 20 0.0000 4 240 810 1306 3241 SS:[in]\001
4 1 -1 0 0 0 20 0.0000 4 240 960 6346 3241 SS:[out]\001








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/INTFX_desc.tex version [9521268b12].
























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% Verbal description for system INTFX (INTFX_desc.tex)
% Generated by MTT on Fri Aug 15 09:53:16 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1997/08/24 11:20:18  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{INTFX} is
   displayed in Figure \Ref{INTFX_abg} and its label
   file is listed in Section \Ref{sec:INTFX_lbl}.
   The subsystems are listed in Section \Ref{sec:INTFX_sub}.

\textbf{INTFX} is a two-port component where the effort on port [out]
   is the integral of the flow on port [in].








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/INTFX_lbl.txt version [795adc6745].




























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%SUMMARY INTFX
%DESCRIPTION <Detailed description here>
%% Label file for system INTFX (INTFX_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type CX
	c		lin	effort,1

% Component type SS
	[in]		SS	external,external
	[out]		SS	external,external








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/RODaX_abg.fig version [69d5bf8861].
































































































































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 4278 5403 4953 5178 4953
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5854 5404 6529 6079 6304 6079
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 6078 5403 5403 5403 5628
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5853 4953 6528 4278 6528 4503
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1
	 4277 3827
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3152 2702 4277 3827 4052 3827
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6977 6527 8102 7652 7877 7652
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3152 7652 4277 6527 4277 6752
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6977 3827 8102 2702 8102 2927
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5852 5177 6527 5177 6392 5312
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 2927 2927 4952 3152 4727
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 5402 2927 7427 3152 7202
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2701 5176 2026 5176 2161 5311
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2926 1351 2926 2476 3196 2206
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2926 7876 2926 9001 3196 8731
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8328 2928 8328 4953 8553 4728
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8328 5403 8328 7428 8553 7203
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8327 1352 8327 2477 8597 2207
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8327 7877 8327 9002 8597 8732
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5626 1351 5626 4951 5851 4726
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5626 5401 5626 9001 5851 8776
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1
	 6526 5401
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6526 4951 6526 5401
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8551 5176 9226 5176 9091 5311
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3826 4951 6526 4051 6436 4231
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3826 4996 3826 5356
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4276 5176 3826 5176 3961 5311
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3826 5401 6301 6301 6121 6301
2 1 0 1 5 -1 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 5401 4051 6301 3826 6301
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 4951 4051 4051 4051 4276
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5536 5176 5086 5176 5221 5311
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6300 9675 6300 675 4950 675 4950 9675 6300 9675
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 9000 9675 9000 675 7650 675 7650 9675 9000 9675
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 11025 10305 11025 225 225 225 225 10305 11025 10305
2 4 0 1 1 7 0 0 -1 0.000 0 0 7 0 0 5
	 3600 9675 2250 9675 2250 675 3600 675 3600 9675
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 10125 2250 990 2250 990 900 10125 900 10125 2250
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 10125 5850 990 5850 990 4500 10125 4500 10125 5850
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 10125 9450 990 9450 990 8100 10125 8100 10125 9450
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3375 4950 1800 3375 1800 3600
4 1 -1 0 0 0 20 0.0000 4 195 135 5628 5268 1\001
4 1 -1 0 0 0 20 0.0000 4 195 270 6933 5268 IX:J\001
4 1 -1 0 0 0 20 0.0000 4 195 135 2927 5312 1\001
4 1 -1 0 0 0 20 0.0000 4 195 135 2972 2792 0\001
4 1 -1 0 0 0 20 0.0000 4 195 135 2927 7742 0\001
4 1 -1 0 0 0 20 0.0000 4 195 135 8328 5313 1\001
4 1 -1 0 0 0 20 0.0000 4 195 135 8373 2793 0\001
4 1 -1 0 0 0 20 0.0000 4 195 135 8328 7743 0\001
4 1 -1 0 0 0 20 0.0000 4 255 660 9676 5266 I:m_y\001
4 1 -1 0 0 0 20 0.0000 4 255 660 1531 5221 I:m_x\001
4 1 -1 0 0 0 20 0.0000 4 195 1110 4636 4141 EMTF:c1\001
4 1 -1 0 0 0 20 0.0000 4 195 1110 4681 6391 EMTF:c2\001
4 1 -1 0 0 0 20 0.0000 4 195 1095 7156 4141 EMTF:s1\001
4 1 -1 0 0 0 20 0.0000 4 195 1095 7156 6391 EMTF:s2\001
4 1 5 0 0 0 20 0.0000 4 195 135 3603 5313 0\001
4 1 26 0 0 0 16 0.0000 4 210 345 6751 4456 [in]\001
4 1 26 0 0 0 16 0.0000 4 210 465 6751 3781 [out]\001
4 1 26 0 0 0 16 0.0000 4 210 345 6751 6076 [in]\001
4 1 26 0 0 0 16 0.0000 4 210 465 6751 6706 [out]\001
4 1 26 0 0 0 16 0.0000 4 210 585 6211 6526 [mod]\001
4 1 5 0 0 0 20 0.0000 4 195 960 4681 5266 INTFX:th\001
4 1 1 1 0 0 20 0.0000 4 195 210 2925 10035 X\001
4 1 1 1 0 32 20 0.0000 4 135 180 5580 9990 a\001
4 1 1 1 0 0 20 0.0000 4 195 210 8280 9990 Y\001
4 2 26 0 0 0 16 0.0000 4 210 585 3960 4140 [mod]\001
4 2 26 0 0 0 16 0.0000 4 210 585 6345 4095 [mod]\001
4 2 26 0 0 0 16 0.0000 4 210 585 3960 6210 [mod]\001
4 1 26 0 0 0 16 0.0000 4 210 345 4590 4455 [in]\001
4 1 26 0 0 0 16 0.0000 4 210 465 4545 3780 [out]\001
4 1 26 0 0 0 16 0.0000 4 210 465 4590 6660 [out]\001
4 0 26 0 0 0 16 0.0000 4 210 345 4365 6030 [in]\001
4 1 4 0 0 0 20 0.0000 4 255 990 2971 1216 SS:[x_a]\001
4 1 4 0 0 0 20 0.0000 4 255 990 2971 9361 SS:[x_b]\001
4 1 4 0 0 0 20 0.0000 4 255 990 8372 1217 SS:[y_a]\001
4 1 4 0 0 0 20 0.0000 4 255 990 8417 9362 SS:[y_b]\001
4 1 4 0 0 0 20 0.0000 4 255 1485 5671 1216 SS:[alpha_a]\001
4 1 4 0 0 0 20 0.0000 4 255 1485 5671 9361 SS:[alpha_b]\001
4 1 1 1 0 0 20 0.0000 4 255 600 1350 2700 Tip a\001
4 1 1 1 0 0 20 0.0000 4 195 1380 1260 6300 Mass centre\001
4 1 1 1 0 0 20 0.0000 4 255 600 1350 9855 Tip b\001
4 1 4 0 0 0 20 0.0000 4 255 1215 1756 3286 SS:[alpha]\001








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/RODaX_desc.tex version [df20b89acf].





























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% Verbal description for system RODaX (RODaX_desc.tex)
% Generated by MTT on Fri Aug 15 09:53:23 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1998/04/12 15:25:35  peterg
% %% Initial revision
% %%
% Revision 1.1  1997/08/15  09:41:19  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{RODaX} is
   displayed in Figure \Ref{RODaX_abg} and its label
   file is listed in Section \Ref{sec:RODaX_lbl}.
   The subsystems are listed in Section \Ref{sec:RODaX_sub}.

{\bf RODaX} is essentially as described in Figure 10.2 of
``Metamodelling''. It has an additional port ``[angle]'' to provide
access to the rod angle.









Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/RODaX_lbl.txt version [1c79a51b36].























































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%SUMMARY	RODaX: rigid rod in two dimensions - angle port.
%DESCRIPTION	Port [alpha_a]:	Angular torque/velocity - end a
%DESCRIPTION	Port [alpha_b]:	Angular torque/velocity - end b
%DESCRIPTION	Port [x_a]:	x force/velocity - end a
%DESCRIPTION	Port [x_b]:	x force/velocity - end b
%DESCRIPTION	Port [y_a]:	y force/velocity - end a
%DESCRIPTION	Port [y_b]:	y force/velocity - end b
%DESCRIPTION	Port [alpha]:	rod angle
%DESCRIPTION
%DESCRIPTION	Parameter 1:	length from end 1 to mass centre
%DESCRIPTION	Parameter 2:	length from end 2 to mass centre
%DESCRIPTION	Parameter 3:	inertia about mass centre
%DESCRIPTION	Parameter 4:	mass
%DESCRIPTION	See Section 10.2 of "Metamodelling"


%% Label file for system RODaX (RODaX_lbl.txt)




% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % $Id$
% % $Log$
% % Revision 1.1  1998/04/12 15:24:06  peterg
% % Initial revision
% %
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%



%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Inertias
J	lin	flow,$3
m_x	lin	flow,$4
m_y	lin	flow,$4

%Integrate angular velocity to get angle
th

%Modulated transformers
s1	lsin	flow,$1
s2	lsin	flow,$2
c1	lcos	flow,$1
c2	lcos	flow,$2








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/Sensor_abg.fig version [8f5341f4f9].




































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2475 2025 3825 2025 3600 2250
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4500 2025 5850 2025 5625 2250
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6525 3600 7875 3600 7650 3825
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2475 1800 2475 2295
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6075 3375 6075 3825
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5850 1800 5850 2295
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2475 3600 3825 3600 3600 3825
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4500 3600 6075 3600 5850 3825
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6300 3330 6300 2205 6525 2430
4 2 4 0 0 0 20 0.0000 4 240 720 2385 2115 SS:[v]\001
4 1 -1 0 0 0 20 0.0000 4 195 420 4140 2115 GY\001
4 1 -1 0 0 0 20 0.0000 4 195 840 6345 2070 AE:tau\001
4 1 -1 0 0 0 20 0.0000 4 195 135 6300 3690 1\001
4 2 4 0 0 0 20 0.0000 4 255 720 2475 3690 SS:[p]\001
4 0 4 0 0 0 20 0.0000 4 240 690 8055 3645 SS:[s]\001
4 1 -1 0 0 0 20 0.0000 4 195 390 4050 3690 AE\001
4 2 4 0 0 0 20 0.0000 4 240 405 5760 1755 [in]\001
4 2 4 0 0 0 20 0.0000 4 240 555 6255 2565 [out]\001








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/Sensor_lbl.txt version [c79dfd35bb].





























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%SUMMARY Sensor
%DESCRIPTION <Detailed description here>
%% Label file for system Sensor (Sensor_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type AE
	tau		lin	tau

% Component type SS
	[p]		SS	external,external
	[s]		SS	external,external
	[v]		SS	external,external








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_abg.fig version [0183aa4021].


































































































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7875 8550 9225 8550 9000 8775
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9225 8325 9225 8775
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7875 9450 9225 9450 9000 9675
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9225 9225 9225 9675
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5625 8325 5625 8775
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5625 9225 5625 9675
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 4
	 3825 5625 3825 8550 5625 8550 5400 8775
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 4
	 3375 6525 3375 9450 5625 9450 5400 9675
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7875 5400 9225 5400 9000 5625
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9225 5175 9225 5625
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7875 6300 9225 6300 9000 6525
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9225 6075 9225 6525
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4050 5400 5625 5400 5400 5625
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5625 5175 5625 5625
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 6300 5625 6300 5400 6525
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5625 6075 5625 6525
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2025 5400 3600 5400 3375 5625
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3600 5175 3600 5625
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2025 6300 3150 6300 2925 6525
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3150 6075 3150 6525
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7875 2250 9225 2250 9000 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9225 2025 9225 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7875 3150 9225 3150 9000 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9225 2925 9225 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4050 2250 5625 2250 5400 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5625 2025 5625 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4050 3150 5625 3150 5400 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5625 2925 5625 3375
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 11475 3915 2475 3915 2475 1350 11475 1350 11475 3915
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 11475 7020 2475 7020 2475 4500 11475 4500 11475 7020
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 11475 10215 2475 10215 2475 7650 11475 7650 11475 10215
4 0 -1 0 0 22 20 0.0000 4 270 1935 9315 8640 SS:Theta_1_m\001
4 0 -1 0 0 22 20 0.0000 4 270 1935 9315 9540 SS:Theta_2_m\001
4 1 -1 0 0 22 20 0.0000 4 210 2640 6750 9090 TwoLinkPSX:model\001
4 0 4 0 0 22 20 0.0000 4 270 1230 7920 8415 [Theta_1]\001
4 0 4 0 0 22 20 0.0000 4 270 1230 7920 9315 [Theta_2]\001
4 2 4 0 0 22 20 0.0000 4 270 1140 5535 8415 [Joint_1]\001
4 2 4 0 0 22 20 0.0000 4 270 1140 5535 9315 [Joint_2]\001
4 1 1 1 0 3 26 0.0000 4 270 1005 6750 10080 Model\001
4 1 -1 0 0 22 20 0.0000 4 270 2610 6750 5940 TwoLinkPS:system\001
4 0 4 0 0 22 20 0.0000 4 270 1230 7920 5265 [Theta_1]\001
4 0 4 0 0 22 20 0.0000 4 270 1230 7920 6165 [Theta_2]\001
4 0 -1 0 0 22 20 0.0000 4 270 1530 9315 5490 SS:Theta_1\001
4 0 -1 0 0 22 20 0.0000 4 270 1530 9315 6390 SS:Theta_2\001
4 2 4 0 0 22 20 0.0000 4 270 1140 5535 5265 [Joint_1]\001
4 2 4 0 0 22 20 0.0000 4 270 1140 5535 6165 [Joint_2]\001
4 1 -1 0 0 22 20 0.0000 4 195 150 3825 5490 0\001
4 2 -1 0 0 22 20 0.0000 4 270 1275 1935 6390 SS:Tau_2\001
4 2 -1 0 0 22 20 0.0000 4 270 1275 1980 5490 SS:Tau_1\001
4 1 -1 0 0 22 20 0.0000 4 195 150 3375 6390 0\001
4 1 1 1 0 3 26 0.0000 4 360 1110 6705 6885 System\001
4 0 -1 0 0 22 20 0.0000 4 270 1785 9315 2340 SS:Theta_1_r\001
4 0 -1 0 0 22 20 0.0000 4 270 1785 9315 3240 SS:Theta_2_r\001
4 1 1 1 0 3 26 0.0000 4 360 2055 6705 3735 Specification\001
4 1 -1 0 0 22 20 0.0000 4 270 1860 6795 2340 msdP:spec_1\001
4 1 -1 0 0 22 20 0.0000 4 270 1860 6795 3195 msdP:spec_2\001
4 2 -1 0 0 22 20 0.0000 4 270 1260 4005 2340 SS:Ref_1\001
4 2 -1 0 0 22 20 0.0000 4 270 1260 3960 3240 SS:Ref_2\001








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_desc.tex version [98eee8129d].



















































































































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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system TwoLinkGPC (TwoLinkGPC_desc.tex)
% Generated by MTT on Wed Apr 15 18:15:23 BST 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1998/04/15 18:41:58  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{TwoLinkGPC} is
   displayed in Figure \Ref{TwoLinkGPC_abg} and its label
   file is listed in Section \Ref{sec:TwoLinkGPC_lbl}.
   The subsystems are listed in Section \Ref{sec:TwoLinkGPC_sub}.
   
   This example provides an illustration of nonlinear generalised
   predictive control (GPC) (continuous-time) operating on a twolink
   manipulator with a modified sensor.  The  sensor is modified in a
   rather contrived way to give a nonlinear system with an
   \emph{unstable} inverse. The idea is that the sensor approximates a
   pure delay of $\tau$ as:
   \begin{equation}
     e^{-s\tau} \approx 1 - s \tau
   \end{equation}
   
   The example contrasts GPC with GMV, which can also be interpreted
   as:
\begin{itemize}
\item the exact linearisation (by feedback) followed by a
  pole-placement design on the resulting linear system and
\item a special case of generalised predictive control (GPC) were the
  prediction horizon is zero and the $P(s)$ polynomial is the same as
  the system relative degree and
\end{itemize}


The composite system of Figure \Ref{TwoLinkGPC_abg} has three
(visible) parts:
\begin{enumerate}
\item a linear decoupled \emph{specification} system that describes the desired
  closed-loop system in terms of a physical system (two decoupled
  mass-spring-damper systems),
\item the system itself (a two-link manipulator) representing the
  system to be controlled, more details are given in Sections
  \Ref{sec:TwoLinkP_ode.tex} and \Ref{sec:TwoLinkP_rfe.tex}.
\item a model of the system with additional state inputs to be used as
  a state observer.
\end{enumerate}
The invisible parts are implemented in the text file
``TwoLinkGPC\_input.txt'' (see Section \Ref{sec:TwoLinkGPC_input.txt}).
These parts are:
\begin{itemize}
\item the reference signal (joint angles)
  \begin{equation}
    w(t) = 
    \begin{cases}
      \begin{pmatrix}
        \pi \\
        0
      \end{pmatrix} & 0 \ge t > 10 \\
      \begin{pmatrix}
        2\pi \\
        0
      \end{pmatrix} & 10 \ge t > 15 \\
      \begin{pmatrix}
        2\pi \\
        \pi
      \end{pmatrix} & 15 \ge t > 30 \\
    \end{cases}
  \end{equation}
\item The control signal (joint torques) being the solution of 
  \begin{equation}
    \phi^*(t) = O_o(\hat x(t)) + O_h(\hat x(t)) u(t) = w(t)
  \end{equation}
where $\hat x$ is the observed state.
\item The observer feedback signal
  \begin{equation}
    u_x = K ( y - \hat y)
  \end{equation}
where $K$ is the observer gain matrix and $y$ and $\hat y$ are the
system and model outputs respectively.
\end{itemize}
The observer gain is set up on the basis of the \emph{linearised}
system using LQ theory. This is implemented in the text file
``TwoLinkGPC\_state.txt'' (see Section \Ref{sec:TwoLinkGPC_state.txt})
using the Octave function ``lqe'' together with the MTT-generated
linearised system ``TwoLink\_sm''.


The system was simulated using Octave under MTT with the results given
in Figures
\Ref{fig:TwoLinkGPC_odeso.ps-TwoLinkGPC-Theta-1,TwoLinkGPC-Theta-1-r}
and
\Ref{fig:TwoLinkGPC_odeso.ps-TwoLinkGPC-Theta-2,TwoLinkGPC-Theta-2-r}
giving the actual and specification angles for joints 1 and 2
respectively.

The initial \emph{system} state was zero except that the angle of the
first rod was $\frac{\pi}{4}$. The initial \emph{observer} state was
(erroneously but deliberately) set at zero. This explains the
(decaying) discrepancy between the actual and specification angles.
Simulations with zero initial state gave precise matching.

%%% Local Variables: 
%%% mode: latex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_input.tex version [96bb3408b5].




















































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%% Tex file (TwoLinkGPC_input.txt)
%% Generated by MTT at Wed Apr 29 11:21:32 BST 1998
\begin{verbatim}
# Numerical parameter file (TwoLinkGPC_input.txt)
# Generated by MTT at Mon Apr 13 11:02:37 BST 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

global ObserverGain;

if t<10
  tau = 0;
elseif t<20
  tau = 0.1;
else
  tau = 0.2;
end

# Reference signals
Period = 20;
u(1) =	 -pi*sign(cos(2*pi*t/Period))*(t>5); # TwoLinkGPC (Ref_1)
u(2) =	 pi*sign(sin(2*pi*t/Period)); # TwoLinkGPC (Ref_2)
w = u(1:2);			      # Reference signal

# Control signals
x_model = x(9:12);		# Observed states
[O_o, O_h] = TwoLinkPS_obs(x_model) #GPC O function (affine case)
[spec_n,spec_d] = msdP_tf;	# Spec transfer function
P = spec_d(3:-1:1);		# P poly with ascending coeffs
PP = [eye(2)*P(1) eye(2)*P(2) eye(2)*P(3)]; # Matrix version
PO_o = PP*O_o;			# Compute Py with u zero
PO_h = PP*O_h;			# Coefficient of u
u_control =  PO_h\(w - PO_o);	# GMV control signal

u(3:4) = u_control;		# TwoLinkGPC (Tau_1)

# Observer
x_system = x(5:8);		# System states
error = x_system-x_model;	# Error in states
ObserverInput = ObserverGain*error;
u(5:8) = ObserverInput;		# Set the state-input to the observer

\end{verbatim}








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_input.txt version [cc63da7250].














































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# Numerical parameter file (TwoLinkGPC_input.txt)
# Generated by MTT at Mon Apr 13 11:02:37 BST 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

global ObserverGain;

if t<10
  tau = 0;
else
  tau = 0.1;
end

# Reference signals
Period = 20;
u(1) =	 -pi*sign(cos(2*pi*t/Period))*(t>5); # TwoLinkGPC (Ref_1)
u(2) =	 pi*sign(sin(2*pi*t/Period)); # TwoLinkGPC (Ref_2)
w = u(1:2);			      # Reference signal

# Control signals
x_model = x(9:12);		# Observed states
[O_o, O_h] = TwoLinkPS_obs(x_model) #GPC O function (affine case)
[spec_n,spec_d] = msdP_tf;	# Spec transfer function
P = spec_d(3:-1:1);		# P poly with ascending coeffs
PP = [eye(2)*P(1) eye(2)*P(2) eye(2)*P(3)]; # Matrix version
PO_o = PP*O_o;			# Compute Py with u zero
PO_h = PP*O_h;			# Coefficient of u
u_control =  PO_h\(w - PO_o);	# GMV control signal

u(3:4) = u_control;		# TwoLinkGPC (Tau_1)

# Observer
x_system = x(5:8);		# System states
error = x_system-x_model;	# Error in states
ObserverInput = ObserverGain*error;
u(5:8) = ObserverInput;		# Set the state-input to the observer









Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_lbl.txt version [8c71877011].


















































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%SUMMARY TwoLinkGPC - GPC control of two-link manipulator with delay
%DESCRIPTION This composite system provides an illustration
%DESCRIPTION of nonlinear GPC (Generalised Predictive Control) control
%DESCRIPTION (continuous-time) operating on a twolink manipulator. 

%% Label file for system TwoLinkGPC (TwoLinkGPC_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1998/04/29 09:01:43  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type SS
	Ref_1		SS	external,internal
	Ref_2		SS	external,internal
	Tau_1		SS	external,internal
	Tau_2		SS	external,internal
	Theta_1		SS	external,0
	Theta_2		SS	external,0
	Theta_1_m	SS	external,0
	Theta_2_m	SS	external,0
	Theta_1_r	SS	external,0
	Theta_2_r	SS	external,0

% Component type msdP
	spec_1
	spec_2

% Component type TwoLinkP
	system

% Component type TwoLinkPX
	model









Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_numpar.txt version [de52e6ae7d].






















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# Numerical parameter file (TwoLinkGPC_numpar.txt)
# Generated by MTT at Mon Apr 13 10:57:02 BST 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
c_s = 	1.0; # msdP
j_s = 	1.0; # msdP
r_s = 	2.0; # msdP
tau =   0.1; # msdP
l_r = 	0.5; # TwoLinkP,TwoLinkPX
m_r = 	1.0; # TwoLinkP,TwoLinkPX
j_r = 	m_r*l_r*l_r/3; # TwoLinkP,TwoLinkPX








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_obspar.r version [9796c5f718].

































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%% Reduce  GPC observability function parameters for system TwoLinkGPC (TwoLinkGPC_obspar.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

MTTGPCNy := 2;
MTTGPCNu := 0;
Matrix MTTdU(5,1);
MTTdU(1,1) := MTTdU1;
MTTdU(2,1) := MTTdU2;
MTTdU(3,1) := MTTdU3;
MTTdU(4,1) := MTTdU4;
MTTdU(5,1) := MTTdU5;
Matrix MTTUU(2,5);
MTTUU(1,1) := MTTu1;
MTTUU(1,2) := MTTu11;
MTTUU(1,3) := MTTu12;
MTTUU(1,4) := MTTu13;
MTTUU(1,5) := MTTu14;
MTTUU(2,1) := MTTu2;
MTTUU(2,2) := MTTu21;
MTTUU(2,3) := MTTu22;
MTTUU(2,4) := MTTu23;
MTTUU(2,5) := MTTu24;
END;








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_rep.txt version [68da84bc7f].




































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# Outline report file for system TwoLinkGPC (TwoLinkGPC_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt TwoLinkGPC abg tex
mtt TwoLinkGPC struc tex
mtt TwoLinkGPC sympar tex

mtt TwoLinkPS struc tex
mtt TwoLinkPS rfe tex
mtt TwoLinkPS ode tex
mtt TwoLinkPS obs tex

mtt TwoLinkPS ss tex
mtt TwoLinkPS sm tex

mtt msdP tf tex

mtt TwoLinkGPC numpar txt
mtt TwoLinkGPC state txt
mtt TwoLinkGPC input txt

mtt TwoLinkGPC odeso ps 'TwoLinkGPC_Theta_1,TwoLinkGPC_Theta_1_r'
mtt TwoLinkGPC odeso ps 'TwoLinkGPC_Theta_2,TwoLinkGPC_Theta_2_r'











Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_simpar.txt version [85c8e666bb].

















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%% Simulation parameters for system TwoLinkGPC (TwoLinkGPC_simpar.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

LAST=30
DT=0.1
STEPFACTOR=2









Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_simpar.txt_old version [85c8e666bb].

















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%% Simulation parameters for system TwoLinkGPC (TwoLinkGPC_simpar.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

LAST=30
DT=0.1
STEPFACTOR=2









Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkGPC_state.txt version [50c9fbc84f].



































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# Numerical parameter file (TwoLinkGPC_state.txt)
# Generated by MTT at Thu Apr 23 09:10:43 BST 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

global ObserverGain;

# Set the states
x(1) =	 0 ; # TwoLinkGPC_spec_1 (c_s)
x(2) =	 0 ; # TwoLinkGPC_spec_1 (j_s)
x(3) =	 0 ; # TwoLinkGPC_spec_2 (c_s)
x(4) =	 0 ; # TwoLinkGPC_spec_2 (j_s)
x(5) =	 0 ; # TwoLinkGPC_system_rod1 (J)
x(6) =	 0 ; # TwoLinkGPC_system_rod1_th (3)
x(7) =	 0 ; # TwoLinkGPC_system_rod2 (J)
x(8) =	 0 ; # TwoLinkGPC_system_rod2_th (3)
x(9) =	 0 ; # TwoLinkGPC_model_rod1_J (i)
x(10) =	 0 ; # TwoLinkGPC_model_rod1_th_c (c)
x(11) =	 0 ; # TwoLinkGPC_model_rod2_J (i)
x(12) =	 0 ; # TwoLinkGPC_model_rod2_th_c (c)

# Observer design
[A,B,C] = TwoLinkPS_sm;		# Get the linearised system
sigma = 0.1;			# Measurement noise variance (pretend)
k = lqe(A,eye(4),C,eye(4),sigma*eye(2))
ObserverGain = k*C;		# This system happens to have a linear output








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPSX_abg.fig version [9ab26d89d5].












































































































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#FIG 3.1
Portrait
Center
Metric
1200 2
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 1125 485 485 8550 1125 8730 1575
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 5625 485 485 8550 5625 9035 6110
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3468 1128 3738 1128
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5720 1130 5990 1130
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4593 2703 4863 2703
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 1128 4728 2703 4953 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4502 5492 4502 5762
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 5627 4502 5627 4277 5852
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 5851 4726 7426 4951 7201
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3472 8647 3742 8647
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4597 8647 4867 8647
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5724 8649 5994 8649
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4730 8645 4730 10220 4955 9995
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5855 8645 5855 10220 6080 9995
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 3826 3601 7426 3826 7201
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5851 3826 5851 7426 6076 7201
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 8775 6525 7200 2925 7200 2925 8775 6525 8775
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 2025 6525 450 2925 450 2925 2025 6525 2025
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 6435 6525 4860 2925 4860 2925 6435 6525 6435
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 11250 6525 9675 2925 9675 2925 11250 6525 11250
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 9450 11475 9450 225 180 225 180 11475 9450 11475
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3603 1128 3603 2703 3828 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5853 1128 5853 2703 6078 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 3826 4726 5401 4951 5176
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 4050 2925 4050 2925 2475 6525 2475 6525 4050
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 8622 3600 10197 3825 9972
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8775 5175 8775 1575 8325 1575 8325 5175 8775 5175
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8775 9675 8775 6075 8325 6075 8325 9675 8775 9675
2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5
	 7650 450 9405 450 9405 675 7650 675 7650 450
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3150 3285 1575 3285 1800 3510
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3195 8055 1620 8055 1845 8280
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1350 3150 1350 2025 1575 2250
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1350 8325 1350 9450 1575 9225
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1350 7875 1350 3600 1575 3825
4 1 -1 0 0 0 20 0.0000 4 255 810 3603 948 SS:v_x\001
4 0 -1 0 0 0 20 0.0000 4 195 135 4683 5718 0\001
4 1 -1 0 0 0 20 0.0000 4 255 840 3608 10673 SS:F_x\001
4 1 -1 0 0 0 20 0.0000 4 255 840 4733 10673 SS:F_a\001
4 1 -1 0 0 0 20 0.0000 4 255 840 5903 10673 SS:F_y\001
4 1 -1 0 0 0 20 0.0000 4 195 1335 4729 3379 RODaX:rod1\001
4 1 -1 0 0 0 20 0.0000 4 195 1335 4731 8196 RODaX:rod2\001
4 1 4 0 0 0 20 0.0000 4 255 1410 4771 946 SS:[Joint_1]\001
4 0 1 1 0 3 20 0.0000 4 210 720 6795 3375 Link 1\001
4 0 1 1 0 3 20 0.0000 4 225 795 6750 5760 Joint 2\001
4 0 1 1 0 3 20 0.0000 4 210 720 6750 8190 Link 2\001
4 0 1 1 0 3 20 0.0000 4 270 375 6750 10485 Tip\001
4 0 1 1 0 3 20 0.0000 4 225 795 6750 1260 Joint 1\001
4 1 4 0 0 0 16 0.0000 4 225 900 4725 2970 [alpha_a]\001
4 1 4 0 0 0 16 0.0000 4 210 510 3600 3780 [x_b]\001
4 1 4 0 0 0 16 0.0000 4 225 915 4725 3780 [alpha_b]\001
4 1 4 0 0 0 16 0.0000 4 225 510 5850 3780 [y_b]\001
4 1 4 0 0 0 16 0.0000 4 225 495 5850 2970 [y_a]\001
4 1 4 0 0 0 16 0.0000 4 210 495 3605 7835 [x_a]\001
4 1 4 0 0 0 16 0.0000 4 225 900 4730 7835 [alpha_a]\001
4 1 4 0 0 0 16 0.0000 4 225 495 5855 7835 [y_a]\001
4 1 4 0 0 0 16 0.0000 4 210 510 3607 8512 [x_b]\001
4 1 4 0 0 0 16 0.0000 4 225 915 4733 8513 [alpha_b]\001
4 1 4 0 0 0 16 0.0000 4 225 510 5859 8514 [y_b]\001
4 1 -1 0 0 0 20 0.0000 4 255 810 5850 945 SS:v_y\001
4 2 4 0 0 0 20 0.0000 4 255 1410 2882 5717 SS:[Joint_2]\001
4 1 4 0 0 0 16 0.0000 4 210 495 3600 2970 [x_a]\001
4 1 4 0 0 0 16 0.0000 4 225 675 3510 3375 [alpha]\001
4 1 4 0 0 0 16 0.0000 4 225 675 3555 8145 [alpha]\001
4 0 -1 0 0 0 20 0.0000 4 195 135 1308 8193 1\001
4 1 4 0 0 0 20 0.0000 4 255 1530 1397 1892 SS:[Theta_1]\001
4 1 4 0 0 0 20 0.0000 4 255 1530 1352 9767 SS:[Theta_2]\001
4 0 -1 0 0 0 20 0.0000 4 195 135 1263 3468 0\001








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPSX_desc.tex version [61db22c233].














































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% Verbal description for system TwoLinkPSX (TwoLinkPSX_desc.tex)
% Generated by MTT on Fri Jun 13 16:30:23 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1998/01/19 14:20:07  peterg
% %% Initial revision
% %%
% Revision 1.1  1997/08/15  13:31:00  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{TwoLinkPSX} is
   displayed in Figure \Ref{TwoLinkPSX_abg} and its label
   file is listed in Section \Ref{sec:TwoLinkPSX_lbl}.
   The subsystems are listed in Section \Ref{sec:TwoLinkPSX_sub}.

This is a heirachical version of the example from Section 10.5 of
"Metamodelling".  It uses the compound components: {\bf ROD}.  {\bf
ROD} is essentially as described in Figure 10.2.
There is no gravity included in this model.

This system has a number of dynamic elements (those corresponding to translation
motion) in derivative causality, thus the system is represnted as a
Differential-Algebraic Equation (Section
\Ref{sec:TwoLinkPSX_dae.tex}). Hovever, this is of contrained-state form and
therfore can be written as a set of constrained-state equations (Section
\Ref{sec:TwoLinkPSX_cse.tex}). The corresponding ordinary differential
equation is complicated due to the trig functions involved in
inverting the E matrix.

As well as the standard representation the ``robot-form'' equations
appear in Section  \Ref{sec:TwoLinkPSX_rfe}. 

%%% Local Variables: 
%%% mode: plain-tex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPSX_lbl.txt version [b2d7b7efd0].





























































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%SUMMARY TwoLinkPSX: two-link manipulator from Section 10.5 of "Metamodelling"
%DESCRIPTION This is a heirachical version of the 
%DESCRIPTION example from Section 10.5 of "Metamodelling".
%DESCRIPTION It uses two compound components: ROD and GRA
%DESCRIPTION ROD is essentially as described in Figure 10.2
%DESCRIPTION GRAV represents gravity by a vertical accelleration
%DESCRIPTION as in Section 10.9 of "Metamodelling"


%% Label (TwoLinkPSX_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1996/12/05  12:39:49  peterg
% %% Documentation
% %%
% %% Revision 1.1  1996/12/05 12:17:15  peterg
% %% Initial revision
% %%
% %% Revision 1.1  1996/11/14  10:48:42  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Rod parameters - uniform rods
rod1	none	l_r;l_r;j_r;m_r
rod2	none	l_r;l_r;j_r;m_r

%Zero velocity sources
v_x	SS     internal,0
v_y	SS     internal,0


%Zero force/torque sources
F_x	SS	   0,internal
F_a	SS	   0,internal
F_y	SS	   0,internal

%Named ports
[Joint_1]		SS	external,internal
[Joint_2]		SS	external,internal
[Theta_1]		SS	external,0
[Theta_2]		SS	external,0

%Torque/velocity at joints
%f_a1	SS	 external,external
%f_a2	SS	 external,external










Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_abg.fig version [7c9d2b5819].


































































































































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#FIG 3.1
Portrait
Center
Metric
1200 2
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 11700 1800 485 485 11700 1800 11880 2250
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 11700 6300 485 485 11700 6300 12185 6785
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 11745 11925 11745 450 45 450 45 11925 11745 11925
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 5
	 7650 900 4725 900 4725 3375 3375 3375 3600 3600
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4950 8505 4950 4230 5175 4455
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2925 6300 4052 6302 3827 6527
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 4
	 4275 6525 4275 8325 3150 8325 3375 8550
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4500 6300 7652 6300 7427 6525
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6618 1803 6888 1803
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8870 1805 9140 1805
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7743 3378 8013 3378
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7878 1125 7878 3378 8103 3153
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7652 6167 7652 6437
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7876 6526 7876 8101 8101 7876
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6622 9322 6892 9322
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7747 9322 8017 9322
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8874 9324 9144 9324
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7880 9320 7880 10895 8105 10670
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9005 9320 9005 10895 9230 10670
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6751 4501 6751 8101 6976 7876
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9001 4501 9001 8101 9226 7876
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 9675 9450 9675 7875 6075 7875 6075 9450 9675 9450
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 9675 7110 9675 5535 6075 5535 6075 7110 9675 7110
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 9675 11925 9675 10350 6075 10350 6075 11925 9675 11925
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6753 1803 6753 3378 6978 3153
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9003 1803 9003 3378 9228 3153
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7876 4501 7876 6076 8101 5851
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 9675 4725 6075 4725 6075 3150 9675 3150 9675 4725
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6750 9297 6750 10872 6975 10647
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 11925 5850 11925 2250 11475 2250 11475 5850 11925 5850
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 11925 10350 11925 6750 11475 6750 11475 10350 11925 10350
2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5
	 10800 1125 12555 1125 12555 1350 10800 1350 10800 1125
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 9630 2745 9630 1170 6030 1170 6030 2745 9630 2745
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8910 900 8145 900 8370 1125
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2790 3735 2115 3735 2340 3960
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4725 3960 3330 3960 3555 4185
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6525 3960 5040 3960 5265 4185
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2700 8550 2025 8550 2250 8775
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4500 8775 3150 8775 3375 9000
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7200 8775 4905 8775 5130 9000
4 0 -1 0 0 0 20 0.0000 4 195 135 4863 4053 0\001
4 2 4 0 0 0 20 0.0000 4 255 1410 2702 6392 SS:[Joint_2]\001
4 0 -1 0 0 0 20 0.0000 4 195 135 4188 6393 1\001
4 1 -1 0 0 0 20 0.0000 4 255 810 6753 1623 SS:v_x\001
4 0 -1 0 0 0 20 0.0000 4 195 135 7833 6393 0\001
4 1 -1 0 0 0 20 0.0000 4 255 840 6758 11348 SS:F_x\001
4 1 -1 0 0 0 20 0.0000 4 255 840 7883 11348 SS:F_a\001
4 1 -1 0 0 0 20 0.0000 4 255 840 9053 11348 SS:F_y\001
4 0 1 1 0 3 20 0.0000 4 210 720 9945 4050 Link 1\001
4 0 1 1 0 3 20 0.0000 4 225 795 9900 6435 Joint 2\001
4 0 1 1 0 3 20 0.0000 4 210 720 9900 8865 Link 2\001
4 0 1 1 0 3 20 0.0000 4 270 375 9900 11160 Tip\001
4 0 1 1 0 3 20 0.0000 4 225 795 9900 1935 Joint 1\001
4 1 4 0 0 0 16 0.0000 4 225 900 7875 3645 [alpha_a]\001
4 1 4 0 0 0 16 0.0000 4 210 510 6750 4455 [x_b]\001
4 1 4 0 0 0 16 0.0000 4 225 915 7875 4455 [alpha_b]\001
4 1 4 0 0 0 16 0.0000 4 225 510 9000 4455 [y_b]\001
4 1 4 0 0 0 16 0.0000 4 225 495 9000 3645 [y_a]\001
4 1 4 0 0 0 16 0.0000 4 210 495 6755 8510 [x_a]\001
4 1 4 0 0 0 16 0.0000 4 225 900 7880 8510 [alpha_a]\001
4 1 4 0 0 0 16 0.0000 4 210 510 6757 9187 [x_b]\001
4 1 4 0 0 0 16 0.0000 4 225 915 7883 9188 [alpha_b]\001
4 1 -1 0 0 0 20 0.0000 4 255 810 9000 1620 SS:v_y\001
4 1 4 0 0 0 16 0.0000 4 210 495 6750 3645 [x_a]\001
4 0 -1 0 0 0 20 0.0000 4 195 135 7788 993 1\001
4 0 4 0 0 0 20 0.0000 4 255 1410 9046 991 SS:[Joint_1]\001
4 2 4 0 0 0 20 0.0000 4 255 1530 1892 3827 SS:[Theta_1]\001
4 1 4 0 0 0 16 0.0000 4 210 240 2700 3555 [s]\001
4 1 -1 0 0 0 20 1.5708 4 195 780 3154 3731 Sensor\001
4 1 4 0 0 0 16 0.0000 4 225 270 3420 3825 [p]\001
4 1 4 0 0 0 16 0.0000 4 210 270 3330 3195 [v]\001
4 1 -1 0 0 0 20 0.0000 4 195 1335 7879 4009 RODa:rod1\001
4 1 4 0 0 0 16 0.0000 4 225 675 6885 4005 [alpha]\001
4 1 4 0 0 0 16 0.0000 4 210 270 3375 8235 [v]\001
4 1 4 0 0 0 16 0.0000 4 210 240 2655 8460 [s]\001
4 1 -1 0 0 0 20 1.5708 4 195 780 3064 8546 Sensor\001
4 2 4 0 0 0 20 0.0000 4 255 1530 1937 8642 SS:[Theta_2]\001
4 1 4 0 0 0 16 0.0000 4 225 270 3375 8730 [p]\001
4 1 4 0 0 0 16 0.0000 4 225 495 8780 8510 [y_a]\001
4 1 4 0 0 0 16 0.0000 4 225 510 8739 9189 [y_b]\001
4 1 4 0 0 0 16 0.0000 4 225 675 7065 8820 [alpha]\001
4 1 -1 0 0 0 20 0.0000 4 195 1335 8061 8826 RODa:rod2\001
4 0 -1 0 0 0 20 0.0000 4 195 135 4593 8823 1\001








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_desc.tex version [72bea7d311].














































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% Verbal description for system TwoLinkPS (TwoLinkPS_desc.tex)
% Generated by MTT on Fri Jun 13 16:30:23 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1998/01/19 14:20:07  peterg
% %% Initial revision
% %%
% Revision 1.1  1997/08/15  13:31:00  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{TwoLinkPS} is
   displayed in Figure \Ref{TwoLinkPS_abg} and its label
   file is listed in Section \Ref{sec:TwoLinkPS_lbl}.
   The subsystems are listed in Section \Ref{sec:TwoLinkPS_sub}.

This is a heirachical version of the example from Section 10.5 of
"Metamodelling".  It uses the compound components: {\bf ROD}.  {\bf
ROD} is essentially as described in Figure 10.2.
There is no gravity included in this model.

This system has a number of dynamic elements (those corresponding to translation
motion) in derivative causality, thus the system is represnted as a
Differential-Algebraic Equation (Section
\Ref{sec:TwoLinkPS_dae.tex}). Hovever, this is of contrained-state form and
therfore can be written as a set of constrained-state equations (Section
\Ref{sec:TwoLinkPS_cse.tex}). The corresponding ordinary differential
equation is complicated due to the trig functions involved in
inverting the E matrix.

As well as the standard representation the ``robot-form'' equations
appear in Section  \Ref{sec:TwoLinkPS_rfe}. 

%%% Local Variables: 
%%% mode: plain-tex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_lbl.txt version [23b89fb091].





























































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%SUMMARY TwoLinkPS: two-link manipulator from Section 10.5 of "Metamodelling"
%DESCRIPTION This is a heirachical version of the 
%DESCRIPTION example from Section 10.5 of "Metamodelling".
%DESCRIPTION It uses two compound components: ROD and GRA
%DESCRIPTION ROD is essentially as described in Figure 10.2
%DESCRIPTION GRAV represents gravity by a vertical accelleration
%DESCRIPTION as in Section 10.9 of "Metamodelling"


%% Label (TwoLinkPS_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1996/12/05  12:39:49  peterg
% %% Documentation
% %%
% %% Revision 1.1  1996/12/05 12:17:15  peterg
% %% Initial revision
% %%
% %% Revision 1.1  1996/11/14  10:48:42  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Rod parameters - uniform rods
rod1	none	l_r;l_r;j_r;m_r
rod2	none	l_r;l_r;j_r;m_r

%Zero velocity sources
v_x	SS     internal,0
v_y	SS     internal,0


%Zero force/torque sources
F_x	SS	   0,internal
F_a	SS	   0,internal
F_y	SS	   0,internal

%Named ports
[Joint_1]		SS	external,internal
[Joint_2]		SS	external,internal
[Theta_1]		SS	external,0
[Theta_2]		SS	external,0

%Torque/velocity at joints
%f_a1	SS	 external,external
%f_a2	SS	 external,external










Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_obspar.r version [887f4afee4].

































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%% Reduce  GPC observability function parameters for system TwoLinkPS (TwoLinkPS_obspar.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

MTTGPCNy := 2;
MTTGPCNu := 0;
Matrix MTTdU(5,1);
MTTdU(1,1) := MTTdU1;
MTTdU(2,1) := MTTdU2;
MTTdU(3,1) := MTTdU3;
MTTdU(4,1) := MTTdU4;
MTTdU(5,1) := MTTdU5;
Matrix MTTUU(2,5);
MTTUU(1,1) := MTTu1;
MTTUU(1,2) := MTTu11;
MTTUU(1,3) := MTTu12;
MTTUU(1,4) := MTTu13;
MTTUU(1,5) := MTTu14;
MTTUU(2,1) := MTTu2;
MTTUU(2,2) := MTTu21;
MTTUU(2,3) := MTTu22;
MTTUU(2,4) := MTTu23;
MTTUU(2,5) := MTTu24;
END;








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_simp.r version [5fa9cf5d7f].























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%% Reduce commands to simplify output for system TwoLinkP (TwoLinkP_simp.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

LET cos(mttx2) = c_2;
LET sin(mttx2) = s_2;

LET cos(mttx4) = c_4;
LET sin(mttx4) = s_4;

LET cos(mttx2-mttx4) = c;
LET sin(mttx2-mttx4) = s;

END;








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/TwoLinkPS_subs.r version [47554050fc].




























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%% Reduce  substitution statements for system TwoLinkPSX (TwoLinkPSX_subs.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1998/03/22 20:13:25  peterg
% %% Trig simplification added
% %%
% %% Revision 1.1  1998/03/22 20:12:51  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

        trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2,
                  cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2,
                  sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2,
                  cos(~x)^2       => (1+cos(2*x))/2,
                  sin(~x)^2       => (1-cos(2*x))/2};
       LET trig1;

END;









Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdPS_abg.fig version [9434c7d473].





































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3825 4050 4950 4050 4725 4275
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 4275 3600 5400 3825 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2250 4050 3375 4050 3150 4275
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5400 4050 6525 4050 6300 4275
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5175 3825 5175 2700 5400 2925
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 3825 3600 2700 3825 2925
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6975 4050 8100 4050 7875 4275
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9000 4050 10125 4050 9900 4275
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 11475 6975 11475 1125 1125 1125 1125 6975 11475 6975
4 1 -1 0 0 0 20 0.0000 4 195 135 3600 4185 1\001
4 2 4 0 0 0 20 0.0000 4 240 810 2160 4140 SS:[in]\001
4 1 -1 0 0 0 20 0.0000 4 255 480 3600 5715 I:j_s\001
4 1 1 1 0 0 20 0.0000 4 255 7035 4815 6345 Mass-spring-damper system (position output with extra lag)\001
4 1 -1 0 0 0 20 0.0000 4 195 135 5175 4140 0\001
4 1 -1 0 0 0 20 0.0000 4 255 615 3600 2565 R:r_s\001
4 1 -1 0 0 0 20 0.0000 4 255 630 5175 2565 C:c_s\001
4 1 -1 0 0 0 20 0.0000 4 195 390 6750 4140 AE\001
4 1 -1 0 0 0 20 0.0000 4 195 690 8550 4140 RC:rc\001
4 0 4 0 0 0 20 0.0000 4 240 960 10260 4140 SS:[out]\001








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdPS_abg.fig.bak version [783d02bd00].































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3825 4050 4950 4050 4725 4275
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 4275 3600 5400 3825 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2250 4050 3375 4050 3150 4275
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 8325 6975 8325 1125 1125 1125 1125 6975 8325 6975
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5400 4050 6525 4050 6300 4275
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5175 3825 5175 2700 5400 2925
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 3825 3600 2700 3825 2925
4 1 -1 0 0 0 20 0.0000 4 195 135 3600 4185 1\001
4 2 4 0 0 0 20 0.0000 4 240 810 2160 4140 SS:[in]\001
4 1 -1 0 0 0 20 0.0000 4 255 480 3600 5715 I:j_s\001
4 1 1 1 0 0 20 0.0000 4 255 5355 4815 6345 Mass-spring-damper system (position output)\001
4 1 -1 0 0 0 20 0.0000 4 195 135 5175 4140 0\001
4 0 4 0 0 0 20 0.0000 4 240 960 6660 4140 SS:[out]\001
4 1 -1 0 0 0 20 0.0000 4 255 615 3600 2565 R:r_s\001
4 1 -1 0 0 0 20 0.0000 4 255 630 5175 2565 C:c_s\001








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdPS_desc.tex version [c342c284c0].



































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% Verbal description for system msdPS (msdPS_desc.tex)
% Generated by MTT on Thu Nov 13 09:38:17 GMT 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{msdPS} is
   displayed in Figure \Ref{msdPS_abg} and its label
   file is listed in Section \Ref{sec:msdPS_lbl}.
   The subsystems are listed in Section \Ref{sec:msdPS_sub}.


 \textbf{msdPS} is a simple Mass-Spring-Damper system with 
 force input and position output. It is set up to provide a specification system
 for each link of the two-link maipulator. This is appropriate because
 \begin{itemize}
 \item  it has compatible physical behaviour with the system itself,
 \item it specifies two decoupled systems,
 \item it has linear behaviour and
 \item it has a simple performance interpretation in terms of system
   rise-time and overshoot.
 \end{itemize}

%%% Local Variables: 
%%% mode: latex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdPS_lbl.txt version [79760470ab].





































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%SUMMARY msdPS
%DESCRIPTION <Detailed description here>
%% Label file for system msdPS (msdPS_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type C
	c_s		lin	effort,c_s

% Component type I
	j_s		lin	flow,j_s

% Component type R
	r_s		lin	flow,r_s

% Component type RC
	rc		none	tau;1

% Component type SS
	[in]		SS	external,internal
	[out]		SS	external,0








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdP_abg.fig version [783d02bd00].































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3825 4050 4950 4050 4725 4275
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 4275 3600 5400 3825 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2250 4050 3375 4050 3150 4275
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 8325 6975 8325 1125 1125 1125 1125 6975 8325 6975
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5400 4050 6525 4050 6300 4275
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5175 3825 5175 2700 5400 2925
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 3825 3600 2700 3825 2925
4 1 -1 0 0 0 20 0.0000 4 195 135 3600 4185 1\001
4 2 4 0 0 0 20 0.0000 4 240 810 2160 4140 SS:[in]\001
4 1 -1 0 0 0 20 0.0000 4 255 480 3600 5715 I:j_s\001
4 1 1 1 0 0 20 0.0000 4 255 5355 4815 6345 Mass-spring-damper system (position output)\001
4 1 -1 0 0 0 20 0.0000 4 195 135 5175 4140 0\001
4 0 4 0 0 0 20 0.0000 4 240 960 6660 4140 SS:[out]\001
4 1 -1 0 0 0 20 0.0000 4 255 615 3600 2565 R:r_s\001
4 1 -1 0 0 0 20 0.0000 4 255 630 5175 2565 C:c_s\001








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdP_desc.tex version [be83adfdb1].



































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% Verbal description for system msdP (msdP_desc.tex)
% Generated by MTT on Thu Nov 13 09:38:17 GMT 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{msdP} is
   displayed in Figure \Ref{msdP_abg} and its label
   file is listed in Section \Ref{sec:msdP_lbl}.
   The subsystems are listed in Section \Ref{sec:msdP_sub}.


 \textbf{msdP} is a simple Mass-Spring-Damper system with 
 force input and position output. It is set up to provide a specification system
 for each link of the two-link maipulator. This is appropriate because
 \begin{itemize}
 \item  it has compatible physical behaviour with the system itself,
 \item it specifies two decoupled systems,
 \item it has linear behaviour and
 \item it has a simple performance interpretation in terms of system
   rise-time and overshoot.
 \end{itemize}

%%% Local Variables: 
%%% mode: latex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Control/GPC/TwoLinkGPC/msdP_lbl.txt version [dee478e657].


































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%SUMMARY msdP
%DESCRIPTION <Detailed description here>
%% Label file for system msdP (msdP_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type C
	c_s		lin	effort,c_s

% Component type I
	j_s		lin	flow,j_s

% Component type R
	r_s		lin	flow,r_s

% Component type SS
	[in]		SS	external,internal
	[out]		SS	external,0








Added mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/Fixed_abg.fig version [59be0b9ae0].

























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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4275 1800 5400 1800 5175 2025
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4230 2700 5355 2700 5130 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 5400 1575 5400 2025
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 5400 2475 5400 2925
4 0 0 100 0 18 20 0.0000 4 225 810 5625 1890 SS:z1\001
4 0 0 100 0 18 20 0.0000 4 240 810 5625 2790 SS:z2\001
4 2 4 100 0 18 20 0.0000 4 285 1305 4140 1890 SS:[y_in]\001
4 2 4 100 0 18 20 0.0000 4 285 1860 4140 2790 SS:[theta_in]\001








Added mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/Fixed_lbl.txt version [2f6cde2cc7].


































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%% Label file for system Fixed (Fixed_lbl.txt)
%SUMMARY Fixed
%DESCRIPTION <Detailed description here>

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	in	y_in,theta_in

% Argument aliases

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type SS
	[theta_in]	SS		external,external
	[y_in]		SS		external,external
	z1		SS		internal,0
	z2		SS		internal,0









Added mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/Free_abg.fig version [c03c8c2488].

























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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4275 1800 5400 1800 5175 2025
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4230 2700 5355 2700 5130 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 5400 1575 5400 2025
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 5400 2475 5400 2925
4 2 0 100 0 18 20 0.0000 4 225 810 4140 1890 SS:z1\001
4 2 0 100 0 18 20 0.0000 4 240 810 4140 2790 SS:z2\001
4 0 4 100 0 18 20 0.0000 4 285 1500 5490 1890 SS:[y_out]\001
4 0 4 100 0 18 20 0.0000 4 285 2055 5445 2790 SS:[theta_out]\001








Added mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/Free_lbl.txt version [517bb24436].




































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%% Label file for system Free (Free_lbl.txt)
%SUMMARY Free
%DESCRIPTION <Detailed description here>

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	out	y_out,theta_out

% Argument aliases

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type SS
	[theta_out]	SS		external,external
	[y_out]		SS		external,external
	z1		SS		0,internal
	z2		SS		0,internal











Added mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/Make_figures.m version [7ca19d2a8a].








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#!/bin/sh
## Script file Make_figures.

ppp_1("PPPCantileverBeam",1:2,[1 2;1 3]); # 2 inputs; modes 1 2 and 1 and 3








Added mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_abg.fig version [3a565598a0].












































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 1125 2700 2250 2700 2025 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 8775 2700 9900 2700 9675 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2700 2700 3825 2700 3600 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4230 2700 5355 2700 5130 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4095 6300 4095 4500 4320 4725
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 3870 4500 4320 4500
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 5850 2700 6975 2700 6750 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 7380 2700 8505 2700 8280 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 7245 6300 7245 4500 7470 4725
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 7020 4500 7470 4500
4 1 0 100 0 18 20 1.5708 4 225 630 1035 2700 Free\001
4 1 0 100 0 18 20 1.5708 4 225 780 10260 2700 Fixed\001
4 1 0 100 0 18 20 1.5708 4 285 3690 8775 2700 BernoulliEuler:Chunk_3*3\001
4 1 0 100 0 18 20 1.5708 4 285 3690 2610 2700 BernoulliEuler:Chunk_1*3\001
4 1 0 100 0 18 20 1.5708 4 300 3480 4140 2700 pBernoulliEuler:Patch_1\001
4 1 4 100 0 18 16 0.0000 4 240 900 4095 4455 [torque]\001
4 1 0 100 0 18 20 0.0000 4 285 1275 4050 6660 SS:tau_1\001
4 1 0 100 0 18 20 1.5708 4 285 3690 5760 2700 BernoulliEuler:Chunk_2*8\001
4 1 0 100 0 18 20 1.5708 4 300 3480 7290 2700 pBernoulliEuler:Patch_2\001
4 1 4 100 0 18 16 0.0000 4 240 900 7245 4455 [torque]\001
4 1 0 100 0 18 20 0.0000 4 285 1275 7200 6660 SS:tau_2\001








Added mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_desc.tex version [c5991e9114].




































































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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system PPPCantileverBeam (PPPCantileverBeam_desc.tex)
% Generated by MTT on Mon Apr 19 07:04:54 BST 1999.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1999/05/18 04:01:50  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

The acausal bond graph of system \textbf{PPPCantileverBeam} is displayed in
Figure \Ref{fig:PPPCantileverBeam_abg.ps} and its label file is listed in
Section \Ref{sec:PPPCantileverBeam_lbl}.  The subsystems are listed in Section
\Ref{sec:PPPCantileverBeam_sub}.
   
This example represents the dynamics of a uniform beam with one fixed
and one free end.  The beam is approximated by 16 equal lumps using
the Bernoulli-Euler approximation with damping. The ouputs are taken
to be the 16 lump velocities, the two inputs are taken to be torques
applied to lumps 3 away from each end; this approximates the effect of
two piezoelectric patches.

The system parameters are given in Section
\Ref{sec:PPPCantileverBeam_numpar.tex}.
The system has 32 states (16 modes of vibration), 2 inputs and 12
outputs.
The first 8 modal frequencies are given in Table \ref{tab:modes}.
\begin{table}[htbp]
  \begin{center}
    \begin{tabular}{||c|c||c|c||}
      \hline
      Mode & $\omega_i$ & Mode & $\omega_i$\\
      \hline
      \hline
      1 & 0.0079504 & 5 & 0.4352376\\
      2 & 0.0498140 & 6 & 0.6338899\\
      3 & 0.1386209 & 7 & 0.8573604\\
      4 & 0.2682835 & 8 & 1.0976942\\
      \hline
    \end{tabular}
    \caption{Modal frequencies}
    \label{tab:modes}
  \end{center}
\end{table}

Figure \Ref{fig:PPPCantileverBeam_lmfr.ps} shows the log modulus of the frequency
response and Figure \Ref{fig:PPPCantileverBeam_pppy0.ps} shows the system transient
reponse with no control and an initial unit twist.

Figure \Ref{fig:PPPCantileverBeam_pppy.ps} shows closed loop reponse when
controlled by a PPP controller attempting to damp modes 1 and 2 from
input 1 and modes 1 and three from input 2. Figure
\Ref{fig:PPPCantileverBeam_pppy.ps} shows the corresponding control signals.















Added mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_input.txt version [d4ae1b0a98].


















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# -*-octave-*- Put Emacs into octave-mode
# Input specification (PPPCantileverBeam_input.txt)
# Generated by MTT at Thu Apr 22 00:12:54 BST 1999
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

# Set the inputs
mttu(1) = exp(-t/0.1); 	# tau (PPPCantileverBeam)

# Set the switches








Added mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_lbl.txt version [5eda0fc64e].

















































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%% Label file for system PPPCantileverBeam (PPPCantileverBeam_lbl.txt)
%SUMMARY PPPCantileverBeam
%DESCRIPTION <Detailed description here>

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% Declare some variables
%VAR Area
%VAR AreaMoment
%VAR BeamLength
%VAR BeamThickness
%VAR BeamWidth
%VAR Density
%VAR N
%VAR Youngs
%VAR EI
%VAR rhoA

% Port aliases

% Argument aliases

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type BenoulliEuler
  Chunk_1
  Patch_1
  Chunk_2
  Patch_2
  Chunk_3


% Component type SS
	tau_1	SS		external,external
	tau_2	SS		external,external








Added mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_numpar.txt version [7458335000].

































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# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (PPPCantileverBeam_numpar.txt)
# Generated by MTT at Mon Apr 19 06:24:08 BST 1999

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
N = 16;
BeamLength = 0.58;
BeamWidth = 0.05;
BeamThickness = 0.005;
Youngs = 1e6;
Density = 1e5;
Area = BeamWidth*BeamThickness;
AreaMoment = (BeamThickness*BeamWidth^2)/12;


EI= 58.6957			# from Reza
rhoA= 0.7989			# from Reza
 
dz = BeamLength/N;		# Incremental length
dm = rhoA*dz;			# Incremental mass
dk = EI/dz;			# Incremental stiffness
dr = 1e-2;			# Damping








Added mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_rep.txt version [49cce86377].



































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## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system PPPCantileverBeam (PPPCantileverBeam_rep.txt)
## Generated by MTT on" Mon Apr 19 06:43:08 BST 1999.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

mtt PPPCantileverBeam abg tex			# The system description
## mtt PPPCantileverBeam cbg ps 		        # The causal bond graph
## Uncomment the following lines or add others
mtt PPPCantileverBeam struc tex	        # The system structure
## mtt PPPCantileverBeam dae tex	        # The system dae
## mtt PPPCantileverBeam ode tex	        # The system ode 
## mtt PPPCantileverBeam sspar tex		# Steady-state parameters
## mtt PPPCantileverBeam ss tex 		# Steady state
## mtt PPPCantileverBeam dm tex		# Descriptor matrices (of linearised system)
## mtt PPPCantileverBeam sm tex		# State matrices (of linearised system)
## mtt PPPCantileverBeam tf tex		# Transfer function (of linearised system)
mtt PPPCantileverBeam simpar tex		# Simulation parameters
mtt PPPCantileverBeam numpar tex		# Numerical simulation parameters
## mtt PPPCantileverBeam input tex		# Simulation input
## mtt PPPCantileverBeam odeso ps		# Simulation output
mtt PPPCantileverBeam lmfr ps		# log modulus of frequency response (of linearised system)

mtt PPPCantileverBeam pppy ps		# PPP output
mtt PPPCantileverBeam pppu ps		# PPP input
mtt PPPCantileverBeam pppy0 ps		# PPP open-loop op








Added mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_simpar.txt version [7c1db12c6b].






















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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system PPPCantileverBeam (PPPCantileverBeam_simpar.txt)
# Generated by MTT on Mon Apr 19 06:32:42 BST 1999.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################


LAST        = 1.0;       # Last time in simulation
DT          = 0.01;        # Print interval
STEPFACTOR  = 10;          # Integration steps per print interval
WMIN        = 1;         # Minimum frequency = 10^WMIN
WMAX        = 4;          # Maximum frequency = 10^WMAX
WSTEPS      = 500;        # Number of frequency steps
INPUT       = 1;          # Index of the input








Added mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/PPPCantileverBeam_simpar.txt_old version [df1ea30bc7].























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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system PPPCantileverBeam (PPPCantileverBeam_simpar.txt)
# Generated by MTT on Mon Apr 19 06:32:42 BST 1999.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################


LAST        = 1.0;       # Last time in simulation
DT          = 0.01;        # Print interval
STEPFACTOR  = 10;          # Integration steps per print interval
METHOD      = Implicit;   # Integration method
WMIN        = 1;         # Minimum frequency = 10^WMIN
WMAX        = 4;          # Maximum frequency = 10^WMAX
WSTEPS      = 500;        # Number of frequency steps
INPUT       = 1;          # Index of the input








Added mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/ppp_1.m version [4acd8828e7].




















































































































































































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function  ppp_1(Name,Inputs,Modes);

# Name = "CantileverBeam"
# Inputs = 1:2
# Modes = [1 2;1 3]

  path(path,"~/Research/CGPC/PPP");  
  
  Name,Inputs,Modes

  ## System
  system(sprintf("mtt -q %s numpar m", Name));
  system(sprintf("mtt -q %s sm m", Name));
  par = eval(sprintf("%s_numpar;",Name));
  eval(sprintf("[A,B,C,D]=%s_sm(par);",Name));
  [n_x,n_u,n_y] = abcddim(A,B,C,D)


  ## Change B
  B = B(:,Inputs);
  [junk,n_u]=size(B);
  n_u

  ## Redo C and D to reveal ALL velocities
   n_y = n_x/2
   C = zeros(n_y,n_x);
   for i = 1:n_y
     C(i,2*i-1) = 1;
   endfor

  ## Sort out D
  D = zeros(n_y,n_u);

  e = eig(A);			# Eigenvalues
  N = length(e);
  frequencies = sort(imag(e));
  frequencies = frequencies(N/2+1:N); # Modal frequencies

  ## Controller
  ## Controller design parameters
  t = [0.9:0.01:1.0];		# Optimisation horizon

  ## Specify input basis functions 
  ##  - damped sinusoids with same frequencies as beam
  damping_ratio = [0.1 0.1];		# Damping ratio of inputs
  A_u=[];
#   Modes = [1  3  
# 	   1  2];		# Choose modes to be controlled by each input 
  if n_u == 1			# Put all modes on each input
    Modes = [Modes; Modes];
  endif
  
  Modes

  for i=Inputs
    A_ui = damped_matrix(frequencies(Modes(i,:)),damping_ratio(i)*ones(size(Modes(i,:))));
    A_u = [A_u;A_ui];
    u_0 = ones(n_x,1);		# Initial conditions
  endfor
  

  A_w = 0;			# Setpoint
  Q = ones(n_y,1);		# Output weighting

  ## Design 
  disp("Control design - unconstrained");
  [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw] = ppp_lin  (A,B,C,D,A_u,A_w,t); # Unconstrained design

  ## Organise some plots
   dt = 0.002;		# Time increment
#   T =  0:dt:t(length(t));	# Time starting at zero but past horizon
   T =  0:dt:1.0;		# Time 

  ## Set up an "typical" initial condition
  x_0 = zeros(n_x,1);
  x_0(2:2:n_x) = ones(1,n_x/2);	# Set initial twist to 1.
#  disp("Computing OL response");
#  [Ys,Us] = ppp_transient (T,A_u,-(K_x*x_0)',u_0,A,B,C,D,x_0); # Compute open-loop control
  
  
  disp("Computing OL response (no control)");
  [Y_0] = ppp_sm2sr(A, B, C, D, T, zeros(n_u,1), x_0); # Compute Closed-loop control
  title("Y (no control)");
  xlabel("Time")
  grid; 
  plot(T,Y_0);
  psfig(sprintf("%s_pppy0",Name));

  disp("Computing Unconstrained CL response");
  [y_u,X_u] = ppp_sm2sr(A-B*k_x, B, C, D, T, zeros(n_u,1), x_0);
  u_u = -k_x*X_u';


  title("Unconstrained closed-loop control - y");
  xlabel("Time")
  grid; 
  plot(T,y_u);
  psfig(sprintf("%s_pppy",Name));

  title("Unconstrained closed-loop control - u");
  xlabel("Time")
  grid; 
  plot(T,u_u);
  psfig(sprintf("%s_pppu",Name));

#   ## Constrained version
  
#   ## Constraints - u
#   Tau_u = [0:0.01:1];
#   one = ones(size(Tau_u));
#   limit = 1e10;
#   Min_u = -limit*one;
#   Max_u =  limit*one;
#   Order_u = 0*one;

#   ## Constraints - y
#   Tau_y = [];
#   one = ones(size(Tau_y));
#   limit = 1e5; 
#   Min_y = -limit*one;
#   Max_y =  limit*one;
#   Order_y = 0*one;

#   ## Simulation

#   ## Constrained - open-loop
#   Gamma = [];
#   gamma = [];
#   for i=1:n_u			# Put same constraints on each input
#     [Gamma_i,gamma_i] = ppp_input_constraint (A_u,Tau_u,Min_u,Max_u,Order_u,i,n_u);
#     Gamma = [Gamma; Gamma_i];
#     gamma = [gamma; gamma_i];
#   endfor


#   disp("Open-loop simulations...");
#   ## Constrained OL simulation
#   W = zeros(n_y,1);
#   [u,U] = ppp_qp (x_0,W,J_uu,J_ux,J_uw,Us0,Gamma,gamma);
#   T = [0:t(2)-t(1):t(length(t))];
#   [ys,us] = ppp_ystar (A,B,C,D,x_0,A_u,U,T);

#   title("Constrained y*");
#   xlabel("t");
#   grid;
#   plot(T,ys)

#   ## Unconstrained OL simulation
#   [uu,Uu] = ppp_qp (x_0,W,J_uu,J_ux,J_uw,Us0,[],[]); 
#   [ysu,usu] = ppp_ystar (A,B,C,D,x_0,A_u,Uu,T);

#   title("Unconstrained y*");
#   xlabel("t");
#   grid;
#   plot(T,ysu)

#   ## Non-linear - closed-loop
#   disp("Closed-loop simulation");
#   Tc = [0:4e-4:1.0];	
#   Delta_ol = 1.0;
#   [yc,uc,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, T, Tau_u,Min_u,Max_u,Order_u, Tau_y,Min_y,Max_y,Order_y,W,x_0,Delta_ol);

#   title("y,y*,u and u*");
#   xlabel("t");
#   grid;
#   plot(T1,y,T,ys,T1,u,T,us);

endfunction
















Added mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/pppu_rep.make version [111a3668c7].
























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## Make file for the ppp output rep
## Symlinked to:
##	pppy
##	pppy0
##	pppu

all: $(SYS)_pppy.ps $(SYS)_pppy0.ps $(SYS)_pppu.ps

$(SYS)_pppy.ps: Make_figures.m ppp_1.m $(SYS)_sm.m $(SYS)_numpar.m
	octave Make_figures.m
$(SYS)_pppy0.ps: $(SYS)_pppy.ps
	touch $(SYS)_pppy0.ps
$(SYS)_pppu.ps: $(SYS)_pppy.ps
	touch $(SYS)_pppu.ps

$(SYS)_sm.m: 
	mtt $(SYS) sm m

$(SYS)_numpar.m: 
	mtt $(SYS) numpar m








Added mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/pppy0_rep.make version [111a3668c7].
























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## Make file for the ppp output rep
## Symlinked to:
##	pppy
##	pppy0
##	pppu

all: $(SYS)_pppy.ps $(SYS)_pppy0.ps $(SYS)_pppu.ps

$(SYS)_pppy.ps: Make_figures.m ppp_1.m $(SYS)_sm.m $(SYS)_numpar.m
	octave Make_figures.m
$(SYS)_pppy0.ps: $(SYS)_pppy.ps
	touch $(SYS)_pppy0.ps
$(SYS)_pppu.ps: $(SYS)_pppy.ps
	touch $(SYS)_pppu.ps

$(SYS)_sm.m: 
	mtt $(SYS) sm m

$(SYS)_numpar.m: 
	mtt $(SYS) numpar m








Added mttroot/mtt/lib/examples/Control/PPP/Linear/PPPCantileverBeam/pppy_rep.make version [111a3668c7].
























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## Make file for the ppp output rep
## Symlinked to:
##	pppy
##	pppy0
##	pppu

all: $(SYS)_pppy.ps $(SYS)_pppy0.ps $(SYS)_pppu.ps

$(SYS)_pppy.ps: Make_figures.m ppp_1.m $(SYS)_sm.m $(SYS)_numpar.m
	octave Make_figures.m
$(SYS)_pppy0.ps: $(SYS)_pppy.ps
	touch $(SYS)_pppy0.ps
$(SYS)_pppu.ps: $(SYS)_pppy.ps
	touch $(SYS)_pppu.ps

$(SYS)_sm.m: 
	mtt $(SYS) sm m

$(SYS)_numpar.m: 
	mtt $(SYS) numpar m








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/AE3_abg.fig version [06166c49e9].










































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4747 5175 6097 5175 5872 5400
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 7447 5175 8797 5175 8572 5400
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2677 5175 4027 5175 3802 5400
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6772 3375 6772 4725 6997 4500
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6750 6750 6750 5400 6975 5625
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6750 8550 6750 7200 6975 7425
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6750 1575 6750 2925 6975 2700
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 9472 5175 10822 5175 10597 5400
4 1 0 100 0 18 20 0.0000 4 225 405 6750 3240 AE\001
4 1 0 100 0 18 20 0.0000 4 225 405 6750 7110 AE\001
4 1 0 100 0 18 20 0.0000 4 225 405 4365 5265 AE\001
4 1 4 100 0 18 20 0.0000 4 285 975 2115 5265 SS:[in]\001
4 1 4 100 0 18 20 0.0000 4 285 1335 6795 1485 SS:[mod]\001
4 1 4 100 0 18 20 0.0000 4 285 1500 6705 8820 SS:[smod]\001
4 1 0 100 0 18 30 0.0000 4 330 660 6750 5265 R:r\001
4 1 4 100 0 18 14 0.0000 4 210 270 5985 4995 [1]\001
4 1 4 100 0 18 14 0.0000 4 210 270 7560 4995 [2]\001
4 1 4 100 0 18 14 0.0000 4 210 270 6570 4590 [3]\001
4 1 4 100 0 18 14 0.0000 4 210 270 6570 5625 [4]\001
4 1 0 100 0 18 20 0.0000 4 225 405 9135 5265 AE\001
4 1 4 100 0 18 20 0.0000 4 285 1170 11475 5265 SS:[out]\001








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/AE3_lbl.txt version [d1dfd6ef4f].
















































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%% Label file for system AE3 (AE3_lbl.txt)
%SUMMARY AE3
%DESCRIPTION <Detailed description here>

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	in	in
%ALIAS	mod	mod
%ALIAS	out	out
%ALIAS	smod	smod

% Argument aliases
%ALIAS	$1	l

% CR aliases
%ALIAS	$1	slsin


%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type R
	r		slsin	-1*l

% Component type SS
	[in]	SS		external,external
	[mod]	SS		external,external
	[out]	SS		external,external
	[smod]	SS		external,external












Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/AF3_abg.fig version [bbf355643a].










































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4747 5175 6097 5175 5872 5400
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 7447 5175 8797 5175 8572 5400
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2677 5175 4027 5175 3802 5400
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6772 3375 6772 4725 6997 4500
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6750 6750 6750 5400 6975 5625
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6750 8550 6750 7200 6975 7425
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6750 1575 6750 2925 6975 2700
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 9472 5175 10822 5175 10597 5400
4 1 0 100 0 18 20 0.0000 4 225 405 6750 3240 AE\001
4 1 0 100 0 18 20 0.0000 4 225 405 6750 7110 AE\001
4 1 4 100 0 18 20 0.0000 4 285 975 2115 5265 SS:[in]\001
4 1 4 100 0 18 20 0.0000 4 285 1335 6795 1485 SS:[mod]\001
4 1 4 100 0 18 20 0.0000 4 285 1500 6705 8820 SS:[smod]\001
4 1 0 100 0 18 30 0.0000 4 330 660 6750 5265 R:r\001
4 1 4 100 0 18 14 0.0000 4 210 270 5985 4995 [1]\001
4 1 4 100 0 18 14 0.0000 4 210 270 7560 4995 [2]\001
4 1 4 100 0 18 14 0.0000 4 210 270 6570 4590 [3]\001
4 1 4 100 0 18 14 0.0000 4 210 270 6570 5625 [4]\001
4 1 0 100 0 18 20 0.0000 4 225 390 4365 5310 AF\001
4 1 0 100 0 18 20 0.0000 4 225 390 9135 5265 AF\001
4 1 4 100 0 18 20 0.0000 4 285 1170 11610 5265 SS:[out]\001








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/AF3_lbl.txt version [fe6985b952].












































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%% Label file for system AE3 (AE3_lbl.txt)
%SUMMARY AE3
%DESCRIPTION <Detailed description here>

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	in	in
%ALIAS	mod	mod
%ALIAS	out	out
%ALIAS	smod	smod

% Argument aliases
%ALIAS	$1	l

% CR aliases
%ALIAS	$1	slsin


%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type R
	r		slsin	l

% Component type SS
	[in]	SS		external,external
	[mod]	SS		external,external
	[out]	SS		external,external
	[smod]	SS		external,external








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Cart_abg.fig version [dd76f4c478].

























































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3600 4275 4950 4275 4725 4500
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4950 5400 3600 5400 3825 5625
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 4950 5175 4950 5625
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3015 3150 4365 3150 4140 3375
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4815 3150 6165 3150 5940 3375
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4590 2925 4590 1575 4815 1800
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 4815 1575 4365 1575
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4793 2934 6153 1574 6153 1893
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4387 2947 3027 1587 3346 1587
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 7650 3150 9000 3150 8775 3375
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 3600 4050 3600 4500
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 5400 5400 6750 5400 6525 5625
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 6750 5175 6750 5625
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 5400 4275 6750 4275 6525 4500
4 2 0 100 0 18 18 0.0000 4 270 2130 3510 4365 Sf:zero_velocity\001
4 1 1 101 0 3 18 0.0000 4 255 1125 5310 4725 y-velocity\001
4 1 1 101 0 3 18 0.0000 4 255 1155 5265 3735 x-velocity\001
4 1 1 101 0 3 18 0.0000 4 255 1905 5175 5940 angular-velocity\001
4 2 0 100 0 18 18 0.0000 4 270 720 3555 5490 R:r_p\001
4 1 0 100 0 18 18 0.0000 4 195 150 4590 3240 1\001
4 1 4 100 0 18 18 0.0000 4 270 765 6390 1440 SS:[x]\001
4 1 0 100 0 18 18 0.0000 4 270 870 4635 1440 IS:m_c\001
4 1 0 100 0 18 18 0.0000 4 270 690 2880 1440 R:r_c\001
4 1 4 100 0 18 18 0.0000 4 270 1290 2250 3240 SS:[drive]\001
4 0 0 100 0 18 18 0.0000 4 210 1560 9090 3240 De:Position\001
4 1 0 100 0 18 18 0.0000 4 210 1035 6975 3240 INTFS:x\001
4 1 0 100 0 18 18 0.0000 4 195 150 5175 5490 1\001
4 1 4 100 0 18 18 0.0000 4 270 780 7245 5490 SS:[a]\001
4 1 0 100 0 18 18 0.0000 4 195 150 5175 4365 1\001
4 1 4 100 0 18 18 0.0000 4 270 765 7245 4365 SS:[y]\001








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Cart_lbl.txt version [53f4dac4d3].

























































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%% Label file for system Cart (Cart_lbl.txt)
%SUMMARY Cart
%DESCRIPTION <Detailed description here>

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	in	drive
%ALIAS	pendulum|out	x,y,a

% Argument aliases
%ALIAS	$1	m_c
%ALIAS	$2	r_c
%ALIAS	$3	r_p

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type IS
	m_c		lin	flow,m_c;v_0

% Component type R
	r_c		lin	flow,r_c
	r_p		lin	flow,r_p

% Component type INTFS
	x               none    x_0

% Component type SS
	[a]	SS		internal,0
	[drive]	SS		external,internal
	[x]	SS		0,internal
	[y]	SS		0,internal

% Component type De
	Position		SS	external

% Component type Sf
	zero_velocity		SS	0












Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DCS_abg.fig version [b47c5c7578].








































































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 3330 1305 3870 1395
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 3375 1350 3825 1350
-6
6 7965 2475 8505 2565
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 8010 2520 8460 2520
-6
6 3330 2475 3420 3015
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 3375 2520 3375 2970
-6
6 9810 2475 9900 3015
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 9855 2520 9855 2970
-6
6 7965 2430 8055 2970
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 8010 2475 8010 2925
-6
6 3735 2430 3825 2970
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 3780 2475 3780 2925
-6
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 4860 4730 4860 494 2293 494 2293 4730 4860 4730
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2036 2724 3371 2724 3063 2947
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3576 2501 3576 1342 3833 1609
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3782 2724 5116 2724 4808 2947
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3576 2947 3576 4106 3833 3839
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6656 2724 7991 2724 7683 2947
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8196 2947 8196 4106 8453 3839
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8453 2724 9788 2724 9480 2947
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 9480 4730 9480 494 6913 494 6913 4730 9480 4730
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 12150 5175 45 5175 45 316 12150 316 12150 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8190 2501 8190 1341 8447 1609
4 2 4 0 0 0 18 0.0000 4 240 1605 1980 2790 SS:[Electrical]\001
4 1 -1 0 0 0 18 0.0000 4 195 135 3525 2858 1\001
4 1 -1 0 0 0 18 0.0000 4 255 945 5938 2813 GY:k_m\001
4 1 -1 0 0 0 18 0.0000 4 195 135 8196 2813 1\001
4 1 -1 0 0 0 18 0.0000 4 255 630 3525 1252 IS:l_a\001
4 1 -1 0 0 0 18 0.0000 4 255 600 3628 4463 R:r_a\001
4 1 -1 0 0 0 18 0.0000 4 255 735 8248 4463 R:b_m\001
4 1 1 1 0 0 18 0.0000 4 195 1065 3576 5043 Electrical\001
4 1 1 1 0 0 18 0.0000 4 195 1290 8196 5043 Mechanical\001
4 1 1 1 0 0 18 0.0000 4 195 600 10404 3170 Shaft\001
4 1 1 1 0 0 18 0.0000 4 195 1155 1472 3170 Terminals\001
4 0 4 0 0 0 18 0.0000 4 240 1830 9945 2835 SS:[Mechanical]\001
4 1 -1 0 0 0 18 0.0000 4 255 585 8235 1215 I:j_m\001








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DCS_lbl.txt version [085bf103ca].











































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%SUMMARY DCS: DCS motor 
%DESCRIPTION A special for the inverted pendulum system
%DESCRIPTION Derivative causality on the  shaft
%DESCRIPTION No aliased parameters
%DESCRIPTION Built in causality - speeds things up
%DESCRIPTION Only the armature state and shaft resistance are variable

%ALIAS in	Electrical
%ALIAS out	Mechanical


%% Label file for system DCS (DCS_lbl.txt)


%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Motor gain
k_m	lin		flow,k_m

% Electrical components
%Inductance
l_a	lin		flow,l_a;i_0

%Resistance
r_a	lin		flow,r_a

% Mechanical components
%Inertia
j_m	lin		flow,j_m

%Friction
b_m	lin		flow,b_m

% Ports
	[Electrical]	SS	external,external
	[Mechanical]	SS	external,external








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_abg.fig version [7ddc7b16cb].







































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 3555 4005 3645 4545
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 3600 4050 3600 4500
-6
6 6255 4005 6345 4545
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 6300 4050 6300 4500
-6
2 4 0 2 1 7 101 0 -1 0.000 0 0 7 0 0 5
	 7650 4725 5850 4725 5850 3825 7650 3825 7650 4725
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2250 4275 3600 4275 3375 4500
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4950 4275 6300 4275 6075 4500
2 4 0 2 1 7 101 0 -1 0.000 0 0 7 0 0 5
	 5175 4725 3375 4725 3375 3825 5175 3825 5175 4725
2 4 0 2 1 7 101 0 -1 0.000 0 0 7 0 0 5
	 2610 4725 585 4725 585 3825 2610 3825 2610 4725
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 7425 4275 8775 4275 8550 4500
2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5
	 10125 4950 10125 2025 225 2025 225 4950 10125 4950
4 1 0 100 0 18 20 0.0000 4 360 1815 1620 4410 OpenLoop\001
4 1 0 100 0 18 20 0.0000 4 285 960 4320 4410 Drive\001
4 1 0 100 0 18 20 0.0000 4 285 765 6795 4410 Cart\001
4 1 0 100 0 18 20 0.0000 4 285 810 9225 4410 Zero\001








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_input.txt version [b342c864df].






















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# -*-octave-*- Put Emacs into octave-mode
# Input specification (DriveCart_input.txt)
# Generated by MTT at Thu Aug  5 09:17:30 BST 1999
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

# Set the inputs
#mttu(1) = 1.0*(t<1) -1.0*((t>=1)&&(t<2)); 	# u (DriveCart_F)
mttu(1) = 1;
mttu(2) = 0;
mttu(3) = 0;
mttu(4) = 0;

# Set the switches








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_lbl.txt version [3e401170aa].


































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%% Label file for system DriveCart (DriveCart_lbl.txt)
%SUMMARY DriveCart
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


%VAR l_p		#Pendulum length

% Port aliases

% Argument aliases

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----














Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_numpar.txt version [9986736335].































































































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# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (DriveCart_numpar.txt)
# Generated by MTT at Wed Aug 25 22:57:05 BST 1999

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
j_m = 	3.87e-7;		# Motor inertia
k_m = 	0.00767;		# Motor constant
r_a = 	2.6;			# Armature resistance
l_a = 	0.18e-3;		# Armature inductance

k_g = 	1/3.7;			# Internal gear ratio 
r = 	0.635e-2;		# Motor gear radius

m_c = 	0.455;			# Cart mass

b_m = 	0.0;			# Motor friction
r_c = 	1.5;			# Cart friction

# l_p =   0.61;			# Pendulum length
# m_p =   0.210;			# Pendulum mass
# r_p = 	0.0;			# Pendulum friction

# j_p = m_p*(l_p*l_p)/12;		# Pendulum inertia about cm.

# g = 9.81;			# Gravity


## Sensitivity parameters
# m_cs = 0;			# Cart mass
# b_ms = 0;			# Motor friction 
# r_cs = 0;			# Cart friction
# r_ps = 0;			# Pendulum friction


## Control parameters
k_1 = 1;
k_2 = 0;
k_3 = 0;

## States
i_0 = 0;			# Initial armature current
v_0 = 0;			# Initial cart velocity
x_0 = 0;			# Initial cart position

# omega_0 = 0;			# Initial pendulum velocity
# theta_0 = 0;			# Initial pendulum angle

## Control sensitivity parameters
# k_1s = 0;
# k_2s = 0;
# k_3s = 0;

# ## Argument list
# if (mtt_n_parameters>1)
#   r_cs= mtt_parameters(1);
#   r_c = mtt_parameters(2);
# endif;

# if (mtt_n_parameters>3)
#   m_cs= mtt_parameters(3);
#   m_c = mtt_parameters(4);
# endif;

# if (mtt_n_parameters>5)
#   k_1s= mtt_parameters(5);
#   k_1 = mtt_parameters(6);
# endif;

# if (mtt_n_parameters>7)
#   k_2s= mtt_parameters(7);
#   k_2 = mtt_parameters(8);
# endif;

# if (mtt_n_parameters>9)
#   k_3s= mtt_parameters(9);
#   k_3 = mtt_parameters(10);
# endif;















Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_rep.txt version [1cbbe15de1].































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## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system DriveCart (DriveCart_rep.txt)
## Generated by MTT on" Fri Oct 22 09:03:14 EST 1999.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

mtt DriveCart abg tex			# The system description
mtt DriveCart cbg ps 		        # The causal bond graph
## Uncomment the following lines or add others
mtt DriveCart struc tex	        # The system structure
mtt DriveCart dae tex	        # The system dae
## mtt DriveCart ode tex	        # The system ode 
## mtt DriveCart sspar tex		# Steady-state parameters
## mtt DriveCart ss tex 		# Steady state
## mtt DriveCart dm tex		# Descriptor matrices (of linearised system)
mtt DriveCart sm tex		# State matrices (of linearised system)
## mtt DriveCart tf tex		# Transfer function (of linearised system)
## mtt DriveCart lmfr ps		# log modulus of frequency response (of linearised system)
mtt DriveCart simpar tex		# Simulation parameters
mtt DriveCart numpar tex		# Numerical simulation parameters
mtt DriveCart input tex		# Simulation input
mtt -c DriveCart odeso ps		# Simulation output








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/DriveCart_simpar.txt version [c95de2a7c5].






















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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system DriveCart (DriveCart_simpar.txt)
# Generated by MTT on Thu Aug 5 09:17:05 BST 1999.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################


LAST        = 10.0;      # Last time in simulation
DT          = 0.1;        # Print interval
STEPFACTOR  = 1000;		# Integration steps per print interval
WMIN        = -1;         # Minimum frequency = 10^WMIN
WMAX        = 2;          # Maximum frequency = 10^WMAX
WSTEPS      = 100;        # Number of frequency steps
INPUT       = 1;          # Index of the input








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Drive_abg.fig version [12e17c139d].








































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 3825 2475 3825 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2475 2700 3825 2700 3600 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 5625 2700 6975 2700 6750 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 8325 2700 9675 2700 9450 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 10575 2700 11925 2700 11700 2925
2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5
	 14400 4725 14400 675 225 675 225 4725 14400 4725
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 6975 2475 6975 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 11925 2475 11925 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 9675 2475 9675 2925
4 1 1 101 0 3 20 0.0000 4 255 1530 4590 3330 DC motor\001
4 1 1 101 0 3 20 0.0000 4 330 2745 2205 3330 Power supply unit\001
4 2 4 100 0 18 18 0.0000 4 270 1845 2430 2790 SS:[Electrical]\001
4 1 0 100 0 18 18 0.0000 4 210 1470 4725 2790 DCS:motor\001
4 1 0 100 0 18 18 0.0000 4 270 915 7695 2790 TF:k_g\001
4 1 0 100 0 18 18 0.0000 4 210 540 10125 2790 TF:r\001
4 0 4 100 0 18 18 0.0000 4 270 2115 12015 2790 SS:[Mechanical]\001
4 1 1 101 0 3 20 0.0000 4 330 2010 7515 3330 Internal gear\001
4 1 1 101 0 3 20 0.0000 4 330 1710 10080 3330 Motor gear\001








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Drive_lbl.txt version [99fb16d915].






































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%% Label file for system Drive (Drive_lbl.txt)
%SUMMARY Drive
%DESCRIPTION <Detailed description here>

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	in	Electrical
%ALIAS	out	Mechanical

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type DC
	motor

% Component type SS
	[Electrical]	SS		external,external
	[Mechanical]	SS		external,external

% Component type TF
	k_g		lin	flow,k_g
	r		lin	flow,r









Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/INTFS_abg.fig version [0f2cfc3a7b].































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3376 3151 4276 3151 4051 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4501 2926 4501 2026 4726 2251
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 3151 5626 3151 5401 3376
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 10575 4950 45 4950 45 1350 10575 1350 10575 4950
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1575 3150 2475 3150 2250 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6526 3150 7426 3150 7201 3375
4 1 -1 0 0 0 20 0.0000 4 255 180 4501 3241 0\001
4 1 -1 0 0 0 20 0.0000 4 255 1110 4501 1891 CS:unit\001
4 2 4 0 0 0 20 0.0000 4 315 1455 1530 3240 SS:[Flow]\001
4 1 -1 0 0 0 20 0.0000 4 255 825 2925 3240 AF:af\001
4 1 -1 0 0 0 20 0.0000 4 255 900 6075 3240 AE:ae\001
4 0 4 0 0 0 20 0.0000 4 330 3045 7470 3240 SS:[Integrated_flow]\001








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/INTFS_lbl.txt version [566f080c2f].
















































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%% Label file for system INTFS (INTFS_lbl.txt)
%SUMMARY	INTFS: flow integrator
%DESCRIPTION	Port [in]:	Flow to be integrated
%DESCRIPTION	Port [out]:	Effort = integral of flow on port [in]


% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.3  1998/07/16 07:35:10  peterg
% %% Aliased version
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	in	Flow
%ALIAS	out	Integrated_flow

% Argument aliases
%ALIAS	$1 x_0	

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----


% Component type CS
	unit			lin		effort,1;x_0

% Component type AE
	ae			lin		1

% Component type AF
	af			lin		1

% Component type SS
	[Flow]			SS		external,external
	[Integrated_flow]	SS		external,external








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/IS_abg.fig version [833b9d0b1e].



























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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 2340 3915 2610 4185
4 1 0 100 0 18 20 0.0000 4 270 195 2475 4185 0\001
-6
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2475 3825 2475 2475 2700 2700
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2475 5625 2475 4275 2700 4500
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2700 4050 4050 4050 3825 4275
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 4050 3825 4050 4275
4 1 0 100 0 18 20 0.0000 4 285 315 2475 2295 I:i\001
4 0 0 100 0 18 20 0.0000 4 360 1035 4185 4185 Sf:f_0\001
4 1 4 100 0 18 20 0.0000 4 360 1185 2475 6030 SS:[in]\001








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/IS_lbl.txt version [fd9f48ad6f].








































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%% Label file for system IS (IS_lbl.txt)
%SUMMARY IS I component with initial state


% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	in	in

% Argument aliases
%ALIAS	$1	flow,i
%ALIAS	$2	f_0

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type I
	i		lin	flow,i

% Component type SS
	[in]	 SS	external,external

% Component type Sf
	f_0		SS	f_0










Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_abg.fig version [f7dd4e7606].









































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 3555 4005 3645 4545
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 3600 4050 3600 4500
-6
6 6255 4005 6345 4545
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 6300 4050 6300 4500
-6
2 4 0 2 1 7 101 0 -1 0.000 0 0 7 0 0 5
	 7650 4725 5850 4725 5850 3825 7650 3825 7650 4725
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2250 4275 3600 4275 3375 4500
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4950 4275 6300 4275 6075 4500
2 4 0 2 1 7 101 0 -1 0.000 0 0 7 0 0 5
	 5175 4725 3375 4725 3375 3825 5175 3825 5175 4725
2 4 0 2 1 7 101 0 -1 0.000 0 0 7 0 0 5
	 2610 4725 585 4725 585 3825 2610 3825 2610 4725
2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5
	 9675 4950 9675 2025 225 2025 225 4950 9675 4950
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6750 3825 7705 2870 7705 3189
2 1 0 2 1 7 101 0 -1 0.000 0 0 -1 0 0 5
	 6952 3487 8347 2092 8527 2272 7177 3622 6997 3442
4 1 0 100 0 18 20 0.0000 4 360 1815 1620 4410 OpenLoop\001
4 1 0 100 0 18 20 0.0000 4 285 960 4320 4410 Drive\001
4 1 0 100 0 18 20 0.0000 4 285 3255 7830 2835 InvertedPendulum\001
4 1 0 100 0 18 20 0.0000 4 285 765 6795 4410 Cart\001








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_desc.tex version [bf8d448bf0].









































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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system InvertedPendulumOnCart (InvertedPendulumOnCart_desc.tex)
% Generated by MTT on Thu Aug 5 10:38:16 BST 1999.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{InvertedPendulumOnCart} is
   displayed in Figure \Ref{fig:InvertedPendulumOnCart_abg.ps} and its label
   file is listed in Section \Ref{sec:InvertedPendulumOnCart_lbl}.
   The subsystems are listed in Section \Ref{sec:InvertedPendulumOnCart_sub}.

This is a one input, two output nonlinear system comprising an
inverted pendulum attached by a hinge to a cart constrained to move in
the horizontal direction. The input is the horizontal force acting on
the cart, and the two outputs are the horizontal position and the
pendulum angle respectively.

The bond graph in Figure \Ref{InvertedPendulumOnCartPPP_abg} is augmented with the {\em
open-loop\/} controller comprising
\begin{itemize}
\item two effort source \textbf{Se} components ``u1'' and ``u2''
\item two effort amplifier \textbf{AE} components ``ppp\_1'' and `ppp\_2''
\end{itemize}

This is a \emph{nonlinear} system and it is used to illustate
\emph{nonlinear} PPP control. Section
\Ref{sec:InvertedPendulumOnCartPPP_nppp.ps} shows the cart position
$x$ and the pendulum angle $\theta$  when the pendulum starts from the
initial condition of  $\theta = \frac{\pi}{2}$ (ie the pendulum is
horizontal).
 









Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_input.txt version [e48379ad1c].






















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# -*-octave-*- Put Emacs into octave-mode
# Input specification (InvertedPendulumOnCartPPP_input.txt)
# Generated by MTT at Thu Aug  5 09:17:30 BST 1999
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

# Set the inputs
#mttu(1) = 1.0*(t<1) -1.0*((t>=1)&&(t<2)); 	# u (InvertedPendulumOnCartPPP_F)
mttu(1) = 1;
mttu(2) = 0;
mttu(3) = 0;
mttu(4) = 0;

# Set the switches








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_lbl.txt version [a0840e2c8b].


































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%% Label file for system InvertedPendulumOnCartPPP (InvertedPendulumOnCartPPP_lbl.txt)
%SUMMARY InvertedPendulumOnCartPPP
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


%VAR l_p		#Pendulum length

% Port aliases

% Argument aliases

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----














Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_nppp.m version [95e3aca505].

















































































































































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## Figures.m
## Makes figures for the InvertedPendulumOnCart_PPP exasmple.
## $Log$
## Revision 1.4  2000/08/17 12:34:58  peterg
## *** empty log message ***
##
## Revision 1.3  2000/08/11 16:01:27  peterg
## Fixed documentation error
##
## Revision 1.2  2000/05/21 06:39:40  peterg
## Parameterised _sm
##
## Revision 1.1  2000/05/20 11:30:41  peterg
## Initial revision
##
## Revision 1.2  2000/05/17 16:59:57  peterg
## Revised for Inverted pendulum - it works !!!!
##
## Revision 1.1  2000/05/17 14:07:53  peterg
## Initial revision
##
## Revision 1.1  2000/05/17 09:14:37  peterg
## Initial revision
##
system_name = "InvertedPendulumOnCartPPP";

## Uncomment the following the first time
## (Or do ./Make InvertedPendulumOnCartPPP in this directory)

## MTT stuff for the system simulation
##system("Make InvertedPendulumOnCartPPP");

t_s=1.0*[0:0.1:10];
u = [ones(4,length(t_s))];
x_0 = InvertedPendulumOnCartPPP_state;
par  = InvertedPendulumOnCartPPP_numpar;

## Simulate the system
tick=time;
[y,x] = InvertedPendulumOnCartPPP_sim(x_0,u,t_s,par);
Elapsed = time-tick
plot(t_s,y, t_s,x);

## Simulate the system to give just the final few points
t_s1 = 10*[9:0.1:10];
tick=time;
[y,x] = InvertedPendulumOnCartPPP_sim(x_0,u,t_s1,par);
Elapsed = time-tick
plot(t_s1,y,t_s1,x);

## Sensitivity system simulation parameters
x_0s = sInvertedPendulumOnCartPPP_state;
pars  = sInvertedPendulumOnCartPPP_numpar;
sympars  = sInvertedPendulumOnCartPPP_sympar;

## Simulate the sensitivity system
sensitivities = [sympars.ppp_1s,sympars.ppp_2s,sympars.r_cs]
tick=time;
[y,ys] = sInvertedPendulumOnCartPPP_sim(x_0s,u,t_s,pars,sensitivities);
Elapsed = time-tick
plot(t_s,y,t_s,ys);

### PPP parameters
A_w = [0;0];
A_u = laguerre_matrix(4,20); # Specify basis functions: constant &
			     # exp(-5t)
tau = 0.5*[0.9:0.01:1];             # Optimisation interval
t_ol =0.5*[0:0.01:0.2];            # Open-loop interval
N = 20;                          # Number of open-loop intervals in simulation
w = [0;0];                         # Setpoint

## Linear system
## Linear system
[A,B,C,D] = InvertedPendulumOnCartPPP_sm(par);
Q = [1;1];
ppp_lin_plot (A,B(:,1),C,D(:,1),A_u,A_w,tau,Q,w,x_0);
psfig("InvertedPendulumOnCartPPP_lin");

## Simulate non-linear PPP (on this nonlinear system)
extras.U_initial = "zero";
extras.U_next = "continuation";
extras.criterion = 1e-5;
extras.max_iterations = 10;
extras.v = 0;
extras.verbose = 0;

# ##  -- with no optimisation using linear PPP with continuation
# extras.U_initial = "linear";
# extras.U_next = "continuation";
# extras.criterion = 1e-5;
# extras.max_iterations = 0;
# [y_c,x,u_c,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras);

# ##  -- with no optimisation using linear PPP at each step
# extras.U_initial = "linear";
# extras.U_next = "linear";
# extras.criterion = 1e-5;
# extras.max_iterations = 0;
# [y_l,x,u_l,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras);

##  -- with optimisation using nonlinear PPP with continuation
extras.U_initial = "zero";
extras.U_next = "continuation";
extras.criterion = 1e-4;
extras.max_iterations = 100;
extras.v = 1e-3;
extras.verbose = 0;
[y,x,u,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras);


## Plots
title("");

## U, U_c and U_l
I = 1:N;
IU1 = [I' U(1,:)'];
IU1_c = [I' U_c(1,:)'];
IU1_l = [I' U_l(1,:)'];
gset grid; xlabel "Interval"
gplot IU1 title "U_1", IU1_c title "U_c1", IU1_l title "U_l1"
psfig("InvertedPendulumOnCartPPP_U1");

IU2 = [I' U(2,:)'];
IU2_c = [I' U_c(2,:)'];
IU2_l = [I' U_l(2,:)'];
gset grid; xlabel "Interval "
gplot IU2 title "U_2", IU2_c title "U_c2", IU2_l title "U_l2"
psfig("InvertedPendulumOnCartPPP_U2");

## y & u
gset grid; xlabel "Time (sec)"
tu =  [t' u']; 
gplot tu title "Output"
psfig("InvertedPendulumOnCartPPP_u");

gset grid; xlabel "Time (sec)"
ty_th = [t' y(1,:)'] ;
ty_x = [t' y(2,:)'] ;
gplot ty_th title "Theta",ty_x title "x"
psfig("InvertedPendulumOnCartPPP_nppp");









Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_numpar.txt version [9aa45f03b2].








































































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# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (sInvertedPendulumOnCart_numpar.txt)
# Generated by MTT at Tue Apr 18 18:07:52 BST 2000

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

## Default parameters
b_m = 	0.0; # sDCS
c = 	0.0; # sC,sC,sCS,sCS
e_0 = 	0.0; # sCS,sCS
e_s = 	0.0; # Se,Se,Se,sSe,sSe,sSe
f_0 = 	0.0; # sIS,sIS,sIS
f_s = 	0.0; # Sf,Sf,Sf,sSf,sSf,sSf
g = 	0.0; # AFe,AFe,sInvertedPendulum,sROD
i = 	0.0; # sI,sI,sI,sI,sI,sI,sIS,sIS,sIS
i_0 = 	0.0; # sDCS
j_m = 	0.0; # sDCS,sROD
j_p = 	0.0; # sInvertedPendulum
ppp_1 = 	1.0; # sOpenLoop
ppp_2 = 	0.0; # sOpenLoop
ppp_3 = 	0.0; # sOpenLoop
ppp_4 = 	0.0; # sOpenLoop
k_g = 	0.0; # sDrive
k_m = 	0.0; # sDCS
l_a = 	0.0; # sDCS,sROD
l_b = 	0.0; # sROD
l_p = 	0.0; # sInvertedPendulum,sInvertedPendulumOnCart
m = 	0.0; # sROD
m_c = 	0.0; # sCart
m_p = 	0.0; # sInvertedPendulum
m_t = 	0.0; # sInvertedPendulum
omega_0 = 	0.0; # sInvertedPendulum,sROD
r = 	0.0; # sDrive,sR,sR
r_a = 	0.0; # sDCS
r_c = 	0.0; # sCart
r_p = 	0.0; # sCart
theta_0 = 	0.0; # sInvertedPendulum,sROD
v_0 = 	0.0; # sCart
x_0 = 	0.0; # sCart,sINTFS,sINTFS


## Pysical Parameters
j_m = 	3.87e-7;		# Motor inertia
k_m = 	0.00767;		# Motor constant
r_a = 	2.6;			# Armature resistance
l_a = 	0.18e-3;		# Armature inductance

k_g = 	1/3.7;			# Internal gear ratio 
r = 	0.635e-2;		# Motor gear radius

m_c = 	0.455;			# Cart mass

b_m = 	0.0;			# Motor friction
r_c = 	1.5;			# Cart friction

l_p =   0.61;			# Pendulum length
m_p =   0.210;			# Pendulum mass
r_p = 	0.0;			# Pendulum friction

j_p = m_p*(l_p*l_p)/12;		# Pendulum inertia about cm.

g = 9.81;			# Gravity









Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_rep.txt version [e2801170d5].










































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## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system InvertedPendulumOnCartPPP (InvertedPendulumOnCartPPP_rep.txt)
## Generated by MTT on" Fri Oct 22 09:03:14 EST 1999.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.3  2000/08/29 13:57:23  peterg
## Zapped some steps which prevent ppp from working ????
##
## Revision 1.2  2000/05/20 17:45:38  peterg
## Tidied
##
## Revision 1.1  2000/05/20 17:43:40  peterg
## Initial revision
##
###############################################################

mtt InvertedPendulumOnCartPPP abg tex # The system description
mtt InvertedPendulumOnCartPPP cbg ps # The causal bond graph
mtt InvertedPendulumOnCartPPP struc tex	# The system structure
mtt InvertedPendulumOnCartPPP dae tex # The system dae
# mtt InvertedPendulumOnCartPPP sm tex # State matrices (of linearised system)

# mtt InvertedPendulumOnCartPPP simpar tex # Simulation parameters
# mtt InvertedPendulumOnCartPPP numpar tex # Numerical simulation parameters
# mtt InvertedPendulumOnCartPPP input tex	# Simulation input
# mtt -c InvertedPendulumOnCartPPP odeso ps # Simulation output

mtt InvertedPendulumOnCartPPP nppp m # How its done
mtt InvertedPendulumOnCartPPP nppp ps # The PPP output

mtt InvertedPendulumOnCartPPP rep txt # The report outline











Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_simpar.txt version [6ec8d445cd].






















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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system InvertedPendulumOnCartPPP (InvertedPendulumOnCartPPP_simpar.txt)
# Generated by MTT on Thu Aug 5 09:17:05 BST 1999.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################


LAST        = 10.0;      # Last time in simulation
DT          = 0.1;        # Print interval
STEPFACTOR  = 1;		# Integration steps per print interval
WMIN        = -1;         # Minimum frequency = 10^WMIN
WMAX        = 2;          # Maximum frequency = 10^WMAX
WSTEPS      = 100;        # Number of frequency steps
INPUT       = 1;          # Index of the input








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulumOnCartPPP_state.txt version [009c83cce5].




















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# -*-octave-*- Put Emacs into octave-mode
# Initial state  file (InvertedPendulumOnCartPPP_state.txt)
# Generated by MTT at Thu May  4 16:13:13 BST 2000
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

# Set the states
mttx(1) 	= 0.0; 	# i (InvertedPendulumOnCartPPP_mtt2_motor_l_a)
mttx(2) 	= 0.0; 	# i (InvertedPendulumOnCartPPP_mtt3_rod_J)
mttx(3) 	= -pi/2; 	# c (InvertedPendulumOnCartPPP_mtt3_rod_th_unit)
mttx(4) 	= 0.0; 	# i (InvertedPendulumOnCartPPP_mtt4_m_c)
mttx(5) 	= 0.0; 	# c (InvertedPendulumOnCartPPP_mtt4_x_unit)








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulum_abg.fig version [66be544a7f].































































































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 3555 5085 6345 5310
4 1 4 100 0 18 14 0.0000 4 210 510 3825 5265 [x_b]\001
4 1 4 100 0 18 14 0.0000 4 210 525 4950 5265 [y_b]\001
4 1 4 100 0 18 14 0.0000 4 210 525 6075 5265 [a_b]\001
-6
6 3555 4545 6345 4770
4 1 4 100 0 18 14 0.0000 4 210 495 3825 4725 [x_a]\001
4 1 4 100 0 18 14 0.0000 4 210 510 4950 4725 [y_a]\001
4 1 4 100 0 18 14 0.0000 4 210 510 6075 4725 [a_a]\001
-6
6 5805 5355 6345 5445
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 5850 5400 6300 5400
-6
6 3600 4455 4140 4545
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 3645 4500 4095 4500
-6
6 4635 4455 5175 4545
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 4680 4500 5130 4500
-6
6 5805 4455 6345 4545
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 5850 4500 6300 4500
-6
6 8505 4680 8595 5220
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 8550 4725 8550 5175
-6
6 4770 2790 5040 3060
4 1 0 100 0 18 20 0.0000 4 270 195 4905 3060 1\001
-6
6 3690 2790 3960 3060
4 1 0 100 0 18 20 0.0000 4 270 195 3825 3060 1\001
-6
6 3555 2655 4095 2745
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 3600 2700 4050 2700
-6
6 4680 2655 5220 2745
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 4725 2700 5175 2700
-6
6 4950 2520 5355 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 5008 2552 5327 2870
-6
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6525 4950 8550 4950 8325 5175
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4950 2700 4950 1350 5175 1575
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3825 2700 3825 1350 4050 1575
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 5143 2687 6098 1732 6098 2050
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 3600 6750 4050 6750
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 4725 6750 5175 6750
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3825 6750 3825 5400 4050 5625
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4950 6750 4950 5400 5175 5625
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6075 6750 6075 5400 6300 5625
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6075 4500 6075 3150 6300 3375
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4950 4500 4950 3150 5175 3375
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3825 4500 3825 3150 4050 3375
4 1 0 100 0 18 20 0.0000 4 285 1515 4964 5040 ROD:rod\001
4 1 0 100 0 18 18 0.0000 4 270 885 6030 3015 Se:a_0\001
4 1 4 100 0 18 20 0.0000 4 360 1050 3780 7155 SS:[x]\001
4 1 4 100 0 18 20 0.0000 4 360 1080 4950 7155 SS:[y]\001
4 1 4 100 0 18 20 0.0000 4 360 1065 6075 7155 SS:[a]\001
4 1 4 100 0 18 14 0.0000 4 210 270 6300 4995 [a]\001
4 0 0 100 0 18 20 0.0000 4 285 1515 8685 5085 De:theta\001
4 1 0 100 0 18 18 0.0000 4 270 675 4995 1170 I:m_y\001
4 1 0 100 0 18 18 0.0000 4 270 675 3870 1170 I:m_x\001
4 0 0 100 0 18 20 0.0000 4 360 1110 6120 1800 Se:mg\001








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/InvertedPendulum_lbl.txt version [ff2b5f8890].



















































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%% Label file for system InvertedPendulum (InvertedPendulum_lbl.txt)
%SUMMARY InvertedPendulum
%DESCRIPTION <Detailed description here>

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	in	x,y,a


% Argument aliases

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----


% Component type I
        m_x     lin             flow,m_t
        m_y     lin             flow,m_t

% Component type Se
	mg			SS		m_t*g

% Component type De
	theta			SS	external

% Component type SS
	[a]	SS		external,external
	[x]	SS		external,external
	[y]	SS		external,external

% Component type Se
	a_0	 SS	0

% Component type gRod
	rod	 none		l_p;l_p;j_p;m_p;g;omega_0;theta_0
 








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Make version [e246f48d9d].


































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#!/bin/sh

## Makes the files needed for Figures.m
## Copyright (C) 2000 by Peter J. Gawthrop

if [ -z "$1" ]; then
    echo Usage ./Make system_name
    exit
else
    echo "Making simulation for system $1 (for use in Figures.m)"
fi

## System
mtt -q -c -stdin $1 ode2odes out
mtt -q -c -stdin $1 sim m
mtt -q  $1 state m
mtt -q  $1 sympar m
mtt -q  $1 numpar m

## Sensitivity system
mtt -q -c -stdin -s s$1 ode2odes out
mtt -q -c -stdin -s s$1 sim m
mtt -q  -s s$1 state m
mtt -q  -s s$1 sympar m
mtt -q  -s s$1 numpar m

## Additional system reps for PPP
mtt -q  $1 sm m
mtt -q  $1 def m
mtt -q  -s s$1 def m








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/OpenLoop_abg.fig version [014e1e18a1].












































































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 6570 1530 7200 1935
4 1 1 101 0 3 20 0.0000 4 270 495 6885 1845 u ( )\001
4 1 1 101 0 0 20 0.0000 4 135 150 6840 1800 *\001
4 1 1 101 0 32 20 0.0000 4 150 135 7065 1845 t\001
-6
6 1800 1530 2520 2025
4 1 1 101 0 3 20 0.0000 4 270 555 2160 1845 U ( )\001
4 1 1 101 0 3 16 0.0000 4 165 120 2070 2025 1\001
4 1 1 101 0 0 20 0.0000 4 135 150 2115 1800 *\001
4 1 1 101 0 32 20 0.0000 4 150 135 2340 1845 t\001
-6
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6345 2250 7695 2250 7470 2475
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4500 2250 5850 2250 5625 2475
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 1575 5400 2925 5400 2700 5625
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4545 5400 5895 5400 5670 5625
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6075 5175 6075 4050 6300 4275
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 1575 3825 2925 3825 2700 4050
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4545 3825 5895 3825 5670 4050
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6075 3600 6075 2475 6300 2700
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 1575 6975 2925 6975 2700 7200
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4545 6975 5895 6975 5670 7200
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6075 6750 6075 5625 6300 5850
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 1575 2250 2925 2250 2700 2475
2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5
	 9000 7875 9000 1125 225 1125 225 7875 9000 7875
4 2 0 100 0 18 20 0.0000 4 300 1170 1485 2340 Se:Us_1\001
4 1 0 100 0 18 20 0.0000 4 300 1035 3735 2340 AE:U_1\001
4 1 0 100 0 18 20 0.0000 4 210 165 6075 2340 1\001
4 1 0 100 0 18 20 0.0000 4 300 1035 3735 5490 AE:U_3\001
4 2 0 100 0 18 20 0.0000 4 300 1170 1530 5535 Se:Us_3\001
4 1 0 100 0 18 20 0.0000 4 210 165 6075 5535 1\001
4 1 0 100 0 18 20 0.0000 4 300 1035 3735 3915 AE:U_2\001
4 2 0 100 0 18 20 0.0000 4 300 1170 1530 3960 Se:Us_2\001
4 1 0 100 0 18 20 0.0000 4 210 165 6075 3960 1\001
4 1 0 100 0 18 20 0.0000 4 300 1035 3735 7065 AE:U_4\001
4 2 0 100 0 18 20 0.0000 4 300 1170 1530 7110 Se:Us_4\001
4 1 0 100 0 18 20 0.0000 4 210 165 6075 7110 1\001
4 1 1 101 0 3 20 0.0000 4 270 555 2160 3420 U ( )\001
4 1 1 101 0 3 16 0.0000 4 165 120 2070 3600 2\001
4 1 1 101 0 0 20 0.0000 4 135 150 2115 3375 *\001
4 1 1 101 0 32 20 0.0000 4 150 135 2340 3420 t\001
4 1 1 101 0 3 20 0.0000 4 270 555 2160 4995 U ( )\001
4 1 1 101 0 3 16 0.0000 4 165 120 2070 5175 3\001
4 1 1 101 0 0 20 0.0000 4 135 150 2115 4950 *\001
4 1 1 101 0 32 20 0.0000 4 150 135 2340 4995 t\001
4 1 1 101 0 3 20 0.0000 4 270 555 2160 6570 U ( )\001
4 1 1 101 0 3 16 0.0000 4 165 120 2070 6750 4\001
4 1 1 101 0 0 20 0.0000 4 135 150 2115 6525 *\001
4 1 1 101 0 32 20 0.0000 4 150 135 2340 6570 t\001
4 0 4 100 0 18 20 0.0000 4 300 1005 7830 2340 SS:[us]\001
4 1 1 101 0 3 20 0.0000 4 285 2370 3825 7695 Open-loop control\001








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/OpenLoop_lbl.txt version [da3b550155].












































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%% Label file for system OpenLoop (OpenLoop_lbl.txt)
%SUMMARY OpenLoop
%DESCRIPTION <Detailed description here>

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	out	us

% Argument aliases

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type AE
	U_1	 lin		ppp_1
	U_2	 lin		ppp_2
	U_3	 lin		ppp_3
	U_4	 lin		ppp_4

% Component type SS
	[us]	SS		external,external

% Component type Se
	Us_1		SS	external
	Us_2		SS	external
	Us_3		SS	external
	Us_4		SS	external










Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/ROD_abg.fig version [9da8669d9a].



































































































































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5854 5404 6529 6079 6304 6079
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5853 4953 6528 4278 6528 4503
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1
	 4277 3827
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6977 6527 8102 7652 7877 7652
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6977 3827 8102 2702 8102 2927
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5852 5177 6527 5177 6392 5312
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 2927 2927 4952 3152 4727
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 5402 2927 7427 3152 7202
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2701 5176 2026 5176 2161 5311
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2926 1351 2926 2476 3196 2206
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2926 7876 2926 9001 3196 8731
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8328 2928 8328 4953 8553 4728
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8328 5403 8328 7428 8553 7203
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8327 1352 8327 2477 8597 2207
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8327 7877 8327 9002 8597 8732
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5626 1351 5626 4951 5851 4726
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5626 5401 5626 9001 5851 8776
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1
	 6526 5401
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6526 4951 6526 5401
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8551 5176 9226 5176 9091 5311
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3826 4951 6526 4051 6436 4231
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3826 4996 3826 5356
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4276 5176 3826 5176 3961 5311
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3826 5401 6301 6301 6121 6301
2 1 0 1 5 -1 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 5401 4051 6301 3826 6301
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 4951 4051 4051 4051 4276
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5536 5176 5086 5176 5221 5311
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6300 9675 6300 675 4950 675 4950 9675 6300 9675
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 9000 9675 9000 675 7650 675 7650 9675 9000 9675
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 11025 10305 11025 225 225 225 225 10305 11025 10305
2 4 0 1 1 7 0 0 -1 0.000 0 0 7 0 0 5
	 3600 9675 2250 9675 2250 675 3600 675 3600 9675
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 10125 2250 990 2250 990 900 10125 900 10125 2250
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 10125 9450 990 9450 990 8100 10125 8100 10125 9450
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8550 5400 9225 6075 8955 6075
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8685 5265 8415 5535
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3375 5175 2025 3825 2250 3825
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8550 4950 8550 5400
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2700 4950 2700 5400
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4275 6525 3150 7650 3150 7425
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5425 5419 4750 6094 4750 5869
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4273 3823 3148 2698 3373 2698
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5400 4950 4725 4275 4950 4275
4 1 -1 0 0 0 20 0.0000 4 255 180 5628 5268 1\001
4 1 -1 0 0 0 20 0.0000 4 255 570 6933 5268 IS:J\001
4 1 -1 0 0 0 20 0.0000 4 255 180 2927 5312 1\001
4 1 -1 0 0 0 20 0.0000 4 255 180 2972 2792 0\001
4 1 -1 0 0 0 20 0.0000 4 255 180 2927 7742 0\001
4 1 -1 0 0 0 20 0.0000 4 255 180 8328 5313 1\001
4 1 -1 0 0 0 20 0.0000 4 255 180 8373 2793 0\001
4 1 -1 0 0 0 20 0.0000 4 255 180 8328 7743 0\001
4 1 -1 0 0 0 20 0.0000 4 330 870 9676 5266 I:m_y\001
4 1 -1 0 0 0 20 0.0000 4 330 900 1531 5221 I:m_x\001
4 1 -1 0 0 0 20 0.0000 4 255 1440 4636 4141 EMTF:c1\001
4 1 -1 0 0 0 20 0.0000 4 255 1440 4681 6391 EMTF:c2\001
4 1 -1 0 0 0 20 0.0000 4 255 1425 7156 4141 EMTF:s1\001
4 1 -1 0 0 0 20 0.0000 4 255 1425 7156 6391 EMTF:s2\001
4 1 5 0 0 0 20 0.0000 4 255 180 3603 5313 0\001
4 1 26 0 0 0 16 0.0000 4 240 675 6211 6526 [mod]\001
4 1 5 0 0 0 20 0.0000 4 255 1425 4681 5266 INTFS:th\001
4 1 1 1 0 0 20 0.0000 4 255 270 2925 10035 X\001
4 1 1 1 0 32 20 0.0000 4 195 240 5580 9990 a\001
4 1 1 1 0 0 20 0.0000 4 255 240 8280 9990 Y\001
4 2 26 0 0 0 16 0.0000 4 240 675 3960 4140 [mod]\001
4 2 26 0 0 0 16 0.0000 4 240 675 6345 4095 [mod]\001
4 2 26 0 0 0 16 0.0000 4 240 675 3960 6210 [mod]\001
4 1 4 0 0 0 20 0.0000 4 330 1785 2971 1216 SS:[xTip_a]\001
4 1 4 0 0 0 20 0.0000 4 330 1800 2971 9361 SS:[xTip_b]\001
4 1 4 0 0 0 20 0.0000 4 330 1755 8372 1217 SS:[yTip_a]\001
4 1 4 0 0 0 20 0.0000 4 330 1770 8417 9362 SS:[yTip_b]\001
4 1 4 0 0 0 20 0.0000 4 330 2700 5671 1216 SS:[angularTip_a]\001
4 1 4 0 0 0 20 0.0000 4 330 2715 5671 9361 SS:[angularTip_b]\001
4 1 1 1 0 0 20 0.0000 4 330 765 1350 2700 Tip a\001
4 1 1 1 0 0 20 0.0000 4 255 1800 1260 6300 Mass centre\001
4 1 1 1 0 0 20 0.0000 4 330 780 1350 9855 Tip b\001
4 1 -1 0 0 0 20 0.0000 4 330 930 9360 6345 Se:mg\001
4 2 4 0 0 0 20 0.0000 4 330 1515 1935 3735 SS:[angle]\001








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/ROD_lbl.txt version [02fb4fd7ae].









































































































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%SUMMARY	ROD: rigid rod in two dimensions - with gravity and angle port
%DESCRIPTION	See Section 10.2 of "Metamodelling"
%DESCRIPTION	Gravity term added at centre

%ALIAS $1	l_a	# length from end a to mass centre
%ALIAS $2	l_b	# length from end b to mass centre
%ALIAS $3	j_m	# inertia about mass centre
%ALIAS $4	m	# mass
%ALIAS $5	g	# gravity

%ALIAS in|Tip_a		xTip_a,angularTip_a,yTip_a 	
%ALIAS out|Tip_b	xTip_b,angularTip_b,yTip_b 	

%ALIAS in|Tip_a		xTip_a,angularTip_a,yTip_a 	
%ALIAS out|Tip_b	xTip_b,angularTip_b,yTip_b 	

%ALIAS x_a		xTip_a # Force/velocity at tip a in x direction
%ALIAS y_a		yTip_a # Force/velocity at tip a in y direction
%ALIAS alpha_a|a_a	angularTip_a # Torque/angular velocity at tip a

%ALIAS x_b		xTip_b # Force/velocity at tip b in x direction
%ALIAS y_b		yTip_b # Force/velocity at tip b in y direction
%ALIAS alpha_b|a_b	angularTip_b # Torque/angular velocity at tip b

%ALIAS angle|a		angle	# Angle port

%ALIAS INTF	General/INTF # The flow integration component.

%% Label file for system ROD (ROD_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1999/10/22 02:01:45  peterg
% %% Initial revision
% %%
% %% Revision 1.1  1999/08/05 08:04:40  peterg
% %% Initial revision
% %%
% %% Revision 1.3  1998/11/30 10:47:53  peterg
% %% Added extra a_a and a_b aliases
% %%
% %% Revision 1.2  1998/11/25 13:55:42  peterg
% %% Added missig attribute field m*g,internal
% %%
% %% Revision 1.1  1998/11/25 10:48:34  peterg
% %% Initial revision
% %%
% %% Revision 1.5  1998/07/27 12:27:27  peterg
% %% Added vector port aliases
% %%
% %% Revision 1.4  1998/07/27 10:51:20  peterg
% %% Aliased INTF as well.
% %%
% %% Revision 1.3  1998/07/27 10:49:10  peterg
% %% Major revision to include aliases etc
% %%
% %% Revision 1.2  1997/08/15  09:43:06  peterg
% %% Now has lablelled (as opposed to numbered) ports.
% %%
% Revision 1.1  1996/11/07  10:57:17  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Inertias
J	lin	flow,j_m;omega_0
m_x	lin	flow,m
m_y	lin	flow,m

%Integrate angular velocity to get angle
th	none	   theta_0

%Modulated transformers
s1	lsin	flow,l_a
s2	lsin	flow,l_b
c1	lcos	flow,l_a
c2	lcos	flow,l_b


% Component type Se
	mg			SS		m*g

% Component type SS
	[angularTip_a]		SS		external,external
	[angularTip_b]		SS		external,external
	[xTip_a]		SS		external,external
	[xTip_b]		SS		external,external
	[yTip_a]		SS		external,external
	[yTip_b]		SS		external,external
	[angle]			SS		external,external


	








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Zero_abg.fig version [10a50da953].

























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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2700 2700 4050 2700 3825 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2700 3375 4050 3375 3825 3600
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2700 4050 4050 4050 3825 4275
4 1 4 100 0 18 18 0.0000 4 270 765 2160 2790 SS:[x]\001
4 1 0 100 0 18 18 0.0000 4 210 570 4545 2790 Se:x\001
4 1 4 100 0 18 18 0.0000 4 270 765 2160 3465 SS:[y]\001
4 1 0 100 0 18 18 0.0000 4 270 570 4545 3465 Se:y\001
4 1 4 100 0 18 18 0.0000 4 270 780 2160 4140 SS:[a]\001
4 1 0 100 0 18 18 0.0000 4 210 525 4545 4140 Sf:a\001








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/Zero_lbl.txt version [651d1a7e40].





































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%% Label file for system Zero (Zero_lbl.txt)
%SUMMARY Zero
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	in	x,y,a

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----
	[a]	SS		external,external
	[x]	SS		external,external
	[y]	SS		external,external

% Component type Se
	x	SS		0
	y	SS		0

% Component type Sf
	a	SS		external










Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sCart_lbl.txt version [825772b7ca].































































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%% Label file for system sCart (sCart_lbl.txt)
%SUMMARY sCart
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	in	        drive_1,drive_2
%ALIAS	pendulum|out	x_1,x_2,y_1,y_2,a_1,a_2

% Argument aliases
%ALIAS	$1	m_c
%ALIAS	$2	r_c
%ALIAS	$3	r_p

%ALIAS	$4	m_cs
%ALIAS	$5	r_cs
%ALIAS	$6	r_ps

%ALIAS  $7	v_0
%ALIAS  $8	v_0s

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type I
	m_c		lin	flow,m_c;v_0;m_cs;v_0s

% Component type R
	r_c		lin	flow,r_c;r_cs
	r_p		lin	flow,r_p;r_ps

% Component type sINTFS
	x               none    x_0;x_0s

% Component type SS
	[a]	SS		external,external
	[drive]	SS		external,external
	[x]	SS		external,external
	[y]	SS		external,external

% Component type De
	Position		SS	external;external

% Component type Sf
	zero_velocity		SS	0;0











Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sDCS_lbl.txt version [8f818cd526].











































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%SUMMARY sDCS: DC motor - sensitivity 
%DESCRIPTION A special for the inverted pendulum system
%DESCRIPTION Derivative causality on the  shaft
%DESCRIPTION No aliased parameters
%DESCRIPTION Built in causality - speeds things up
%DESCRIPTION Only the armature state and shaft resistance are variable

%ALIAS in	Electrical_1,Electrical_2
%ALIAS out	Mechanical_1,Mechanical_2


%% Label file for system sDCS (sDCS_lbl.txt)


%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Motor gain
k_m	lin		flow,k_m;0

% Electrical components
%Inductance
l_a	lin		flow,l_a;i_0;0;i_0s

%Resistance
r_a	lin		flow,r_a;0

% Mechanical components
%Inertia
j_m	lin		flow,j_m;0

%Friction
b_m	lin		flow,b_m;b_ms

% Ports
	[Electrical]	SS	external,external
	[Mechanical]	SS	external,external








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sDriveCart_identify.m version [6868c24a26].

















































































































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function sDriveCart_identify ()

  ## usage:  sDriveCart_identify ()
  ##
  ## 

  ## Identify the Drive/cart friction
  ## 	$Id$	

  system_name = "sDriveCart";	# Name of this system
  input_name = sprintf("%s_input.dat", system_name);
  ## disp("Create programs");
  ## system(sprintf("mtt -q -c -s -stdin %s ode2odes out", system_name)); # Create sim. code
  ## system(sprintf("mtt -q -c -s -stdin %s numpar m", system_name)); # Create sim. code
  ## system(sprintf("mtt -q -c -s -stdin %s def m", system_name)); # Create sim. code

  ## Optimisation parameters
  crite = 1e-5;			# Convergence criterion
  alpha = 0.5;			# Step reduction factor
  max = 30;			# Maximum iterations
  View = 1			# View the optimisation process

  ## Parameters
  global mtt_n_parameters
  mtt_n_parameters = 0;

  eval(sprintf("%s_numpar;", system_name));

  alpha = 0.75;
  criterion = 1e-9;
  max_iterations = 20;

  ## Real data
  disp("Loading data");
  load -force data_020999.dat;
  [N_data,M_data] = size(data_020999);
  M = 10;
  t = data_020999(1:M:N_data,1);
  u = data_020999(1:M:N_data,2);
  y = data_020999(1:M:N_data,3)/100; # convert from cm to m

  gset grid
  gset title ""
  gset xlabel "Time (sec)"
  tu = [t u];
  ty = [t y];
  gplot tu title "input (V)", ty title "output (m)"
  psfig("sDriveCart_yu");


  y_s = [u y];			# u is first o/p of system.
  ## Start time at zero
  t = t-t(1)*ones(size(t));
  
  T_last = 40;
  DT = t(2)-t(1);

  tu = [t u u u u];		# Put same signal on all inputs (only
				# first used
  save -ascii junk.dat tu
  ## zap the octave comments
  system(sprintf("grep -v \'#\' junk.dat > %s; rm -f junk.dat", input_name));

  ## Set up theta
  control = [1 0 0 0];		# Initial control parameters
  unused = 0;			# Unused parameter slot
  r_c = 0;
  parameters = [r_c m_c unused unused unused];
  i_r = 4+1;
  i_m = 4+2;
  state = [0 unused unused 0 0];
  i_v = 4+5+4;
  i_x = 4+5+5;
  i_i = 4+5+1;
  theta_0 = [control parameters state]';

  ## Weighting function - select output, not input
  weight = ones(size(t))*[0 1];

  ## Estimate r only
  free = [i_r i_i i_v i_x];
  disp("Estimate cart friction ...");
  [theta,Theta,Error,Y] = mtt_optimise(system_name,y_s,theta_0,"time",\
				       free,weight,crite,max,alpha,View);

  ## Plot results
#   ix = [its Theta(i_x,:)'];
#   iv = [its Theta(i_v,:)'];
#   ii = [its Theta(i_i,:)'];

#   gplot \
#       ix with linespoints title "x_0",\
#       iv with linespoints title "p_0",\
#       ii with linespoints title "i_0"

#   psfig("sDriveCart_ident_x");

  [N_th,M_th] = size(Theta);
  its = [0:M_th-1]';
  gset grid
  gset title ""
  gset xlabel "Iterations"
  ir = [its Theta(i_r,:)'];
  gplot ir with linespoints title "r"
  psfig("sDriveCart_ident_r");

  r_c = theta(i_r)

endfunction








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sDriveCart_numpar.txt version [1efc3b6766].












































































































































































































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# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (sInvertedPendulumOnCart_numpar.txt)
# Generated by MTT at Wed Aug 25 22:57:05 BST 1999

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %% Revision 1.1  1999/12/03 00:50:28  peterg
# %% Initial revision
# %%
# %% Revision 1.1  1999/11/12 06:47:50  peterg
# %% Initial revision
# %%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

## Same as sInvertedpendulumOnCart with pendulum stuff removed.

# Parameters
j_m = 	3.87e-7;		# Motor inertia
k_m = 	0.00767;		# Motor constant
r_a = 	2.6;			# Armature resistance
l_a = 	0.18e-3;		# Armature inductance

k_g = 	1/3.7;			# Internal gear ratio 
r = 	0.635e-2;		# Motor gear radius

m_c = 	0.455;			# Cart mass

b_m = 	0.0;			# Motor friction
r_c = 	5.0;			# Cart friction

# l_p =   0.61;			# Pendulum length
# m_p =   0.210;			# Pendulum mass
# r_p = 	0.0;			# Pendulum friction
# j_p = m_p*(l_p*l_p)/12;		# Pendulum inertia about cm.

# g = +9.81;			# Gravity

# m_t = 0.0; # Tip mass

## Sensitivity parameters
m_cs = 0;			# Cart mass
b_ms = 0;			# Motor friction 
r_cs = 0;			# Cart friction

# j_ps = 0;			# Pendulum inertia
# m_ps = 0;			# Pendulum mass
# r_ps = 0;			# Pendulum friction

# m_ts = 0;			# Tip mass

## Initial states
i_0 = 0;			# Initial armature current
# omega_0 = 0;			# Initial pendulum velocity
# theta_0 = 0;			# Initial pendulum angle
v_0 = 0;			# Initial cart velocity
x_0 = 0;			# Initial cart position

## Sensitivity parameters
i_0s = 0;			# Initial armature current
# omega_0s = 0;			# Initial pendulum velocity
# theta_0s = 0;			# Initial pendulum angle
v_0s = 0;			# Initial cart velocity
x_0s = 0;			# Initial cart position

## Control parameters
k_1 = 1;
k_2 = 0;
k_3 = 0;
k_4 = 0;

## Control sensitivity parameters
k_1s = 0;
k_2s = 0;
k_3s = 0;
k_4s = 0;


## Which sensitivity function? NB all other sens. coeffs MUST be zero -
## see above
if (mtt_n_parameters>=1)
  mtti = mtt_parameters(1);

  if mtti==1
    k_1s = 1;
  endif
  
  if mtti==2
    k_2s = 1;
  endif
  
  if mtti==3
    k_3s = 1;
  endif

  if mtti==4
    k_4s = 1;
  endif

  if mtti==5
    r_cs = 1;
  endif
  
  if mtti==6
    m_cs = 1;
  endif

#   if mtti==7
#     r_ps = 1;
#   endif

#   if mtti==8
#     m_ts = 1;
#   endif

#   if mtti==9
#     j_ps = 1;
#   endif
  
  if mtti==10
    i_0s = 1;			# Initial armature current
  endif
  
#   if mtti==11
#     omega_0s = 1;		# Initial pendulum velocity
#   endif
  
#   if mtti==12
#     theta_0s = 1;		# Initial pendulum position
#   endif
  
  if mtti==13
    v_0s = 1;			# Initial cart velocity
  endif
  
  if mtti==14
    x_0s = 1;			# Initial cart angle
  endif
  
endif;

## Control parameters

if (mtt_n_parameters>=2)
  k_1 = mtt_parameters(2);
endif;

if (mtt_n_parameters>=3)
  k_2 = mtt_parameters(3);
endif;

if (mtt_n_parameters>=4)
  k_3 = mtt_parameters(4);
endif;

if (mtt_n_parameters>=5)
  k_4 = mtt_parameters(5);
endif;

## Physical parameters
if (mtt_n_parameters>=6)
  r_c = mtt_parameters(6);
endif;

if (mtt_n_parameters>=7)
  m_c = mtt_parameters(7);
endif;

# if (mtt_n_parameters>=8)
#   r_p = mtt_parameters(8);
# endif;

# if (mtt_n_parameters>=9)
#   m_t = mtt_parameters(9);
# endif;

# if (mtt_n_parameters>=10)
#   j_p = mtt_parameters(10);
# endif;

## Initial condition parameters - states are read in
if (mtt_n_parameters>=15)	# 
  i_0 = mtt_parameters(11); # Initial armature current
#   omega_0 = mtt_parameters(12); # Initial cart velocity
#   theta_0 = mtt_parameters(13);	# Initial cart position
  v_0 = mtt_parameters(14); # Initial pendulum velocity
  x_0 = mtt_parameters(15); # Initial pendulum angle
endif;

## Simulation stuff

if (mtt_n_parameters>=16)
  LAST = mtt_parameters(16);
endif;
if (mtt_n_parameters>=17)
  DT = mtt_parameters(17);
endif;









Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sDriveCart_simpar.txt version [66769d1708].























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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system sDriveCart (sDriveCart_simpar.txt)
# Generated by MTT on Fri Dec 3 10:30:48 EST 1999.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################


LAST        = 40.0;       # Last time in simulation
DT          = 0.1;        # Print interval
STEPFACTOR  = 1;          # Integration steps per print interval
WMIN        = -1;         # Minimum frequency = 10^WMIN
WMAX        = 2;          # Maximum frequency = 10^WMAX
WSTEPS      = 100;        # Number of frequency steps
INPUT       = 1;          # Index of the input









Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sDrive_lbl.txt version [5a461fb90b].








































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%% Label file for system sDrive (sDrive_lbl.txt)
%SUMMARY sDrive
%DESCRIPTION <Detailed description here>

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	in	Electrical_1,Electrical_2
%ALIAS	out	Mechanical_1,Mechanical_2

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type sDCS
	motor

% Component type SS
	[Electrical]	SS		external,external
	[Mechanical]	SS		external,external

% Component type sTF
	k_g		lin	flow,k_g;0
	r		lin	flow,r;0











Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sEMTF_abg.fig version [06c2007d04].











































































































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 2205 3555 2295 4095
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 2250 3600 2250 4050
-6
6 2205 3555 2295 4095
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 2250 3600 2250 4050
-6
6 2205 7155 2295 7695
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 2250 7200 2250 7650
-6
6 3510 4005 4050 4095
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 4005 4050 3555 4050
-6
6 3645 5850 4185 5940
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 4140 5895 3690 5895
-6
6 8730 5355 9270 5445
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 9225 5400 8775 5400
-6
6 3600 7155 4140 7245
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 4095 7200 3645 7200
-6
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2250 7425 3600 7425 3375 7650
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4050 7425 5400 7425 5175 7650
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 7425 7425 8775 7425 8550 7650
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 9225 7425 10575 7425 10350 7650
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2250 3825 3600 3825 3375 4050
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4050 3825 5400 3825 5175 4050
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 7425 3825 8775 3825 8550 4050
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 9225 3825 10575 3825 10350 4050
2 1 0 2 -1 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3825 5895 9000 7200 9000 6975
2 1 0 2 -1 7 100 0 -1 0.000 0 0 -1 0 0 3
	 9006 5873 3831 7178 3831 6953
2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6300 450 6300 1800 6525 1575
2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6300 2250 6300 3600 6525 3375
2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 2
	 6075 1800 6525 1800
2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 4
	 6075 2025 4275 2025 4275 5400 4500 5175
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3825 4050 3825 5400 4050 5175
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 9000 4050 9000 5400 9225 5175
2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6525 2250 6525 7200 6750 6975
2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 4
	 6525 2025 8550 2025 8550 5400 8775 5175
2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 4
	 6525 8550 9225 8550 9225 5850 9450 6075
2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 4
	 6075 8550 3600 8550 3600 5850 3375 6075
2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6300 10125 6300 8775 6525 9000
2 1 0 2 5 7 100 0 -1 0.000 0 0 -1 0 0 2
	 6075 8775 6525 8775
4 1 4 100 0 18 20 0.0000 4 285 2415 6210 360 SS:[Actual_mod]\001
4 1 5 100 0 18 20 0.0000 4 210 165 6300 2115 0\001
4 1 4 100 0 18 20 0.0000 4 285 1845 1215 7515 SS:[Sens_in]\001
4 1 0 100 0 18 20 0.0000 4 210 165 3825 7515 1\001
4 1 0 100 0 18 20 0.0000 4 225 1590 6435 7515 EMTF:sens\001
4 1 0 100 0 18 20 0.0000 4 210 165 9000 7515 0\001
4 1 4 100 0 18 20 0.0000 4 285 2040 11790 7515 SS:[Sens_out]\001
4 1 4 100 0 18 20 0.0000 4 285 2055 1215 3915 SS:[Actual_in]\001
4 1 0 100 0 18 20 0.0000 4 210 165 3825 3915 1\001
4 1 0 100 0 18 20 0.0000 4 225 1785 6435 3915 EMTF:actual\001
4 1 0 100 0 18 20 0.0000 4 210 165 9000 3915 0\001
4 1 4 100 0 18 20 0.0000 4 285 2250 11790 3915 SS:[Actual_out]\001
4 1 0 100 0 18 20 0.0000 4 225 1170 8955 5715 AE3:ae3\001
4 1 0 100 0 18 20 0.0000 4 225 1095 3825 5715 AF3:af3\001
4 2 4 100 0 18 14 0.0000 4 210 600 6255 3600 [mod]\001
4 2 4 100 0 18 14 0.0000 4 210 600 6435 7155 [mod]\001
4 1 4 100 0 18 20 0.0000 4 285 2205 6300 10395 SS:[Sens_mod]\001
4 1 5 100 0 18 20 0.0000 4 210 165 6345 8640 0\001
4 2 4 100 0 18 14 0.0000 4 210 720 3420 5985 [smod]\001
4 0 4 100 0 18 14 0.0000 4 210 720 9540 5940 [smod]\001
4 2 4 100 0 18 14 0.0000 4 210 600 8505 5355 [mod]\001
4 0 4 100 0 18 14 0.0000 4 210 600 4455 5400 [mod]\001








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sEMTF_lbl.txt version [740377120d].
























































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%% Label file for system sEMTF (sEMTF_lbl.txt)
%SUMMARY sEMTF Effort modulated TF - sensitivity version
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	in	Actual_in,Sens_in
%ALIAS	out	Actual_out,Sens_out
%ALIAS	mod	Actual_mod,Sens_mod


% Argument aliases
%ALIAS	$1	l

% CR aliases
%ALIAS	$1	lsin
%ALIAS	$2	slsin

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type EMTF
	actual		lsin	flow,l
	sens		lsin	flow,l

% Component type AE3 (????NB NEGATIVE GAIN HERE!!!!)
	ae3             slsin   l

% Component type AF3
	af3             slsin   l

% Component type SS
	[Actual_in]	SS		external,external
	[Actual_out]	SS		external,external
	[Actual_mod]	SS		external,internal
	[Sens_in]	SS		external,external
	[Sens_out]	SS		external,external
	[Sens_mod]	SS		external,internal











Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sINTFS_abg.fig version [3690b29bfb].


































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3376 3151 4276 3151 4051 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4501 2926 4501 2026 4726 2251
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 3151 5626 3151 5401 3376
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 10575 4950 45 4950 45 1350 10575 1350 10575 4950
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1575 3150 2475 3150 2250 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6526 3150 7426 3150 7201 3375
4 1 6 0 0 0 20 0.0000 4 256 181 4502 3242 [1,2]\001
4 1 -1 0 0 0 20 0.0000 4 255 180 4502 3241 0\001
4 1 -1 0 0 0 20 0.0000 4 255 1110 4501 1891 sCS:unit\001
4 2 6 0 0 0 20 0.0000 4 316 1456 1531 3241 [1,2]\001
4 2 4 0 0 0 20 0.0000 4 315 1455 1531 3240 SS:[Flow]\001
4 1 -1 0 0 0 20 0.0000 4 255 825 2925 3240 sAF:af\001
4 1 -1 0 0 0 20 0.0000 4 255 900 6075 3240 sAE:ae\001
4 0 6 0 0 0 20 0.0000 4 331 3046 7471 3241 [1,2]\001
4 0 4 0 0 0 20 0.0000 4 330 3045 7471 3240 SS:[Integrated_flow]\001








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sINTFS_lbl.txt version [04b43b7e2f].

















































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%% Label file for system sINTFS (sINTFS_lbl.txt)
%SUMMARY	sINTFS: flow integrator
%DESCRIPTION	Port [in]:	Flow to be integrated
%DESCRIPTION	Port [out]:	Effort = integral of flow on port [in]


% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.3  1998/07/16 07:35:10  peterg
% %% Aliased version
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	in	Flow_1,Flow_2
%ALIAS	out	Integrated_flow_1,Integrated_flow_2

% Argument aliases
%ALIAS	$1 x_0	
%ALIAS	$2 x_0s	

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% CS
	unit			SS		effort,1;x_0;0;x_0s

% Component type AE
	ae			lin		1;0

% Component type AF
	af			lin		1;0


% Component type SS
	[Flow]			SS		external,external
	[Integrated_flow]	SS		external,external








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sIS_abg.fig version [917d2513e9].





























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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 2340 3915 2610 4185
4 1 6 100 0 18 20 0.0000 4 271 196 2476 4186 [1,2]\001
4 1 0 100 0 18 20 0.0000 4 270 195 2476 4185 0\001
-6
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2475 3825 2475 2475 2700 2700
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2475 5625 2475 4275 2700 4500
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2700 4050 4050 4050 3825 4275
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 4050 3825 4050 4275
4 1 0 100 0 18 20 0.0000 4 285 315 2475 2295 sI:i\001
4 0 0 100 0 18 20 0.0000 4 360 1035 4185 4185 sSf:f_0\001
4 1 6 100 0 18 20 0.0000 4 361 1186 2476 6031 [1,2]\001
4 1 4 100 0 18 20 0.0000 4 360 1185 2476 6030 SS:[in]\001








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sIS_lbl.txt version [9a121bfbfe].









































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%% Label file for system sIS (sIS_lbl.txt)
%SUMMARY sIS
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% Port aliases
%ALIAS	in	in_1,in_2

% Argument aliases
%ALIAS	$1	flow,i
%ALIAS	$2	f_0
%ALIAS	$3	i_s
%ALIAS	$4	f_0s

% Argument aliases

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type SS
	[in]	SS		external,external

% Component type sI
	i       lin             flow,i;i_s

% Component type sSf
	f_0     SS	        f_0;f_0s








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCartPPP_numpar.txt version [7f13064103].
































































































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# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (sInvertedPendulumOnCart_numpar.txt)
# Generated by MTT at Tue Apr 18 18:07:52 BST 2000

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

## Default parameters
b_m = 	0.0; # sDCS
b_ms = 	0.0; # sDCS
c = 	0.0; # sC,sC,sCS,sCS
c_s = 	0.0; # sCS,sCS
e_0 = 	0.0; # sCS,sCS
e_0s = 	0.0; # sCS,sCS
e_s = 	0.0; # Se,Se,Se,sSe,sSe,sSe
f_0 = 	0.0; # sIS,sIS,sIS
f_0s = 	0.0; # sIS,sIS,sIS
f_s = 	0.0; # Sf,Sf,Sf,sSf,sSf,sSf
g = 	0.0; # AFe,AFe,sInvertedPendulum,sROD
i = 	0.0; # sI,sI,sI,sI,sI,sI,sIS,sIS,sIS
i_0 = 	0.0; # sDCS
i_0s = 	0.0; # sDCS
i_s = 	0.0; # sIS,sIS,sIS
j_m = 	0.0; # sDCS,sROD
j_p = 	0.0; # sInvertedPendulum
j_ps = 	0.0; # sInvertedPendulum
j_s = 	0.0; # sROD
k = 	0.0; # sAE,sAE,sAE,sAF,sAF,sGY,sTF
ppp_1 = 	1.0; # sOpenLoop
ppp_1s = 	0.0; # sOpenLoop
ppp_2 = 	0.0; # sOpenLoop
ppp_2s = 	0.0; # sOpenLoop
ppp_3 = 	0.0; # sOpenLoop
ppp_3s = 	0.0; # sOpenLoop
ppp_4 = 	0.0; # sOpenLoop
ppp_4s = 	0.0; # sOpenLoop
k_g = 	0.0; # sDrive
k_m = 	0.0; # sDCS
k_s = 	0.0; # sAE,sAE,sAE,sAF,sAF,sC,sC,sGY,sI,sI,sI,sI,sI,sI,sR,sR,sSe,sSe,sSe,sSf,sSf,sSf,sTF
l = 	0.0; # AE3,AF3,sEMTF
l_a = 	0.0; # sDCS,sROD
l_b = 	0.0; # sROD
l_p = 	0.0; # sInvertedPendulum,sInvertedPendulumOnCart
m = 	0.0; # sROD
m_c = 	0.0; # sCart
m_cs = 	0.0; # sCart
m_p = 	0.0; # sInvertedPendulum
m_ps = 	0.0; # sInvertedPendulum
m_s = 	0.0; # sROD
m_t = 	0.0; # sInvertedPendulum
m_ts = 	0.0; # sInvertedPendulum
omega_0 = 	0.0; # sInvertedPendulum,sROD
omega_0s = 	0.0; # sInvertedPendulum,sROD
r = 	0.0; # sDrive,sR,sR
r_a = 	0.0; # sDCS
r_c = 	0.0; # sCart
r_cs = 	0.0; # sCart
r_p = 	0.0; # sCart
r_ps = 	0.0; # sCart
theta_0 = 	0.0; # sInvertedPendulum,sROD
theta_0s = 	0.0; # sInvertedPendulum,sROD
v_0 = 	0.0; # sCart
v_0s = 	0.0; # sCart
x_0 = 	0.0; # sCart,sINTFS,sINTFS
x_0s = 	0.0; # sCart,sINTFS,sINTFS


## Pysical Parameters
j_m = 	3.87e-7;		# Motor inertia
k_m = 	0.00767;		# Motor constant
r_a = 	2.6;			# Armature resistance
l_a = 	0.18e-3;		# Armature inductance

k_g = 	1/3.7;			# Internal gear ratio 
r = 	0.635e-2;		# Motor gear radius

m_c = 	0.455;			# Cart mass

b_m = 	0.0;			# Motor friction
r_c = 	1.5;			# Cart friction

l_p =   0.61;			# Pendulum length
m_p =   0.210;			# Pendulum mass
r_p = 	0.0;			# Pendulum friction

j_p = m_p*(l_p*l_p)/12;		# Pendulum inertia about cm.

g = 9.81;			# Gravity








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCartPPP_state.txt version [3b214e7bb5].

























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# -*-octave-*- Put Emacs into octave-mode
# Initial state  file (sInvertedPendulumOnCartPPP_state.txt)
# Generated by MTT at Thu May  4 14:57:10 BST 2000
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

# Set the states
mttx(1) 	= 0.0; 	# i_1 (sInvertedPendulumOnCartPPP_mtt2_motor_l_a_i)
mttx(2) 	= 0.0; 	# i_2 (sInvertedPendulumOnCartPPP_mtt2_motor_l_a_i)
mttx(3) 	= 0.0; 	# i_1 (sInvertedPendulumOnCartPPP_mtt3_rod_J_i)
mttx(4) 	= 0.0; 	# i_2 (sInvertedPendulumOnCartPPP_mtt3_rod_J_i)
mttx(5) 	= pi/2; 	# c_1 (sInvertedPendulumOnCartPPP_mtt3_rod_th_unit_c)
mttx(6) 	= 0.0; 	# c_2 (sInvertedPendulumOnCartPPP_mtt3_rod_th_unit_c)
mttx(7) 	= 0.0; 	# i_1 (sInvertedPendulumOnCartPPP_mtt4_m_c_i)
mttx(8) 	= 0.0; 	# i_2 (sInvertedPendulumOnCartPPP_mtt4_m_c_i)
mttx(9) 	= 0.0; 	# c_1 (sInvertedPendulumOnCartPPP_mtt4_x_unit_c)
mttx(10) 	= 0.0; 	# c_2 (sInvertedPendulumOnCartPPP_mtt4_x_unit_c)








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCart_input.txt version [c3ea90775c].









































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# -*-octave-*- Put Emacs into octave-mode
# Input specification (sInvertedPendulumOnCart_input.txt)
# Generated by MTT at Thu Aug  5 09:17:30 BST 1999
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

# Set the inputs
# mttu(1) = 1.0*(t<1) -1.0*((t>=1)&&(t<2)); 	# u (sInvertedPendulumOnCart_F)

  ## Doing control
#   if (mtt_n_parameters>=1)	
#     if (mtt_parameters(1)<5)
      mttu(1) = exp(-0.0*t);
      mttu(2) = exp(-2.0*t);
      mttu(3) = exp(-5.0*t);
      mttu(4) = exp(-10.0*t);

#       mttu(1) = 1;
#       mttu(2) = exp(-0.5*t);;
#       mttu(3) = exp(-t);
#       mttu(4) = exp(-2*t);

#       mttu(1) = (t<0.1);
#       mttu(2) = ((t>=0.1)&&(t<0.2));
#       mttu(3) = ((t>=0.2)&&(t<0.3));
#       mttu(4) = ((t>=0.3)&&(t<0.4));
#     else			
#       ## Identification 
#       mttu(1) = (-1*((t>=3.37966)&&(t<= 5.36946)) + ((t>=10.36896)&&(t<=12.36876))); 
#     endif
#   endif










Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCart_lbl.txt version [6c0ec1a387].






























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%% Label file for system sInvertedPendulumOnCart (sInvertedPendulumOnCart_lbl.txt)
%SUMMARY sInvertedPendulumOnCart
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


%VAR l_p		#Pendulum length

% Port aliases

% Argument aliases

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----










Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCart_rep.txt version [7cce77e715].

































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## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system sInvertedPendulumOnCart (sInvertedPendulumOnCart_rep.txt)
## Generated by MTT on" Fri Oct 22 09:03:14 EST 1999.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

mtt sInvertedPendulumOnCart abg tex			# The system description
mtt sInvertedPendulumOnCart cbg ps 		        # The causal bond graph
## Uncomment the following lines or add others
mtt sInvertedPendulumOnCart struc tex	        # The system structure
mtt sInvertedPendulumOnCart dae tex	        # The system dae
## mtt sInvertedPendulumOnCart ode tex	        # The system ode 
## mtt sInvertedPendulumOnCart sspar tex		# Steady-state parameters
## mtt sInvertedPendulumOnCart ss tex 		# Steady state
## mtt sInvertedPendulumOnCart dm tex		# Descriptor matrices (of linearised system)
mtt sInvertedPendulumOnCart sm tex		# State matrices (of linearised system)
## mtt sInvertedPendulumOnCart tf tex		# Transfer function (of linearised system)
## mtt sInvertedPendulumOnCart lmfr ps		# log modulus of frequency response (of linearised system)
mtt sInvertedPendulumOnCart simpar tex		# Simulation parameters
mtt sInvertedPendulumOnCart numpar tex		# Numerical simulation parameters
mtt sInvertedPendulumOnCart input tex		# Simulation input
mtt -c -cse sInvertedPendulumOnCart odeso ps		# Simulation output

mtt sInvertedPendulumOnCart ppp ps		# PPP control








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulumOnCart_simpar.txt version [2fbcb7b3c6].
























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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system sInvertedPendulumOnCart (sInvertedPendulumOnCart_simpar.txt)
# Generated by MTT on Thu Aug 5 09:17:05 BST 1999.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################


LAST        = 1.0;      # Last time in simulation
DT          = 0.05;		# Print interval
STEPFACTOR  = 1;		# Integration steps per print interval
WMIN        = -1;         # Minimum frequency = 10^WMIN
WMAX        = 2;          # Maximum frequency = 10^WMAX
WSTEPS      = 100;        # Number of frequency steps
INPUT       = 1;          # Index of the input










Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sInvertedPendulum_lbl.txt version [19c18e9e54].




















































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%% Label file for system sInvertedPendulum (sInvertedPendulum_lbl.txt)
%SUMMARY sInvertedPendulum
%DESCRIPTION <Detailed description here>

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	in	x_1,x_2,y_1,y_2,a_1,a_2


% Argument aliases

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type I
        m_x     lin             flow,m_t;m_ts
        m_y     lin             flow,m_t;m_ts

% Component type Se
	mg			SS		m_t*g;0

% Component type De
	theta			SS	external;external



% Component type SS
	[a]	SS		external,external
	[x]	SS		external,external
	[y]	SS		external,external

% Component type Se
	a_0	 SS	0;0

% Component type ROD
	rod	 none		l_p;l_p;j_p;m_p;g;omega_0;theta_0;j_ps;m_ps;omega_0s;theta_0s
 








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sOpenLoop_lbl.txt version [6832b95589].


























































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%% Label file for system sOpenLoop (sOpenLoop_lbl.txt)
%SUMMARY sOpenLoop
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	out	us_1,us_2

% Argument aliases
%ALIAS	$1	U_1
%ALIAS	$2	U_1s
%ALIAS	$3	U_2
%ALIAS	$4	U_2s
%ALIAS	$5	U_3
%ALIAS	$6	U_3s
%ALIAS	$7	U_4
%ALIAS	$8	U_4s
%ALIAS	$9	us
%ALIAS	$10	uss
%ALIAS	$11	Us_1
%ALIAS	$12	Us_1s
%ALIAS	$13	Us_2
%ALIAS	$14	Us_2s
%ALIAS	$15	Us_3
%ALIAS	$16	Us_3s
%ALIAS	$17	Us_4
%ALIAS	$18	Us_4s

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----
	[us]	SS		external,external

% Component type AE
	U_1	lin		ppp_1;ppp_1s
	U_2	lin		ppp_2;ppp_2s
	U_3	lin		ppp_3;ppp_3s
	U_4	lin		ppp_4;ppp_4s

% Component type Se
	Us_1	SS		external;0
	Us_2	SS		external;0
	Us_3	SS		external;0
	Us_4	SS		external;0








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sROD_lbl.txt version [710dd08bb5].














































































































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%SUMMARY	sROD: rigid rod in two dimensions - with gravity and angle port
%DESCRIPTION	See Section 10.2 of "Metamodelling"
%DESCRIPTION	Gravity term added at centre

%ALIAS $1	l_a	# length from end a to mass centre
%ALIAS $2	l_b	# length from end b to mass centre
%ALIAS $3	j_m	# inertia about mass centre
%ALIAS $4	m	# mass
%ALIAS $5	g	# gravity

%ALIAS $6	omega_0 # Initial angular velocity 
%ALIAS $7	theta_0 # Initial angular velocity 

## Sensitivities
%ALIAS $8	j_s 
%ALIAS $9	m_s 

%ALIAS $10	omega_0s # Initial angular velocity 
%ALIAS $11	theta_0s # Initial angular velocity 


%ALIAS in|Tip_a		xTip_a_1,xTip_a_2,angularTip_a_1,angularTip_a_2,yTip_a_1,yTip_a_2 	
%ALIAS out|Tip_b	xTip_b_1,xTip_b_2,angularTip_b_1,angularTip_b_2,yTip_b_1,yTip_b_2 	

%ALIAS x_a		xTip_a_1,xTip_a_2 # Force/velocity at tip a in x direction
%ALIAS y_a		yTip_a_1,yTip_a_2 # Force/velocity at tip a in y direction
%ALIAS alpha_a|a_a	angularTip_a_1,angularTip_a_2 # Torque/angular velocity at tip a

%ALIAS x_b		xTip_b_1,xTip_b_2 # Force/velocity at tip b in x direction
%ALIAS y_b		yTip_b_1,yTip_b_2 # Force/velocity at tip b in y direction
%ALIAS alpha_b|a_b	angularTip_b_1,angularTip_b_2 # Torque/angular velocity at tip b

%ALIAS angle|a		angle_1,angle_2	# Angle port

%ALIAS INTF	General/INTF # The flow integration component.

%% Label file for system sROD (sROD_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1999/10/22 02:01:45  peterg
% %% Initial revision
% %%
% %% Revision 1.1  1999/08/05 08:04:40  peterg
% %% Initial revision
% %%
% %% Revision 1.3  1998/11/30 10:47:53  peterg
% %% Added extra a_a and a_b aliases
% %%
% %% Revision 1.2  1998/11/25 13:55:42  peterg
% %% Added missig attribute field m*g,internal
% %%
% %% Revision 1.1  1998/11/25 10:48:34  peterg
% %% Initial revision
% %%
% %% Revision 1.5  1998/07/27 12:27:27  peterg
% %% Added vector port aliases
% %%
% %% Revision 1.4  1998/07/27 10:51:20  peterg
% %% Aliased INTF as well.
% %%
% %% Revision 1.3  1998/07/27 10:49:10  peterg
% %% Major revision to include aliases etc
% %%
% %% Revision 1.2  1997/08/15  09:43:06  peterg
% %% Now has lablelled (as opposed to numbered) ports.
% %%
% Revision 1.1  1996/11/07  10:57:17  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Inertias
J	lin	flow,j_m;omega_0;j_s;omega_0s
m_x	lin	flow,m;m_s
m_y	lin	flow,m;m_s

%Integrate angular velocity to get angle
th	   none	   theta_0;theta_0s

%Modulated transformers
s1	lsin;slsin	l_a
s2	lsin;slsin	l_b
c1	lcos;slcos	l_a
c2	lcos;slcos	l_b


% Component type Se
	mg			SS		m*g;0

% Component type SS
	[angularTip_a]		SS		external,external
	[angularTip_b]		SS		external,external
	[xTip_a]		SS		external,external
	[xTip_b]		SS		external,external
	[yTip_a]		SS		external,external
	[yTip_b]		SS		external,external
	[angle]			SS		external,external








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/InvertedPendulumOnCartPPP/sZero_lbl.txt version [c03b79280f].




































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%% Label file for system sZero (sZero_lbl.txt)
%SUMMARY sZero
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	in	x_1,x_2,y_1,y_2,a_1,a_2


%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----
	[a]	SS		external,external
	[x]	SS		external,external
	[y]	SS		external,external

% Component type Se
	x	SS		0;0
	y	SS		0;0

% Component type Sf
	a	SS		0;0








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_abg.fig version [bb4e1ded8d].



























































































































































































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#FIG 3.2
Portrait
Center
Inches
A4      
100.00
Single
-2
1200 2
6 8550 825 13500 3375
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 12595 1725 11695 1725 11845 1875
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 12595 1350 11695 1350 11845 1500
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 12595 975 11695 975 11845 1125
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 12595 2100 11695 2100 11845 2250
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 12595 2475 11695 2475 11845 2625
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 12595 2850 11695 2850 11845 3000
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 12595 3225 11695 3225 11845 3375
2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 10200 2100 9300 2100 9450 2250
2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 4
	 10200 975 8700 975 8700 1875 8550 1725
2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 4
	 10200 1275 9000 1275 9000 1875 8850 1725
2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 4
	 10200 1725 9300 1725 9300 1875 9150 1725
2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 4
	 10200 3225 8700 3225 8700 2325 8550 2475
2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 4
	 10200 2925 9000 2925 9000 2325 8850 2475
2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 4
	 10200 2475 9300 2475 9300 2325 9150 2475
4 1 -1 0 0 0 20 0.0000 4 285 1230 10950 2175 AE:ppp_4\001
4 1 -1 0 0 0 20 0.0000 4 285 810 13050 1800 Se:u_3\001
4 1 -1 0 0 0 20 0.0000 4 285 1230 10950 1800 AE:ppp_3\001
4 1 -1 0 0 0 20 0.0000 4 285 810 13050 1425 Se:u_2\001
4 1 -1 0 0 0 20 0.0000 4 285 1230 10950 1425 AE:ppp_2\001
4 1 -1 0 0 0 20 0.0000 4 285 810 13050 1050 Se:u_1\001
4 1 -1 0 0 0 20 0.0000 4 285 1230 10950 1050 AE:ppp_1\001
4 1 -1 0 0 0 20 0.0000 4 285 1230 10950 2550 AE:ppp_5\001
4 1 -1 0 0 0 20 0.0000 4 285 1230 10950 2925 AE:ppp_6\001
4 1 -1 0 0 0 20 0.0000 4 285 1230 10950 3300 AE:ppp_7\001
4 1 -1 0 0 0 20 0.0000 4 285 810 13050 2550 Se:u_5\001
4 1 -1 0 0 0 20 0.0000 4 285 810 13050 2925 Se:u_6\001
4 1 -1 0 0 0 20 0.0000 4 285 810 13050 3300 Se:u_7\001
4 1 -1 0 0 0 20 0.0000 4 285 810 13050 2175 Se:u_4\001
4 1 -1 0 0 0 20 0.0000 4 210 150 9000 2175 1\001
-6
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2706 7206 3606 7206 3456 7356
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2406 7506 2406 8406 2556 8256
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3906 7506 3906 8406 4056 8256
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7208 7208 8108 7208 7958 7358
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8708 7208 9608 7208 9458 7358
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8408 7508 8408 8408 8558 8258
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7208 6908 8108 6008 8108 6233
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8708 6008 9608 6908 9383 6908
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9909 7509 9909 8409 10059 8259
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6908 7508 6908 8408 7058 8258
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 11407 7507 11407 8407 11557 8257
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 11406 5706 11406 4806 11556 4956
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4206 7206 5106 7206 4956 7356
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5406 7506 5406 8406 5556 8256
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4206 6906 5106 6006 5106 6231
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5405 5705 5405 4805 5555 4955
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2405 5705 2405 4805 2555 4955
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 11707 7207 12607 7207 12457 7357
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 11707 6007 12607 6907 12382 6907
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2105 4205 2105 3305 2255 3455
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2705 4205 2705 3305 2855 3455
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5706 7206 6606 7206 6456 7356
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5706 6006 6606 6906 6381 6906
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2704 6004 3604 6904 3379 6904
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1208 7208 2108 7208 1958 7358
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1208 6908 2108 6008 2108 6233
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 681 6006 1131 6006
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 906 6906 906 6006 1056 6156
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 12905 6905 12905 6005 13055 6155
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 10207 7207 11107 7207 10957 7357
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 10207 6907 11107 6007 11107 6232
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8400 5700 8625 5700
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 12900 6000 13125 6000
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 12675 6000 12900 6000
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8175 5700 8400 5700
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 1501 7801 301 7801 301 5401 1501 5401 1501 7801
2 2 1 2 1 7 1 0 -1 6.000 1 0 0 0 0 5
	 1502 2852 3302 2852 3302 5777 1502 5777 1502 2852
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 4501 9001 3301 9001 3301 6301 4501 6301 4501 9001
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 6000 9000 4800 9000 4800 4200 6000 4200 6000 9000
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 7501 9001 6301 9001 6301 6301 7501 6301 7501 9001
2 4 1 2 1 7 2 0 -1 6.000 0 0 7 0 0 5
	 9000 9000 7800 9000 7800 4200 9000 4200 9000 9000
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 10501 9001 9301 9001 9301 6301 10501 6301 10501 9001
2 4 1 2 1 -1 1 0 -1 6.000 0 0 7 0 0 5
	 12000 9000 10800 9000 10800 4200 12000 4200 12000 9000
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 13501 7801 12301 7801 12301 5401 13501 5401 13501 7801
2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 4
	 8700 2100 8400 2100 8400 5700 8550 5550
2 2 1 2 1 7 101 0 -1 6.000 0 0 -1 0 0 5
	 8100 600 13800 600 13800 3600 8100 3600 8100 600
4 1 -1 0 0 0 20 0.0000 4 210 150 2406 7281 0\001
4 1 -1 0 0 0 20 0.0000 4 285 690 3906 8781 I:m_1\001
4 1 -1 0 0 0 20 0.0000 4 285 705 2405 8780 R:b_1\001
4 1 -1 0 0 0 20 0.0000 4 210 150 2405 6080 0\001
4 1 -1 0 0 0 20 0.0000 4 210 150 3906 7281 1\001
4 1 -1 0 0 0 20 0.0000 4 210 150 8408 7283 0\001
4 1 -1 0 0 0 20 0.0000 4 210 150 8408 6083 0\001
4 1 -1 0 0 0 20 0.0000 4 285 705 8483 8783 R:b_3\001
4 1 -1 0 0 0 20 0.0000 4 285 690 9906 8781 I:m_3\001
4 1 -1 0 0 0 20 0.0000 4 285 690 6905 8780 I:m_2\001
4 1 -1 0 0 0 20 0.0000 4 210 150 11407 7282 0\001
4 1 -1 0 0 0 20 0.0000 4 210 150 11407 6082 0\001
4 1 -1 0 0 0 20 0.0000 4 285 645 11406 4581 C:k_t\001
4 1 -1 0 0 0 20 0.0000 4 285 645 11482 8782 R:b_t\001
4 1 -1 0 0 0 20 0.0000 4 210 150 5406 7281 0\001
4 1 -1 0 0 0 20 0.0000 4 210 150 5406 6081 0\001
4 1 -1 0 0 0 20 0.0000 4 285 705 5481 8781 R:b_2\001
4 1 -1 0 0 0 20 0.0000 4 210 150 12909 7284 1\001
4 1 -1 0 0 0 20 0.0000 4 210 150 6908 7283 1\001
4 1 -1 0 0 0 20 0.0000 4 210 150 2404 4579 1\001
4 1 -1 0 0 0 20 0.0000 4 285 705 2779 3154 C:p_1\001
4 1 -1 0 0 0 20 0.0000 4 285 705 2104 3154 R:d_1\001
4 1 -1 0 0 0 20 0.0000 4 210 150 910 7285 1\001
4 1 -1 0 0 0 20 0.0000 4 285 765 902 5777 Sf:v_b\001
4 1 -1 0 0 0 20 0.0000 4 285 735 12905 5780 De:f_t\001
4 1 -1 0 0 0 20 0.0000 4 210 150 9909 7284 1\001
4 1 -1 0 0 0 20 0.0000 4 285 705 5405 4580 C:k_2\001
4 1 1 1 0 3 20 0.0000 4 210 1515 3901 9301 Macro mass\001
4 1 1 1 0 3 20 0.0000 4 210 1770 2401 2776 Macro control\001
4 1 1 1 0 3 20 0.0000 4 210 1470 900 8100 Macro base\001
4 1 1 1 0 3 20 0.0000 4 285 1845 5400 4050 Compliant link\001
4 1 1 1 0 3 20 0.0000 4 210 1425 6901 9301 Micro mass\001
4 1 1 1 0 3 20 0.0000 4 210 1860 8475 4050 Micro actuator\001
4 1 1 1 0 3 20 0.0000 4 285 1095 9901 9301 Tip mass\001
4 1 1 1 0 3 20 0.0000 4 285 2940 11400 4050 Compliant environment\001
4 1 1 1 0 3 20 0.0000 4 285 1275 12901 8101 Tip sensor\001
4 1 1 1 0 3 20 0.0000 4 285 2370 6750 1275 Open-loop control\001








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_desc.tex version [4de8b8a9c3].












































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% Verbal description for system MacroMicroPPP (MacroMicroPPP_desc.tex)
% Generated by MTT on Tue Dec 9 17:55:41 GMT 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/05/21 16:10:07  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{MacroMicroPPP} is
   displayed in Figure \Ref{MacroMicroPPP_abg} and its label
   file is listed in Section \Ref{sec:MacroMicroPPP_lbl}.
   The subsystems are listed in Section \Ref{sec:MacroMicroPPP_sub}.

This is a Bond Graph model of the macro-micro manipulation system
discussed by Sharon in his thesis and BY Sharon, Hogan and Hardt in
various papers.

It can be regarded as a single-input single-output system with input
$e_1$ and output $e_2$.  The bond graph in Figure \Ref{rcPPP_abg} is
augmented with the {\em open-loop\/} controller comprising
\begin{itemize}
\item seven effort source \textbf{Se} components ``u1'' to``u7''
\item seven effort amplifier \textbf{AE} components ``ppp\_1'' to `ppp\_7''
\end{itemize}
This allows up to 7 input basis functions.

This is a \emph{linear} system; but it is used to illustate
\emph{nonlinear} PPP control. 
Section \Ref{sec:rcPPP_nppp.ps} compares
\begin{itemize}
\item linear open-loop PPP control
\item linear closed-loop PPP control
\item nonlinear PPP control
\end{itemize}
as linear open and closed-loop control.








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_lbl.txt version [1618b01e61].

























































































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%% Label file for system MacroMicroPPP (MacroMicroPPP_lbl.txt)
%SUMMARY MacroMicroPPP
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/05/21 16:05:48  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases

% Argument aliases
%ALIAS	$1	ppp_1
%ALIAS	$2	ppp_2
%ALIAS	$3	ppp_3
%ALIAS	$4	ppp_4
%ALIAS	$5	k_2
%ALIAS	$6	k_t
%ALIAS	$7	p_1
%ALIAS	$8	f_t
%ALIAS	$9	m_1
%ALIAS	$10	m_2
%ALIAS	$11	m_3
%ALIAS	$12	b_1
%ALIAS	$13	b_2
%ALIAS	$14	b_3
%ALIAS	$15	b_t
%ALIAS	$16	d_1
%ALIAS	$17	u_1
%ALIAS	$18	u_2
%ALIAS	$19	u_3
%ALIAS	$20	u_4
%ALIAS	$21	v_b

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----
	ppp_1	lin		ppp_1
	ppp_2	lin		ppp_2
	ppp_3	lin		ppp_3
	ppp_4	lin		ppp_4
	ppp_5	lin		ppp_5
	ppp_6	lin		ppp_6
	ppp_7	lin		ppp_7

% Component type C
	k_2	lin		state,k_2
	k_t	lin		state,k_t
	p_1	lin		state,p_1

% Component type De
	f_t	SS		external

% Component type I
	m_1	lin		flow,m_1
	m_2	lin		flow,m_2
	m_3	lin		flow,m_3

% Component type R
	b_1	lin		flow,b_1
	b_2	lin		flow,b_2
	b_3	lin		flow,b_3
	b_t	lin		flow,b_t
	d_1	lin		flow,d_1

% Component type Se
	u_1	SS		external
	u_2	SS		external
	u_3	SS		external
	u_4	SS		external
	u_5	SS		external
	u_6	SS		external
	u_7	SS		external

% Component type Sf
	v_b	SS		0








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_nppp.m version [cfbc4c4ad7].






























































































































































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## MacroMicroPPP_nppp.m
## Makes figures for the MacroMicro_PPP exasmple.
## $Log$
## Revision 1.4  2000/05/21 16:11:53  peterg
## 7 basis funs.
##
## Revision 1.3  2000/05/21 15:59:34  peterg
## Made into _nppp.m file
## Parameterised _sm
##
## Revision 1.2  2000/05/17 17:01:39  peterg
## Modified for Macro Micro example -- works!!
##
## Revision 1.1  2000/05/17 10:03:04  peterg
## Initial revision
##
## Revision 1.1  2000/05/17 09:14:37  peterg
## Initial revision
##
system_name = "MacroMicroPPP";

## Uncomment the following the first time
## (Or do ./Make MacroMicroPPP in this directory)

## MTT stuff for the system simulation
##system("Make MacroMicroPPP");



t_s=0.1*[0:0.01:1];
u = [ones(7,length(t_s))];
x_0 = MacroMicroPPP_state;
par  = MacroMicroPPP_numpar;

## Simulate the system
tick=time;
[y] = MacroMicroPPP_sim(x_0,u,t_s,par);
Elapsed = time-tick
plot(t_s,y)

## Simulate the system to give just the final few point
t_s1 = 0.1*[0.91:0.01:1];
tick=time;
[y,x] = MacroMicroPPP_sim(x_0,u,t_s1,par);
Elapsed = time-tick
plot(t_s1,y,t_s1,x);

## Sensitivity system simulation parameters
x_0s = sMacroMicroPPP_state;
pars  = sMacroMicroPPP_numpar;
sympars  = sMacroMicroPPP_sympar;

## Simulate the sensitivity system
sensitivities = \
    [sympars.ppp_1s,\
     sympars.ppp_2s,\
     sympars.ppp_3s,\
     sympars.ppp_4s,\
     sympars.ppp_5s,\
     sympars.ppp_6s,\
     sympars.ppp_7s]
tick=time;
[y,ys] = sMacroMicroPPP_sim(x_0s,u,t_s,pars,sensitivities);
Elapsed = time-tick
plot(t_s,y,t_s,ys);


### PPP parameters
A_w = 0;
A_u = ppp_aug(A_w,laguerre_matrix(6,25)); # Specify basis functions

tau = 0.5*[0.9:0.01:1];         # Optimisation interval
t_ol = 0.5*[0:0.01:0.1];	# Open-loop interval
N = 10;                          # Number of open-loop intervals in simulation
w = 1;                          # Setpoint

## Linear system
[A,B,C,D] = MacroMicroPPP_sm(par);
Q = 1;
w = 1;
ppp_lin_plot (A,B(:,1),C(1,:),D(1,1),A_u,A_w,tau,Q,w,x_0);
psfig("MacroMicroPPP_lin");

## Simulate non-linear PPP (on this linear system)
extras.U_initial = "zero";
extras.U_next = "continuation";
extras.criterion = 1e-8;
extras.max_iterations = 10;
extras.v = 0.1;
extras.verbose = 0;

##  -- with no optimisation using linear PPP with continuation
extras.U_initial = "linear";
extras.U_next = "continuation";
extras.criterion = 1e-5;
extras.max_iterations = 0;

[y_c,x,u_c,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras);

##  -- with no optimisation using linear PPP at each step
extras.U_initial = "linear";
extras.U_next = "linear";
extras.criterion = 1e-5;
extras.max_iterations = 0;
[y_l,x,u_l,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras);

##  -- with optimisation using nonlinear PPP with continuation
extras.U_initial = "zero";
extras.U_next = "continuation";
extras.criterion = 1e-5;
extras.max_iterations=100;
extras.verbose = 0;
extras.v = 1e-5;
disp("Non-linear optimisation ....");
[y,x,u,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras);


## Plots
title("");

## U, U_c and U_l
I = 1:N;
IU1 = [I' U(1,:)'];
IU1_c = [I' U_c(1,:)'];
IU1_l = [I' U_l(1,:)'];
gset grid; xlabel "Interval"
gplot IU1 title "U_1", IU1_c title "U_c1", IU1_l title "U_l1"
psfig("MacroMicroPPP_U1");

IU2 = [I' U(2,:)'];
IU2_c = [I' U_c(2,:)'];
IU2_l = [I' U_l(2,:)'];
gset grid; xlabel "Interval "
gplot IU2 title "U_2", IU2_c title "U_c2", IU2_l title "U_l2"
psfig("MacroMicroPPP_U2");

## y & u
gset grid; xlabel "Time (sec)"
ty = [t' y'] ; tu =  [t' u']; 
gplot ty title "Output", tu title "Input"

psfig("MacroMicroPPP_yu");

title("");
gset grid; xlabel "Time (sec)"
ty_c = [t' y_c'] ; 
ty_l = [t' y_l'] ; 
ty = [t' y'] ; 
tu =  [t' u']; 
gplot ty_c title "Continuation", ty_l title "Linear", ty title "Optimisation"
psfig("MacroMicroPPP_nppp");











Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_numpar.txt version [7601b7d25d].








































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## Dummies
b_1 = 0.0;
b_2 = 0.0;
b_3 = 0.0;
b_t = 0.0;
d_1 = 0.0;
e_s = 0.0;
f_s = 0.0;
k_2 = 0.0;
k_t = 0.0;
m_1 = 0.0;
m_2 = 0.0;
m_3 = 0.0;
p_1 = 0.0;
ppp_1 = 0.0;
ppp_2 = 0.0;
ppp_3 = 0.0;
ppp_4 = 0.0;
ppp_5 = 0.0;
ppp_6 = 0.0;
ppp_7 = 0.0;

m_1 = 0.0169;		# m_1;
m_2 = 0.0169;		# m_2;
b_1 = 0.13;		# b_1;
b_2 = 0.013;		# b_2;
k_2 = 24;	        # k_2;
k_t = 150;		# k_t;
b_t = 0.16;		# b_t;
b_3 = 0.13;		# b_3;
m_3 = 0.005;		# m_3;
p_1 = 10;		# p_1;
d_1 = 0.9;		# d_1;


ppp_1 = 1.0;








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/MacroMicroPPP_rep.txt version [24152c31ed].





























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## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system MacroMicroPPP (MacroMicroPPP_rep.txt)
## Generated by MTT on" Wed May 10 09:22:52 BST 2000.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.1  2000/05/20 17:44:47  peterg
## Initial revision
##
###############################################################

mtt MacroMicroPPP abg tex		# The system description
#mtt -s sMacroMicroPPP abg tex		# The system description

mtt MacroMicroPPP struc tex	        # The system structure
mtt -s sMacroMicroPPP struc tex	        # The system structure

mtt MacroMicroPPP nppp m		# How its done
mtt MacroMicroPPP nppp ps	        # PPP output

mtt MacroMicroPPP rep txt	        # The report.









Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/Make version [e246f48d9d].


































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#!/bin/sh

## Makes the files needed for Figures.m
## Copyright (C) 2000 by Peter J. Gawthrop

if [ -z "$1" ]; then
    echo Usage ./Make system_name
    exit
else
    echo "Making simulation for system $1 (for use in Figures.m)"
fi

## System
mtt -q -c -stdin $1 ode2odes out
mtt -q -c -stdin $1 sim m
mtt -q  $1 state m
mtt -q  $1 sympar m
mtt -q  $1 numpar m

## Sensitivity system
mtt -q -c -stdin -s s$1 ode2odes out
mtt -q -c -stdin -s s$1 sim m
mtt -q  -s s$1 state m
mtt -q  -s s$1 sympar m
mtt -q  -s s$1 numpar m

## Additional system reps for PPP
mtt -q  $1 sm m
mtt -q  $1 def m
mtt -q  -s s$1 def m








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/sMacroMicroPPP_lbl.txt version [510a291607].











































































































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%% Label file for system sMacroMicroPPP (sMacroMicroPPP_lbl.txt)
%SUMMARY sMacroMicroPPP
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases

% Argument aliases
%ALIAS	$1	ppp_1
%ALIAS	$2	ppp_1s
%ALIAS	$3	ppp_2
%ALIAS	$4	ppp_2s
%ALIAS	$5	ppp_3
%ALIAS	$6	ppp_3s
%ALIAS	$7	ppp_4
%ALIAS	$8	ppp_4s
%ALIAS	$9	k_2
%ALIAS	$10	k_2s
%ALIAS	$11	k_t
%ALIAS	$12	k_ts
%ALIAS	$13	p_1
%ALIAS	$14	p_1s
%ALIAS	$15	f_t
%ALIAS	$16	f_ts
%ALIAS	$17	m_1
%ALIAS	$18	m_1s
%ALIAS	$19	m_2
%ALIAS	$20	m_2s
%ALIAS	$21	m_3
%ALIAS	$22	m_3s
%ALIAS	$23	b_1
%ALIAS	$24	b_1s
%ALIAS	$25	b_2
%ALIAS	$26	b_2s
%ALIAS	$27	b_3
%ALIAS	$28	b_3s
%ALIAS	$29	b_t
%ALIAS	$30	b_ts
%ALIAS	$31	d_1
%ALIAS	$32	d_1s
%ALIAS	$33	u_1
%ALIAS	$34	u_1s
%ALIAS	$35	u_2
%ALIAS	$36	u_2s
%ALIAS	$37	u_3
%ALIAS	$38	u_3s
%ALIAS	$39	u_4
%ALIAS	$40	u_4s
%ALIAS	$41	v_b
%ALIAS	$42	v_bs

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----
	ppp_1	lin		ppp_1;ppp_1s
	ppp_2	lin		ppp_2;ppp_2s
	ppp_3	lin		ppp_3;ppp_3s
	ppp_4	lin		ppp_4;ppp_4s
	ppp_5	lin		ppp_5;ppp_5s
	ppp_6	lin		ppp_6;ppp_6s
	ppp_7	lin		ppp_7;ppp_7s

% Component type C
	k_2	lin		state,k_2;k_2s
	k_t	lin		state,k_t;k_ts
	p_1	lin		state,p_1;p_1s

% Component type De
	f_t	SS		external

% Component type I
	m_1	lin		flow,m_1;m_1s
	m_2	lin		flow,m_2;m_2s
	m_3	lin		flow,m_3;m_3s

% Component type R
	b_1	lin		flow,b_1;b_1s
	b_2	lin		flow,b_2;b_2s
	b_3	lin		flow,b_3;b_3s
	b_t	lin		flow,b_t;b_ts
	d_1	lin		flow,d_1;d_1s

% Component type Se
	u_1	SS		external;u_1s
	u_2	SS		external;u_2s
	u_3	SS		external;u_3s
	u_4	SS		external;u_4s
	u_5	SS		external;u_5s
	u_6	SS		external;u_6s
	u_7	SS		external;u_7s

% Component type Sf
	v_b	SS		0;0








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/MacroMicroPPP/sMacroMicroPPP_numpar.txt version [cc73edbaf8].










































































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## Dummies
b_1 = 0.0;
b_1s = 0.0;
b_2 = 0.0;
b_2s = 0.0;
b_3 = 0.0;
b_3s = 0.0;
b_t = 0.0;
b_ts = 0.0;
c = 0.0;
d_1 = 0.0;
d_1s = 0.0;
e_s = 0.0;
f_s = 0.0;
g = 0.0;
i = 0.0;
k = 0.0;
k_2 = 0.0;
k_2s = 0.0;
k_s = 0.0;
k_t = 0.0;
k_ts = 0.0;
m_1 = 0.0;
m_1s = 0.0;
m_2 = 0.0;
m_2s = 0.0;
m_3 = 0.0;
m_3s = 0.0;
p_1 = 0.0;
p_1s = 0.0;
ppp_1 = 0.0;
ppp_1s = 0.0;
ppp_2 = 0.0;
ppp_2s = 0.0;
ppp_3 = 0.0;
ppp_3s = 0.0;
ppp_4 = 0.0;
ppp_4s = 0.0;
ppp_5 = 0.0;
ppp_5s = 0.0;
ppp_6 = 0.0;
ppp_6s = 0.0;
ppp_7 = 0.0;
ppp_7s = 0.0;
r = 0.0;
u_1s = 0.0;
u_2s = 0.0;
u_3s = 0.0;
u_4s = 0.0;
u_5s = 0.0;
u_6s = 0.0;
u_7s = 0.0;

## Physical parameters
m_1 = 0.0169;		# m_1;
m_2 = 0.0169;		# m_2;
b_1 = 0.13;		# b_1;
b_2 = 0.013;		# b_2;
k_2 = 24;	        # k_2;
k_t = 150;		# k_t;
b_t = 0.16;		# b_t;
b_3 = 0.13;		# b_3;
m_3 = 0.005;		# m_3;
p_1 = 10;		# p_1;
d_1 = 0.9;		# d_1;

## First gain
ppp_1 = 1.0;










Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/Make version [e246f48d9d].


































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#!/bin/sh

## Makes the files needed for Figures.m
## Copyright (C) 2000 by Peter J. Gawthrop

if [ -z "$1" ]; then
    echo Usage ./Make system_name
    exit
else
    echo "Making simulation for system $1 (for use in Figures.m)"
fi

## System
mtt -q -c -stdin $1 ode2odes out
mtt -q -c -stdin $1 sim m
mtt -q  $1 state m
mtt -q  $1 sympar m
mtt -q  $1 numpar m

## Sensitivity system
mtt -q -c -stdin -s s$1 ode2odes out
mtt -q -c -stdin -s s$1 sim m
mtt -q  -s s$1 state m
mtt -q  -s s$1 sympar m
mtt -q  -s s$1 numpar m

## Additional system reps for PPP
mtt -q  $1 sm m
mtt -q  $1 def m
mtt -q  -s s$1 def m








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_abg.fig version [34f1b0eb45].








































































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 3600 1125 162 162 3600 1125 3690 1260
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4952 4277 5852 4277 5627 4502
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6302 4277 7202 4277 6977 4502
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 4051 4726 3151 4951 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6076 4051 6076 3151 6301 3376
2 2 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 5
	 4275 585 5175 585 5175 765 4275 765 4275 585
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 5850 1215 6300 1215
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 5850 1080 6300 1080
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 3600 675 4275 675
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 5175 675 7200 675
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 6075 675 6075 1080
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 6075 1215 6075 1575
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 3600 1575 7200 1575
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 3600 945 3600 675
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 3600 1575 3600 1260
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2
	1 1 2.00 120.00 240.00
	 7200 1530 7200 765
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3866 3414 4502 4050 4184 4050
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3870 5130 4505 4494 4505 4812
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1802 3375 2702 3375 2477 3600
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1802 5175 2702 5175 2477 5400
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 8550 5625 8550 225 900 225 900 5625 8550 5625
4 1 -1 0 0 0 20 0.0000 4 210 150 4727 4367 1\001
4 1 -1 0 0 0 20 0.0000 4 210 150 6077 4367 0\001
4 1 -1 0 0 0 20 0.0000 4 285 540 7787 4367 De:y\001
4 1 -1 0 0 0 20 0.0000 4 210 375 4726 2926 R:r\001
4 1 -1 0 0 0 20 0.0000 4 210 555 6076 2926 CS:c\001
4 0 1 1 0 0 20 0.0000 4 150 120 4680 450 r\001
4 0 1 1 0 0 20 0.0000 4 150 135 6480 1215 c\001
4 0 1 1 0 0 20 0.0000 4 150 135 7425 1170 e\001
4 0 1 1 0 0 20 0.0000 4 210 150 7515 1305 2\001
4 0 1 1 0 0 20 0.0000 4 150 135 3060 1170 e\001
4 0 1 1 0 0 20 0.0000 4 210 150 3150 1305 1\001
4 1 1 1 0 0 20 0.0000 4 285 1425 5400 4995 Bond graph\001
4 1 1 1 0 0 20 0.0000 4 210 1275 5400 2025 Schematic\001
4 1 -1 0 0 0 20 0.0000 4 285 930 3285 5265 AE:ppp_2\001
4 1 -1 0 0 0 20 0.0000 4 285 930 3285 3465 AE:ppp_1\001
4 1 -1 0 0 0 20 0.0000 4 210 660 1440 3465 Se:u1\001
4 1 -1 0 0 0 20 0.0000 4 210 660 1440 5265 Se:u2\001








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_lbl.txt version [3a358dce4f].
















































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%% Label file for system rcPPP (rcPPP_lbl.txt)
%SUMMARY rcPPP
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases

% Argument aliases
%ALIAS	$1	ppp_1
%ALIAS	$2	ppp_2
%ALIAS	$3	c
%ALIAS	$4	y
%ALIAS	$5	r
%ALIAS	$6	u1
%ALIAS	$7	u2

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----
	ppp_1	lin		ppp_1
	ppp_2	lin		ppp_2

% Component type CS
	c	lin	        effort,c;q_0		

% Component type De
	y	SS		external

% Component type R
	r	lin		flow,r

% Component type Se
	u1	SS		external
	u2	SS		external








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_numpar.txt version [622bfa4d7a].





























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# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (rcPPP_numpar.txt)
# Generated by MTT at Tue Apr 18 18:53:40 BST 2000

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
c = 	1.0; # CS,rcPPP
e_0 = 	1.0; # CS
e_s = 	1.0; # Se
ppp_1 = 	1.0; # rcPPP
ppp_2 = 	0.0; # rcPPP
q_0 = 	1.0; # rcPPP
r = 	1.0; # rcPPP

## Physical parameters
c =     1.0;
q_0 =   0.0;
r =     1.0;









Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/srcPPP_input.txt version [10068bd604].



















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# -*-octave-*- Put Emacs into octave-mode
# Input specification (srcPPP_input.txt)
# Generated by MTT at Fri Apr 14 17:44:36 BST 2000
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

# Set the inputs
mttu(1) = 1.0; 	# u (srcPPP_u1_se_1)
mttu(2) = 0.0;#exp(-mttt); 	# u (srcPPP_u2_se_1)

# Set the switches








Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/srcPPP_lbl.txt version [4b14133500].

























































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%% Label file for system srcPPP (srcPPP_lbl.txt)
%SUMMARY srcPPP
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases

% Argument aliases
%ALIAS	$1	ppp_1
%ALIAS	$2	ppp_1s
%ALIAS	$3	ppp_2
%ALIAS	$4	ppp_2s
%ALIAS	$5	c
%ALIAS	$6	cs
%ALIAS	$7	y
%ALIAS	$8	ys
%ALIAS	$9	r
%ALIAS	$10	rs
%ALIAS	$11	u1
%ALIAS	$12	u1s
%ALIAS	$13	u2
%ALIAS	$14	u2s

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----
	ppp_1	lin		ppp_1;ppp_1s
	ppp_2	lin		ppp_2;ppp_2s

% Component type CS
	c	lin		effort,c;x_0;cs;x_0s

% Component type De
	y	SS		external

% Component type R
	r	lin		flow,r;rs

% Component type Se
	u1	SS		external;0
	u2	SS		external;0










Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/srcPPP_numpar.txt version [ab280343fb].

















































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# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (srcPPP_numpar.txt)
# Generated by MTT at Tue Apr 18 09:13:31 BST 2000

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


## Dummies
c = 0.0;
c_s = 0.0;
cs = 0.0;
e_0 = 0.0;
e_0s = 0.0;
e_s = 0.0;
g = 0.0;
k = 0.0;
k_s = 0.0;
ppp_1 = 0.0;
ppp_1s = 0.0;
ppp_2 = 0.0;
ppp_2s = 0.0;
r = 0.0;
rs = 0.0;
x_0 = 0.0;
x_0s = 0.0;

# Parameters
c = 	1.0; # CS,rcPPP
e_0 = 	1.0; # CS
e_s = 	1.0; # Se
ppp_1 = 	1.0; # rcPPP
ppp_2 = 	0.0; # rcPPP
#q_0 = 	1.0;
r = 	1.0; # rcPPP

## Physical parameters
c =     1.0;
q_0 =   0.0;
r =     1.0;









Added mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/srcPPP_simpar.txt version [8ad9573e20].






















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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system srcPPP (srcPPP_simpar.txt)
# Generated by MTT on Fri Apr 14 17:43:36 BST 2000.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################


LAST        = 10.0;       # Last time in simulation
DT          = 0.1;        # Print interval
STEPFACTOR  = 1;          # Integration steps per print interval
WMIN        = -1;         # Minimum frequency = 10^WMIN
WMAX        = 2;          # Maximum frequency = 10^WMAX
WSTEPS      = 100;        # Number of frequency steps
INPUT       = 1;          # Index of the input








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_abg.fig version [b1632d46ab].























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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1125 2475 2475 2475 2250 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2835 2250 2835 900 3060 1125
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2835 2700 2835 4050 3060 3825
2 1 0 3 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2475 2250 2475 2700
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 4725 4500 4725 450 225 450 225 4500 4725 4500
4 2 -1 0 0 0 20 0.0000000 4 210 570 1035 2565 SS:u\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 2835 2565 1\001
4 1 -1 0 0 0 20 0.0000000 4 210 435 2880 4365 R:b\001
4 1 -1 0 0 0 20 0.0000000 4 210 435 2880 765 I:m\001








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_desc.tex version [f6267dbda0].



























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% Verbal description for system Cruise (Cruise_desc.tex)
% Generated by MTT on Mon Jan 12 16:00:15 GMT 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{Cruise} is
   displayed in Figure \Ref{Cruise_abg} and its label
   file is listed in Section \Ref{sec:Cruise_lbl}.
   The subsystems are listed in Section \Ref{sec:Cruise_sub}.


This is a simple teaching example to illustrare compensator design via
observer/state-feedback methods.

%%% Local Variables: 
%%% mode: latex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_lbl.txt version [c6eb913146].

































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%SUMMARY Cruise: <brief description here>
%DESCRIPTION <Detailed description here>
%% Label file for system Cruise (Cruise_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/05/20 16:26:30  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type I
	m		lin	flow,m

% Component type R
	b		lin	flow,b

% Component type SS
	u		SS	external,external








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_numpar.txt version [52092fa333].































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# Numerical parameter file (Cruise_numpar.txt)
# Generated by MTT at Mon Jan 12 15:43:19 GMT 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
b = 	1.0; # Parameter b for Cruise
b_m = 	1.0; # Parameter b_m for Cruise
j = 	1.0; # Parameter j for Cruise
j_m = 	1.0; # Parameter j_m for Cruise
k = 	1.0; # Parameter k for Cruise
k_m = 	1.0; # Parameter k_m for Cruise
l = 	1.0; # Parameter l for Cruise
l_a = 	1.0; # Parameter l_a for Cruise
l_m = 	1.0; # Parameter l_m for Cruise
r = 	1.0; # Parameter r for Cruise
r_a = 	1.0; # Parameter r_a for Cruise
r_m = 	1.0; # Parameter r_m for Cruise

# Initial states
x(1) = 	0.0; # Initial state for Cruise_motor (l_a)
x(2) = 	0.0; # Initial state for Cruise_motor (j_m)








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_params.r version [27872281d7].















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%% Parameter file for system Cruise (Cruise_params.r)
%% This file provides symbolic parameters for simplification

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

END;








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_rep.txt version [58f8bc4e60].




























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# Outline report file for system Cruise (Cruise_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt Cruise abg tex

mtt -o Cruise sm tex
mtt -o Cruise tf tex

mtt -o Cruise smc tex
mtt -o Cruise ssk tex

mtt -o Cruise smo tex
mtt -o Cruise ssl tex

mtt -o Cruise ctf tex











Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_simp.r version [8ae10835d9].























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%% Reduce comands to simplify output for system Cruise (Cruise_simp.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% System
%J_m := 1; L_m := 0.1; k_m := 1; b_m := 0.1; r_m := 1;

% Controller - poles at -2 and -10
%alpha_c1 := 12; alpha_c2 := 20;

% Observer -  poles at -10 -50
%alpha_o1 := 60; alpha_o2 := 500;

END;








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/Cruise/Cruise_sspar.r version [08e36df648].














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%% Reduce steady-state parameter file for Cruise (Cruise_sspar.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

END;








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_abg.fig version [d7820cb52a].





























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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1125 2475 2475 2475 2250 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2835 2250 2835 900 3060 1125
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2835 2700 2835 4050 3060 3825
2 1 0 3 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2475 2250 2475 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3150 2475 4500 2475 4275 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5400 2475 6750 2475 6525 2700
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 7650 4455 7650 450 225 450 225 4455 7650 4455
4 1 -1 0 0 0 20 0.0000000 4 210 150 2835 2565 1\001
4 1 -1 0 0 0 20 0.0000000 4 210 435 2880 4365 R:b\001
4 1 -1 0 0 0 20 0.0000000 4 210 435 2880 765 I:m\001
4 0 -1 0 0 0 20 0.0000000 4 270 570 6930 2565 SS:y\001
4 2 -1 0 0 0 20 0.0000000 4 210 570 1035 2565 SS:u\001
4 1 -1 0 0 0 20 0.0000000 4 210 1080 4950 2565 INTF:int\001








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_desc.tex version [6888f94b02].





































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% Verbal description for system CruiseP (CruiseP_desc.tex)
% Generated by MTT on Mon Jan 12 16:00:15 GMT 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

This is a simple teaching example to illustrate compensator design via
observer/state-feedback methods.

The system represents a simple model of a vehicle moving along a road.
The vehicle
\begin{itemize}
\item has mass $m$
\item is driven by a force $u=F$
\item has velocity $v$ 
\item has momentum $p=mv$ 
\item has a distance along the road $y=d$
\item The system states are taken to be:
  \begin{equation}
    x = 
    \begin{pmatrix}
      p \\ d
    \end{pmatrix}
  \end{equation}\end{itemize}

%%% Local Variables: 
%%% mode: latex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_lbl.txt version [78c0dfb69d].


































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%SUMMARY CruiseP: <brief description here>
%DESCRIPTION <Detailed description here>
%% Label file for system CruiseP (CruiseP_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type I
	m		lin	flow,m

% Component type INTF
	int		lin	flow,int

% Component type R
	b		lin	flow,b

% Component type SS
	u		SS	external,internal
	y		SS	external,0








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_numpar.txt version [8f4fd9371e].






















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# Numerical parameter file (CruiseP_numpar.txt)
# Generated by MTT at Fri Feb 13 17:15:12 GMT 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
b = 	1.0; # CruiseP
int = 	1.0; # CruiseP
m = 	1.0; # CruiseP

# Initial states
x(1) = 	0.0; # CruiseP (m)
x(2) = 	0.0; # CruiseP_int (3)








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_pic.fig version [7cbcc3e0e1].





























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#FIG 3.1
Portrait
Center
Inches
1200 2
1 3 0 2 -1 7 0 0 -1 0.0000000 1 0.000 3900 3900 309 309 3900 3900 4209 4209
1 3 0 2 -1 7 0 0 -1 0.0000000 1 0.000 2700 3900 309 309 2700 3900 3009 4209
2 2 0 2 -1 7 0 0 -1 0.000 0 0 0 0 0 5
	 2400 2400 4200 2400 4200 3600 2400 3600 2400 2400
2 1 1 2 -1 7 0 0 -1 6.000 0 0 -1 1 0 2
	1 1 2.00 120.00 240.00
	 4500 2700 5700 2700
2 1 1 2 -1 7 0 0 -1 6.000 0 0 -1 1 0 2
	1 1 2.00 120.00 240.00
	 1200 3000 2400 3000
2 1 1 2 -1 7 0 0 -1 6.000 0 0 -1 1 0 2
	1 1 2.00 120.00 240.00
	 3900 1800 2700 1800
4 0 -1 0 0 3 20 0.0000000 4 270 1380 5700 2400 v (velocity)\001
4 0 -1 0 0 3 20 0.0000000 4 270 1095 525 2700 u (force)\001
4 0 -1 0 0 3 20 0.0000000 4 270 1425 5700 3150 y (position)\001
4 0 -1 0 0 3 20 0.0000000 4 255 1155 2700 3075 m (mass)\001
4 0 -1 0 0 3 20 0.0000000 4 270 2235 3150 1575 bv (friction force)\001
4 0 -1 0 0 3 16 0.0000000 4 195 2490 2325 5100 states:  p=momentum=mv\001
4 0 -1 0 0 3 16 0.0000000 4 210 1725 2325 5442             y=position\001








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_pic.tex version [e76f40dd94].











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\makebox[5.541in][l]{
  \vbox to 3.458in{
    \vfill
    \special{psfile=CruiseP_pic.ps}
  }
  \vspace{-\baselineskip}
}








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_rep.tex version [863e452b9f].
















































































































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\section{\textbf{CruiseP}: representation \textbf{abg}, language \textbf{tex}}
\label{sec:CruiseP_abg.tex}
\index{\textbf{CruiseP} -- abg}


MTT command:
\begin{verbatim}
mtt CruiseP abg tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/CruiseP/MTT_work/CruiseP_abg.tex}


\section{\textbf{CruiseP}: representation \textbf{ode}, language \textbf{tex}}
\label{sec:CruiseP_ode.tex}
\index{\textbf{CruiseP} -- ode}


MTT command:
\begin{verbatim}
mtt -o CruiseP ode tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/CruiseP/MTT_work/CruiseP_ode.tex}


\section{\textbf{CruiseP}: representation \textbf{sm}, language \textbf{tex}}
\label{sec:CruiseP_sm.tex}
\index{\textbf{CruiseP} -- sm}


MTT command:
\begin{verbatim}
mtt -o CruiseP sm tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/CruiseP/MTT_work/CruiseP_sm.tex}


\section{\textbf{CruiseP}: representation \textbf{tf}, language \textbf{tex}}
\label{sec:CruiseP_tf.tex}
\index{\textbf{CruiseP} -- tf}


MTT command:
\begin{verbatim}
mtt -o CruiseP tf tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/CruiseP/MTT_work/CruiseP_tf.tex}


\section{\textbf{CruiseP}: representation \textbf{smc}, language \textbf{tex}}
\label{sec:CruiseP_smc.tex}
\index{\textbf{CruiseP} -- smc}


MTT command:
\begin{verbatim}
mtt -o CruiseP smc tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/CruiseP/MTT_work/CruiseP_smc.tex}


\section{\textbf{CruiseP}: representation \textbf{ssk}, language \textbf{tex}}
\label{sec:CruiseP_ssk.tex}
\index{\textbf{CruiseP} -- ssk}


MTT command:
\begin{verbatim}
mtt -o CruiseP ssk tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/CruiseP/MTT_work/CruiseP_ssk.tex}


\section{\textbf{CruiseP}: representation \textbf{smo}, language \textbf{tex}}
\label{sec:CruiseP_smo.tex}
\index{\textbf{CruiseP} -- smo}


MTT command:
\begin{verbatim}
mtt -o CruiseP smo tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/CruiseP/MTT_work/CruiseP_smo.tex}


\section{\textbf{CruiseP}: representation \textbf{ssl}, language \textbf{tex}}
\label{sec:CruiseP_ssl.tex}
\index{\textbf{CruiseP} -- ssl}


MTT command:
\begin{verbatim}
mtt -o CruiseP ssl tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/CruiseP/MTT_work/CruiseP_ssl.tex}


\section{\textbf{CruiseP}: representation \textbf{ctf}, language \textbf{tex}}
\label{sec:CruiseP_ctf.tex}
\index{\textbf{CruiseP} -- ctf}


MTT command:
\begin{verbatim}
mtt -o CruiseP ctf tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/CruiseP/MTT_work/CruiseP_ctf.tex}








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/CruiseP_rep.txt version [5d5e21401e].




























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# Outline report file for system CruiseP (CruiseP_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt CruiseP abg tex

mtt -o CruiseP ode tex
mtt -o CruiseP sm tex
mtt -o CruiseP tf tex

mtt -o CruiseP smc tex
mtt -o CruiseP ssk tex

mtt -o CruiseP smo tex
mtt -o CruiseP ssl tex

mtt -o CruiseP ctf tex










Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruiseP/Makefile version [02aec829a2].






















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#
# TransFig makefile
#

all: CruiseP_pic.tex 

# translation into ps

CruiseP_pic.tex: CruiseP_pic.ps Makefile
	fig2ps2tex CruiseP_pic.ps >CruiseP_pic.tex
clean::
	rm -f CruiseP_pic.tex

CruiseP_pic.ps: CruiseP_pic.fig Makefile
	fig2dev -L ps CruiseP_pic.fig > CruiseP_pic.ps
clean::
	rm -f CruiseP_pic.ps









Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_abg.fig version [d7820cb52a].





























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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1125 2475 2475 2475 2250 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2835 2250 2835 900 3060 1125
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2835 2700 2835 4050 3060 3825
2 1 0 3 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2475 2250 2475 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3150 2475 4500 2475 4275 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5400 2475 6750 2475 6525 2700
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 7650 4455 7650 450 225 450 225 4455 7650 4455
4 1 -1 0 0 0 20 0.0000000 4 210 150 2835 2565 1\001
4 1 -1 0 0 0 20 0.0000000 4 210 435 2880 4365 R:b\001
4 1 -1 0 0 0 20 0.0000000 4 210 435 2880 765 I:m\001
4 0 -1 0 0 0 20 0.0000000 4 270 570 6930 2565 SS:y\001
4 2 -1 0 0 0 20 0.0000000 4 210 570 1035 2565 SS:u\001
4 1 -1 0 0 0 20 0.0000000 4 210 1080 4950 2565 INTF:int\001








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_desc.tex version [820fce3156].






































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% Verbal description for system CruisePN (CruisePN_desc.tex)
% Generated by MTT on Mon Jan 12 16:00:15 GMT 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

This is a simple teaching example to illustrate compensator design via
observer/state-feedback methods. The equations are presented in
numerical (as opposed to symbolic) form.

The system represents a simple model of a vehicle moving along a road.
The vehicle
\begin{itemize}
\item has mass $m$
\item is driven by a force $u=F$
\item has velocity $v$ 
\item has momentum $p=mv$ 
\item has a distance along the road $y=d$
\item The system states are taken to be:
  \begin{equation}
    x = 
    \begin{pmatrix}
      p \\ d
    \end{pmatrix}
  \end{equation}\end{itemize}

%%% Local Variables: 
%%% mode: latex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_lbl.txt version [59330369ec].


































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%SUMMARY CruisePN: <brief description here>
%DESCRIPTION <Detailed description here>
%% Label file for system CruisePN (CruisePN_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type I
	m		lin	flow,m

% Component type INTF
	int		lin	flow,int

% Component type R
	b		lin	flow,b

% Component type SS
	u		SS	external,internal
	y		SS	external,0








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_numpar.txt version [b93d73c639].






















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# Numerical parameter file (CruisePN_numpar.txt)
# Generated by MTT at Fri Feb 13 17:15:12 GMT 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
b = 	1.0; # CruisePN
int = 	1.0; # CruisePN
m = 	1.0; # CruisePN

# Initial states
x(1) = 	0.0; # CruisePN (m)
x(2) = 	0.0; # CruisePN_int (3)








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_pic.fig version [7cbcc3e0e1].





























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#FIG 3.1
Portrait
Center
Inches
1200 2
1 3 0 2 -1 7 0 0 -1 0.0000000 1 0.000 3900 3900 309 309 3900 3900 4209 4209
1 3 0 2 -1 7 0 0 -1 0.0000000 1 0.000 2700 3900 309 309 2700 3900 3009 4209
2 2 0 2 -1 7 0 0 -1 0.000 0 0 0 0 0 5
	 2400 2400 4200 2400 4200 3600 2400 3600 2400 2400
2 1 1 2 -1 7 0 0 -1 6.000 0 0 -1 1 0 2
	1 1 2.00 120.00 240.00
	 4500 2700 5700 2700
2 1 1 2 -1 7 0 0 -1 6.000 0 0 -1 1 0 2
	1 1 2.00 120.00 240.00
	 1200 3000 2400 3000
2 1 1 2 -1 7 0 0 -1 6.000 0 0 -1 1 0 2
	1 1 2.00 120.00 240.00
	 3900 1800 2700 1800
4 0 -1 0 0 3 20 0.0000000 4 270 1380 5700 2400 v (velocity)\001
4 0 -1 0 0 3 20 0.0000000 4 270 1095 525 2700 u (force)\001
4 0 -1 0 0 3 20 0.0000000 4 270 1425 5700 3150 y (position)\001
4 0 -1 0 0 3 20 0.0000000 4 255 1155 2700 3075 m (mass)\001
4 0 -1 0 0 3 20 0.0000000 4 270 2235 3150 1575 bv (friction force)\001
4 0 -1 0 0 3 16 0.0000000 4 195 2490 2325 5100 states:  p=momentum=mv\001
4 0 -1 0 0 3 16 0.0000000 4 210 1725 2325 5442             y=position\001








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_pic.tex version [c999a1fdcd].











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\makebox[5.541in][l]{
  \vbox to 3.458in{
    \vfill
    \special{psfile=CruisePN_pic.ps}
  }
  \vspace{-\baselineskip}
}








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_rep.tex version [dd5b960981].
















































































































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\section{\textbf{CruisePN}: representation \textbf{abg}, language \textbf{tex}}
\label{sec:CruisePN_abg.tex}
\index{\textbf{CruisePN} -- abg}


MTT command:
\begin{verbatim}
mtt CruisePN abg tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/CruisePN/MTT_work/CruisePN_abg.tex}


\section{\textbf{CruisePN}: representation \textbf{ode}, language \textbf{tex}}
\label{sec:CruisePN_ode.tex}
\index{\textbf{CruisePN} -- ode}


MTT command:
\begin{verbatim}
mtt -o CruisePN ode tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/CruisePN/MTT_work/CruisePN_ode.tex}


\section{\textbf{CruisePN}: representation \textbf{sm}, language \textbf{tex}}
\label{sec:CruisePN_sm.tex}
\index{\textbf{CruisePN} -- sm}


MTT command:
\begin{verbatim}
mtt -o CruisePN sm tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/CruisePN/MTT_work/CruisePN_sm.tex}


\section{\textbf{CruisePN}: representation \textbf{tf}, language \textbf{tex}}
\label{sec:CruisePN_tf.tex}
\index{\textbf{CruisePN} -- tf}


MTT command:
\begin{verbatim}
mtt -o CruisePN tf tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/CruisePN/MTT_work/CruisePN_tf.tex}


\section{\textbf{CruisePN}: representation \textbf{smc}, language \textbf{tex}}
\label{sec:CruisePN_smc.tex}
\index{\textbf{CruisePN} -- smc}


MTT command:
\begin{verbatim}
mtt -o CruisePN smc tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/CruisePN/MTT_work/CruisePN_smc.tex}


\section{\textbf{CruisePN}: representation \textbf{ssk}, language \textbf{tex}}
\label{sec:CruisePN_ssk.tex}
\index{\textbf{CruisePN} -- ssk}


MTT command:
\begin{verbatim}
mtt -o CruisePN ssk tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/CruisePN/MTT_work/CruisePN_ssk.tex}


\section{\textbf{CruisePN}: representation \textbf{smo}, language \textbf{tex}}
\label{sec:CruisePN_smo.tex}
\index{\textbf{CruisePN} -- smo}


MTT command:
\begin{verbatim}
mtt -o CruisePN smo tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/CruisePN/MTT_work/CruisePN_smo.tex}


\section{\textbf{CruisePN}: representation \textbf{ssl}, language \textbf{tex}}
\label{sec:CruisePN_ssl.tex}
\index{\textbf{CruisePN} -- ssl}


MTT command:
\begin{verbatim}
mtt -o CruisePN ssl tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/CruisePN/MTT_work/CruisePN_ssl.tex}


\section{\textbf{CruisePN}: representation \textbf{ctf}, language \textbf{tex}}
\label{sec:CruisePN_ctf.tex}
\index{\textbf{CruisePN} -- ctf}


MTT command:
\begin{verbatim}
mtt -o CruisePN ctf tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/CruisePN/MTT_work/CruisePN_ctf.tex}








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_rep.txt version [d9e7301ff2].




























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# Outline report file for system CruisePN (CruisePN_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt CruisePN abg tex

mtt -o CruisePN ode tex
mtt -o CruisePN sm tex
mtt -o CruisePN tf tex

mtt -o CruisePN smc tex
mtt -o CruisePN ssk tex

mtt -o CruisePN smo tex
mtt -o CruisePN ssl tex

mtt -o CruisePN ctf tex










Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_simp.r version [87a70b56bc].

























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%% Reduce comands to simplify output for system CruisePN (CruisePN_simp.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


m  := 1;
b := 0;

alpha_o1 := 4;
alpha_o2 := 4;

alpha_c1 := 2;
alpha_c2 := 1;

END;









Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruisePN_sspar.r version [269881705f].














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%% Reduce steady-state parameter file for CruisePN (CruisePN_sspar.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

END;








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/CruiseP_pic.tex version [e76f40dd94].











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\makebox[5.541in][l]{
  \vbox to 3.458in{
    \vfill
    \special{psfile=CruiseP_pic.ps}
  }
  \vspace{-\baselineskip}
}








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/CruisePN/Makefile version [c3cd8e3dfa].






















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#
# TransFig makefile
#

all: CruisePN_pic.tex 

# translation into ps

CruisePN_pic.tex: CruisePN_pic.ps Makefile
	fig2ps2tex CruisePN_pic.ps >CruisePN_pic.tex
clean::
	rm -f CruisePN_pic.tex

CruisePN_pic.ps: CruisePN_pic.fig Makefile
	fig2dev -L ps CruisePN_pic.fig > CruisePN_pic.ps
clean::
	rm -f CruisePN_pic.ps









Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DC_abg.fig version [3daa31e601].












































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 4050 4500 4050 225 1800 225 1800 4500 4050 4500
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1575 2475 2745 2475 2475 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2925 2250 2925 1080 3150 1350
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3105 2475 4275 2475 4005 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2925 2700 2925 3870 3150 3600
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5625 2475 6795 2475 6525 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6975 2295 6975 1125 7200 1395
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6975 2700 6975 3870 7200 3600
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7200 2475 8370 2475 8100 2700
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8100 4500 8100 225 5850 225 5850 4500 8100 4500
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 9450 4950 225 4950 225 45 9450 45 9450 4950
4 1 -1 0 0 0 20 0.0000 4 195 135 2880 2610 1\001
4 1 -1 0 0 0 20 0.0000 4 255 990 4995 2565 GY:k_m\001
4 1 -1 0 0 0 20 0.0000 4 195 135 6975 2565 1\001
4 1 4 0 0 0 20 0.0000 4 240 810 1080 2565 SS:[in]\001
4 1 -1 0 0 0 20 0.0000 4 255 510 2880 990 I:l_a\001
4 1 -1 0 0 0 20 0.0000 4 255 600 7065 990 I:j_m\001
4 1 -1 0 0 0 20 0.0000 4 255 645 2970 4230 R:r_a\001
4 1 -1 0 0 0 20 0.0000 4 255 765 7020 4230 R:b_m\001
4 1 1 1 0 0 20 0.0000 4 195 1095 2925 4815 Electrical\001
4 1 1 1 0 0 20 0.0000 4 195 1335 6975 4815 Mechanical\001
4 1 1 1 0 0 20 0.0000 4 195 630 8910 2925 Shaft\001
4 1 1 1 0 0 20 0.0000 4 195 1170 1080 2925 Terminals\001
4 1 4 0 0 0 20 0.0000 4 240 960 8910 2565 SS:[out]\001








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DC_desc.tex version [77c4d38d75].









































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% Verbal description for system DC (DC_desc.tex)
% Generated by MTT on Thu Sep 11 10:09:58 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{DC} is
   displayed in Figure \Ref{DC_abg} and its label
   file is listed in Section \Ref{sec:DC_lbl}.
   The subsystems are listed in Section \Ref{sec:DC_sub}.

   \begin{table}[htbp]
     \begin{center}
       \leavevmode
       \begin{tabular}{|l|l|}
        \hline
        Index & Parameter\\
        \hline
         1 & Motor gain ($k_m$) \\
         2 & Armature inductance ($l_a$) \\
         3 & Armature resistance ($r_a$) \\
         4 & Inertia ($j_m$) \\
         5 & Friction coefficient ($b_m$) \\
        \hline
       \end{tabular}
       \caption{DC motor parameters}
       \label{tab:DC_components}
     \end{center}
   \end{table}
{\bf DC} is a two-port component representing a DC motor. It has the 5
parameters listed in Table \Ref{tab:DC_components}.










Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DC_lbl.txt version [bd004f0f0a].
















































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%SUMMARY DC: DC motor (or generator)
%DESCRIPTION Port [in]: Electrical (in)
%DESCRIPTION Port [out]: Mechanical (out)
%DESCRIPTION Parameter 1: Motor gain (k_m)
%DESCRIPTION Parameter 2: Armature inductance (l_a)
%DESCRIPTION Parameter 3: Armature resistance (r_a)
%DESCRIPTION Parameter 4: Inertia (j_m)
%DESCRIPTION Parameter 5: Friction coefficient (b_m)


%% Label file for system DC (DC_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1996/12/04  16:01:42  peterg
% %% Documantation added.
% %%
% %% Revision 1.1  1996/12/04  16:00:56  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Motor gain
k_m	lin	flow,$1

% Electrical components
%Inductance
l_a	lin	effort,$2
%Resistance
r_a	lin	flow,$3

% Mechanical components
%Inertia
j_m	lin	flow,$4
%Friction
b_m	lin	flow,$5








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_abg.fig version [d436a5df4d].


















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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1125 2475 2475 2475 2250 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3825 2475 5175 2475 4950 2700
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 6075 3150 6075 1800 225 1800 225 3150 6075 3150
4 1 -1 0 0 0 20 0.0000000 4 210 1230 3195 2565 DC:motor\001
4 0 -1 0 0 0 20 0.0000000 4 210 570 5310 2565 SS:v\001
4 2 -1 0 0 0 20 0.0000000 4 210 555 1035 2565 SS:e\001








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_args.new version [5936bc7523].





1

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Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_desc.tex version [9905aeccc5].








































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% Verbal description for system DCexample (DCexample_desc.tex)
% Generated by MTT on Mon Jan 12 16:00:15 GMT 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

This is a simple teaching example to illustrate compensator design via
observer/state-feedback methods.

The system represents a simple model of a DC motor including armature
resistance $r_m$, armature inductance $l_m$, motor constant $k_m$,
inertia $j_m$ and friction $b_m$.

The DC motor has
\begin{itemize}
\item output angular velocity $y = \omega$
\item input voltage $u = v$
\item $\lambda = Li$ where $i$ is the armature current
\item angular momentum $p=j_m \omega$.
\item system states given by
  \begin{equation}
    x = 
    \begin{pmatrix}
      \lambda \\ \omega
    \end{pmatrix}
  \end{equation}
\end{itemize}

%%% Local Variables: 
%%% mode: latex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_lbl.txt version [ee4ead091c].




























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%SUMMARY DCexample: <brief description here>
%DESCRIPTION <Detailed description here>
%% Label file for system DCexample (DCexample_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type DC
	motor		lin	k_m;l_m;r_m;j_m;b_m

% Component type SS
	e		SS	external,internal
	v		SS	0,external








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_numpar.txt version [515bf1c141].































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# Numerical parameter file (DCexample_numpar.txt)
# Generated by MTT at Mon Jan 12 15:43:19 GMT 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
b = 	1.0; # Parameter b for DCexample
b_m = 	1.0; # Parameter b_m for DCexample
j = 	1.0; # Parameter j for DCexample
j_m = 	1.0; # Parameter j_m for DCexample
k = 	1.0; # Parameter k for DCexample
k_m = 	1.0; # Parameter k_m for DCexample
l = 	1.0; # Parameter l for DCexample
l_a = 	1.0; # Parameter l_a for DCexample
l_m = 	1.0; # Parameter l_m for DCexample
r = 	1.0; # Parameter r for DCexample
r_a = 	1.0; # Parameter r_a for DCexample
r_m = 	1.0; # Parameter r_m for DCexample

# Initial states
x(1) = 	0.0; # Initial state for DCexample_motor (l_a)
x(2) = 	0.0; # Initial state for DCexample_motor (j_m)








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_params.r version [336c7256e5].















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%% Parameter file for system DCexample (DCexample_params.r)
%% This file provides symbolic parameters for simplification

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

END;








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_pic.fig version [6593ec6ec8].




































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#FIG 3.1
Portrait
Center
Inches
1200 2
6 3900 1725 7575 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 1 0 2
	1 1 2.00 120.00 240.00
	 4801 1801 5701 1801
2 2 0 2 -1 7 0 0 -1 0.000 0 0 0 0 0 5
	 5701 1726 6601 1726 6601 1876 5701 1876 5701 1726
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	1 1 2.00 120.00 240.00
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2 2 0 2 -1 7 0 0 -1 0.000 0 0 0 0 0 5
	 3901 1726 4801 1726 4801 1876 3901 1876 3901 1726
-6
1 3 0 2 -1 7 0 0 -1 0.0000000 1 0.000 7500 2700 270 270 7500 2700 7650 2925
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 1 0 2
	1 1 2.00 120.00 240.00
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	1 1 2.00 120.00 240.00
	 7500 3000 7500 3600 3000 3600
2 2 0 2 -1 7 0 0 -1 0.000 0 0 0 0 0 5
	 7950 2625 10800 2625 10800 2775 7950 2775 7950 2625
2 2 0 2 -1 7 0 0 -1 0.000 0 0 0 0 0 5
	 10800 1200 11400 1200 11400 4200 10800 4200 10800 1200
4 0 -1 0 0 3 20 0.0000000 4 150 135 3000 2775 v\001
4 0 -1 0 0 3 20 0.0000000 4 210 90 3300 1650 i\001
4 2 -1 0 0 3 20 0.0000000 4 255 540 6675 2775 k_m\001
4 2 -1 0 0 32 20 0.0000000 4 135 210 6975 2775 w\001








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_pic.tex version [274fd15af3].











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\makebox[7.055in][l]{
  \vbox to 2.555in{
    \vfill
    \special{psfile=DCexample_pic.ps}
  }
  \vspace{-\baselineskip}
}








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_rep.tex version [03d36bd17b].
























































































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\section{\textbf{DCexample}: representation \textbf{abg}, language \textbf{tex}}
\label{sec:DCexample_abg.tex}
\index{\textbf{DCexample} -- abg}


MTT command:
\begin{verbatim}
mtt DCexample abg tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/DCexample/MTT_work/DCexample_abg.tex}


\section{\textbf{DCexample}: representation \textbf{sm}, language \textbf{tex}}
\label{sec:DCexample_sm.tex}
\index{\textbf{DCexample} -- sm}


MTT command:
\begin{verbatim}
mtt -o DCexample sm tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/DCexample/MTT_work/DCexample_sm.tex}


\section{\textbf{DCexample}: representation \textbf{tf}, language \textbf{tex}}
\label{sec:DCexample_tf.tex}
\index{\textbf{DCexample} -- tf}


MTT command:
\begin{verbatim}
mtt -o DCexample tf tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/DCexample/MTT_work/DCexample_tf.tex}


\section{\textbf{DCexample}: representation \textbf{smc}, language \textbf{tex}}
\label{sec:DCexample_smc.tex}
\index{\textbf{DCexample} -- smc}


MTT command:
\begin{verbatim}
mtt -o DCexample smc tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/DCexample/MTT_work/DCexample_smc.tex}


\section{\textbf{DCexample}: representation \textbf{ssk}, language \textbf{tex}}
\label{sec:DCexample_ssk.tex}
\index{\textbf{DCexample} -- ssk}


MTT command:
\begin{verbatim}
mtt -o DCexample ssk tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/DCexample/MTT_work/DCexample_ssk.tex}


\section{\textbf{DCexample}: representation \textbf{smo}, language \textbf{tex}}
\label{sec:DCexample_smo.tex}
\index{\textbf{DCexample} -- smo}


MTT command:
\begin{verbatim}
mtt -o DCexample smo tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/DCexample/MTT_work/DCexample_smo.tex}


\section{\textbf{DCexample}: representation \textbf{ssl}, language \textbf{tex}}
\label{sec:DCexample_ssl.tex}
\index{\textbf{DCexample} -- ssl}


MTT command:
\begin{verbatim}
mtt -o DCexample ssl tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/DCexample/MTT_work/DCexample_ssl.tex}








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_rep.txt version [9e1428c8ee].

























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# Outline report file for system DCexample (DCexample_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt DCexample abg tex

mtt -o DCexample sm tex
mtt -o DCexample tf tex

mtt -o DCexample smc tex
mtt -o DCexample ssk tex

mtt -o DCexample smo tex
mtt -o DCexample ssl tex










Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_simp.r version [f380d89b00].























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%% Reduce comands to simplify output for system DCexample (DCexample_simp.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% System
%J_m := 1; L_m := 0.1; k_m := 1; b_m := 0.1; r_m := 1;

% Controller - poles at -2 and -10
%alpha_c1 := 12; alpha_c2 := 20;

% Observer -  poles at -10 -50
%alpha_o1 := 60; alpha_o2 := 500;

END;








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/DCexample_sspar.r version [559cfc0faa].














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%% Reduce steady-state parameter file for DCexample (DCexample_sspar.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

END;








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/DCexample/Makefile version [902affeab5].






















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#
# TransFig makefile
#

all: DCexample_pic.tex 

# translation into ps

DCexample_pic.tex: DCexample_pic.ps Makefile
	fig2ps2tex DCexample_pic.ps >DCexample_pic.tex
clean::
	rm -f DCexample_pic.tex

DCexample_pic.ps: DCexample_pic.fig Makefile
	fig2dev -L ps DCexample_pic.fig > DCexample_pic.ps
clean::
	rm -f DCexample_pic.ps









Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/Differential/Differential_abg.fig version [6c87d44baf].



























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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 2880 2655 2970 3195
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 2925 2700 2925 3150
-6
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3150 2700 3150 1350 3375 1575
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3172 3172 3172 4522 3397 4297
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 1575 2925 2925 2925 2700 3150
4 1 0 100 0 18 18 0.0000 4 195 150 3150 3015 0\001
4 1 0 100 0 18 18 0.0000 4 270 540 3195 1215 I:j_1\001
4 1 0 100 0 18 18 0.0000 4 270 540 3150 4860 I:j_2\001
4 1 0 100 0 18 18 0.0000 4 270 750 990 3015 SS:yu\001








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/Differential/Differential_rep.txt version [00561dcbde].
































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## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system Differential (Differential_rep.txt)
## Generated by MTT on" Wed Jan 26 10:13:44 GMT 2000.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

mtt Differential abg tex			# The system description
mtt Differential cbg ps 		        # The causal bond graph
## Uncomment the following lines or add others
mtt Differential struc tex	        # The system structure
## mtt Differential dae tex	        # The system dae
mtt Differential ode tex	        # The system ode 
## mtt Differential sspar tex		# Steady-state parameters
## mtt Differential ss tex 		# Steady state
## mtt Differential dm tex		# Descriptor matrices (of linearised system)
mtt Differential sm tex		# State matrices (of linearised system)
mtt Differential tf tex		# Transfer function (of linearised

## mtt Differential lmfr ps		# log modulus of frequency response (of linearised system)
## mtt Differential simpar tex		# Simulation parameters
## mtt Differential numpar tex		# Numerical simulation parameters
## mtt Differential input tex		# Simulation input
mtt Differential odeso ps		# Simulation output








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_abg.fig version [d065af5e98].



























































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#FIG 3.1
Portrait
Center
Metric
1200 2
1 3 0 2 1 7 1 0 -1 0.0000000 1 0.000 8550 1125 485 485 8550 1125 8730 1575
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5720 1130 5990 1130
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 1128 4728 2703 4953 2478
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 2025 6525 450 2925 450 2925 2025 6525 2025
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3603 1128 3603 2703 3828 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5853 1128 5853 2703 6078 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 3826 4726 5401 4951 5176
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 4050 2925 4050 2925 2475 6525 2475 6525 4050
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8775 5175 8775 1575 8325 1575 8325 5175 8775 5175
2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5
	 7650 450 9405 450 9405 675 7650 675 7650 450
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 9450 8100 9450 225 855 225 855 8100 9450 8100
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 3871 3600 5446 3825 5221
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5850 3871 5850 5446 6075 5221
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3465 3870 3735 3870
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4590 3825 4860 3825
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5715 3870 5985 3870
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3465 1125 3735 1125
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4635 2700 4905 2700
4 1 -1 0 0 0 20 0.0000000 4 240 870 3603 948 SS:v_x\001
4 1 4 0 0 0 16 0.0000000 4 195 495 3600 2970 [x_a]\001
4 1 4 0 0 0 16 0.0000000 4 210 885 4725 2970 [alpha_a]\001
4 1 4 0 0 0 16 0.0000000 4 195 510 3600 3780 [x_b]\001
4 1 4 0 0 0 16 0.0000000 4 210 900 4725 3780 [alpha_b]\001
4 1 4 0 0 0 16 0.0000000 4 210 510 5850 3780 [y_b]\001
4 1 4 0 0 0 16 0.0000000 4 210 495 5850 2970 [y_a]\001
4 1 -1 0 0 0 20 0.0000000 4 270 870 5850 945 SS:v_y\001
4 1 -1 0 0 0 20 0.0000000 4 210 1110 4729 3379 ROD:rod\001
4 1 -1 0 0 0 20 0.0000000 4 240 825 3510 5760 SS:f_x\001
4 1 -1 0 0 0 20 0.0000000 4 270 825 5760 5760 SS:f_y\001
4 1 -1 0 0 0 20 0.0000000 4 240 810 4635 5760 SS:f_a\001
4 0 1 1 0 3 20 0.0000000 4 240 720 6750 1260 Joint \001
4 0 1 1 0 3 20 0.0000000 4 210 495 6795 3375 Rod\001
4 1 -1 0 0 0 20 0.0000000 4 210 570 4771 946 SS:u\001








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_desc.tex version [7fb9ed2fd5].














































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% Verbal description for system InvertedPendulumT (InvertedPendulumT_desc.tex)
% Generated by MTT on Fri Jun 13 16:30:23 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1998/01/19 14:20:07  peterg
% %% Initial revision
% %%
% Revision 1.1  1997/08/15  13:31:00  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{InvertedPendulumT} is
   displayed in Figure \Ref{InvertedPendulumT_abg} and its label
   file is listed in Section \Ref{sec:InvertedPendulumT_lbl}.
   The subsystems are listed in Section \Ref{sec:InvertedPendulumT_sub}.

This is a heirachical version of the example from Section 10.5 of
"Metamodelling".  It uses the compound components: {\bf ROD}.  {\bf
ROD} is essentially as described in Figure 10.2.
There is no gravity included in this model.

This system has a number of dynamic elements (those corresponding to translation
motion) in derivative causality, thus the system is represnted as a
Differential-Algebraic Equation (Section
\Ref{sec:InvertedPendulumT_dae.tex}). Hovever, this is of contrained-state form and
therfore can be written as a set of constrained-state equations (Section
\Ref{sec:InvertedPendulumT_cse.tex}). The corresponding ordinary differential
equation is complicated due to the trig functions involved in
inverting the E matrix.

As well as the standard representation the ``robot-form'' equations
appear in Section  \Ref{sec:InvertedPendulumT_rfe}. 

%%% Local Variables: 
%%% mode: plain-tex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_input.txt version [1c6fb421ed].


















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# Numerical parameter file (InvertedPendulumT_input.txt)
# Generated by MTT at Fri Jun 13 16:56:09 BST 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Set the inputs
u(1) =	(t<1.0);
u(2) =	0.0; # 
u(3) =	0.0; # gravity








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_lbl.txt version [66a8b967a4].















































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%SUMMARY InvertedPendulumT: Pendulum with torque input at lower end

%% Label (InvertedPendulumT_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1996/12/05  12:39:49  peterg
% %% Documentation
% %%
% %% Revision 1.1  1996/12/05 12:17:15  peterg
% %% Initial revision
% %%
% %% Revision 1.1  1996/11/14  10:48:42  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Rod parameters - uniform rods
rod	none	l_1;l_1;j_1;m_1

%Zero velocity sources
v_x	SS     internal,0
v_y	SS     internal,0


%Zero force/torque sources
f_x	SS	   0,internal
f_a	SS	   0,internal
f_y	SS	   0,internal


%Torque/velocity at joint
u	SS	 external,internal










Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_numpar.txt version [43ee56016c].



























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# Numerical parameter file (InvertedPendulumT_numpar.txt)
# Generated by MTT at Mon Jan 19 13:53:15 GMT 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
j_1 = 	1.0; # Parameter j_1 for InvertedPendulumT
j_2 = 	1.0; # Parameter j_2 for InvertedPendulumT
l_1 = 	1.0; # Parameter l_1 for InvertedPendulumT
l_2 = 	1.0; # Parameter l_2 for InvertedPendulumT
m_1 = 	1.0; # Parameter m_1 for InvertedPendulumT
m_2 = 	1.0; # Parameter m_2 for InvertedPendulumT

# Initial states
x(1) = 	0.0; # Initial state for InvertedPendulumT_rod1 (J)
x(2) = 	0.0; # Initial state for InvertedPendulumT_rod1_th (3)
x(3) = 	0.0; # Initial state for InvertedPendulumT_rod2 (J)
x(4) = 	0.0; # Initial state for InvertedPendulumT_rod2_th (3)








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_rep.txt version [074582e484].


























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# Outline report file for system InvertedPendulumT (InvertedPendulumT_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt InvertedPendulumT abg tex

mtt -o InvertedPendulumT ode tex
mtt -o InvertedPendulumT sm tex
mtt -o InvertedPendulumT tf tex

mtt -o InvertedPendulumT smc tex
mtt -o InvertedPendulumT ssk tex

mtt -o InvertedPendulumT smo tex
mtt -o InvertedPendulumT ssl tex










Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_simp.r version [5cb387141c].








































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%% Reduce comands to simplify output for system InvertedPendulumT (InvertedPendulumT_simp.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

        trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2,
                  cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2,
                  sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2,
                  cos(~x)^2       => (1+cos(2*x))/2,
                  sin(~x)^2       => (1-cos(2*x))/2};
       LET trig1;


m_1 := m;
l_1 := l;
j_1 := j;
mg := m*g;
j := m*l*l/12;

%l:=1;

alpha_c1 := 2;
alpha_c2 := 1;

alpha_o1 := 20;
alpha_o2 := 100;


ORDER s,m,g;


END;








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/InvertedPendulumT_sspar.r version [37046d7f6d].

















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%% Reduce steady-state parameter file for InvertedPendulumT (InvertedPendulumT_sspar.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

MTTx1 := 0;
MTTx2 := 0;

END;








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/ROD_abg.fig version [afa8c63279].









































































































































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 4278 5403 4953 5178 4953
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5854 5404 6529 6079 6304 6079
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 6078 5403 5403 5403 5628
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5853 4953 6528 4278 6528 4503
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1
	 4277 3827
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3152 2702 4277 3827 4052 3827
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6977 6527 8102 7652 7877 7652
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3152 7652 4277 6527 4277 6752
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6977 3827 8102 2702 8102 2927
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5852 5177 6527 5177 6392 5312
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 2927 2927 4952 3152 4727
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 5402 2927 7427 3152 7202
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2701 5176 2026 5176 2161 5311
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2926 1351 2926 2476 3196 2206
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2926 7876 2926 9001 3196 8731
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8328 2928 8328 4953 8553 4728
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8328 5403 8328 7428 8553 7203
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8327 1352 8327 2477 8597 2207
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8327 7877 8327 9002 8597 8732
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5626 1351 5626 4951 5851 4726
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5626 5401 5626 9001 5851 8776
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1
	 6526 5401
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6526 4951 6526 5401
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8551 5176 9226 5176 9091 5311
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3826 4951 6526 4051 6436 4231
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3826 4996 3826 5356
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4276 5176 3826 5176 3961 5311
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3826 5401 6301 6301 6121 6301
2 1 0 1 5 -1 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 5401 4051 6301 3826 6301
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 4951 4051 4051 4051 4276
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5536 5176 5086 5176 5221 5311
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6300 9675 6300 675 4950 675 4950 9675 6300 9675
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 9000 9675 9000 675 7650 675 7650 9675 9000 9675
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 11025 10305 11025 225 225 225 225 10305 11025 10305
2 4 0 1 1 7 0 0 -1 0.000 0 0 7 0 0 5
	 3600 9675 2250 9675 2250 675 3600 675 3600 9675
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 10125 2250 990 2250 990 900 10125 900 10125 2250
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 10125 5850 990 5850 990 4500 10125 4500 10125 5850
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 10125 9450 990 9450 990 8100 10125 8100 10125 9450
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 1
	 8550 7650
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8685 5265 8415 5535
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1372 3490 1372 3172 3375 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 1507 3037 1237 3307
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9180 5724 9180 6042 8544 5406
4 1 -1 0 0 0 20 0.0000000 4 210 150 5628 5268 1\001
4 1 -1 0 0 0 20 0.0000000 4 210 315 6933 5268 I:J\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 2927 5312 1\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 2972 2792 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 2927 7742 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 8328 5313 1\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 8373 2793 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 8328 7743 0\001
4 1 -1 0 0 0 20 0.0000000 4 270 735 9676 5266 I:m_y\001
4 1 -1 0 0 0 20 0.0000000 4 240 735 1531 5221 I:m_x\001
4 1 -1 0 0 0 20 0.0000000 4 210 1170 4636 4141 EMTF:c1\001
4 1 -1 0 0 0 20 0.0000000 4 210 1170 4681 6391 EMTF:c2\001
4 1 -1 0 0 0 20 0.0000000 4 210 1155 7156 4141 EMTF:s1\001
4 1 -1 0 0 0 20 0.0000000 4 210 1155 7156 6391 EMTF:s2\001
4 1 5 0 0 0 20 0.0000000 4 210 150 3603 5313 0\001
4 1 26 0 0 0 16 0.0000000 4 195 330 6751 4456 [in]\001
4 1 26 0 0 0 16 0.0000000 4 195 450 6751 3781 [out]\001
4 1 26 0 0 0 16 0.0000000 4 195 330 6751 6076 [in]\001
4 1 26 0 0 0 16 0.0000000 4 195 450 6751 6706 [out]\001
4 1 26 0 0 0 16 0.0000000 4 195 570 6211 6526 [mod]\001
4 1 5 0 0 0 20 0.0000000 4 210 990 4681 5266 INTF:th\001
4 1 1 1 0 0 20 0.0000000 4 210 210 2925 10035 X\001
4 1 1 1 0 32 20 0.0000000 4 135 195 5580 9990 a\001
4 1 1 1 0 0 20 0.0000000 4 210 210 8280 9990 Y\001
4 2 26 0 0 0 16 0.0000000 4 195 570 3960 4140 [mod]\001
4 2 26 0 0 0 16 0.0000000 4 195 570 6345 4095 [mod]\001
4 2 26 0 0 0 16 0.0000000 4 195 570 3960 6210 [mod]\001
4 1 26 0 0 0 16 0.0000000 4 195 330 4590 4455 [in]\001
4 1 26 0 0 0 16 0.0000000 4 195 450 4545 3780 [out]\001
4 1 26 0 0 0 16 0.0000000 4 195 450 4590 6660 [out]\001
4 0 26 0 0 0 16 0.0000000 4 195 330 4365 6030 [in]\001
4 1 4 0 0 0 20 0.0000000 4 240 1065 2971 1216 SS:[x_a]\001
4 1 4 0 0 0 20 0.0000000 4 240 1080 2971 9361 SS:[x_b]\001
4 1 4 0 0 0 20 0.0000000 4 270 1065 8372 1217 SS:[y_a]\001
4 1 4 0 0 0 20 0.0000000 4 270 1080 8417 9362 SS:[y_b]\001
4 1 4 0 0 0 20 0.0000000 4 270 1575 5671 1216 SS:[alpha_a]\001
4 1 4 0 0 0 20 0.0000000 4 270 1590 5671 9361 SS:[alpha_b]\001
4 1 1 1 0 0 20 0.0000000 4 270 630 1350 2700 Tip a\001
4 1 1 1 0 0 20 0.0000000 4 240 1470 1260 6300 Mass centre\001
4 1 1 1 0 0 20 0.0000000 4 270 645 1350 9855 Tip b\001
4 1 -1 0 0 0 20 0.0000000 4 270 810 9225 6300 SS:mg\001
4 2 -1 0 0 0 20 0.0000000 4 210 1020 1395 3060 SS:theta\001








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/ROD_desc.tex version [58e21e2b67].
























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% Verbal description for system ROD (ROD_desc.tex)
% Generated by MTT on Fri Aug 15 09:53:23 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% Revision 1.1  1997/08/15  09:41:19  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{ROD} is
   displayed in Figure \Ref{ROD_abg} and its label
   file is listed in Section \Ref{sec:ROD_lbl}.
   The subsystems are listed in Section \Ref{sec:ROD_sub}.

{\bf ROD} is essentially as described in Figure 10.2 of
``Metamodelling''.








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/InvertedPendulumT/ROD_lbl.txt version [03080ab3ad].






























































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%SUMMARY	ROD: rigid rod in two dimensions
%DESCRIPTION	Port [alpha_a]:	Angular torque/velocity - end a
%DESCRIPTION	Port [alpha_b]:	Angular torque/velocity - end b
%DESCRIPTION	Port [x_a]:	x force/velocity - end a
%DESCRIPTION	Port [x_b]:	x force/velocity - end b
%DESCRIPTION	Port [y_a]:	y force/velocity - end a
%DESCRIPTION	Port [y_b]:	y force/velocity - end b
%DESCRIPTION
%DESCRIPTION	Parameter 1:	length from end 1 to mass centre
%DESCRIPTION	Parameter 2:	length from end 2 to mass centre
%DESCRIPTION	Parameter 3:	inertia about mass centre
%DESCRIPTION	Parameter 4:	mass
%DESCRIPTION	See Section 10.2 of "Metamodelling"


%% Label file for system ROD (ROD_lbl.txt)



% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1997/08/15  09:43:06  peterg
% %% Now has lablelled (as opposed to numbered) ports.
% %%
% Revision 1.1  1996/11/07  10:57:17  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Inertias
J	lin	flow,$3
m_x	lin	flow,$4
m_y	lin	flow,$4

%Integrate angular velocity to get angle
th

%Modulated transformers
s1	lsin	flow,$1
s2	lsin	flow,$2
c1	lcos	flow,$1
c2	lcos	flow,$2

%Gravity
mg	mg	internal

% Angle
theta	external	0

	








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_abg.fig version [3da14bbf94].
























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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1125 2475 2475 2475 2250 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3150 2475 4500 2475 4275 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5872 2497 7222 2497 6997 2722
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2835 2250 2835 900 3060 1125
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 8145 3150 8145 450 270 450 270 3150 8145 3150
4 1 -1 0 0 0 20 0.0000000 4 210 1080 5265 2565 INTF:int\001
4 2 -1 0 0 0 20 0.0000000 4 210 570 1035 2565 SS:u\001
4 0 -1 0 0 0 20 0.0000000 4 270 570 7380 2565 SS:y\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 2835 2565 1\001
4 1 -1 0 0 0 20 0.0000000 4 270 285 2880 765 I:j\001








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_desc.tex version [f32b0f51ab].



























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% Verbal description for system Satellite (Satellite_desc.tex)
% Generated by MTT on Mon Jan 12 16:00:15 GMT 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{Satellite} is
   displayed in Figure \Ref{Satellite_abg} and its label
   file is listed in Section \Ref{sec:Satellite_lbl}.
   The subsystems are listed in Section \Ref{sec:Satellite_sub}.


This is a simple teaching example to illustrare compensator design via
observer/state-feedback methods.

%%% Local Variables: 
%%% mode: latex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_lbl.txt version [782e83919f].































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%SUMMARY Satellite: <brief description here>
%DESCRIPTION <Detailed description here>
%% Label file for system Satellite (Satellite_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type I
	j		lin	flow,1

% Component type INTF
	int		

% Component type SS
	u		SS	external,internal
	y		SS	external,0








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_numpar.txt version [1f955bd38c].































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# Numerical parameter file (Satellite_numpar.txt)
# Generated by MTT at Mon Jan 12 15:43:19 GMT 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
b = 	1.0; # Parameter b for Satellite
b_m = 	1.0; # Parameter b_m for Satellite
j = 	1.0; # Parameter j for Satellite
j_m = 	1.0; # Parameter j_m for Satellite
k = 	1.0; # Parameter k for Satellite
k_m = 	1.0; # Parameter k_m for Satellite
l = 	1.0; # Parameter l for Satellite
l_a = 	1.0; # Parameter l_a for Satellite
l_m = 	1.0; # Parameter l_m for Satellite
r = 	1.0; # Parameter r for Satellite
r_a = 	1.0; # Parameter r_a for Satellite
r_m = 	1.0; # Parameter r_m for Satellite

# Initial states
x(1) = 	0.0; # Initial state for Satellite_motor (l_a)
x(2) = 	0.0; # Initial state for Satellite_motor (j_m)








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_rep.txt version [0143a6f353].



























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# Outline report file for system Satellite (Satellite_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt Satellite abg tex

mtt -o Satellite ode tex
mtt -o Satellite sm tex
mtt -o Satellite tf tex

mtt -o Satellite smc tex
mtt -o Satellite ssk tex

mtt -o Satellite smo tex
mtt -o Satellite ssl tex
mtt -o Satellite ctf tex










Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_simp.r version [6ee2a71759].
























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%% Reduce comands to simplify output for system Satellite (Satellite_simp.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% System

% Controller - poles -1
alpha_c1 := 2; alpha_c2 := 1;

% Observer -  poles at -1 
alpha_o1 := 2; alpha_o2 := 1;

ON FACTOR;

END;








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/Satellite/Satellite_sspar.r version [0ae589b8c8].














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%% Reduce steady-state parameter file for Satellite (Satellite_sspar.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

END;








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/Makefile version [57b513cffa].






















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#
# TransFig makefile
#

all: TwoTanks_pic.tex 

# translation into ps

TwoTanks_pic.tex: TwoTanks_pic.ps Makefile
	fig2ps2tex TwoTanks_pic.ps >TwoTanks_pic.tex
clean::
	rm -f TwoTanks_pic.tex

TwoTanks_pic.ps: TwoTanks_pic.fig Makefile
	fig2dev -L ps TwoTanks_pic.fig > TwoTanks_pic.ps
clean::
	rm -f TwoTanks_pic.ps









Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_abg.fig version [c6ae3ce4c5].























































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1351 4276 2701 4276 2476 4501
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2926 4501 3826 5401 3601 5401
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2971 4051 3871 3151 3871 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4275 3150 5625 3150 5400 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4275 5400 5625 5400 5400 5625
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4051 2925 4051 1575 4276 1800
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4050 5670 4050 7020 4275 6795
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5850 2880 5850 1530 6075 1755
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5850 5670 5850 7020 6075 6795
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6075 3150 7425 3150 7200 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6075 5400 7425 5400 7200 5625
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7875 3150 8775 4050 8505 4050
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7875 5400 8775 4500 8775 4725
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9001 4275 10351 4275 10126 4500
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 1350 4050 1350 4500
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9000 4050 9000 4500
4 1 -1 0 0 0 20 0.0000000 4 210 150 2926 4366 1\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 4096 5491 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 4096 3241 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 5895 3240 1\001
4 1 -1 0 0 0 20 0.0000000 4 240 690 5895 1440 R:r_1\001
4 1 -1 0 0 0 20 0.0000000 4 240 720 4050 1440 C:c_1\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 5850 5490 1\001
4 1 -1 0 0 0 20 0.0000000 4 210 375 7650 3240 AF\001
4 1 -1 0 0 0 20 0.0000000 4 210 375 7695 5490 AF\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 8775 4365 0\001
4 0 -1 0 0 0 20 0.0000000 4 240 825 10620 4320 SS:f_2\001
4 2 -1 0 0 0 20 0.0000000 4 240 825 1260 4365 SS:f_1\001
4 1 -1 0 0 0 20 0.0000000 4 240 720 4005 7335 C:c_2\001
4 1 -1 0 0 0 20 0.0000000 4 240 690 5850 7335 R:r_2\001








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_desc.tex version [fc1416584e].








































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% Verbal description for system TwoTanks (TwoTanks_desc.tex)
% Generated by MTT on Mon Jan 12 16:00:15 GMT 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

This is a simple teaching example to illustrate compensator design via
observer/state-feedback methods.

\begin{itemize}
\item Each tank is identical and of unit cross section.
\item Each tank has an identical inflow $f_1 = u$
\item Each outflow is different and given by $\sigma_i v_i$ for $i=1$
  and $i=2$ where $v_i$ is the volume of liquid in tank i and
  $\sigma_i$ the corresponding discharge coefficient. The net outflow
  is thus $y = f_2 = \sigma_1 v_1 + \sigma_2 v_2$.
\item The system states are taken to be:
  \begin{equation}
    x = 
    \begin{pmatrix}
      v_1 \\ v_2
    \end{pmatrix}
  \end{equation}
\end{itemize}




%%% Local Variables: 
%%% mode: latex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_lbl.txt version [c838a1da5c].

































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%SUMMARY TwoTanks: <brief description here>
%DESCRIPTION <Detailed description here>
%% Label file for system TwoTanks (TwoTanks_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type C
	c_1		lin	effort,1
	c_2		lin	effort,1

% Component type R
	r_1		lin	effort,sigma_1
	r_2		lin	effort,sigma_2

% Component type SS
	f_1		SS	internal,external
	f_2		SS	0,external








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_params.r version [e6fd98b650].















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%% Parameter file for system TwoTanks (TwoTanks_params.r)
%% This file provides symbolic parameters for simplification

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

END;








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_pic.fig version [9031f3f49a].





































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#FIG 3.1
Portrait
Center
Inches
1200 2
6 2099 1799 3974 3974
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2100 1800 2100 3900 3900 3900
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3300 1800 3300 3600 3900 3600
-6
6 5025 1800 6900 3975
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6899 1801 6899 3901 5099 3901
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5699 1801 5699 3601 5099 3601
-6
2 1 1 2 -1 7 0 0 -1 6.000 0 0 -1 1 0 3
	1 1 2.00 120.00 240.00
	 3600 3750 4200 3750 4200 4800
2 1 1 2 -1 7 0 0 -1 6.000 0 0 -1 1 0 3
	1 1 2.00 120.00 240.00
	 5400 3750 4800 3750 4800 4800
2 1 1 2 -1 7 0 0 -1 6.000 0 0 -1 1 0 3
	1 1 2.00 120.00 240.00
	 1800 1050 2400 1050 2400 2100
2 1 1 2 -1 7 0 0 -1 6.000 0 0 -1 1 0 3
	1 1 2.00 120.00 240.00
	 7200 1050 6600 1050 6600 2100
4 0 -1 0 0 3 20 0.0000000 4 270 2610 3225 5250 y=total outflow = f_2\001
4 0 -1 0 0 3 20 0.0000000 4 270 405 1950 900 f_1\001
4 0 -1 0 0 3 20 0.0000000 4 270 405 6825 900 f_1\001
4 0 -1 0 0 3 20 0.0000000 4 270 3525 2775 1500 u= inflow to each tank = f_1\001








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_pic.tex version [d9789ea80b].











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\makebox[4.569in][l]{
  \vbox to 3.861in{
    \vfill
    \special{psfile=TwoTanks_pic.ps}
  }
  \vspace{-\baselineskip}
}








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_rep.tex version [c0c0a0dc5d].
























































































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\section{\textbf{TwoTanks}: representation \textbf{abg}, language \textbf{tex}}
\label{sec:TwoTanks_abg.tex}
\index{\textbf{TwoTanks} -- abg}


MTT command:
\begin{verbatim}
mtt TwoTanks abg tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/TwoTanks/MTT_work/TwoTanks_abg.tex}


\section{\textbf{TwoTanks}: representation \textbf{sm}, language \textbf{tex}}
\label{sec:TwoTanks_sm.tex}
\index{\textbf{TwoTanks} -- sm}


MTT command:
\begin{verbatim}
mtt -o TwoTanks sm tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/TwoTanks/MTT_work/TwoTanks_sm.tex}


\section{\textbf{TwoTanks}: representation \textbf{tf}, language \textbf{tex}}
\label{sec:TwoTanks_tf.tex}
\index{\textbf{TwoTanks} -- tf}


MTT command:
\begin{verbatim}
mtt -o TwoTanks tf tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/TwoTanks/MTT_work/TwoTanks_tf.tex}


\section{\textbf{TwoTanks}: representation \textbf{smc}, language \textbf{tex}}
\label{sec:TwoTanks_smc.tex}
\index{\textbf{TwoTanks} -- smc}


MTT command:
\begin{verbatim}
mtt -o TwoTanks smc tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/TwoTanks/MTT_work/TwoTanks_smc.tex}


\section{\textbf{TwoTanks}: representation \textbf{ssk}, language \textbf{tex}}
\label{sec:TwoTanks_ssk.tex}
\index{\textbf{TwoTanks} -- ssk}


MTT command:
\begin{verbatim}
mtt -o TwoTanks ssk tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/TwoTanks/MTT_work/TwoTanks_ssk.tex}


\section{\textbf{TwoTanks}: representation \textbf{smo}, language \textbf{tex}}
\label{sec:TwoTanks_smo.tex}
\index{\textbf{TwoTanks} -- smo}


MTT command:
\begin{verbatim}
mtt -o TwoTanks smo tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/TwoTanks/MTT_work/TwoTanks_smo.tex}


\section{\textbf{TwoTanks}: representation \textbf{ssl}, language \textbf{tex}}
\label{sec:TwoTanks_ssl.tex}
\index{\textbf{TwoTanks} -- ssl}


MTT command:
\begin{verbatim}
mtt -o TwoTanks ssl tex 
\end{verbatim}
  \input{/home/peterg/Research/Modelling/Control/StateSpace/TwoTanks/MTT_work/TwoTanks_ssl.tex}








Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_rep.txt version [6dfe1f9e05].

























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# Outline report file for system TwoTanks (TwoTanks_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt TwoTanks abg tex

mtt -o TwoTanks sm tex
mtt -o TwoTanks tf tex

mtt -o TwoTanks smc tex
mtt -o TwoTanks ssk tex

mtt -o TwoTanks smo tex
mtt -o TwoTanks ssl tex










Added mttroot/mtt/lib/examples/Control/SimpleStateSpace/TwoTanks/TwoTanks_simp.r version [6a85134c77].














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%% Reduce comands to simplify output for system TwoTanks (TwoTanks_simp.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

END;








Added mttroot/mtt/lib/examples/Electrical/rc/rc_abg.fig version [cf0ab5e284].



































































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#FIG 3.1
Portrait
Center
Metric
1200 2
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 1800 1125 162 162 1800 1125 1890 1260
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1802 4277 2702 4277 2477 4502
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3152 4277 4052 4277 3827 4502
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4502 4277 5402 4277 5177 4502
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2926 4051 2926 3151 3151 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4276 4051 4276 3151 4501 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2701 4276 2701 4501
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5401 4051 5401 4276
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5401 4276 5401 4501
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2701 4051 2701 4276
2 2 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 5
	 2475 585 3375 585 3375 765 2475 765 2475 585
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4050 1215 4500 1215
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4050 1080 4500 1080
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 1800 675 2475 675
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 3375 675 5400 675
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4275 675 4275 1080
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4275 1215 4275 1575
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 1800 1575 5400 1575
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 1800 945 1800 675
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 1800 1575 1800 1260
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2
	1 1 2.00 120.00 240.00
	 5400 1530 5400 765
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 6750 5625 6750 225 675 225 675 5625 6750 5625
4 1 -1 0 0 0 20 0.0000 4 195 135 2927 4367 1\001
4 1 -1 0 0 0 20 0.0000 4 195 135 4277 4367 0\001
4 1 -1 0 0 0 20 0.0000 4 195 660 5987 4367 SS:e2\001
4 1 -1 0 0 0 20 0.0000 4 195 375 2926 2926 R:r\001
4 1 -1 0 0 0 20 0.0000 4 195 390 4276 2926 C:c\001
4 1 -1 0 0 0 20 0.0000 4 195 660 1395 4365 SS:e1\001
4 0 1 1 0 0 20 0.0000 4 135 105 2880 450 r\001
4 0 1 1 0 0 20 0.0000 4 135 120 4680 1215 c\001
4 0 1 1 0 0 20 0.0000 4 135 120 5625 1170 e\001
4 0 1 1 0 0 20 0.0000 4 195 135 5715 1305 2\001
4 0 1 1 0 0 20 0.0000 4 135 120 1260 1170 e\001
4 0 1 1 0 0 20 0.0000 4 195 135 1350 1305 1\001
4 1 1 1 0 0 20 0.0000 4 255 1350 3600 4995 Bond graph\001
4 1 1 1 0 0 20 0.0000 4 195 1200 3600 2025 Schematic\001








Added mttroot/mtt/lib/examples/Electrical/rc/rc_desc.tex version [9fdb693fc1].

























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% Verbal description for system rc (rc_desc.tex)
% Generated by MTT on Sun Aug 24 11:03:55 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1997/08/24 10:27:18  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{rc} is
   displayed in Figure \Ref{rc_abg} and its label
   file is listed in Section \Ref{sec:rc_lbl}.
   The subsystems are listed in Section \Ref{sec:rc_sub}.

The system \textbf{rc} is the simple electrical rc circuit shown in
Figure \Ref{rc_abg}. It can be regarded as a single-input
single-output system with input $e_1$ and output $e_2$.








Added mttroot/mtt/lib/examples/Electrical/rc/rc_lbl.txt version [1e103cde3b].




































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%% Label file for system rc (rc_lbl.txt)
%SUMMARY rc
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases

% Argument aliases
%ALIAS	$1	c
%ALIAS	$2	r

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----
	c	lin		effort,c

% Component type R
	r	lin		flow,r

% Component type SS
	e1	SS		external,internal
	e2	SS		external,0








Added mttroot/mtt/lib/examples/Electrical/rc/rc_rep.txt version [4385a614cf].






























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## Outline report file for system rc (rc_rep.txt)
mtt rc abg tex
mtt rc struc tex
mtt rc cbg ps
mtt rc ode tex
mtt rc sm tex
mtt rc tf tex
mtt rc sro ps
mtt rc lmfr ps
mtt rc nyfr ps

mtt rc numpar txt
mtt rc input txt

## Octave .m form
mtt  rc odeso ps

## Octave .oct form
mtt  -oct rc odeso ps

## c form
mtt  -c rc odeso ps

mtt rc rep txt










Added mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_abg.fig version [a81a2c225b].



































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 900 2925 2475 2925 2250 3150
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2970 2925 4545 2925 4320 3150
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2700 2700 2700 1125 2925 1350
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2475 2700 2475 3150
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5625 2925 7200 2925 6975 3150
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7447 2722 7447 1147 7672 1372
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7650 2925 9225 2925 9000 3150
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7650 2700 7650 3150
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7425 3150 7425 4725 7650 4500
4 1 -1 0 0 0 20 0.0000 4 195 135 2700 3015 1\001
4 2 -1 0 0 0 20 0.0000 4 195 615 855 3015 SS:V\001
4 1 -1 0 0 0 20 0.0000 4 195 375 2745 990 R:r\001
4 1 -1 0 0 0 20 0.0000 4 195 870 5130 3015 CM:cm\001
4 1 -1 0 0 0 20 0.0000 4 195 135 7425 3015 1\001
4 1 -1 0 0 0 20 0.0000 4 195 405 7425 1035 C:k\001
4 0 -1 0 0 0 20 0.0000 4 195 540 9495 3015 SS:v\001
4 1 -1 0 0 0 20 0.0000 4 195 405 7380 5040 R:d\001








Added mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_input.txt version [f997874330].
















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# Numerical parameter file (Electrostatic_input.txt)
# Generated by MTT at Fri Sep 19 17:34:53 BST 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Set the inputs
u(1) =	1.0; # V (Default value)








Added mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_lbl.txt version [f7c965ed2d].



































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%SUMMARY Electrostatic: Simple electrostatic speaker model (uses CM)
%DESCRIPTION See Karnopp, Margolis & Rosenberg Section 8.2
%% Label file for system Electrostatic (Electrostatic_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type C
	k		lin	state,k	

% Component type CM
	cm		none	c_0;x_0;m	

% Component type R
	d		lin	flow,d
	r		lin	flow,r

% Component type SS
	V		SS	external,internal
	v		SS	0,external








Added mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_numpar.txt version [5c1dbfcaba].



























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# Numerical parameter file (Electrostatic_numpar.txt)
# Generated by MTT at Fri Sep 19 17:43:25 BST 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
c_0 = 	1.0; # Parameter c_0 for Electrostatic
d = 	1.0; # Parameter d for Electrostatic
k = 	100.0; # Parameter k for Electrostatic
m = 	1.0; # Parameter m for Electrostatic
r = 	1.0; # Parameter r for Electrostatic
x_0 = 	1.0; # Parameter x_0 for Electrostatic

# Initial states
x(1) = 	0.0; # Initial state for Electrostatic (k)
x(2) = 	0.0; # Initial state for Electrostatic_cm (transducer)
x(3) = 	1.0; # Initial state for Electrostatic_cm (transducer)
x(4) = 	0.0; # Initial state for Electrostatic_cm (mass)








Added mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_rep.txt version [aec852c6bc].




















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# Outline report file for system Electrostatic (Electrostatic_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt Electrostatic abg tex
mtt Electrostatic struc tex
mtt Electrostatic ode tex
mtt Electrostatic numpar txt
mtt Electrostatic input txt
mtt Electrostatic simpar txt
mtt -c Electrostatic odeso ps








Added mttroot/mtt/lib/examples/Electromechanical/Electrostatic/Electrostatic_simp.r version [d5350ddac2].














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%% Reduce comands to simplify output for system Electrostatic (Electrostatic_simp.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

END;








Added mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_abg.fig version [41ab75b11d].






















































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 6930 405 13770 3600
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8328 2028 9903 2028 9903 2928 8328 2928 8328 2028
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6975 2475 8190 2475 7965 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 11475 2250 11475 1035 11700 1260
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 11700 2475 12915 2475 12690 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 12915 2250 12915 2700
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 12150 3150 10800 3150 10800 450 12150 450 12150 3150
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 10035 2475 11250 2475 11025 2700
4 1 -1 0 0 0 20 0.0000 4 255 1110 9138 2568 DC:gener\001
4 1 1 1 0 3 20 0.0000 4 255 1575 9225 3510 DC generator\001
4 1 -1 0 0 0 20 0.0000 4 195 135 11475 2610 0\001
4 1 -1 0 0 0 20 0.0000 4 195 675 13410 2610 SS:v2\001
4 1 -1 0 0 0 20 0.0000 4 255 585 11475 900 R:r_l\001
4 1 1 1 0 3 20 0.0000 4 210 1575 11475 3510 Resistive load\001
-6
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1170 2475 2385 2475 2160 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4186 2476 5401 2476 5176 2701
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 13185 4275 13185 225 45 225 45 4275 13185 4275
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 2476 2026 4051 2026 4051 2926 2476 2926 2476 2026
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 7245 2925 4950 2925 4950 2025 7245 2025 7245 2925
4 1 -1 0 0 0 20 0.0000 4 195 1170 3286 2566 DC:motor\001
4 1 1 1 0 3 20 0.0000 4 195 1155 3285 3510 DC motor\001
4 1 -1 0 0 0 20 0.0000 4 195 1275 6120 2520 Shaft:shaft\001
4 1 1 1 0 3 20 0.0000 4 270 1605 6165 3510 Flexible shaft\001
4 1 4 100 0 18 14 0.0000 4 210 1110 2250 1890 [Electrical]\001
4 1 4 100 0 18 14 0.0000 4 210 1110 10170 1980 [Electrical]\001
4 1 4 100 0 18 14 0.0000 4 210 1335 4140 1890 [Mechanical]\001
4 1 4 100 0 18 14 0.0000 4 210 1335 8325 1980 [Mechanical]\001
4 1 -1 0 0 0 20 0.0000 4 195 885 675 2565 PSU:v1\001








Added mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_desc.tex version [0fc0f1dc20].






















































































































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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system MotorGenerator (MotorGenerator_desc.tex)
% Generated by MTT on Thu Nov 16 13:11:36 GMT 2000.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{MotorGenerator} is
   displayed in Figure \Ref{fig:MotorGenerator_abg.ps} and its label
   file is listed in Section \Ref{sec:MotorGenerator_lbl}.
   The subsystems are listed in Section \Ref{sec:MotorGenerator_sub}.

This example illustates:
\begin{itemize}
\item The reuse of the DC model as both a motor and a generator
\item The assignment of a \emph{domain} and \emph{units} to component ports.
\end{itemize}

The command:
\begin{verbatim}
mtt -I MotorGenerator ese r
\end{verbatim}
gives the following output (irrelevant parts ommitted)
\begin{verbatim}
MTT (Model Transformation Tools) version 4.8
($Date$)
This is free software with ABSOLUTELY NO WARRANTY.
Type `mtt warranty' for details.

Creating MotorGenerator_rbg.m
Creating MotorGenerator_cmp.m
Creating MotorGenerator_fig.fig
Creating MotorGenerator_sabg.fig
Creating MotorGenerator_alias.txt
Creating MotorGenerator_alias.m
Creating MotorGenerator_sub.sh
Copying DC from /home/peterg/mtt_new/mtt-lib/comp/compound/Electromechanical/DC to .
Creating DC_rbg.m
Creating DC_cmp.m
Creating DC_fig.fig
Creating DC_sabg.fig
Creating DC_alias.txt
Creating DC_alias.m
Creating DC_sub.sh
Creating DC_abg.m
Checking port domains and units
     domains and units are OK

...

Creating PSU_rbg.m
Creating PSU_cmp.m
Creating PSU_fig.fig
Creating PSU_sabg.fig
Creating PSU_alias.txt
Creating PSU_alias.m
Creating PSU_sub.sh
Copying Se from /home/peterg/mtt_new/mtt-lib/comp/compound/General/Se to .
Creating Se_rbg.m
Creating Se_cmp.m
Creating Se_fig.fig
Creating Se_sabg.fig
Creating Se_alias.txt
Creating Se_alias.m
Creating Se_sub.sh
Creating Se_abg.m
Checking port domains and units
  no domains or units declared
.... 

Creating PSU_abg.m
Checking port domains and units
     domains and units are OK
...

Creating Shaft_rbg.m
Creating Shaft_cmp.m
Creating Shaft_fig.fig
Creating Shaft_sabg.fig
Creating Shaft_alias.txt
Creating Shaft_alias.m
Creating Shaft_sub.sh
Creating Shaft_abg.m
Checking port domains and units
     domains and units are OK
....

Creating MotorGenerator_abg.m
Checking port domains and units
  no domains or units declared

Creating MotorGenerator_cbg.m (maximise integral causality)
Creating MotorGenerator_type.sh
 .....
Creating MotorGenerator_ese.r
Creating MotorGenerator_def.r
Creating MotorGenerator_struc.txt
...
INFORMATION: Component MotorGenerator connects ports with units volt and volt
INFORMATION: Component MotorGenerator connects ports with units amp and amp
...
INFORMATION: Component MotorGenerator connects ports with units N*m and N*m
INFORMATION: Component MotorGenerator connects ports with units rad/s and rad/s
...
INFORMATION: Component MotorGenerator connects ports with units N*m and N*m
INFORMATION: Component MotorGenerator connects ports with units rad/s and rad/s
Creating MotorGenerator_aliased.txt
Copying MotorGenerator_ese.r

\end{verbatim}








Added mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_input.txt version [b15a7f6b3b].





















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# Numerical parameter file (MotorGenerator_input.txt)
# Generated by MTT at Wed Dec 10 08:30:11 GMT 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Set the inputs
## Removed by MTT on Wed Nov 15 10:11:43 GMT 2000: u(1) =	1.0; # v1 (Default value)
## Removed by MTT on Thu Nov 16 12:43:01 GMT 2000: motorgenerator_v1	= 1.0; # Added by MTT on Wed Nov 15 10:11:47 GMT 2000
## Removed by MTT on Thu Nov 16 12:44:08 GMT 2000: motorgenerator_mtt2_1_v_1_u	= 1.0; # Added by MTT on Thu Nov 16 12:43:05 GMT 2000
## Removed by MTT on Thu Nov 16 12:46:31 GMT 2000: motorgenerator_v_1_v_1_u	= 1.0; # Added by MTT on Thu Nov 16 12:44:12 GMT 2000
## Removed by MTT on Mon Dec  4 14:40:32 GMT 2000: motorgenerator_v1_1_v	= 1.0; # Added by MTT on Thu Nov 16 12:46:34 GMT 2000
motorgenerator_v1_1_v_1_u	= 1.0; # Added by MTT on Mon Dec 04 14:40:46 GMT 2000








Modified mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_lbl.txt
from [a369f3821f]
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%SUMMARY MotorGenerator: Motor-generator example
%DESCRIPTION A simple example of DC motor driving a generator via
%DESCRIPTION a flexible shaft

%% Label file for system MotorGenerator (MotorGenerator_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/11/16 09:58:49  peterg
% %% Initial revision
% %%
% %% Revision 1.3  2000/05/20 16:38:40  peterg
% %% New SS foramt
% %%
% %% Revision 1.2  1998/04/04 10:51:59  peterg
% %% New version using port coercion
% %%
% %% Revision 1.1  1996/12/04  16:24:01  peterg




︙


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% Voltage out
v2	SS	external,0

%Motor
motor		lin	k_m;l_m;r_m;j_m;b_m

%Shaft compliance
c_s		lin	effort,c_s
%Shaft
shaft	        lin     c_s

%Generator
gener		lin	k_g;l_g;r_g;j_g;b_g

% Resistive load
r_l		lin	flow,r_l









Modified mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_numpar.txt
from [19176c722e]
to [6fa5d2a477].



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# Numerical parameter file (MotorGenerator_numpar.txt)
# Generated by MTT at Wed Dec 10 08:29:31 GMT 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %% Revision 1.1  2000/12/04 14:42:47  peterg
# %% Initial revision
# %%
# %% Revision 1.1  2000/08/01 12:26:48  peterg
# %% Initial revision
# %%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
b_g = 	0.0; # Parameter b_g for MotorGenerator
b_m = 	0.0; # Parameter b_m for MotorGenerator
c_s = 	0.01; # Parameter c_s for MotorGenerator
j_g = 	1.0; # Parameter j_g for MotorGenerator
j_m = 	1.0; # Parameter j_m for MotorGenerator
k_g = 	1.0; # Parameter k_g for MotorGenerator
k_m = 	1.0; # Parameter k_m for MotorGenerator
l_g = 	0.1; # Parameter l_g for MotorGenerator
l_m = 	0.1; # Parameter l_m for MotorGenerator
r_g = 	0.1; # Parameter r_g for MotorGenerator
r_l = 	1.0; # Parameter r_l for MotorGenerator
r_m = 	0.1; # Parameter r_m for MotorGenerator
## Removed by MTT on Mon Dec  4 14:44:19 GMT 2000: r_m_1 = 	0.1; # Parameter r_m for MotorGenerator

r_m	= 0.1; # Added by MTT on Mon Dec 04 14:44:44 GMT 2000








Added mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_rep.txt version [e2275ca135].





































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## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system MotorGenerator (MotorGenerator_rep.txt)
## Generated by MTT on" Thu Nov 16 13:37:07 GMT 2000.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

mtt MotorGenerator abg tex			# The system description
mtt MotorGenerator cbg ps 		        # The causal bond graph
mtt MotorGenerator struc tex	        # The system structure
mtt MotorGenerator sympar tex	        # The system parameters
## Uncomment the following lines or add others
## mtt MotorGenerator dae tex	        # The system dae
mtt MotorGenerator ode tex	        # The system ode 
## mtt MotorGenerator sspar tex		# Steady-state parameters
## mtt MotorGenerator ss tex 		# Steady state
## mtt MotorGenerator dm tex		# Descriptor matrices (of linearised system)
mtt MotorGenerator sm tex		# State matrices (of linearised system)
##mtt MotorGenerator tf tex		# Transfer function (of linearised system)
## mtt MotorGenerator lmfr ps		# log modulus of frequency response (of linearised system)
## mtt MotorGenerator simpar tex		# Simulation parameters
## mtt MotorGenerator numpar tex		# Numerical simulation parameters
## mtt MotorGenerator state tex		# Simulation initial state
## mtt MotorGenerator input tex		# Simulation input
## mtt MotorGenerator logic tex		# Logic control
mtt MotorGenerator odeso ps		# Simulation output

mtt MotorGenerator rep txt		# This file









Added mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/MotorGenerator_simpar.txt version [75937c9851].























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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system MotorGenerator (MotorGenerator_simpar.txt)
# Generated by MTT on Fri Dec 1 18:03:55 GMT 2000.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################


FIRST        = 0.0;       # First time in simulation output
DT          = 0.1;        # Print interval
LAST        = 10.0;       # Last time in simulation
STEPFACTOR  = 1;          # Integration steps per print interval
WMIN        = -1;         # Minimum frequency = 10^WMIN
WMAX        = 2;          # Maximum frequency = 10^WMAX
WSTEPS      = 100;        # Number of frequency steps
INPUT       = 1;          # Index of the input








Added mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/PSU_abg.fig version [ee661e106f].























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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 3780 1710 4860 2025
4 0 4 100 0 18 18 0.0000 4 270 1065 3780 1935 SS:[out]\001
-6
6 1530 675 4995 3015
2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5
	 4950 2970 1575 2970 1575 720 4950 720 4950 2970
-6
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2250 1845 3600 1845 3375 2070
4 1 0 100 0 18 18 0.0000 4 210 570 1890 1935 Se:v\001








Added mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/PSU_lbl.txt version [0875be2315].


































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%% Label file for system PSU (PSU_lbl.txt)
%SUMMARY PSU
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


%UNITS out electrical volt amp 
% Port aliases

% Argument aliases

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type SS
	[out]	SS		external,external

% Component type Se
	v	SS		external









Added mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/Shaft_abg.fig version [7e87b19fce].


































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 1440 405 4410 3600
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2925 2250 2925 1035 3150 1260
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1486 2476 2701 2476 2476 2701
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 3600 3150 2250 3150 2250 450 3600 450 3600 3150
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3150 2475 4365 2475 4140 2700
4 1 -1 0 0 0 20 0.0000 4 195 135 2925 2565 0\001
4 1 -1 0 0 0 20 0.0000 4 255 630 2925 900 C:c_s\001
4 1 1 1 0 3 20 0.0000 4 270 1605 2925 3510 Flexible shaft\001
-6
6 540 2340 1440 2655
4 2 4 100 0 18 18 0.0000 4 270 870 1440 2565 SS:[in]\001
-6
6 4455 2340 5535 2655
4 0 4 100 0 18 18 0.0000 4 270 1065 4455 2565 SS:[out]\001
-6
2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5
	 5850 3825 450 3825 450 225 5850 225 5850 3825








Added mttroot/mtt/lib/examples/Electromechanical/MotorGenerator/Shaft_lbl.txt version [516be39780].







































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%% Label file for system Shaft (Shaft_lbl.txt)
%SUMMARY Shaft
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases


% Unit definitions
%UNITS in  rotational N*m rad/s
%UNITS out rotational N*m rad/s

% Argument aliases
%ALIAS	$1	c_s

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type C
	c_s	lin		effort,c_s

% Component type SS
	[in]	SS		external,external
	[out]	SS		external,external








Added mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_abg.fig version [0983c47273].


































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 4 1 7 1 0 -1 0.000 0 0 -1 0 0 4
	 2700 2025 7875 2025 7875 9450 2700 9450
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5625 6525 5625 7875 5850 7650
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5625 3780 5625 5130 5850 4905
2 2 0 2 1 3 1 0 20 0.000 0 0 0 0 0 5
	 2700 5175 7875 5175 7875 6525 2700 6525 2700 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2835 855 2835 5850 3060 5625
2 2 0 2 1 3 1 0 20 0.000 0 0 0 0 0 5
	 2700 1575 2970 1575 2970 5175 2700 5175 2700 1575
2 1 1 2 1 7 1 0 -1 6.000 0 0 -1 0 0 2
	 2700 585 2700 9855
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 9450 10125 9450 225 1125 225 1125 10125 9450 10125
4 1 4 0 0 0 20 0.0000 4 240 3075 5625 8190 [mechanical,mass,thermal]\001
4 1 -1 0 0 0 30 0.0000 4 300 1950 5625 8595 CG:bottom\001
4 1 4 0 0 0 20 0.0000 4 255 3885 5625 6345 [mechanical_b,mass_b,thermal_b]\001
4 1 -1 0 0 0 30 0.0000 4 405 3345 5625 5940 LeakyPiston:piston\001
4 1 -1 0 0 0 30 0.0000 4 405 1260 5625 3285 CG:top\001
4 1 4 0 0 0 20 0.0000 4 240 3075 5625 3600 [mechanical,mass,thermal]\001
4 1 4 0 0 0 20 0.0000 4 255 3750 5625 5400 [mechanical_t,mass_t,thermal_t]\001
4 1 4 0 0 0 20 0.0000 4 240 750 3375 5895 [shaft]\001
4 0 -1 0 0 0 20 0.0000 4 195 975 2925 900 SS:shaft\001








Added mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_desc.tex version [908e83e3d0].
































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% Verbal description for system LeakyCylinder (LeakyCylinder_desc.tex)
% Generated by MTT on Tue Nov 25 17:22:29 GMT 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{LeakyCylinder} is
   displayed in Figure \Ref{LeakyCylinder_abg} and its label
   file is listed in Section \Ref{sec:LeakyCylinder_lbl}.
   The subsystems are listed in Section \Ref{sec:LeakyCylinder_sub}.

This example roughly corresponds to the Example in section 12.4.3
(Fig. 12.17) of Karnopp, Margolis and Rosenberg (1990). It is a pseudo bond
graph representation based on the ``thermal acummulator'' of  section
12.4.1 and the ``isentropic nozzle'' of section 12.4.2 of that book.





%%% Local Variables: 
%%% mode: latex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_input.txt version [8ad664ff23].
















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# Numerical parameter file (LeakyCylinder_input.txt)
# Generated by MTT at Tue Nov 25 17:00:09 GMT 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Set the inputs
u(1) =	0.0; # shaft








Added mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_numpar.txt version [a322907ca6].



























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# Numerical parameter file (LeakyCylinder_numpar.txt)
# Generated by MTT at Mon Dec  1 08:59:51 GMT 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
a_b = 	1.0; # Parameter a_b for LeakyCylinder
a_l = 	1.0; # Parameter a_l for LeakyCylinder
a_t = 	1.0; # Parameter a_t for LeakyCylinder
c_v = 	1.0; # Parameter c_v for LeakyCylinder
gamma = 	1.0; # Parameter gamma for LeakyCylinder
m_p = 	1.0; # Parameter m_p for LeakyCylinder
r = 	1.0; # Parameter r for LeakyCylinder

# Initial states
x(3) = 	0.0; # Initial state for LeakyCylinder_bottom (cg)
x(6) = 	0.0; # Initial state for LeakyCylinder_top (cg)
x(7) = 	0.0; # Initial state for LeakyCylinder_piston_piston (m_p)








Added mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_rep.txt version [9786958767].




















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# Outline report file for system LeakyCylinder (LeakyCylinder_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt LeakyCylinder abg tex
mtt LeakyCylinder struc tex
mtt LeakyCylinder sympar tex
mtt LeakyCylinder ode tex
mtt LeakyCylinder ss tex
mtt LeakyCylinder sm tex
%mtt -c LeakyCylinder odeso ps








Added mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_simp.r version [163e4c6595].














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%% Reduce comands to simplify output for system LeakyCylinder (LeakyCylinder_simp.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

END;








Added mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyCylinder_sspar.r version [e6e5a3aadc].














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%% Reduce steady-state parameter file for LeakyCylinder (LeakyCylinder_sspar.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

END;








Added mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyPiston_abg.fig version [c4c5b004af].


























































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6300 3375 6300 4725 6525 4500
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7200 3375 7200 4725 7425 4500
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6300 6075 6300 8122 6525 7897
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7245 6075 7245 8100 7470 7875
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4500 9000 9225 9000
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 450 9000 4050 9000
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 4050 9675 4050 450 450 450 450 9675 4050 9675
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 9225 9675 4500 9675 4500 450 9225 450 9225 9675
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6300 2925 6300 1575 6525 1800
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7200 2925 7200 1575 7425 1800
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3150 2925 3150 1575 3375 1800
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3150 3375 3150 4725 3375 4500
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2056 4711 1101 3756 1101 4074
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3150 6075 3150 7425 3375 7200
4 0 4 0 0 0 20 0.0000 4 255 1440 7200 5040 [thermal_in]\001
4 1 4 0 0 0 20 0.0000 4 255 1110 6300 5040 [mass_in]\001
4 1 4 0 0 0 20 0.0000 4 255 1260 6300 5895 [mass_out]\001
4 0 4 0 0 0 20 0.0000 4 255 1590 7200 5895 [thermal_out]\001
4 0 4 0 0 0 20 0.0000 4 255 1755 7155 8505 SS:[thermal_b]\001
4 2 4 0 0 0 20 0.0000 4 255 1425 6255 8505 SS:[mass_b]\001
4 1 1 1 0 0 20 0.0000 4 195 1335 6750 9450 Leak model\001
4 1 1 1 0 0 20 0.0000 4 195 1515 2250 9405 Piston Model\001
4 1 -1 0 0 0 20 0.0000 4 195 135 6300 3240 0\001
4 1 -1 0 0 0 20 0.0000 4 195 135 7200 3240 0\001
4 2 4 0 0 0 20 0.0000 4 255 2115 3195 1305 SS:[mechanical_t]\001
4 2 4 0 0 0 20 0.0000 4 255 1380 6345 1305 SS:[mass_t]\001
4 0 4 0 0 0 20 0.0000 4 255 1710 7155 1350 SS:[thermal_t]\001
4 1 -1 0 0 0 20 0.0000 4 195 135 3150 3240 0\001
4 1 4 0 0 0 20 0.0000 4 255 540 3150 5040 [top]\001
4 1 4 0 0 0 20 0.0000 4 240 750 2070 5040 [shaft]\001
4 1 4 0 0 0 20 0.0000 4 240 1155 1080 3645 SS:[shaft]\001
4 2 4 0 0 0 20 0.0000 4 255 2160 3150 7785 SS:[mechanical_b]\001
4 1 4 0 0 0 20 0.0000 4 240 990 3150 5940 [bottom]\001
4 1 -1 0 0 0 30 0.0000 4 300 1425 6885 5535 RG:leak\001
4 1 -1 0 0 0 30 0.0000 4 405 2295 2700 5535 Piston:piston\001








Added mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/LeakyPiston_desc.tex version [56fe000716].


















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% Verbal description for system LeakyPiston (LeakyPiston_desc.tex)
% Generated by MTT on Fri Nov 28 12:09:15 GMT 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{LeakyPiston} is
   displayed in Figure \Ref{LeakyPiston_abg} and its label
   file is listed in Section \Ref{sec:LeakyPiston_lbl}.
   The subsystems are listed in Section \Ref{sec:LeakyPiston_sub}.








Added mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/Piston_abg.fig version [357fe6faa9].



































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6075 1575 6075 3150 6300 2925
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6075 3600 6075 4275 6300 4050
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6075 4636 6075 5311 6300 5086
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5850 4500 4500 4500 4725 4725
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5905 4281 4950 3326 4950 3645
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6075 5850 6075 7200 6300 6975
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 3375 8100 6975 8100
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6975 8775 6975 900 3375 900 3375 8775 6975 8775
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 9945 9225 9945 450 450 450 450 9225 9945 9225
4 1 -1 0 0 0 20 0.0000 4 255 780 6120 3465 TF:a_t\001
4 1 -1 0 0 0 20 0.0000 4 195 135 6075 4590 1\001
4 2 4 0 0 0 20 0.0000 4 240 1155 4905 3240 SS:[shaft]\001
4 1 -1 0 0 0 20 0.0000 4 255 660 4050 4545 I:m_p\001
4 1 -1 0 0 0 20 0.0000 4 255 825 6075 5670 TF:a_b\001
4 2 4 0 0 0 20 0.0000 4 240 1395 6120 7650 SS:[bottom]\001
4 1 1 1 0 0 20 0.0000 4 195 1515 5175 8505 Piston Model\001
4 2 4 0 0 0 20 0.0000 4 255 945 6120 1395 SS:[top]\001








Added mttroot/mtt/lib/examples/GasDynamics/LeakyCylinder/Piston_desc.tex version [76d5324126].


























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% Verbal description for system Piston (Piston_desc.tex)
% Generated by MTT on Fri Nov 28 12:09:27 GMT 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{Piston} is
   displayed in Figure \Ref{Piston_abg} and its label
   file is listed in Section \Ref{sec:Piston_lbl}.
   The subsystems are listed in Section \Ref{sec:Piston_sub}.

The two {\bf TF} components convert pressure to force. The {\bf I}
component represents piston inertia.

%%% Local Variables: 
%%% mode: plain-tex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_abg.fig version [4d929f234d].




































































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#FIG 3.1
Portrait
Center
Metric
1200 2
6 3150 4410 5940 4995
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 3
	 3154 4730 5449 4730 5404 4730
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 3379 4730 3154 4955
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 3604 4730 3379 4955
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 3829 4730 3604 4955
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4054 4730 3829 4955
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4279 4730 4054 4955
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4505 4731 4280 4956
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4730 4731 4505 4956
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4955 4731 4730 4956
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 5180 4731 4955 4956
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 5405 4731 5180 4956
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2
	0 0 2.00 120.00 240.00
	 5897 4413 5627 4683
-6
1 3 0 2 1 7 1 0 -1 0.0000000 1 0.000 4276 2206 612 612 4276 2206 4636 2701
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2
	0 0 2.00 120.00 240.00
	 5176 1531 4906 1801
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4500 2475 5175 3600 5175 3330
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4050 2250 2925 2250 3150 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4500 2250 5625 2250 5400 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4275 2070 4275 946 4500 1171
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4275 4050 4275 2475 4500 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4297 4522 4297 5646 4522 5421
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6750 3600 7875 3600 7650 3825
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 8775 6300 8775 225 225 225 225 6300 8775 6300
4 2 -1 0 0 2 20 0.0000000 4 240 2130 2835 2250 R:air_resistance\001
4 1 -1 0 0 2 20 0.0000000 4 210 150 4276 2341 1\001
4 1 1 1 0 3 20 0.0000000 4 210 525 5176 1441 Ball\001
4 0 -1 0 0 2 20 0.0000000 4 270 1365 5760 2340 SS:gravity\001
4 1 -1 0 0 2 20 0.0000000 4 240 1515 4275 810 I:ball_mass\001
4 1 -1 0 0 2 20 0.0000000 4 270 1710 4320 5940 CSW:ground\001
4 1 1 1 0 3 20 0.0000000 4 210 960 6030 4275 Ground\001
4 1 1 1 0 3 20 0.0000000 4 150 135 4590 3465 v\001
4 1 1 1 0 3 20 0.0000000 4 150 315 4590 5220 -v\001
4 1 -1 0 0 2 20 0.0000000 4 210 150 4275 4365 0\001
4 1 -1 0 0 2 20 0.0000000 4 210 1275 5985 3690 INTF:intf\001
4 0 -1 0 0 2 20 0.0000000 4 210 585 8010 3690 SS:x\001








Added mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_desc.tex version [12a7f8c729].
















































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% Verbal description for system Bounce (Bounce_desc.tex)
% Generated by MTT on Wed Jul 2 10:55:51 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{Bounce}, togehter with a
   schematic diagram is
   displayed in Figure \Ref{Bounce_abg} and its label
   file is listed in Section \Ref{sec:Bounce_lbl}.
   The subsystems are listed in Section \Ref{sec:Bounce_sub}.

The model uses the {\bf CSW} switched {\bf C} element to simulate
contact with the ground. The corresponding switching function (See
Section \ref{sec:Bounce_input.txt}), is based on the height above the
ground $h$ as follows:
\begin{equation}
i_{sw} = 
  \begin{cases}
    0 & \text{if $h > 0$}\\
    -1 & \text{if $h \le 0$}
  \end{cases}
\end{equation}

In other words, the component acts as an ideal spring when the ball is
in contact with the ground yet has no effect when the ball is not in
contact with the ground.

The ball is modelled as a point mass (the \textbf{I} component) and  a
linear resistance to motion (the  (the \textbf{R} component).

The system was simulated for 100 time units and the resultant height
is plotted in Figure \ref{fig:Bounce_odeso.ps}. The ball was released at zero
velocity from a height of ten units. The bounce height decreases due to
the effect of the modelled air resistance.

%%% Local Variables: 
%%% mode: latex
%%% TeX-master: t
%%% End: 








Modified mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_logic.txt
from [c1998eea53]
to [093819353e].



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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system Bounce (Bounce_logic.txt)
# Generated by MTT on Thu May 18 12:29:15 BST 2000.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.1  2000/05/18 11:29:58  peterg
## Initial revision
##
###############################################################


# Set the switches
bounce_ground= mttx(1)<0;
bounce_ground_1_mtt_switch_logic	= (bounce_intf_1_mtt3<0);








Added mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_numpar.txt version [3811c0ef3d].


















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# Numerical parameter file (Bounce_numpar.txt)
# Generated by MTT at Wed Jul  2 10:47:47 BST 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
k = 	100.0; # Ground stiffness
m = 	1.0; # Ball mass
r = 	1.0; # Air resistance








Modified mttroot/mtt/lib/examples/Hybrid/Bounce/Bounce_simpar.txt
from [1d616e3a78]
to [17a4ac93f9].



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# Simulation parameters for system Bounce (Bounce_simpar.txt)
# Generated by MTT on Sat Jul 25 15:57:56 BST 1998.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.1  1998/10/01 19:21:04  peterg
## Initial revision
##
###############################################################

FIRST=0.0;
LAST=10.0;
DT=0.001;
STEPFACTOR=100;
METHOD=Implicit;
DT=0.02;
STEPFACTOR=1;









Added mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_abg.fig version [c0c525deaf].





































































































































































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#FIG 3.1
Portrait
Center
Metric
1200 2
6 3513 9498 8733 9858
6 3513 9498 4953 9813
6 3513 9498 4233 9768
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 3514 9724 3739 9499
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 3739 9724 3964 9499
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 3964 9724 4189 9499
-6
6 4189 9499 4909 9769
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4190 9725 4415 9500
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4415 9725 4640 9500
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4640 9725 4865 9500
-6
-6
6 4864 9499 6304 9814
6 4864 9499 5584 9769
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4865 9725 5090 9500
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 5090 9725 5315 9500
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 5315 9725 5540 9500
-6
6 5540 9500 6260 9770
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 5541 9726 5766 9501
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 5766 9726 5991 9501
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 5991 9726 6216 9501
-6
-6
6 6214 9499 6934 9769
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 6215 9725 6440 9500
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 6440 9725 6665 9500
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 6665 9725 6890 9500
-6
6 6890 9500 7610 9770
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 6891 9726 7116 9501
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 7116 9726 7341 9501
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 7341 9726 7566 9501
-6
6 7565 9500 8285 9770
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 7566 9726 7791 9501
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 7791 9726 8016 9501
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 8016 9726 8241 9501
-6
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 3514 9499 8689 9499
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 8242 9727 8467 9502
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 8467 9727 8692 9502
-6
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4727 2072 4727 3647 4952 3422
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6077 2072 6077 3647 6302 3422
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4502 3647 4952 3647
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5852 3647 6302 3647
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7202 3647 7652 3647
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 8823 4728 10398 4953 10173
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4501 6571 2926 6571 3151 6796
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2251 6797 2251 8372 2476 8147
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9923 6774 9923 8349 10148 8124
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5851 4771 6301 4771
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 8372 4726 6797 4951 7022
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4501 6346 4501 6796
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7651 6346 7651 6796
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7629 6571 9204 6571 8979 6796
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 6347 4726 4772 4951 4997
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2521 4186 4096 4186 3871 4411
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4096 3961 4096 4411
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7426 4770 7426 6345 7651 6120
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7426 6795 7426 8370 7651 8145
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8101 4186 9676 4186 9451 4411
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8101 3961 8101 4411
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7426 3647 7426 2072 7651 2297
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6076 4772 6076 6347 6301 6122
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7426 8820 7426 10395 7651 10170
2 2 0 2 1 3 1 0 20 0.000 0 0 0 0 0 5
	 3827 3422 8327 3422 8327 4997 3827 4997 3827 3422
2 1 0 3 1 7 1 0 -1 0.000 0 0 -1 1 0 2
	1 0 3.00 180.00 360.00
	 9226 2521 8371 3196
2 1 0 3 1 7 1 0 -1 0.000 0 0 -1 1 0 2
	1 0 3.00 180.00 360.00
	 11458 7718 10603 8393
2 1 0 3 1 7 1 0 -1 0.000 0 0 -1 1 0 2
	1 0 3.00 180.00 360.00
	 701 7685 1556 8360
4 1 -1 0 0 2 20 0.0000000 4 210 1470 2115 6660 INTF:intfL\001
4 1 -1 0 0 2 20 0.0000000 4 210 1215 6077 4322 ROD:rod\001
4 1 4 0 0 2 20 0.0000000 4 240 360 6077 3962 [p7]\001
4 1 4 0 0 2 20 0.0000000 4 240 360 6077 4637 [p8]\001
4 1 -1 0 0 2 20 0.0000000 4 210 150 4727 6662 1\001
4 1 -1 0 0 2 20 0.0000000 4 210 150 7427 6662 1\001
4 1 -1 0 0 2 20 0.0000000 4 210 150 4728 8688 0\001
4 1 -1 0 0 2 20 0.0000000 4 270 1905 4728 10713 CSW:groundL\001
4 1 -1 0 0 2 20 0.0000000 4 210 150 7428 8688 0\001
4 1 -1 0 0 2 20 0.0000000 4 270 1365 6077 6662 SS:gravity\001
4 1 -1 0 0 2 20 0.0000000 4 210 795 10217 4277 SS:aR\001
4 1 -1 0 0 2 20 0.0000000 4 210 1485 10126 6661 INTF:intfR\001
4 1 -1 0 0 2 20 0.0000000 4 210 795 2251 8641 SS:hL\001
4 1 -1 0 0 2 20 0.0000000 4 210 810 9946 8641 SS:hR\001
4 1 -1 0 0 2 20 0.0000000 4 210 795 6077 1937 SS:xC\001
4 1 -1 0 0 2 20 0.0000000 4 270 1920 7426 10711 CSW:groundR\001
4 1 -1 0 0 2 20 0.0000000 4 210 780 4727 1937 SS:xL\001
4 1 -1 0 0 2 20 0.0000000 4 210 795 7427 1937 SS:xR\001
4 1 4 0 0 2 20 0.0000000 4 240 360 4727 3962 [p3]\001
4 1 4 0 0 2 20 0.0000000 4 240 360 7427 3962 [p4]\001
4 1 4 0 0 2 20 0.0000000 4 240 360 4727 4637 [p5]\001
4 1 4 0 0 2 20 0.0000000 4 240 360 7426 4636 [p6]\001
4 1 -1 0 0 2 20 0.0000000 4 210 780 2026 4276 SS:aL\001
4 1 4 0 0 2 20 0.0000000 4 240 360 4411 4276 [p1]\001
4 1 4 0 0 2 20 0.0000000 4 240 360 7876 4321 [p2]\001
4 0 1 1 0 3 30 0.0000000 4 300 1470 5311 10171 Ground\001
4 0 1 1 0 3 30 0.0000000 4 390 2685 8326 2476 Bouncing Rod\001
4 0 1 1 0 3 30 0.0000000 4 390 3315 11026 7651 Height of right tip\001
4 2 1 1 0 3 30 0.0000000 4 390 3000 1800 7515 Height of left tip\001








Added mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_logic.txt version [c5ab109217].





















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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system BouncingRod (BouncingRod_logic.txt)
# Generated by MTT on Thu May 18 12:14:35 BST 2000.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

# Set the switches
## Removed by MTT on Mon Dec  4 08:30:13 GMT 2000: bouncingrod_groundl= (x(3)<=0);
## Removed by MTT on Mon Dec  4 08:30:13 GMT 2000: bouncingrod_groundr= (x(4)<=0);

bouncingrod_groundl_1_mtt_switch_logic	= (x(3)<=0);
bouncingrod_groundr_1_mtt_switch_logic	= (x(4)<=0);









Modified mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_numpar.txt
from [fc10072c99]
to [348ad3662b].



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# Numerical parameter file (BouncingRod_numpar.txt)
# Generated by MTT at Fri Jul  4 14:09:11 BST 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %% Revision 1.1  1997/07/06 16:17:27  peterg
# %% Initial revision
# %%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

float theta,height;

# Parameters
epsilon = 	0.1; 
epsilon = 	0.01; 
l = 	1.0; # Default value
m = 	1.0; # Default value
j = 	l*l*m/3;


theta = 3.1416/4;
## Declare pi
pi = 3.142;
height = 10.0;

# Initial states
x(1) = 	0.0; # Initial state for BouncingRod_groundL (MTT_SWITCH)
x(2) = 	0.0; # Initial state for BouncingRod_groundR (MTT_SWITCH)
x(3) = 	height+l*cos(theta); # Initial state for BouncingRod_intfL (3)
x(4) = 	height-l*cos(theta); # Initial state for BouncingRod_intfR (3)
x(5) = 	0.0; # Initial state for BouncingRod_rod (J)
x(6) = 	0.0; # Initial state for BouncingRod_rod (m_x)
x(7) = 	0.0; # Initial state for BouncingRod_rod (m_y)
x(8) = 	theta; # Initial state for BouncingRod_rod_th (3)










Modified mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_rep.txt
from [aa6fa411cb]
to [79b12196f0].



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# Outline report file for system BouncingRod (BouncingRod_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1997/07/06 16:20:44  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt -s -o -c BouncingRod abg tex
mtt -s -o -c BouncingRod struc tex
mtt -s -o -c BouncingRod ode tex
mtt BouncingRod abg tex
mtt BouncingRod struc tex
mtt BouncingRod ode tex
mtt -s -o -c BouncingRod odes h
mtt -s -o -c BouncingRod numpar txt
mtt -s -o -c BouncingRod input txt
mtt -s -o -c BouncingRod odeso ps
mtt BouncingRod numpar txt
mtt BouncingRod input txt
mtt BouncingRod logic txt
mtt -c  BouncingRod odeso ps











Modified mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_simpar.txt
from [86a2b5f371]
to [b247367777].



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# Simulation parameters for system BouncingRod (BouncingRod_simpar.txt)
# Generated by MTT on Sun Jul 26 12:14:17 BST 1998.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.1  1999/12/21 08:07:38  peterg
## Initial revision
##
###############################################################

LAST=100.0;
DT=0.1;
STEPFACTOR=100;
LAST=20;
DT=0.01;
STEPFACTOR=1;










Added mttroot/mtt/lib/examples/Hybrid/BouncingRod/BouncingRod_state.txt version [28b475ef19].































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# Initial state  file (BouncingRod_state.txt)
# Generated by MTT at Sun Jul 26 12:19:13 BST 1998
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################


# Set the states
## Removed by MTT on Mon Dec  4 08:27:53 GMT 2000: mttx(1) 	= 0.0; 	# MTT_SWITCH (BouncingRod_groundL)
## Removed by MTT on Mon Dec  4 08:27:53 GMT 2000: mttx(2) 	= 0.0; 	# MTT_SWITCH (BouncingRod_groundR)
## Removed by MTT on Mon Dec  4 08:27:53 GMT 2000: mttx(3) 	= 10+sin(pi/4); 	# 3 (BouncingRod_intfL)
## Removed by MTT on Mon Dec  4 08:27:53 GMT 2000: mttx(4) 	= 10-sin(pi/4); 	# 3 (BouncingRod_intfR)
## Removed by MTT on Mon Dec  4 08:27:53 GMT 2000: mttx(5) 	= 0.0; 	# J (BouncingRod_rod)
## Removed by MTT on Mon Dec  4 08:27:53 GMT 2000: mttx(6) 	= 0.0; 	# m_x (BouncingRod_rod)
## Removed by MTT on Mon Dec  4 08:27:53 GMT 2000: mttx(7) 	= 0.0; 	# m_y (BouncingRod_rod)
## Removed by MTT on Mon Dec  4 08:27:53 GMT 2000: mttx(8) 	= pi/4; 	# 3 (BouncingRod_rod_th)
bouncingrod_groundl_1_mtt_switch	= 0.0; # Added by MTT on Mon Dec 04 08:27:59 GMT 2000
bouncingrod_groundr_1_mtt_switch	= 0.0; # Added by MTT on Mon Dec 04 08:27:59 GMT 2000
bouncingrod_intfl_1_mtt3	= 10+sin(pi/4);
bouncingrod_intfr_1_mtt3	= 10-sin(pi/4);
bouncingrod_rod_1_j	= 0.0; # Added by MTT on Mon Dec 04 08:27:59 GMT 2000
bouncingrod_rod_1_m_x	= 0.0; # Added by MTT on Mon Dec 04 08:27:59 GMT 2000
bouncingrod_rod_1_m_y	= 0.0; # Added by MTT on Mon Dec 04 08:27:59 GMT 2000
bouncingrod_rod_1_th_1_mtt3	= pi/4;








Added mttroot/mtt/lib/examples/Hybrid/BouncingRod/ROD_abg.fig version [34663585aa].

































































































































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 4278 5403 4953 5178 4953
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5854 5404 6529 6079 6304 6079
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 6078 5403 5403 5403 5628
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5853 4953 6528 4278 6528 4503
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1
	 4277 3827
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3152 2702 4277 3827 4052 3827
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6977 6527 8102 7652 7877 7652
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3152 7652 4277 6527 4277 6752
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6977 3827 8102 2702 8102 2927
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5852 5177 6527 5177 6392 5312
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 2927 2927 4952 3152 4727
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 5402 2927 7427 3152 7202
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2701 5176 2026 5176 2161 5311
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2926 1351 2926 2476 3196 2206
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8328 2928 8328 4953 8553 4728
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8328 5403 8328 7428 8553 7203
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8327 1352 8327 2477 8597 2207
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5626 1351 5626 4951 5851 4726
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8551 5176 9226 5176 9091 5311
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3826 4951 6526 4051 6436 4231
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3826 4996 3826 5356
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4276 5176 3826 5176 3961 5311
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3826 5401 6301 6301 6121 6301
2 1 0 1 5 -1 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 5401 4051 6301 3826 6301
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 4951 4051 4051 4051 4276
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5536 5176 5086 5176 5221 5311
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 3600 9675 3600 675 2250 675 2250 9675 3600 9675
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6300 9675 6300 675 4950 675 4950 9675 6300 9675
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 9000 9675 9000 675 7650 675 7650 9675 9000 9675
2 4 0 1 4 7 1 0 -1 0.000 0 0 7 0 0 5
	 10125 5850 990 5850 990 4500 10125 4500 10125 5850
2 4 0 1 4 7 1 0 -1 0.000 0 0 7 0 0 5
	 10125 2250 990 2250 990 900 10125 900 10125 2250
2 4 0 1 4 7 1 0 -1 0.000 0 0 7 0 0 5
	 10125 9450 990 9450 990 8100 10125 8100 10125 9450
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 11025 10305 11025 225 225 225 225 10305 11025 10305
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2700 5625 2700 5400 1800 6300
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5625 5401 5625 9001 5850 8776
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2925 7875 2925 9000 3195 8730
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8325 7875 8325 9000 8595 8730
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8550 5400 9450 6300 9225 6300
4 1 -1 0 0 0 20 0.0000 4 195 135 5628 5268 1\001
4 1 -1 0 0 0 20 0.0000 4 195 270 6933 5268 I:J\001
4 1 -1 0 0 0 20 0.0000 4 195 135 2927 5312 1\001
4 1 -1 0 0 0 20 0.0000 4 195 135 2972 2792 0\001
4 1 -1 0 0 0 20 0.0000 4 195 135 2927 7742 0\001
4 1 -1 0 0 0 20 0.0000 4 195 135 8328 5313 1\001
4 1 -1 0 0 0 20 0.0000 4 195 135 8373 2793 0\001
4 1 -1 0 0 0 20 0.0000 4 195 135 8328 7743 0\001
4 1 -1 0 0 0 20 0.0000 4 255 660 9676 5266 I:m_y\001
4 1 -1 0 0 0 20 0.0000 4 255 660 1531 5221 I:m_x\001
4 1 -1 0 0 0 20 0.0000 4 195 1110 4636 4141 EMTF:c1\001
4 1 -1 0 0 0 20 0.0000 4 195 1110 4681 6391 EMTF:c2\001
4 1 -1 0 0 0 20 0.0000 4 195 1095 7156 4141 EMTF:s1\001
4 1 -1 0 0 0 20 0.0000 4 195 1095 7156 6391 EMTF:s2\001
4 1 -1 0 0 0 20 0.0000 4 240 720 8372 1217 SS:[p5]\001
4 1 -1 0 0 0 20 0.0000 4 240 720 5671 9361 SS:[p2]\001
4 1 -1 0 0 0 20 0.0000 4 240 720 8417 9362 SS:[p6]\001
4 1 5 0 0 0 20 0.0000 4 195 135 3603 5313 0\001
4 1 26 0 0 0 16 0.0000 4 210 270 4501 4456 [in]\001
4 1 26 0 0 0 16 0.0000 4 210 270 4501 3781 [out]\001
4 1 26 0 0 0 16 0.0000 4 210 270 3826 4051 [mod]\001
4 1 26 0 0 0 16 0.0000 4 210 270 6751 4456 [in]\001
4 1 26 0 0 0 16 0.0000 4 210 270 6751 3781 [out]\001
4 1 26 0 0 0 16 0.0000 4 210 270 6301 4006 [mod]\001
4 1 26 0 0 0 16 0.0000 4 210 270 6751 6076 [in]\001
4 1 26 0 0 0 16 0.0000 4 210 270 6751 6706 [out]\001
4 1 26 0 0 0 16 0.0000 4 210 270 6211 6526 [mod]\001
4 1 26 0 0 0 16 0.0000 4 210 270 4591 5896 [in]\001
4 1 26 0 0 0 16 0.0000 4 210 270 4591 6841 [out]\001
4 1 26 0 0 0 16 0.0000 4 210 270 3916 6526 [mod]\001
4 1 -1 0 0 0 20 0.0000 4 240 720 2971 1216 SS:[p3]\001
4 1 -1 0 0 0 20 0.0000 4 240 720 5671 1216 SS:[p1]\001
4 1 -1 0 0 0 20 0.0000 4 240 720 2971 9361 SS:[p4]\001
4 1 26 0 0 0 16 0.0000 4 210 270 4411 5446 [out]\001
4 1 26 0 0 0 16 0.0000 4 210 270 4906 5446 [in]\001
4 1 5 0 0 0 20 0.0000 4 195 960 4681 5266 INTF:th\001
4 1 1 1 0 0 20 0.0000 4 195 210 2925 10035 X\001
4 1 1 1 0 32 20 0.0000 4 135 180 5580 9990 a\001
4 1 1 1 0 0 20 0.0000 4 195 210 8280 9990 Y\001
4 1 4 1 0 0 20 0.0000 4 255 390 1350 2700 Tip\001
4 1 4 1 0 0 20 0.0000 4 255 390 1350 9855 Tip\001
4 1 4 1 0 0 20 0.0000 4 195 1380 1080 6120 Mass centre\001
4 1 -1 0 0 0 20 0.0000 4 240 720 1710 6615 SS:[p7]\001
4 1 -1 0 0 0 20 0.0000 4 240 720 9495 6570 SS:[p8]\001








Added mttroot/mtt/lib/examples/Hybrid/BouncingRod/ROD_desc.tex version [da144b910f].





















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% Verbal description for system ROD (ROD_desc.tex)
% Generated by MTT on Fri Jul 4 10:30:17 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{ROD} is
   displayed in Figure \Ref{ROD_abg} and its label
   file is listed in Section \Ref{sec:ROD_lbl}.
   The subsystems are listed in Section \Ref{sec:ROD_sub}.


This is a special version just for this problem.








Modified mttroot/mtt/lib/examples/Hybrid/BouncingRod/ROD_lbl.txt
from [59fbf49c66]
to [77bb98cc7c].



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%SUMMARY	ROD: rigid rod in two dimensions
%DESCRIPTION	Port [1]:	Angular torque/velocity - end 1
%DESCRIPTION	Port [2]:	Angular torque/velocity - end 2
%DESCRIPTION	Port [3]:	x force/velocity - end 1
%DESCRIPTION	Port [4]:	x force/velocity - end 2
%DESCRIPTION	Port [5]:	y force/velocity - end 1
%DESCRIPTION	Port [6]:	y force/velocity - end 2
%DESCRIPTION	Port [7]:	x force/velocity - mass centre
%DESCRIPTION	Port [8]:	x force/velocity - mass centre
%DESCRIPTION	Port [7]:	x force/velocity - centre
%DESCRIPTION	Port [8]:	y force/velocity - centre
%DESCRIPTION
%DESCRIPTION	Parameter 1:	length from end 1 to mass centre
%DESCRIPTION	Parameter 2:	length from end 2 to mass centre
%DESCRIPTION	Parameter 3:	inertia about mass centre
%DESCRIPTION	Parameter 4:	mass
%DESCRIPTION	See Section 10.2 of "Metamodelling"


%% Label file for system ROD (ROD_lbl.txt)



% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% Revision 1.1  1996/11/07  10:57:17  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank





︙


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%Modulated transformers
s1	lsin	flow,$1
s2	lsin	flow,$2
c1	lcos	flow,$1
c2	lcos	flow,$2


% ports
	
[p1]	SS	external,external
[p2]	SS	external,external
[p3]	SS	external,external
[p4]	SS	external,external
[p5]	SS	external,external
[p6]	SS	external,external
[p7]	SS	external,external
[p8]	SS	external,external








Added mttroot/mtt/lib/examples/Hybrid/Clutch/Clutch_abg.fig version [e07876e4d0].



























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#FIG 3.1
Portrait
Center
Metric
1200 2
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 4726 3376 4726 2026 2476 2026 2476 3376 4726 3376
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8101 3376 8101 2026 5851 2026 5851 3376 8101 3376
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 11476 3376 11476 2026 9226 2026 9226 3376 11476 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4501 2701 6076 2701 5941 2836
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7876 2701 9451 2701 9316 2836
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1126 2701 2701 2701 2566 2836
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 11925 5400 11925 225 225 225 225 5400 11925 5400
4 1 -1 0 0 0 20 0.0000 4 195 1170 3511 2791 DC:motor\001
4 1 -1 0 0 0 20 0.0000 4 195 1140 10306 2791 Load:load\001
4 1 -1 0 0 0 20 0.0000 4 195 1290 7021 2791 Drive:drive\001
4 1 -1 0 0 0 20 0.0000 4 195 525 765 2790 SS:e\001








Added mttroot/mtt/lib/examples/Hybrid/Clutch/Clutch_desc.tex version [2a8a19d9fa].





























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% Verbal description for system Clutch (Clutch_desc.tex)
% Generated by MTT on Thu Jul 3 13:57:59 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{Clutch} is displayed in
   Figure \Ref{Clutch_abg} and its label file is listed in Section
   \Ref{sec:Clutch_lbl}.  The subsystems are listed in Section
   \Ref{sec:Clutch_sub}.  The details of the DC motor and the load are
   hidden behind a word bond graph so as to focus on the clutch
   mechanism as modelled by the \textbf{CSW} component.
  It is natural to model the clutch shaft by a
compliance to absorb the shock of engaging the clutch; therefore the
drive model contains a \textbf{CSW} component.


Figure \ref{fig:Clutch_odeso.ps}, shows the angular velocities of the motor
and load.  The clutch is engaged from time $t$ given by $0<t<15$; and
a unit input voltage is applied at time $t=0$. All initial conditions
are zero.








Added mttroot/mtt/lib/examples/Hybrid/Clutch/Clutch_numpar.txt version [240d38c694].























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# Numerical parameter file (Clutch_numpar.txt)
# Generated by MTT at Thu Jul  3 12:12:35 BST 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
b_m = 	0.1; # Default value
epsilon = 	0.01;
j_l = 	1.0; # Default value
j_m = 	10.0; # Default value
k_m = 	1.0; # Default value
l_a = 	0.1; # Default value
r_a = 	1.0; # Default value
r_l = 	5.0; # Default value








Added mttroot/mtt/lib/examples/Hybrid/Clutch/Drive_abg.fig version [220398ec6b].



































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1800 2475 2925 2475 2700 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3397 2497 4522 2497 4297 2722
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4950 2475 6075 2475 5850 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6547 2497 7672 2497 7447 2722
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3150 2700 3150 3825 3375 3600
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6300 2700 6300 3825 6525 3600
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4725 2250 4725 1125 4950 1350
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2925 2700 3375 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6030 2700 6525 2700
4 1 -1 0 0 0 20 0.0000 4 195 135 3150 2565 1\001
4 1 -1 0 0 0 20 0.0000 4 195 135 6300 2565 1\001
4 1 4 0 0 0 20 0.0000 4 240 810 1305 2565 SS:[in]\001
4 1 4 0 0 0 20 0.0000 4 240 960 8235 2565 SS:[out]\001
4 1 -1 0 0 0 20 0.0000 4 195 675 3150 4185 SS:v1\001
4 1 -1 0 0 0 20 0.0000 4 195 675 6300 4185 SS:v2\001
4 1 -1 0 0 0 20 0.0000 4 195 135 4725 2610 0\001
4 1 -1 0 0 0 20 0.0000 4 195 1410 4725 945 CSW:clutch\001








Added mttroot/mtt/lib/examples/Hybrid/Clutch/Drive_desc.tex version [f20953ff3a].


















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% Verbal description for system Drive (Drive_desc.tex)
% Generated by MTT on Thu Jul 3 13:58:26 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{Drive} is
   displayed in Figure \Ref{Drive_abg} and its label
   file is listed in Section \Ref{sec:Drive_lbl}.
   The subsystems are listed in Section \Ref{sec:Drive_sub}.








Added mttroot/mtt/lib/examples/Hybrid/Clutch/Load_abg.fig version [f6ba5521a1].


























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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2026 3376 2926 3376 2701 3601
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3151 3151 3151 2251 3376 2476
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3151 3601 3151 4501 3376 4276
2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5
	 2476 1801 3826 1801 3826 4951 2476 4951 2476 1801
2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5
	 2026 3151 2476 3151 2476 3601 2026 3601 2026 3151
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 6075 5400 6075 900 495 900 495 5400 6075 5400
4 1 -1 0 0 0 20 0.0000 4 195 135 3151 3466 1\001
4 1 -1 0 0 0 20 0.0000 4 255 450 3151 2161 I:j_l\001
4 1 -1 0 0 0 20 0.0000 4 255 585 3196 4816 R:r_l\001
4 1 4 0 0 0 20 0.0000 4 240 810 1576 3466 SS:[in]\001
4 1 1 1 0 0 20 0.0000 4 255 4395 3331 1531 Rotating load with inertia and friction\001








Added mttroot/mtt/lib/examples/Hybrid/Clutch/Load_desc.tex version [0e613d5fe7].


















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% Verbal description for system Load (Load_desc.tex)
% Generated by MTT on Thu Jul 3 13:58:38 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{Load} is
   displayed in Figure \Ref{Load_abg} and its label
   file is listed in Section \Ref{sec:Load_lbl}.
   The subsystems are listed in Section \Ref{sec:Load_sub}.








Added mttroot/mtt/lib/examples/Hybrid/Weirs/Weir_abg.fig version [23c0cd3485].
































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 1350 2025 2475 2025 2250 2250
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2700 1800 2700 675 2925 900
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2925 2025 4050 2025 3825 2250
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4500 2025 5625 2025 5400 2250
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4275 1800 4275 675 4500 900
2 4 0 2 31 7 99 0 -1 6.000 0 0 7 0 0 5
	 6975 3600 6975 180 225 180 225 3600 6975 3600
4 1 0 100 0 0 20 0.0000 4 195 150 2700 2115 1\001
4 1 0 100 0 0 20 0.0000 4 210 1065 2700 585 ISW:isw\001
4 1 4 100 0 0 20 0.0000 4 255 870 765 2115 SS:[in]\001
4 1 4 100 0 0 20 0.0000 4 255 1020 6255 2115 SS:[out]\001
4 1 0 100 0 0 20 0.0000 4 195 150 4275 2115 1\001
4 1 0 100 0 0 20 0.0000 4 195 390 4230 585 R:r\001
4 1 1 99 0 1 20 0.0000 4 270 2250 3375 2835 Simple weir model\001








Modified mttroot/mtt/lib/examples/Hybrid/Weirs/Weir_desc.tex
from [5240212ef7]
to [3eff224837].




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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system Weir (Weir_desc.tex)
% Generated by MTT on Thu Jul 3 10:27:26 BST 1997.
% Generated by MTT on Tue Mar 2 22:05:29 GMT 1999.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{Weir} is
   displayed in Figure \Ref{Weir_abg} and its label
   file is listed in Section \Ref{sec:Weir_lbl}.
   The subsystems are listed in Section \Ref{sec:Weir_sub}.

Each weir is modeled by two {\bf ISW} components: one for flow
left-right and one for flow right-left. The switching is such that
they become non-return valves when the left hand (respectively
right-hand) level reaches an appropriate value. The parameters appear
in Section \Ref{sec:Weir_numpar.txt} and the switching conditions in
Section \Ref{sec:Weir_input.txt}.

The weir is modelled by an \textbf{ISW} component in series with an
\textbf{R} component. Physicaly, the former represents the inertia of
the fluid together with the switching effect of the weir; the latter
represents the flow resistance.

The switching logic is on if the level on either side of the weir
reaches the level of the weir.








Added mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_abg.fig version [fea78e06f0].













































































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2025 6075 2025 4950 2250 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 675 6300 1800 6300 1530 6570
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2025 6525 2025 7650 2250 7425
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 675 6075 675 6525
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 1800 7650 2250 7650
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6075 6525 6750 7200 6570 7200
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2250 6300 3375 6300 3105 6570
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4500 6300 5625 6300 5355 6570
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6075 6300 7200 6300 6930 6570
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8325 6300 9450 6300 9180 6570
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5851 6076 5851 4951 6076 5176
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5850 6525 5850 7650 6075 7425
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5625 7650 6075 7650
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9677 6077 9677 4952 9902 5177
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9675 6525 9675 7650 9900 7425
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9450 7650 9900 7650
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4860 3150 4860 1980
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 7110 3150 7110 1395
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 3
	1 0 2.00 120.00 240.00
	 2610 450 3285 450 3285 1080
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 3
	 3060 675 3060 3150 5760 3150
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 3
	 5985 3150 8955 3150 8955 675
2 1 0 2 1 7 99 0 -1 0.000 0 0 -1 1 0 2
	1 0 1.00 60.00 120.00
	 5850 2925 5850 3600
4 1 -1 0 0 0 20 0.0000 4 195 150 2025 6390 0\001
4 1 -1 0 0 0 20 0.0000 4 210 960 2025 4815 C:tank1\001
4 1 -1 0 0 0 20 0.0000 4 270 720 1980 7965 SS:p1\001
4 1 -1 0 0 0 20 0.0000 4 210 525 315 6390 SS:f\001
4 0 -1 0 0 0 20 0.0000 4 210 795 6300 7515 R:leak\001
4 1 -1 0 0 0 20 0.0000 4 195 1065 3960 6390 Weir:w1\001
4 1 -1 0 0 0 20 0.0000 4 195 1065 7785 6390 Weir:w2\001
4 1 -1 0 0 0 20 0.0000 4 210 960 5851 4816 C:tank2\001
4 1 -1 0 0 0 20 0.0000 4 195 150 5851 6391 0\001
4 1 -1 0 0 0 20 0.0000 4 270 720 5850 7965 SS:p2\001
4 1 -1 0 0 0 20 0.0000 4 195 150 9677 6392 0\001
4 1 -1 0 0 0 20 0.0000 4 210 960 9677 4817 C:tank3\001
4 1 -1 0 0 0 20 0.0000 4 270 720 9630 7965 SS:p3\001
4 1 1 1 0 3 20 0.0000 4 270 105 2970 315 f\001
4 1 1 99 0 1 20 0.0000 4 210 825 3780 2565 Tank 1\001
4 1 1 99 0 1 20 0.0000 4 210 825 5940 2565 Tank 2\001
4 1 1 99 0 1 20 0.0000 4 210 825 8055 2565 Tank 3\001
4 1 1 99 0 1 20 0.0000 4 210 585 5895 3870 Leak\001








Added mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_desc.tex version [f979aa3c3b].






































































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% Verbal description for system Weirs (Weirs_desc.tex)
% Generated by MTT on Thu Jul 3 10:27:26 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% Revision 1.1  1997/09/11  10:31:48  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{Weirs} is
   displayed in Figure \Ref{Weirs_abg} and its label
   file is listed in Section \Ref{sec:Weirs_lbl}.
   The subsystems are listed in Section \Ref{sec:Weirs_sub}.

%Each weir is modeled by two {\bf ISW} components: one for flow
%left-right and one for flow right-left. The switching is such that
%they become non-return valves when the left hand (respectively
%right-hand) level reaches an appropriate value. The parameters appear
%in Section \Ref{sec:Weirs_numpar.txt} and the switching conditions in
%Section \Ref{sec:Weirs_input.txt}.

Aircraft fuel tanks are often fitted with baffles to reduce fuel
slosh. A simple model relating to such a system is shown in Figure
\Ref{Weirs_abg} which corresponds to a single tank containing two
dividing weirs. Liquid with flow rate $f$ enters the left-hand
compartment; liquid leaks out of the centre compartment at a flow rate
determined by gravity and the properties of the corresponding orifice.

The Bond Graph appearing in Figure \Ref{Weirs_abg} represents each of
the three compartments by a \textbf{C} component (labelled tank1 to
tank3), the corresponding pressures are measured by the \textbf{SS}
elements p1--p3. The leak is represented by the \textbf{R} component
labelled leak. The flows over the two weirs are represented by the four
\textbf{ISW} components; each weir has a separate \textbf{ISW}
component for each flow direction. Each \textbf{ISW} component is
switched by the appropriate level.

%It could be argued that, when switched on, each \textbf{ISW} component
%corresponds to flow inertia; but it is admitted that ideal
%\textbf{Sw} components would give a simpler approximation in this
%case. So the modeller has the choice of having a simple simulation
%problem but with four extra states, or a complex simulation with model
%switching but without the four extra states.

The system was simulated for 20 time units and the resultant level of
each tank partition is plotted in Figure \Ref{fig:Weirs_odeso.ps}. Each
partition has unit cross section, and the two weir heights are $1$ and
$2$ respectively; the inflow $f$ is given by:
\begin{equation}
  f = 
  \begin{cases}
    1 & \text{if $t \le 10$}\\
    0 & \text{if $t > 10$}
  \end{cases}
\end{equation}
and the leak resistance is linear with flow resistance 5.


%%% Local Variables: 
%%% mode: plain-tex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Hybrid/Weirs/Weirs_numpar.txt version [f82fcef096].






















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# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (Weirs_numpar.txt)
# Generated by MTT at Tue Mar  2 07:55:47 GMT 1999

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
c_1 = 	1.0; # Weirs
c_2 = 	1.0; # Weirs
c_3 = 	1.0; # Weirs
epsilon_i = 	0.01; # weir
epsilon_r = 	0.1; # weir
r_l = 	5.0; # Weirs








Added mttroot/mtt/lib/examples/Hybrid/Weirs/weir_abg.fig version [9adb302ec2].





























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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 1350 2025 2475 2025 2250 2250
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2700 1800 2700 675 2925 900
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2700 2250 2700 3375 2925 3150
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2925 2025 4050 2025 3825 2250
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4500 2025 5625 2025 5400 2250
4 1 0 100 0 0 20 0.0000 4 195 150 2700 2115 1\001
4 1 0 100 0 0 20 0.0000 4 210 1065 2700 585 ISW:isw\001
4 1 0 100 0 0 20 0.0000 4 195 390 2700 3690 R:r\001
4 1 0 100 0 0 20 0.0000 4 255 870 765 2115 SS:[in]\001
4 1 0 100 0 0 20 0.0000 4 255 1020 6255 2115 SS:[out]\001
4 1 0 100 0 0 20 0.0000 4 195 150 4275 2115 1\001








Added mttroot/mtt/lib/examples/Hybrid/Weirs/weir_lbl.txt version [d74bf1486c].









































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%% Label file for system weir (weir_lbl.txt)
%SUMMARY weir
%DESCRIPTION <Detailed description here>

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	in	in
%ALIAS	out	out

% Argument aliases
%ALIAS	$1	r

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type ISW
	isw             lin     effort,epsilon_i

% Component type R
	r		lin	flow,epsilon_r

% Component type SS
	[in]	SS		external,external
	[out]	SS		external,external










Added mttroot/mtt/lib/examples/Inverse/iMacroMicro/Make version [d0363e1a1b].











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%Makes the figures for the paper/report.
mtt macmic cbg ps
mtt imacmic cbg ps
mtt imacmic sm  m
mtt imacmic numpar m

octave figures.m








Added mttroot/mtt/lib/examples/Inverse/iMacroMicro/figures.m version [6e0d24fe3b].




























































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% Set up the parameters
imacmic_numpar;   

% Range of damping for the macro controller
D_1 = [0:0.1:2];

% Compute the damping factor d and save in arrray DD
% -- uses zeros of system
% $$$ DD = [];
% $$$ for d_1 = D_1
% $$$  [A,B,C,D] = macmic_dm(m_1,m_2,b_1,b_2,k_2,k_t,b_t,b_3,m_3,p_1,d_1);
% $$$  zz = ss2zp(A,B,C,D,1);
% $$$  z = (zz(:,2));
% $$$  re = sort(real(z));
% $$$  im = sort(imag(z));
% $$$  d = -re./sqrt(re.^2 + im.^2);
% $$$  d = sort(d);
% $$$  DD = [DD d];
% $$$ end;
% $$$ 
% $$$ plot(D_1,min(DD)); grid
% $$$ xlabel('Derivative gain');
% $$$ ylabel('Damping factor');
% $$$ 
% $$$ 

% Compute the damping factor d and save in arrray DD
% -- uses poles of inverse system
DD1 = [];
for d_1 = D_1
 [A] = imacmic_sm;
 z = eig(A);

 re = (real(z));
 im = (imag(z));
 d = -re./sqrt(re.^2 + im.^2);
 d = sort(d);
 DD1 = [DD1 d];
end;
minDD1 = min(DD1);

plot(D_1,minDD1); grid
xlabel('Derivative gain');
ylabel('Damping factor');

Maximum_Damping = max(minDD1)
index = minDD1 == Maximum_Damping*ones(size(minDD1));
Opt_gain = index*D_1'

% Plot on disk
set term postscript
set output "damping.ps"
plot(D_1,minDD1); grid


 








Added mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_abg.fig version [ee4eafe200].



























































































































































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#FIG 3.2
Portrait
Center
Inches
A4      
100.00
Single
-2
1200 2
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2706 4806 3606 4806 3456 4956
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2406 5106 2406 6006 2556 5856
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3906 5106 3906 6006 4056 5856
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7208 4808 8108 4808 7958 4958
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8708 4808 9608 4808 9458 4958
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8408 5108 8408 6008 8558 5858
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7208 4508 8108 3608 8108 3833
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8708 3608 9608 4508 9383 4508
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9909 5109 9909 6009 10059 5859
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6908 5108 6908 6008 7058 5858
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8405 2405 8405 3305 8555 3155
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 11407 5107 11407 6007 11557 5857
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 11406 3306 11406 2406 11556 2556
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4206 4806 5106 4806 4956 4956
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5406 5106 5406 6006 5556 5856
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4206 4506 5106 3606 5106 3831
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5405 3305 5405 2405 5555 2555
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2405 3305 2405 2405 2555 2555
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 11707 4807 12607 4807 12457 4957
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 11707 3607 12607 4507 12382 4507
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2105 1805 2105 905 2255 1055
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2705 1805 2705 905 2855 1055
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5706 4806 6606 4806 6456 4956
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5706 3606 6606 4506 6381 4506
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2704 3604 3604 4504 3379 4504
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1208 4808 2108 4808 1958 4958
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1208 4508 2108 3608 2108 3833
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 681 3606 1131 3606
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 906 4506 906 3606 1056 3756
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 12905 4505 12905 3605 13055 3755
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 10207 4807 11107 4807 10957 4957
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 10207 4507 11107 3607 11107 3832
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8400 3300 8625 3300
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 12900 3600 13125 3600
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 12675 4500 12900 4500
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8175 2400 8400 2400
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 1501 5401 301 5401 301 3001 1501 3001 1501 5401
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 3300 2700 1500 2700 1500 450 3300 450 3300 2700
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 3000 6600 1800 6600 1800 3000 3000 3000 3000 6600
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 4501 6601 3301 6601 3301 3901 4501 3901 4501 6601
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 6000 6600 4800 6600 4800 1800 6000 1800 6000 6600
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 7501 6601 6301 6601 6301 3901 7501 3901 7501 6601
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 9000 6600 7800 6600 7800 1800 9000 1800 9000 6600
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 10501 6601 9301 6601 9301 3901 10501 3901 10501 6601
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 12000 6600 10800 6600 10800 1800 12000 1800 12000 6600
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 13501 5401 12301 5401 12301 3001 13501 3001 13501 5401
2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 11700 4575 11700 4800
2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 12600 4800 12600 5025
2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 10200 4575 10200 4800
2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 11100 4800 11100 5025
2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 9600 4500 9450 4650
2 1 0 1 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 8700 3600 8850 3450
4 1 -1 0 0 0 20 0.0000 4 195 150 2406 4881 0\001
4 1 -1 0 0 0 20 0.0000 4 195 585 3906 6381 I:m1\001
4 1 -1 0 0 0 20 0.0000 4 210 585 2405 6380 R:b1\001
4 1 -1 0 0 0 20 0.0000 4 195 150 2405 3680 0\001
4 1 -1 0 0 0 20 0.0000 4 195 150 3906 4881 1\001
4 1 -1 0 0 0 20 0.0000 4 195 150 8408 4883 0\001
4 1 -1 0 0 0 20 0.0000 4 195 150 8408 3683 0\001
4 1 -1 0 0 0 20 0.0000 4 210 585 8483 6383 R:b3\001
4 1 -1 0 0 0 20 0.0000 4 210 675 8407 2182 SS:f2\001
4 1 -1 0 0 0 20 0.0000 4 195 585 9906 6381 I:m3\001
4 1 -1 0 0 0 20 0.0000 4 195 585 6905 6380 I:m2\001
4 1 -1 0 0 0 20 0.0000 4 195 150 11407 4882 0\001
4 1 -1 0 0 0 20 0.0000 4 195 150 11407 3682 0\001
4 1 -1 0 0 0 20 0.0000 4 210 525 11406 2181 C:kt\001
4 1 -1 0 0 0 20 0.0000 4 210 525 11482 6382 R:bt\001
4 1 -1 0 0 0 20 0.0000 4 195 150 5406 4881 0\001
4 1 -1 0 0 0 20 0.0000 4 195 150 5406 3681 0\001
4 1 -1 0 0 0 20 0.0000 4 210 585 5481 6381 R:b2\001
4 1 -1 0 0 0 20 0.0000 4 195 150 12909 4884 1\001
4 1 -1 0 0 0 20 0.0000 4 195 150 6908 4883 1\001
4 1 -1 0 0 0 20 0.0000 4 195 150 2404 2179 1\001
4 1 -1 0 0 0 20 0.0000 4 255 585 2779 754 C:p1\001
4 1 -1 0 0 0 20 0.0000 4 210 585 2104 754 R:d1\001
4 1 -1 0 0 0 20 0.0000 4 195 150 910 4885 1\001
4 1 -1 0 0 0 20 0.0000 4 210 675 902 3377 SS:fb\001
4 1 -1 0 0 0 20 0.0000 4 210 615 12905 3380 SS:ft\001
4 1 -1 0 0 0 20 0.0000 4 195 150 9909 4884 1\001
4 1 -1 0 0 0 20 0.0000 4 210 585 5405 2180 C:k2\001
4 1 1 1 0 3 20 0.0000 4 210 1455 900 5700 Macro base\001
4 1 1 1 0 3 20 0.0000 4 210 1800 2401 376 Macro control\001
4 1 1 1 0 3 20 0.0000 4 195 1950 2400 6900 Macro actuator\001
4 1 1 1 0 3 20 0.0000 4 195 1530 3900 3825 Macro mass\001
4 1 1 1 0 3 20 0.0000 4 195 1470 6900 3825 Micro mass\001
4 1 1 1 0 3 20 0.0000 4 270 1890 5400 1650 Compliant link\001
4 1 1 1 0 3 20 0.0000 4 195 1890 8475 1650 Micro actuator\001
4 1 1 1 0 3 20 0.0000 4 255 1125 9900 3825 Tip mass\001
4 1 1 0 0 3 20 0.0000 4 270 2985 11400 1650 Compliant environment\001
4 1 -1 0 0 0 20 0.0000 4 255 1275 12901 5701 Tip sensor\001








Added mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_desc.tex version [52d78b057e].



































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% Verbal description for system iMacroMicro (iMacroMicro_desc.tex)
% Generated by MTT on Tue Dec 9 18:13:04 GMT 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1999/02/22 22:24:27  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{iMacroMicro} is
   displayed in Figure \Ref{iMacroMicro_abg} and its label
   file is listed in Section \Ref{sec:iMacroMicro_lbl}.
   The subsystems are listed in Section \Ref{sec:iMacroMicro_sub}.

This is a Bond Graph model of the macro-micro manipulation system
discussed by Sharon in his thesis and by Sharon, Hogan and Hardt in
various papers. The micro loop is inverted whilst leaving the macro
control in place. This {\em partial inverse\/} gives information about
the {\em zero dynamics\/} of the micro control system with the
particular macro controller in place and allows desidn of the macro
controller to ease the design of the micro controller.


%%% Local Variables: 
%%% mode: plain-tex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_lbl.txt version [eda41e1822].




































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%% Label file (macmic_lbl.txt)
%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Masses
m1	lin	flow,m_1
m2	lin	flow,m_2
m3	lin	flow,m_3

%Springs
k2	lin	state,k_2
kt	lin	state,k_t

%Dampers
b1	lin	flow,b_1
b2	lin	flow,b_2
b3	lin	flow,b_3
bt	lin	flow,b_t

%Source/sensors
f2	SS	external,internal
ft	SS	external,0
fb	SS	internal,0

%Control
p1	lin	flow,p_1
d1	lin	flow,d_1











Added mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_numpar.txt version [b385767fcd].















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m_1 = 0.0169;		# m_1;
m_2 = 0.0169;		# m_2;
b_1 = 0.13;		# b_1;
b_2 = 0.013;		# b_2;
k_2 = 24;	        # k_2;
k_t = 150;		# k_t;
b_t = 0.16;		# b_t;
b_3 = 0.13;		# b_3;
m_3 = 0.005;		# m_3;
p_1 = 10;		# p_1;
d_1 = 0.9;		# d_1;








Added mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_rep.txt version [2652f3e75e].

























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# Outline report file for system iMacroMicro (iMacroMicro_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt iMacroMicro abg tex
mtt iMacroMicro cbg ps
mtt iMacroMicro struc tex
mtt iMacroMicro dae tex
mtt iMacroMicro dm tex
mtt iMacroMicro tf tex
mtt iMacroMicro numpar txt
mtt iMacroMicro lmfr ps 
mtt iMacroMicro lpfr ps 
%mtt iMacroMicro sro ps 
%mtt -c iMacroMicro odeso ps 









Added mttroot/mtt/lib/examples/Inverse/iMacroMicro/iMacroMicro_simpar.txt version [1372589ac1].






















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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system iMacroMicro (iMacroMicro_simpar.txt)
# Generated by MTT on Wed Nov 18 10:08:20 GMT 1998.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################


LAST        = 10.0;       # Last time in simulation
DT          = 0.1;        # Print interval
STEPFACTOR  = 1;          # Integration steps per print interval
WMIN        = -2;         # Minimum frequency = 10^WMIN
WMAX        = 4;          # Maximum frequency = 10^WMAX
WSTEPS      = 100;        # Number of frequency steps
INPUT       = 1;          # Index of the input








Added mttroot/mtt/lib/examples/Inverse/iNMP/NMP/NMP_abg.fig version [324d12d6ea].




































































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#FIG 3.1
Portrait
Center
Inches
1200 2
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3903 2403 4803 2403 4653 2553
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5403 2403 6303 2403 6153 2553
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3603 2103 3603 1203 3753 1353
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2702 3002 3302 2402 3302 2627
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3905 4201 4805 4201 4655 4351
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5405 4201 6305 4201 6155 4351
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3605 4501 3605 5401 3755 5251
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2702 3602 3302 4202 3077 4202
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7803 3302 8703 3302 8553 3452
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1203 3302 2103 3302 1953 3452
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2101 3076 2101 3301
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2101 3301 2101 3526
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8701 3076 8701 3301
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8701 3301 8701 3526
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5103 2103 5103 1203 5253 1353
2 4 1 2 -1 7 0 0 -1 6.000 0 0 7 0 0 5
	 5700 3000 5700 600 3000 600 3000 3000 5700 3000
2 4 1 2 -1 7 0 0 -1 6.000 0 0 7 0 0 5
	 5700 6000 5700 3600 3000 3600 3000 6000 5700 6000
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6975 4200 7650 3600 7650 3825
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7052 2402 7652 3002 7427 3002
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5100 4500 5100 5400 5250 5250
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4800 4501 4164 5137 4376 5137
4 1 -1 0 0 0 20 0.0000 4 195 135 3603 2478 1\001
4 1 -1 0 0 0 20 0.0000 4 195 135 5103 2478 0\001
4 1 -1 0 0 0 20 0.0000 4 255 615 3602 1052 R:r_s\001
4 1 -1 0 0 0 20 0.0000 4 195 135 2402 3377 0\001
4 1 -1 0 0 0 20 0.0000 4 195 135 3603 4278 1\001
4 1 -1 0 0 0 20 0.0000 4 195 135 5103 4278 0\001
4 1 -1 0 0 0 20 0.0000 4 195 690 6603 4278 AE:m\001
4 1 -1 0 0 0 20 0.0000 4 255 600 3603 5778 R:r_f\001
4 1 -1 0 0 0 20 0.0000 4 195 135 7577 3377 1\001
4 1 -1 0 0 0 20 0.0000 4 195 660 751 3376 SS:e1\001
4 1 -1 0 0 0 20 0.0000 4 195 660 9151 3376 SS:e2\001
4 1 -1 0 0 0 20 0.0000 4 255 630 5102 1052 C:c_s\001
4 1 -1 0 0 0 20 0.0000 4 255 1440 4200 375 Slow system\001
4 1 -1 0 0 0 20 0.0000 4 255 1350 4200 6450 Fast system\001
4 1 -1 0 0 0 20 0.0000 4 255 600 6678 2478 AE:p\001
4 1 -1 0 0 0 20 0.0000 4 255 615 5104 5779 C:c_f\001
4 1 -1 0 0 0 20 0.0000 4 195 375 4203 5478 R:r\001








Added mttroot/mtt/lib/examples/Inverse/iNMP/NMP/NMP_desc.tex version [f95b4585ef].

























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% Verbal description for system NMP (NMP_desc.tex)
% Generated by MTT on Tue Dec 9 17:34:06 GMT 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{NMP} is
   displayed in Figure \Ref{NMP_abg} and its label
   file is listed in Section \Ref{sec:NMP_lbl}.
   The subsystems are listed in Section \Ref{sec:NMP_sub}.

This is a simple non-minimum phase system with an inverse-type
response.  It is the standard fast negative and slow positive systems
in parallel. The corresponding inverse system \textbf{iNMP} is
unstable.










Added mttroot/mtt/lib/examples/Inverse/iNMP/NMP/NMP_numpar.txt version [1d7033f948].





















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# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (NMP_numpar.txt)
# Generated by MTT at Thu Oct  8 09:25:16 BST 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
c_f = 	0.5; # NMP
c_s = 	1.0; # NMP
r = 	1.0; # NMP
r_f = 	1.0; # NMP
r_s = 	1.0; # NMP








Added mttroot/mtt/lib/examples/Inverse/iNMP/NMP/NMP_rep.txt version [0e160c8365].






















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# Outline report file for system NMP (NMP_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt NMP abg tex
mtt NMP struc tex
mtt NMP ode tex
mtt NMP sm tex
mtt NMP tf tex

mtt NMP sro ps
mtt NMP lmfr ps
mtt NMP lpfr ps








Added mttroot/mtt/lib/examples/Inverse/iNMP/iNMP/iNMP_abg.fig version [e878cdb28c].








































































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#FIG 3.1
Portrait
Center
Inches
1200 2
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3903 2403 4803 2403 4653 2553
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5403 2403 6303 2403 6153 2553
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3603 2103 3603 1203 3753 1353
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2702 3002 3302 2402 3302 2627
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3905 4201 4805 4201 4655 4351
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5405 4201 6305 4201 6155 4351
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3605 4501 3605 5401 3755 5251
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2702 3602 3302 4202 3077 4202
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7803 3302 8703 3302 8553 3452
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1203 3302 2103 3302 1953 3452
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2101 3301 2101 3526
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8701 3301 8701 3526
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5103 2103 5103 1203 5253 1353
2 4 1 2 -1 7 0 0 -1 6.000 0 0 7 0 0 5
	 5700 3000 5700 600 3000 600 3000 3000 5700 3000
2 4 1 2 -1 7 0 0 -1 6.000 0 0 7 0 0 5
	 5700 6000 5700 3600 3000 3600 3000 6000 5700 6000
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6975 4200 7650 3600 7650 3825
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7052 2402 7652 3002 7427 3002
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5100 4500 5100 5400 5250 5250
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4800 4501 4164 5137 4376 5137
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 1200 3075 1200 3300
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7800 3075 7800 3300
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6300 2400 6300 2625
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5400 2175 5400 2400
4 1 -1 0 0 0 20 0.0000 4 195 135 3603 2478 1\001
4 1 -1 0 0 0 20 0.0000 4 195 135 5103 2478 0\001
4 1 -1 0 0 0 20 0.0000 4 255 615 3602 1052 R:r_s\001
4 1 -1 0 0 0 20 0.0000 4 195 135 2402 3377 0\001
4 1 -1 0 0 0 20 0.0000 4 195 135 3603 4278 1\001
4 1 -1 0 0 0 20 0.0000 4 195 135 5103 4278 0\001
4 1 -1 0 0 0 20 0.0000 4 195 690 6603 4278 AE:m\001
4 1 -1 0 0 0 20 0.0000 4 255 600 3603 5778 R:r_f\001
4 1 -1 0 0 0 20 0.0000 4 195 135 7577 3377 1\001
4 1 -1 0 0 0 20 0.0000 4 195 660 751 3376 SS:e1\001
4 1 -1 0 0 0 20 0.0000 4 195 660 9151 3376 SS:e2\001
4 1 -1 0 0 0 20 0.0000 4 255 630 5102 1052 C:c_s\001
4 1 -1 0 0 0 20 0.0000 4 255 1440 4200 375 Slow system\001
4 1 -1 0 0 0 20 0.0000 4 255 1350 4200 6450 Fast system\001
4 1 -1 0 0 0 20 0.0000 4 255 600 6678 2478 AE:p\001
4 1 -1 0 0 0 20 0.0000 4 255 615 5104 5779 C:c_f\001
4 1 -1 0 0 0 20 0.0000 4 195 375 4203 5478 R:r\001








Added mttroot/mtt/lib/examples/Inverse/iNMP/iNMP/iNMP_desc.tex version [183722d9b6].

























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% Verbal description for system iNMP (iNMP_desc.tex)
% Generated by MTT on Tue Dec 9 17:34:06 GMT 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{iNMP} is
   displayed in Figure \Ref{iNMP_abg} and its label
   file is listed in Section \Ref{sec:iNMP_lbl}.
   The subsystems are listed in Section \Ref{sec:iNMP_sub}.

This is a simple non-minimum phase system with an inverse-type
response.  It is the standard fast negative and slow positive systems
in parallel. The corresponding inverse system \textbf{iiNMP} is
unstable.










Added mttroot/mtt/lib/examples/Inverse/iNMP/iNMP/iNMP_numpar.txt version [1d7033f948].





















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# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (NMP_numpar.txt)
# Generated by MTT at Thu Oct  8 09:25:16 BST 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
c_f = 	0.5; # NMP
c_s = 	1.0; # NMP
r = 	1.0; # NMP
r_f = 	1.0; # NMP
r_s = 	1.0; # NMP








Added mttroot/mtt/lib/examples/Inverse/iNMP/iNMP/iNMP_rep.txt version [1261b95adc].





















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# Outline report file for system iNMP (iNMP_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt iNMP abg tex
mtt iNMP struc tex
mtt iNMP ode tex
mtt iNMP dm tex
mtt iNMP tf tex

mtt iNMP lmfr ps
mtt iNMP lpfr ps








Added mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_abg.fig version [88a5a6ef61].


























































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2475 3600 3375 3600 3150 3825
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5175 3375 5175 2475 5400 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8325 3376 8325 2476 8550 2701
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4050 3600 4950 3600 4725 3825
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7200 3601 8100 3601 7875 3826
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4050 3600 4050 3420
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6525 3780 6525 3600
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5625 3600 6525 3600 6300 3825
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 3345 3600 2445 3825 2670
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6750 3346 6750 2446 6975 2671
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2475 3780 2475 3600
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2475 3600 2475 3420
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3465 3375 3780 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4050 3780 4050 3600
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4995 3375 5310 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8145 3375 8460 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6615 2475 6930 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6525 3600 6525 3420
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7200 3780 7200 3600
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7200 3555 7200 3375
4 0 -1 0 0 2 20 0.0000000 4 210 150 5085 3735 0\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 3510 3690 1\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 6660 3691 1\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 8235 3736 0\001
4 0 -1 0 0 2 20 0.0000000 4 240 750 3465 2250 R:r_1\001
4 0 -1 0 0 2 20 0.0000000 4 240 750 4995 2250 C:c_1\001
4 0 -1 0 0 2 20 0.0000000 4 240 750 6525 2250 R:r_2\001
4 0 -1 0 0 2 20 0.0000000 4 240 750 8100 2295 C:c_2\001
4 2 -1 0 0 2 20 0.0000000 4 270 750 2385 3690 SS:uy\001








Added mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_desc.tex version [5eddc121b6].
























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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system iRC2c (iRC2c_desc.tex)
% Generated by MTT on Mon Apr 6 10:46:00 BST 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{iRC2c} is
   displayed in Figure \Ref{iRC2c_abg} and its label
   file is listed in Section \Ref{sec:iRC2c_lbl}.
   The subsystems are listed in Section \Ref{sec:iRC2c_sub}.

This example gives the inverse of a double RC circuit with
\emph{collocated} sensor/actuator pairing.










Added mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_input.txt version [bae2b6c20a].
















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# Numerical parameter file (iRC2c_input.txt)
# Generated by MTT at Mon Mar  2 15:42:48 GMT 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Set the inputs
u(1) =	 1 ; # iRC2c (u_s)








Added mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_lbl.txt version [970ccd463e].


































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%SUMMARY iRC2c Inverse of double RC circuit with collocated io
%DESCRIPTION <Detailed description here>
%% Label file for system iRC2c (iRC2c_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type C
	c_1		lin	effort,c_1
	c_2		lin	effort,c_2

% Component type R
	r_1		lin	flow,r_1
	r_2		lin	flow,r_2

% Component type SS
	uy		SS	external,external










Added mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_numpar.txt version [434e56074d].





























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# Numerical parameter file (iRC2c_numpar.txt)
# Generated by MTT at Mon Mar  2 15:41:26 GMT 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
c_1 = 	1.0; # iRC2c
c_1s = 	0.1; # iRC2c
c_2 = 	1.0; # iRC2c
c_2s = 	0.1; # iRC2c
r_1 = 	1.0; # iRC2c
r_1s = 	1.0; # iRC2c
r_2 = 	1.0; # iRC2c
r_2s = 	1.0; # iRC2c

# Initial states
x(1) = 	0.0; # iRC2c (c_1)
x(2) = 	0.0; # iRC2c (c_1s)
x(3) = 	0.0; # iRC2c (c_2)
x(4) = 	0.0; # iRC2c (c_2s)








Added mttroot/mtt/lib/examples/Inverse/iRC2/iRC2c/iRC2c_rep.txt version [0627609c1c].




















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# Outline report file for system iRC2c (iRC2c_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt iRC2c abg tex
mtt iRC2c struc tex
mtt iRC2c dae tex
mtt iRC2c dm tex
mtt iRC2c tf tex










Added mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_abg.fig version [094799a629].








































































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5625 3600 5625 3420
2 1 2 2 1 7 1 0 -1 4.500 0 0 7 0 0 4
	 9585 3465 8325 3465 8190 3375 8190 2565
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2475 3600 3375 3600 3150 3825
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5175 3375 5175 2475 5400 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8325 3376 8325 2476 8550 2701
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4050 3600 4950 3600 4725 3825
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7200 3601 8100 3601 7875 3826
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8775 3601 9675 3601 9450 3826
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3465 3375 3780 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5040 2475 5355 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6615 3375 6930 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8190 2475 8505 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2475 3600 2475 3420
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3375 3780 3375 3600
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4050 3600 4050 3420
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4950 3780 4950 3600
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6525 3780 6525 3600
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5625 3600 6525 3600 6300 3825
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7200 3600 7200 3420
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8100 3780 8100 3600
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8775 3600 8775 3420
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9675 3600 9675 3780
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 3345 3600 2445 3825 2670
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6750 3346 6750 2446 6975 2671
2 1 1 1 1 7 1 0 -1 4.000 0 0 7 0 0 4
	 9585 3510 5400 3510 5310 3420 5310 2790
2 1 2 2 1 -1 1 0 -1 3.000 0 0 7 0 0 9
	 8392 2632 8392 3712 6862 3712 6862 2497 6727 2362 6592 2497
	 6592 3442 5242 3442 5242 2632
4 0 -1 0 0 2 20 0.0000000 4 210 150 5085 3735 0\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 3510 3690 1\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 6660 3691 1\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 8235 3736 0\001
4 2 -1 0 0 2 20 0.0000000 4 210 600 2295 3645 SS:u\001
4 0 -1 0 0 2 20 0.0000000 4 270 585 9810 3690 SS:y\001
4 0 -1 0 0 2 20 0.0000000 4 240 750 3465 2250 R:r_1\001
4 0 -1 0 0 2 20 0.0000000 4 240 750 4995 2250 C:c_1\001
4 0 -1 0 0 2 20 0.0000000 4 240 750 6525 2250 R:r_2\001
4 0 -1 0 0 2 20 0.0000000 4 240 750 8100 2295 C:c_2\001








Added mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_desc.tex version [9163d2db1b].























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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system iRC2n (iRC2n_desc.tex)
% Generated by MTT on Mon Apr 6 10:46:52 BST 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{iRC2n} is
   displayed in Figure \Ref{iRC2n_abg} and its label
   file is listed in Section \Ref{sec:iRC2n_lbl}.
   The subsystems are listed in Section \Ref{sec:iRC2n_sub}.

This example gives the inverse of a double RC circuit with
\emph{non-collocated} sensor/actuator pairing.









Added mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_input.txt version [8fa4a991b7].
















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# Numerical parameter file (iRC2n_input.txt)
# Generated by MTT at Mon Mar  2 15:42:48 GMT 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Set the inputs
u(1) =	 1 ; # iRC2n (u_s)








Added mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_lbl.txt version [3c4a501e9c].




































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%SUMMARY iRC2n Inverse of double RC circuit with non-collocated io
%DESCRIPTION <Detailed description here>
%% Label file for system iRC2n (iRC2n_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/05/20 16:43:52  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type C
	c_1		lin	effort,c_1
	c_2		lin	effort,c_2

% Component type R
	r_1		lin	flow,r_1
	r_2		lin	flow,r_2

% Component type SS
	u		SS	external,internal
	y		SS	external,0








Added mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_numpar.txt version [3f9b896142].





























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# Numerical parameter file (iRC2n_numpar.txt)
# Generated by MTT at Mon Mar  2 15:41:26 GMT 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
c_1 = 	1.0; # iRC2n
c_1s = 	0.1; # iRC2n
c_2 = 	1.0; # iRC2n
c_2s = 	0.1; # iRC2n
r_1 = 	1.0; # iRC2n
r_1s = 	1.0; # iRC2n
r_2 = 	1.0; # iRC2n
r_2s = 	1.0; # iRC2n

# Initial states
x(1) = 	0.0; # iRC2n (c_1)
x(2) = 	0.0; # iRC2n (c_1s)
x(3) = 	0.0; # iRC2n (c_2)
x(4) = 	0.0; # iRC2n (c_2s)








Added mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_rep.txt version [683a8983e4].





















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# Outline report file for system iRC2n (iRC2n_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt iRC2n abg tex
mtt iRC2n struc tex
mtt iRC2n dae tex
mtt iRC2n dm tex
mtt iRC2n tf tex











Added mttroot/mtt/lib/examples/Inverse/iRC2/iRC2n/iRC2n_simp.r version [a8454e246a].
















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%% Reduce commands to simplify output for system iRC2n (iRC2n_simp.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

MTTu1 := y;

END;








Added mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_abg.fig version [64973640f8].










































































































































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3151 3601 4051 3601 3826 3826
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5851 3376 5851 2476 6076 2701
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9001 3377 9001 2477 9226 2702
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 3601 5626 3601 5401 3826
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7876 3602 8776 3602 8551 3827
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4726 3601 4726 3421
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7201 3781 7201 3601
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6301 3601 7201 3601 6976 3826
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4276 3346 4276 2446 4501 2671
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7426 3347 7426 2447 7651 2672
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5671 3376 5986 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8821 3376 9136 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7291 2476 7606 2476
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7201 3601 7201 3421
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7876 3781 7876 3601
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2925 3825 2925 4725 3150 4500
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2925 5175 2925 6075 3150 5850
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3151 6301 4051 6301 3826 6526
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5851 6076 5851 5176 6076 5401
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9001 6077 9001 5177 9226 5402
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 6301 5626 6301 5401 6526
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7876 6302 8776 6302 8551 6527
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4726 6301 4726 6121
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7201 6481 7201 6301
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6301 6301 7201 6301 6976 6526
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4276 6046 4276 5146 4501 5371
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7426 6047 7426 5147 7651 5372
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3151 6481 3151 6301
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3151 6301 3151 6121
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4141 6076 4456 6076
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4726 6481 4726 6301
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5671 6076 5986 6076
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8821 6076 9136 6076
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7291 5176 7606 5176
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7201 6301 7201 6121
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7876 6481 7876 6301
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1756 6301 2656 6301 2431 6526
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4050 3780 4050 3600
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4050 3600 4050 3420
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4141 2475 4456 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4725 3781 4725 3601
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7875 3645 7875 3465
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7875 6300 7875 6120
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2700 3375 2700 3825
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1801 3600 2701 3600 2476 3825
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2700 3825 3150 3825
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3105 5175 2925 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2925 5175 2745 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 1755 6480 1755 6300
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 1755 6300 1755 6120
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 9900 4050 9900 1530 3600 1530 3600 4050 9900 4050
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 9900 7020 9900 4500 3600 4500 3600 7020 9900 7020
4 2 -1 0 0 2 20 0.0000000 4 240 870 1710 3645 SS:u_s\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 7336 3692 1\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 8911 3737 0\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 4231 3691 1\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 5806 3736 0\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 7336 6392 1\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 8911 6437 0\001
4 0 -1 0 0 2 20 0.0000000 4 240 750 4141 4951 R:r_1\001
4 0 -1 0 0 2 20 0.0000000 4 240 750 5671 4951 C:c_1\001
4 0 -1 0 0 2 20 0.0000000 4 240 750 7201 4951 R:r_2\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 4231 6391 1\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 5806 6436 0\001
4 2 -1 0 0 2 20 0.0000000 4 210 600 1665 6345 SS:u\001
4 0 -1 0 0 2 20 0.0000000 4 240 750 8775 4950 C:c_2\001
4 2 -1 0 0 2 20 0.0000000 4 210 150 3016 3691 1\001
4 0 -1 0 0 2 20 0.0000000 4 240 870 4141 2251 R:r_1s\001
4 0 -1 0 0 2 20 0.0000000 4 240 870 5671 2251 C:c_1s\001
4 0 -1 0 0 2 20 0.0000000 4 240 870 7201 2251 R:r_2s\001
4 0 -1 0 0 2 20 0.0000000 4 240 870 8775 2250 C:c_2s\001
4 0 -1 0 0 2 20 0.0000000 4 210 390 2835 5040 AF\001
4 2 -1 0 0 2 20 0.0000000 4 210 150 3016 6391 0\001
4 1 1 1 0 0 20 0.0000000 4 210 450 2565 4455 e=0\001
4 1 1 1 0 0 20 0.0000000 4 210 420 2070 6570 f=0\001
4 1 1 1 0 0 20 0.0000000 4 270 2550 6750 1845 Specification system\001
4 1 1 1 0 0 20 0.0000000 4 270 1830 6615 6840 Inverse system\001








Added mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_desc.tex version [b9cbbd7602].




























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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system saRC2c (saRC2c_desc.tex)
% Generated by MTT on Mon Apr 6 10:47:43 BST 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{saRC2c} is
   displayed in Figure \Ref{saRC2c_abg} and its label
   file is listed in Section \Ref{sec:saRC2c_lbl}.
   The subsystems are listed in Section \Ref{sec:saRC2c_sub}.

This example gives the inverse of a double RC circuit with
\begin{itemize}
\item specification system,
\item amplifier connection and
\item collocated sensor/actuator pairing.
\end{itemize}










Added mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_input.txt version [a1e2f1f8fd].
















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# Numerical parameter file (saRC2c_input.txt)
# Generated by MTT at Mon Mar  2 15:42:48 GMT 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Set the inputs
u(1) =	 1 ; # saRC2c (u_s)








Added mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_lbl.txt version [a4d16b5d03].





































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%SUMMARY saRC2c
%DESCRIPTION <Detailed description here>
%% Label file for system saRC2c (saRC2c_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type C
	c_1		lin	effort,c_1
	c_1s		lin	effort,c_1s
	c_2		lin	effort,c_2
	c_2s		lin	effort,c_2s

% Component type R
	r_1		lin	flow,r_1
	r_1s		lin	flow,r_1s
	r_2		lin	flow,r_2
	r_2s		lin	flow,r_2s

% Component type SS
	u		SS	external,0
	u_s		SS	external,external








Added mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_numpar.txt version [9913932e70].





























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# Numerical parameter file (saRC2c_numpar.txt)
# Generated by MTT at Mon Mar  2 15:41:26 GMT 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
c_1 = 	1.0; # saRC2c
c_1s = 	0.1; # saRC2c
c_2 = 	1.0; # saRC2c
c_2s = 	0.1; # saRC2c
r_1 = 	1.0; # saRC2c
r_1s = 	1.0; # saRC2c
r_2 = 	1.0; # saRC2c
r_2s = 	1.0; # saRC2c

# Initial states
x(1) = 	0.0; # saRC2c (c_1)
x(2) = 	0.0; # saRC2c (c_1s)
x(3) = 	0.0; # saRC2c (c_2)
x(4) = 	0.0; # saRC2c (c_2s)








Added mttroot/mtt/lib/examples/Inverse/iRC2/saRC2c/saRC2c_rep.txt version [96cc75e97e].























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# Outline report file for system saRC2c (saRC2c_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt saRC2c abg tex
mtt saRC2c struc tex
mtt saRC2c dae tex
mtt saRC2c dm tex
mtt saRC2c tf tex

mtt -c saRC2c odeso ps
mtt saRC2c lmfr ps










Added mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_abg.fig version [ac27af0e16].

















































































































































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3151 3601 4051 3601 3826 3826
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5851 3376 5851 2476 6076 2701
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9001 3377 9001 2477 9226 2702
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 3601 5626 3601 5401 3826
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7876 3602 8776 3602 8551 3827
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4726 3601 4726 3421
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7201 3781 7201 3601
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6301 3601 7201 3601 6976 3826
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4276 3346 4276 2446 4501 2671
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7426 3347 7426 2447 7651 2672
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5671 3376 5986 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8821 3376 9136 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7291 2476 7606 2476
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7201 3601 7201 3421
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7876 3781 7876 3601
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2925 3825 2925 4725 3150 4500
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2925 5175 2925 6075 3150 5850
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3151 6301 4051 6301 3826 6526
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5851 6076 5851 5176 6076 5401
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9001 6077 9001 5177 9226 5402
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 6301 5626 6301 5401 6526
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7876 6302 8776 6302 8551 6527
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4726 6301 4726 6121
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7201 6481 7201 6301
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6301 6301 7201 6301 6976 6526
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4276 6046 4276 5146 4501 5371
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7426 6047 7426 5147 7651 5372
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3151 6481 3151 6301
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3151 6301 3151 6121
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4141 6076 4456 6076
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4726 6481 4726 6301
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5671 6076 5986 6076
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8821 6076 9136 6076
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7291 5176 7606 5176
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7201 6301 7201 6121
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7876 6481 7876 6301
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1756 6301 2656 6301 2431 6526
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1801 4950 2701 4950 2476 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2700 4950 2700 4770
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 1800 5130 1800 4950
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2655 6480 2655 6300
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4050 3780 4050 3600
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4050 3600 4050 3420
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4141 2475 4456 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4725 3781 4725 3601
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7875 3645 7875 3465
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7875 6300 7875 6120
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2700 3375 2700 3825
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1801 3600 2701 3600 2476 3825
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2700 3825 3150 3825
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2925 6075 2745 6075
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3105 5175 2925 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 1755 6300 1755 6120
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 9900 4275 9900 1125 3600 1125 3600 4275 9900 4275
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 9900 7650 9900 4500 3600 4500 3600 7650 9900 7650
4 2 -1 0 0 2 20 0.0000000 4 240 870 1710 3645 SS:u_s\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 7336 3692 1\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 8911 3737 0\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 4231 3691 1\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 5806 3736 0\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 7336 6392 1\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 8911 6437 0\001
4 0 -1 0 0 2 20 0.0000000 4 240 750 4141 4951 R:r_1\001
4 0 -1 0 0 2 20 0.0000000 4 240 750 5671 4951 C:c_1\001
4 0 -1 0 0 2 20 0.0000000 4 240 750 7201 4951 R:r_2\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 4231 6391 1\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 5806 6436 0\001
4 2 -1 0 0 2 20 0.0000000 4 210 600 1665 6345 SS:u\001
4 2 -1 0 0 2 20 0.0000000 4 210 990 1620 5040 SS:zero\001
4 0 -1 0 0 2 20 0.0000000 4 240 750 8775 4950 C:c_2\001
4 2 -1 0 0 2 20 0.0000000 4 210 150 3016 3691 1\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 2835 5040 0\001
4 2 -1 0 0 2 20 0.0000000 4 210 150 3016 6391 1\001
4 0 -1 0 0 2 20 0.0000000 4 240 870 4141 2251 R:r_1s\001
4 0 -1 0 0 2 20 0.0000000 4 240 870 5671 2251 C:c_1s\001
4 0 -1 0 0 2 20 0.0000000 4 240 870 7201 2251 R:r_2s\001
4 0 -1 0 0 2 20 0.0000000 4 240 870 8775 2250 C:c_2s\001
4 1 1 1 0 3 20 0.0000000 4 210 450 2250 4860 e=0\001
4 1 1 1 0 3 20 0.0000000 4 270 420 2250 5220 f=0\001
4 1 1 1 0 3 20 0.0000000 4 270 1845 6525 7110 Inverse system\001
4 1 1 1 0 3 20 0.0000000 4 270 2565 6660 1665 Specification system\001








Added mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_desc.tex version [26c739d9e0].




























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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system szRC2c (szRC2c_desc.tex)
% Generated by MTT on Mon Apr 6 10:50:51 BST 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{szRC2c} is
   displayed in Figure \Ref{szRC2c_abg} and its label
   file is listed in Section \Ref{sec:szRC2c_lbl}.
   The subsystems are listed in Section \Ref{sec:szRC2c_sub}.


This example gives the inverse of a double RC circuit with
\begin{itemize}
\item specification system,
\item zero-zero \textbf{SS} connection and
\item collocated sensor/actuator pairing.
\end{itemize}









Added mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_input.txt version [5d473ec309].
















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# Numerical parameter file (szRC2c_input.txt)
# Generated by MTT at Mon Mar  2 15:42:48 GMT 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Set the inputs
u(1) =	 1 ; # szRC2c (u_s)








Added mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_lbl.txt version [d6596f0777].









































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%SUMMARY szRC2c Specification inverse of double RC circuit with collocated io
%DESCRIPTION <Detailed description here>
%% Label file for system szRC2c (szRC2c_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/05/20 16:44:55  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type C
	c_1		lin	effort,c_1
	c_1s		lin	effort,c_1s
	c_2		lin	effort,c_2
	c_2s		lin	effort,c_2s

% Component type R
	r_1		lin	flow,r_1
	r_1s		lin	flow,r_1s
	r_2		lin	flow,r_2
	r_2s		lin	flow,r_2s

% Component type SS
	u_s		SS	external,external
	zero		SS	0,0
	u		SS	external,external








Added mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_numpar.txt version [4f0023ce06].





























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# Numerical parameter file (szRC2c_numpar.txt)
# Generated by MTT at Mon Mar  2 15:41:26 GMT 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
c_1 = 	1.0; # szRC2c
c_1s = 	0.1; # szRC2c
c_2 = 	1.0; # szRC2c
c_2s = 	0.1; # szRC2c
r_1 = 	1.0; # szRC2c
r_1s = 	1.0; # szRC2c
r_2 = 	1.0; # szRC2c
r_2s = 	1.0; # szRC2c

# Initial states
x(1) = 	0.0; # szRC2c (c_1)
x(2) = 	0.0; # szRC2c (c_1s)
x(3) = 	0.0; # szRC2c (c_2)
x(4) = 	0.0; # szRC2c (c_2s)








Added mttroot/mtt/lib/examples/Inverse/iRC2/szRC2c/szRC2c_rep.txt version [8ec5d4fc14].























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# Outline report file for system szRC2c (szRC2c_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt szRC2c abg tex
mtt szRC2c struc tex
mtt szRC2c dae tex
mtt szRC2c dm tex
mtt szRC2c tf tex

mtt -c szRC2c odeso ps
mtt szRC2c lmfr ps










Added mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_abg.fig version [2bd65cadb4].



























































































































































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2251 4726 3151 4726 2926 4951
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4951 4501 4951 3601 5176 3826
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8101 4502 8101 3602 8326 3827
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3826 4726 4726 4726 4501 4951
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6976 4727 7876 4727 7651 4952
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8551 4727 9451 4727 9226 4952
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3151 4906 3151 4726
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3826 4726 3826 4546
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6301 4906 6301 4726
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5401 4726 6301 4726 6076 4951
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6976 4726 6976 4546
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3825 4905 3825 4725
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4770 4500 5085 4500
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6345 3600 6660 3600
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6975 4905 6975 4725
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7920 4500 8235 4500
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9450 4725 9450 4905
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9450 4680 9450 4500
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 10126 6301 9901 6076 11026 6076
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9901 6076 9901 5896
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 11026 6256 11026 6076
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9675 4950 9675 5850 9900 5625
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5402 7427 5402 7247
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2252 7427 3152 7427 2927 7652
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4952 7202 4952 6302 5177 6527
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8102 7203 8102 6303 8327 6528
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3827 7427 4727 7427 4502 7652
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6977 7428 7877 7428 7652 7653
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8552 7428 9452 7428 9227 7653
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3242 7202 3557 7202
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4817 6302 5132 6302
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6392 7202 6707 7202
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7967 6302 8282 6302
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2252 7427 2252 7247
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3152 7607 3152 7427
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3827 7427 3827 7247
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4727 7607 4727 7427
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6302 7607 6302 7427
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5402 7427 6302 7427 6077 7652
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6977 7427 6977 7247
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7877 7607 7877 7427
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8552 7427 8552 7247
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3377 7172 3377 6272 3602 6497
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6527 7173 6527 6273 6752 6498
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9450 7425 9450 7605
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3150 4725 3150 4545
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3240 3600 3555 3600
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9901 4725 10801 4725 10576 4950
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 10800 4725 10800 4905
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 10800 4725 10800 4545
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3375 4516 3375 3616 3600 3841
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6525 4517 6525 3617 6750 3842
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9495 5850 9810 5850
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9675 6300 9855 6300
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9675 6313 9675 7213 9900 6988
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9675 7245 9495 7245
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 9045 5355 9045 2250 2475 2250 2475 5355 9045 5355
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 9045 8730 9045 5625 2475 5625 2475 8730 9045 8730
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6300 4680 6300 4500
4 0 -1 0 0 2 20 0.0000000 4 210 150 4861 4861 0\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 3286 4816 1\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 6436 4817 1\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 8011 4862 0\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 9586 4816 0\001
4 2 -1 0 0 2 20 0.0000000 4 240 870 2071 4771 SS:u_s\001
4 0 -1 0 0 2 20 0.0000000 4 240 870 3241 3376 R:r_1s\001
4 0 -1 0 0 2 20 0.0000000 4 240 870 6301 3376 R:r_2s\001
4 0 -1 0 0 2 20 0.0000000 4 240 870 4771 3376 C:c_1s\001
4 0 -1 0 0 2 20 0.0000000 4 240 870 7875 3375 C:c_2s\001
4 0 -1 0 0 2 20 0.0000000 4 210 990 11206 6166 SS:zero\001
4 1 1 1 0 3 20 0.0000000 4 210 450 10441 5986 e=0\001
4 1 1 1 0 3 20 0.0000000 4 270 420 10441 6346 f=0\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 9585 6210 1\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 4862 7562 0\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 3287 7517 1\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 6437 7518 1\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 8012 7563 0\001
4 2 -1 0 0 2 20 0.0000000 4 210 600 2072 7472 SS:u\001
4 0 -1 0 0 2 20 0.0000000 4 240 750 3242 6077 R:r_1\001
4 0 -1 0 0 2 20 0.0000000 4 240 750 4772 6077 C:c_1\001
4 0 -1 0 0 2 20 0.0000000 4 240 750 6302 6077 R:r_2\001
4 0 -1 0 0 2 20 0.0000000 4 240 750 7876 6076 C:c_2\001
4 0 -1 0 0 2 20 0.0000000 4 210 150 9630 7515 0\001
4 0 -1 0 0 2 20 0.0000000 4 270 855 10935 4815 SS:y_s\001
4 1 1 1 0 3 20 0.0000000 4 270 420 10260 5085 f=0\001
4 1 1 1 0 3 20 0.0000000 4 270 2565 5625 2745 Specification system\001
4 1 1 1 0 3 20 0.0000000 4 270 1845 5535 8280 Inverse system\001








Added mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_desc.tex version [c87760ad0d].

































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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system szRC2n (szRC2n_desc.tex)
% Generated by MTT on Mon Apr 6 10:52:26 BST 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{szRC2n} is
   displayed in Figure \Ref{szRC2n_abg} and its label
   file is listed in Section \Ref{sec:szRC2n_lbl}.
   The subsystems are listed in Section \Ref{sec:szRC2n_sub}.

This example gives the inverse of a double RC circuit with
\begin{itemize}
\item specification system,
\item zero-zero \textbf{SS} connection and
\item non-collocated sensor/actuator pairing.
\end{itemize}



%%% Local Variables: 
%%% mode: latex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_input.txt version [24879df543].
















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# Numerical parameter file (szRC2n_input.txt)
# Generated by MTT at Mon Mar  2 15:42:48 GMT 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Set the inputs
u(1) =	 1 ; # szRC2n (u_s)








Added mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_lbl.txt version [c5ad26295d].










































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%SUMMARY szRC2n Specification inverse of double RC circuit with noncollocated io
%DESCRIPTION <Detailed description here>
%% Label file for system szRC2n (szRC2n_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/05/20 16:45:37  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type C
	c_1		lin	effort,c_1
	c_1s		lin	effort,c_1s
	c_2		lin	effort,c_2
	c_2s		lin	effort,c_2s

% Component type R
	r_1		lin	flow,r_1
	r_1s		lin	flow,r_1s
	r_2		lin	flow,r_2
	r_2s		lin	flow,r_2s

% Component type SS
	u_s		SS	external,internal
	y_s		SS	external,0
	zero		SS	0,0
	u		SS	external,external








Added mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_numpar.txt version [bd74abe778].





























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# Numerical parameter file (szRC2n_numpar.txt)
# Generated by MTT at Mon Mar  2 15:41:26 GMT 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
c_1 = 	1.0; # szRC2n
c_1s = 	0.1; # szRC2n
c_2 = 	1.0; # szRC2n
c_2s = 	0.1; # szRC2n
r_1 = 	1.0; # szRC2n
r_1s = 	1.0; # szRC2n
r_2 = 	1.0; # szRC2n
r_2s = 	1.0; # szRC2n

# Initial states
x(1) = 	0.0; # szRC2n (c_1)
x(2) = 	0.0; # szRC2n (c_1s)
x(3) = 	0.0; # szRC2n (c_2)
x(4) = 	0.0; # szRC2n (c_2s)








Added mttroot/mtt/lib/examples/Inverse/iRC2/szRC2n/szRC2n_rep.txt version [b35e15fb83].























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# Outline report file for system szRC2n (szRC2n_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt szRC2n abg tex
mtt szRC2n struc tex
mtt szRC2n dae tex
mtt szRC2n dm tex
mtt szRC2n tf tex

mtt -c szRC2n odeso ps
mtt szRC2n lmfr ps










Added mttroot/mtt/lib/examples/Inverse/iTanks/iTanks_abg.fig version [4413ea1185].

















































































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 900 3150 2025 3150 1755 3420
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2475 3150 3600 3150 3330 3420
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2250 2925 2250 1800 2520 2070
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7201 3151 8326 3151 8056 3421
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8776 3151 9901 3151 9631 3421
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6976 2926 6976 1801 7246 2071
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8551 2926 8551 1801 8821 2071
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4050 3150 5175 3150 4905 3420
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5625 3150 6750 3150 6480 3420
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3825 2925 3825 1800 4095 2070
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5400 2925 5400 1800 5670 2070
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6975 3375 6975 4500 7245 4230
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 11295 5625 11295 450 45 450 45 5625 11295 5625
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 3
	 3150 1125 3150 2700 1305 2700
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 4
	 4500 1125 4500 2700 6300 2700 6300 1125
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 3
	 7650 1125 7650 2700 9675 2700
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 1350 3600 9720 3600
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3825 3375 3825 4500 4095 4230
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 900 2925 900 3150
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2025 3150 2025 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3600 3375 3825 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3825 4500 4095 4500
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9900 2925 9900 3150
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8775 3150 8775 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6705 3375 6930 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6975 4500 7200 4500
4 1 -1 0 0 2 20 0.0000 4 195 135 2250 3240 1\001
4 1 -1 0 0 2 20 0.0000 4 195 210 2250 1665 R\001
4 1 -1 0 0 2 20 0.0000 4 195 135 8551 3241 1\001
4 1 -1 0 0 2 20 0.0000 4 195 135 6976 3241 0\001
4 1 -1 0 0 2 20 0.0000 4 195 210 8551 1666 R\001
4 1 -1 0 0 2 20 0.0000 4 195 210 6976 1666 C\001
4 1 -1 0 0 2 20 0.0000 4 195 135 5400 3240 1\001
4 1 -1 0 0 2 20 0.0000 4 195 135 3825 3240 0\001
4 1 -1 0 0 2 20 0.0000 4 195 210 5400 1665 R\001
4 1 -1 0 0 2 20 0.0000 4 195 210 3825 1665 C\001
4 1 -1 0 0 2 20 0.0000 4 195 705 495 3240 SS:u1\001
4 1 -1 0 0 2 20 0.0000 4 195 705 10440 3240 SS:u2\001
4 1 -1 0 0 2 20 0.0000 4 255 675 3825 4725 SS:y1\001
4 1 -1 0 0 2 20 0.0000 4 255 675 6975 4770 SS:y2\001
4 1 1 1 0 3 20 0.0000 4 270 510 2295 1125 Pipe\001
4 1 1 1 0 3 20 0.0000 4 270 510 5445 1125 Pipe\001
4 1 1 1 0 3 20 0.0000 4 270 510 8595 1125 Pipe\001
4 1 1 1 0 3 20 0.0000 4 210 600 3870 1125 Tank\001
4 1 1 1 0 3 20 0.0000 4 210 600 6975 1125 Tank\001
4 1 1 1 0 3 20 0.0000 4 270 1665 5265 5445 System inverse\001








Added mttroot/mtt/lib/examples/Inverse/iTanks/iTanks_desc.tex version [d912f0defd].





































































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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system iTanks (iTanks_desc.tex)
% Generated by MTT on Wed Nov 18 11:04:33 GMT 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

Figure \Ref{iTanks_abg} shows the bond graph of a two-tank system
superimposed on a schematic diagram. 
The two \textbf{C} components corresponds to the fluid storage and how
it relates to the pressure at the base of the tanks. In this case, for
simplicity, each tank ($i=1$ or $i=2$) is assumed to have a unity constitutive relationship:
\begin{equation}
  \text{pressure} = p_i = v_i = \text{volume}
\end{equation}
The volumetric flow rate into the first, and out of the second, tank
is represented by the two unlabelled \textbf{R} components. Again,
each is assumed to have a unit constitutive relationship:
\begin{equation}
  \text{flow} = f_i = \Delta_i = \text{pressure drop}
\end{equation}
The volumetric flow rate between the first and the second  tanks
is represented  \textbf{R} component labelled $k$. The constitutive relationship is assumed
linear of the form:
\begin{equation}
  \text{flow} = f = k \Delta  = \text{pressure drop}
\end{equation}

The system has two inputs:
\begin{equation}
  \begin{aligned}
    u_1 &= \text{input pressure at left-hand pipe} \\
    u_2 &= \text{input pressure at right-hand pipe} 
  \end{aligned}
\end{equation}
and two outputs:
\begin{equation}
  \begin{aligned}
    y_1 &= p_1 = \text{pressure at left-hand tank} \\
    y_2 &= p_2 = \text{pressure at right-hand tank} 
  \end{aligned}
\end{equation}
The system transfer-function matrix is given by:
\begin{equation}
  \begin{aligned}
G_{11} = G_{22} &= \frac{(s + k + 1)}{(s^2 + 2 s {(k + 1)} + 2 k + 1)}\\
G_{12} = G_{21} &= \frac{k}{(s^2 + 2 s {(k + 1)} + 2 k + 1)}
\end{aligned}
\end{equation}

However, Figure \Ref{iTanks_abg} shows the causality of the
\textbf{SS} components to \emph{invert} the system with respect to its
inputs and outputs. Figure \Ref{fig:iTanks_cbg.ps} shows the causally
complete bond graph; this system has no dynamic components in integral
causality -- the inverse has no poles and therefore the system has no
zeros.

Some further representations of the inverse appear in the following
sections.










Added mttroot/mtt/lib/examples/Inverse/iTanks/iTanks_rep.txt version [a71249d1e5].






























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# Outline report file for system iTanks (iTanks_rep.txt)
# Generated by MTT on" Wed Nov 18 10:44:55 GMT 1998.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

mtt iTanks abg tex			# The system description
mtt iTanks cbg ps 		        # The causal bond graph
# Uncomment the following lines or add others
 mtt iTanks struc tex	        # The system structure
# mtt iTanks dae tex	        # The system dae
# mtt iTanks ode tex	        # The system ode 
# mtt iTanks sspar tex		# Steady-state parameters
# mtt iTanks ss tex 		# Steady state
mtt iTanks dm tex			# Descriptor matrices (of linearised system)
mtt iTanks tf tex
mtt iTanks lmfr ps		# log modulus of frequency response (of linearised system)
mtt iTanks lpfr ps		# log modulus of frequency response (of linearised system)
# mtt iTanks simpar tex		# Simulation parameters
# mtt iTanks numpar tex		# Numerical simulation parameters
# mtt iTanks input tex		# Simulation input
# mtt iTanks odeso ps		# Simulation output








Added mttroot/mtt/lib/examples/Inverse/iTwoLink/ROD_abg.fig version [81af279f2a].































































































































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 4278 5403 4953 5178 4953
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5854 5404 6529 6079 6304 6079
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 6078 5403 5403 5403 5628
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5853 4953 6528 4278 6528 4503
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1
	 4277 3827
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3152 2702 4277 3827 4052 3827
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6977 6527 8102 7652 7877 7652
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3152 7652 4277 6527 4277 6752
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6977 3827 8102 2702 8102 2927
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5852 5177 6527 5177 6392 5312
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 2927 2927 4952 3152 4727
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 5402 2927 7427 3152 7202
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2701 5176 2026 5176 2161 5311
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2926 1351 2926 2476 3196 2206
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2926 7876 2926 9001 3196 8731
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8328 2928 8328 4953 8553 4728
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8328 5403 8328 7428 8553 7203
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8327 1352 8327 2477 8597 2207
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8327 7877 8327 9002 8597 8732
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5626 1351 5626 4951 5851 4726
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5626 5401 5626 9001 5851 8776
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8551 5176 9226 5176 9091 5311
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3826 4951 6526 4051 6436 4231
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3826 4996 3826 5356
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4276 5176 3826 5176 3961 5311
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3826 5401 6301 6301 6121 6301
2 1 0 1 5 -1 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 5401 4051 6301 3826 6301
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 4951 4051 4051 4051 4276
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5536 5176 5086 5176 5221 5311
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6300 9675 6300 675 4950 675 4950 9675 6300 9675
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 9000 9675 9000 675 7650 675 7650 9675 9000 9675
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 11025 10305 11025 225 225 225 225 10305 11025 10305
2 4 0 1 1 7 0 0 -1 0.000 0 0 7 0 0 5
	 3600 9675 2250 9675 2250 675 3600 675 3600 9675
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 10125 2250 990 2250 990 900 10125 900 10125 2250
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 10125 5850 990 5850 990 4500 10125 4500 10125 5850
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 10125 9450 990 9450 990 8100 10125 8100 10125 9450
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2700 4950 2700 5400
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5850 4950 5850 5400
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8550 4950 8550 5400
4 1 -1 0 0 0 20 0.0000000 4 210 150 5628 5268 1\001
4 1 -1 0 0 0 20 0.0000000 4 210 315 6933 5268 I:J\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 2927 5312 1\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 2972 2792 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 2927 7742 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 8328 5313 1\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 8373 2793 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 8328 7743 0\001
4 1 -1 0 0 0 20 0.0000000 4 270 735 9676 5266 I:m_y\001
4 1 -1 0 0 0 20 0.0000000 4 240 735 1531 5221 I:m_x\001
4 1 -1 0 0 0 20 0.0000000 4 210 1170 4636 4141 EMTF:c1\001
4 1 -1 0 0 0 20 0.0000000 4 210 1170 4681 6391 EMTF:c2\001
4 1 -1 0 0 0 20 0.0000000 4 210 1155 7156 4141 EMTF:s1\001
4 1 -1 0 0 0 20 0.0000000 4 210 1155 7156 6391 EMTF:s2\001
4 1 5 0 0 0 20 0.0000000 4 210 150 3603 5313 0\001
4 1 26 0 0 0 16 0.0000000 4 195 330 6751 4456 [in]\001
4 1 26 0 0 0 16 0.0000000 4 195 450 6751 3781 [out]\001
4 1 26 0 0 0 16 0.0000000 4 195 330 6751 6076 [in]\001
4 1 26 0 0 0 16 0.0000000 4 195 450 6751 6706 [out]\001
4 1 26 0 0 0 16 0.0000000 4 195 570 6211 6526 [mod]\001
4 1 5 0 0 0 20 0.0000000 4 210 990 4681 5266 INTF:th\001
4 1 1 1 0 0 20 0.0000000 4 210 210 2925 10035 X\001
4 1 1 1 0 32 20 0.0000000 4 135 195 5580 9990 a\001
4 1 1 1 0 0 20 0.0000000 4 210 210 8280 9990 Y\001
4 2 26 0 0 0 16 0.0000000 4 195 570 3960 4140 [mod]\001
4 2 26 0 0 0 16 0.0000000 4 195 570 6345 4095 [mod]\001
4 2 26 0 0 0 16 0.0000000 4 195 570 3960 6210 [mod]\001
4 1 26 0 0 0 16 0.0000000 4 195 330 4590 4455 [in]\001
4 1 26 0 0 0 16 0.0000000 4 195 450 4545 3780 [out]\001
4 1 26 0 0 0 16 0.0000000 4 195 450 4590 6660 [out]\001
4 0 26 0 0 0 16 0.0000000 4 195 330 4365 6030 [in]\001
4 1 4 0 0 0 20 0.0000000 4 240 1065 2971 1216 SS:[x_a]\001
4 1 4 0 0 0 20 0.0000000 4 240 1080 2971 9361 SS:[x_b]\001
4 1 4 0 0 0 20 0.0000000 4 270 1065 8372 1217 SS:[y_a]\001
4 1 4 0 0 0 20 0.0000000 4 270 1080 8417 9362 SS:[y_b]\001
4 1 4 0 0 0 20 0.0000000 4 270 1575 5671 1216 SS:[alpha_a]\001
4 1 4 0 0 0 20 0.0000000 4 270 1590 5671 9361 SS:[alpha_b]\001
4 1 1 1 0 0 20 0.0000000 4 270 630 1350 2700 Tip a\001
4 1 1 1 0 0 20 0.0000000 4 240 1470 1260 6300 Mass centre\001
4 1 1 1 0 0 20 0.0000000 4 270 645 1350 9855 Tip b\001








Modified mttroot/mtt/lib/examples/Inverse/iTwoLink/ROD_lbl.txt
from [a13759eec7]
to [1f86f162c8].




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% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1997/08/15  09:43:06  peterg
% %% Now has lablelled (as opposed to numbered) ports.
% %%
% Revision 1.1  1996/11/07  10:57:17  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)




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-




th

%Modulated transformers
s1	lsin	flow,$1
s2	lsin	flow,$2
c1	lcos	flow,$1
c2	lcos	flow,$2



	








Added mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_abg.fig version [b300b8132c].














































































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3826 4951 2476 4951 2701 5176
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4051 3376 4051 4726 4276 4501
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3781 4726 4276 4726
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2476 4726 2476 5221
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4276 4951 5626 4951 5401 5176
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6526 4681 6526 5176
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3825 2250 2475 2250 2700 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4050 675 4050 2025 4275 1800
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3780 2025 4275 2025
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2475 2025 2475 2520
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4275 2250 5625 2250 5400 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6525 1980 6525 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6525 2250 7875 2250 7650 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6525 4950 7875 4950 7650 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8371 3376 7876 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8101 3376 8101 4726 8326 4501
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8326 4726 8326 5221
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8370 675 7875 675
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8100 675 8100 2025 8325 1800
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8325 2025 8325 2520
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 5175 6075 675 6075 675 225 5175 225 5175 6075
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 675 5625 5175 5625
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 11475 6075 6975 6075 6975 225 11475 225 11475 6075
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 6975 5625 11475 5625
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8325 2250 9450 3375 9225 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8325 4950 9450 3825 9225 3825
4 1 -1 0 0 0 20 0.0000000 4 210 150 4051 5041 1\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 4050 2340 1\001
4 1 -1 0 0 0 20 0.0000000 4 210 780 4050 585 SS:t1s\001
4 1 -1 0 0 0 20 0.0000000 4 210 750 6120 2340 AF:a1\001
4 1 -1 0 0 0 20 0.0000000 4 270 1290 1845 2340 msd:spec1\001
4 1 -1 0 0 0 20 0.0000000 4 270 1290 1846 5041 msd:spec2\001
4 1 -1 0 0 0 20 0.0000000 4 210 780 4051 3286 SS:t2s\001
4 1 -1 0 0 0 20 0.0000000 4 210 750 6121 5041 AF:a2\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 8101 5041 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 8100 2340 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 660 8100 585 SS:t1\001
4 1 1 1 0 0 20 0.0000000 4 270 1620 2880 5940 Specification\001
4 1 1 1 0 0 20 0.0000000 4 270 900 9270 5940 System\001
4 1 -1 0 0 0 20 0.0000000 4 210 660 8101 3286 SS:t2\001
4 1 -1 0 0 0 20 0.0000000 4 270 1500 9900 3690 twolink:syst\001
4 0 4 0 0 0 20 0.0000000 4 270 1080 9585 3330 [joint_1]\001
4 0 4 0 0 0 20 0.0000000 4 270 1080 9540 4140 [joint_2]\001








Added mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_desc.tex version [81019ef0b9].

























































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% Verbal description for system iTwoLink (iTwoLink_desc.tex)
% Generated by MTT on Mon Nov 17 10:42:48 GMT 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.3  1998/01/19 10:08:21  peterg
% %% Added comment about linearisation point
% %%
% %% Revision 1.2  1998/01/19 09:57:26  peterg
% %% Added a discussion of the relevance of G(s).
% %%
% Revision 1.1  1997/12/09  16:53:27  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{iTwoLink} is
   displayed in Figure \Ref{iTwoLink_abg} and its label
   file is listed in Section \Ref{sec:iTwoLink_lbl}.
   The subsystems are listed in Section \Ref{sec:iTwoLink_sub}.

This example illustrates the inversion of  two link manipulator
dynamics using two identical  simple mass-spring-damper systems as
specification systems.

The velocities $\omega_1=\omega_2$ specified by the specification
systems are given in Figure \Ref{fig:iTwoLink_odeso.ps-iTwoLink-t1s}
together with the input defined in Section \Ref{sec:iTwoLink_input.txt}.
The torques $\tau_1$ and $\tau_2$ required to give the these
velocities specified by the specification system are given in Figures
\Ref{fig:iTwoLink_odeso.ps-iTwoLink-t1} and
\Ref{fig:iTwoLink_odeso.ps-iTwoLink-t2} respectively.

The corresponding velocity/torque diagrams for joints 1 and 2 appear in
Figures \Ref{fig:iTwoLink_odeso.ps-iTwoLink-t1s:iTwoLink-t1}
\Ref{fig:iTwoLink_odeso.ps-iTwoLink-t2s:iTwoLink-t2} respectively.
Such diagrams can be used for actuator sizing in terms of torque,
velocity and power.

 
This non-linear system can be linearised (about the various
configurations) and small-signal frequency response methods applied.
For example, the four transfer functions $G_11$ to $G_22$ in Section
\Ref{sec:iTwoLink_tf} (representing the system linearised about zero
angles and velocities), give the small-signal relations between the
two spec. torques and the required system torques. Used together with
$G_31$ and $G_42$ (relating the spec. torques and the joint
velocities) gives, in principle, a method for evaluating actuator
requirements (for small signals) as a function of frequency.









Added mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_input.txt version [7a5043f130].

















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# Numerical parameter file (iTwoLink_input.txt)
# Generated by MTT at Mon Nov 17 10:40:37 GMT 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Set the inputs
u(1) =	1.0 - 2.0*(t>5.0) + 2.0*(t>15.0);; # t1s input torque
u(2) =	1.0 - 2.0*(t>5.0) + (t>15.0); # t2s input torque








Added mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_rep.txt version [457e46d061].






































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# Outline report file for system iTwoLink (iTwoLink_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1997/12/09 16:53:42  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt -c iTwoLink abg tex
mtt -c iTwoLink struc tex
mtt -c iTwoLink simp r
mtt -c iTwoLink dae tex
mtt -c iTwoLink ode tex
mtt -c iTwoLink sspar r
mtt -c iTwoLink sm tex
mtt -c iTwoLink tf tex

mtt -c iTwoLink numpar txt
mtt -c iTwoLink input txt
mtt -c iTwoLink odeso ps  'iTwoLink_t1'
mtt -c iTwoLink odeso ps  'iTwoLink_t2'
mtt -c iTwoLink odeso ps  'iTwoLink_t1s'
mtt -c iTwoLink odeso ps  'iTwoLink_t1s:iTwoLink_t1'
mtt -c iTwoLink odeso ps  'iTwoLink_t2s:iTwoLink_t2'














Added mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_simp.r version [654a42ab54].





















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%% Reduce comands to simplify output for system twolink (twolink_simp.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

        trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2,
                  cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2,
                  sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2,
                  cos(~x)^2       => (1+cos(2*x))/2,
                  sin(~x)^2       => (1-cos(2*x))/2};
       LET trig1;

END;








Added mttroot/mtt/lib/examples/Inverse/iTwoLink/iTwoLink_sspar.r version [d89c4eea57].





















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%% Reduce steady-state parameter file for ionelink (ionelink_sspar.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mttx1 := 0;
mttx2 := 0;
mttx3 := 0;
mttx4 := 0;
mttx5 := 0;
mttx6 := 0;

END;








Added mttroot/mtt/lib/examples/Inverse/iTwoLink/msd_abg.fig version [97c8be2457].

























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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3825 4050 4950 4050 4725 4275
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 3825 3600 2700 3825 2925
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 4275 3600 5400 3825 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2250 4050 3375 4050 3150 4275
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 6750 6975 6750 1125 900 1125 900 6975 6750 6975
4 1 -1 0 0 0 20 0.0000000 4 210 150 3600 4185 1\001
4 0 -1 0 0 0 20 0.0000000 4 270 1200 5085 4140 R:damper\001
4 1 1 1 0 0 20 0.0000000 4 270 3585 3555 6300 Mass-spring-damper system\001
4 2 4 0 0 0 20 0.0000000 4 240 870 2160 4140 SS:[in]\001
4 1 -1 0 0 0 20 0.0000000 4 210 990 3600 5715 I:inertia\001
4 1 -1 0 0 0 20 0.0000000 4 270 1050 3555 2610 C:spring\001








Added mttroot/mtt/lib/examples/Inverse/iTwoLink/msd_desc.tex version [47aeb1c32d].



































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% Verbal description for system msd (msd_desc.tex)
% Generated by MTT on Thu Nov 13 09:38:17 GMT 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{msd} is
   displayed in Figure \Ref{msd_abg} and its label
   file is listed in Section \Ref{sec:msd_lbl}.
   The subsystems are listed in Section \Ref{sec:msd_sub}.


 \textbf{msd} is a simple Mass-Spring-Damper system with collocated
 force and velocity. It is set up to provide a specification system
 for each link of the two-link maipulator. This is appropriate because
 \begin{itemize}
 \item  it has compatible physical behaviour with the system itself,
 \item it specifies two decoupled systems,
 \item it has linear behaviour and
 \item it has a simple performance interpretation in terms of system
   rise-time and overshoot.
 \end{itemize}

%%% Local Variables: 
%%% mode: latex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Inverse/iTwoLink/msd_lbl.txt version [4ba1d7187e].

































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%SUMMARY msd: Simple mass-spring damper
%DESCRIPTION <Detailed description here>
%% Label file for system msd (msd_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type C
	spring		lin	state,k_s

% Component type I
	inertia		lin	flow,m_s

% Component type R
	damper		lin	flow,d_s

% Component type SS
	[in]		SS	external,external








Added mttroot/mtt/lib/examples/Inverse/iTwoLink/oldROD_abg.fig version [81af279f2a].































































































































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 4278 5403 4953 5178 4953
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5854 5404 6529 6079 6304 6079
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 6078 5403 5403 5403 5628
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5853 4953 6528 4278 6528 4503
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 1
	 4277 3827
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3152 2702 4277 3827 4052 3827
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6977 6527 8102 7652 7877 7652
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3152 7652 4277 6527 4277 6752
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6977 3827 8102 2702 8102 2927
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5852 5177 6527 5177 6392 5312
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 2927 2927 4952 3152 4727
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 5402 2927 7427 3152 7202
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2701 5176 2026 5176 2161 5311
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2926 1351 2926 2476 3196 2206
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2926 7876 2926 9001 3196 8731
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8328 2928 8328 4953 8553 4728
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8328 5403 8328 7428 8553 7203
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8327 1352 8327 2477 8597 2207
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8327 7877 8327 9002 8597 8732
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5626 1351 5626 4951 5851 4726
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5626 5401 5626 9001 5851 8776
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8551 5176 9226 5176 9091 5311
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3826 4951 6526 4051 6436 4231
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3826 4996 3826 5356
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4276 5176 3826 5176 3961 5311
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3826 5401 6301 6301 6121 6301
2 1 0 1 5 -1 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 5401 4051 6301 3826 6301
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 4951 4051 4051 4051 4276
2 1 0 1 5 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5536 5176 5086 5176 5221 5311
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6300 9675 6300 675 4950 675 4950 9675 6300 9675
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 9000 9675 9000 675 7650 675 7650 9675 9000 9675
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 11025 10305 11025 225 225 225 225 10305 11025 10305
2 4 0 1 1 7 0 0 -1 0.000 0 0 7 0 0 5
	 3600 9675 2250 9675 2250 675 3600 675 3600 9675
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 10125 2250 990 2250 990 900 10125 900 10125 2250
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 10125 5850 990 5850 990 4500 10125 4500 10125 5850
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 10125 9450 990 9450 990 8100 10125 8100 10125 9450
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2700 4950 2700 5400
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5850 4950 5850 5400
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8550 4950 8550 5400
4 1 -1 0 0 0 20 0.0000000 4 210 150 5628 5268 1\001
4 1 -1 0 0 0 20 0.0000000 4 210 315 6933 5268 I:J\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 2927 5312 1\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 2972 2792 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 2927 7742 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 8328 5313 1\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 8373 2793 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 8328 7743 0\001
4 1 -1 0 0 0 20 0.0000000 4 270 735 9676 5266 I:m_y\001
4 1 -1 0 0 0 20 0.0000000 4 240 735 1531 5221 I:m_x\001
4 1 -1 0 0 0 20 0.0000000 4 210 1170 4636 4141 EMTF:c1\001
4 1 -1 0 0 0 20 0.0000000 4 210 1170 4681 6391 EMTF:c2\001
4 1 -1 0 0 0 20 0.0000000 4 210 1155 7156 4141 EMTF:s1\001
4 1 -1 0 0 0 20 0.0000000 4 210 1155 7156 6391 EMTF:s2\001
4 1 5 0 0 0 20 0.0000000 4 210 150 3603 5313 0\001
4 1 26 0 0 0 16 0.0000000 4 195 330 6751 4456 [in]\001
4 1 26 0 0 0 16 0.0000000 4 195 450 6751 3781 [out]\001
4 1 26 0 0 0 16 0.0000000 4 195 330 6751 6076 [in]\001
4 1 26 0 0 0 16 0.0000000 4 195 450 6751 6706 [out]\001
4 1 26 0 0 0 16 0.0000000 4 195 570 6211 6526 [mod]\001
4 1 5 0 0 0 20 0.0000000 4 210 990 4681 5266 INTF:th\001
4 1 1 1 0 0 20 0.0000000 4 210 210 2925 10035 X\001
4 1 1 1 0 32 20 0.0000000 4 135 195 5580 9990 a\001
4 1 1 1 0 0 20 0.0000000 4 210 210 8280 9990 Y\001
4 2 26 0 0 0 16 0.0000000 4 195 570 3960 4140 [mod]\001
4 2 26 0 0 0 16 0.0000000 4 195 570 6345 4095 [mod]\001
4 2 26 0 0 0 16 0.0000000 4 195 570 3960 6210 [mod]\001
4 1 26 0 0 0 16 0.0000000 4 195 330 4590 4455 [in]\001
4 1 26 0 0 0 16 0.0000000 4 195 450 4545 3780 [out]\001
4 1 26 0 0 0 16 0.0000000 4 195 450 4590 6660 [out]\001
4 0 26 0 0 0 16 0.0000000 4 195 330 4365 6030 [in]\001
4 1 4 0 0 0 20 0.0000000 4 240 1065 2971 1216 SS:[x_a]\001
4 1 4 0 0 0 20 0.0000000 4 240 1080 2971 9361 SS:[x_b]\001
4 1 4 0 0 0 20 0.0000000 4 270 1065 8372 1217 SS:[y_a]\001
4 1 4 0 0 0 20 0.0000000 4 270 1080 8417 9362 SS:[y_b]\001
4 1 4 0 0 0 20 0.0000000 4 270 1575 5671 1216 SS:[alpha_a]\001
4 1 4 0 0 0 20 0.0000000 4 270 1590 5671 9361 SS:[alpha_b]\001
4 1 1 1 0 0 20 0.0000000 4 270 630 1350 2700 Tip a\001
4 1 1 1 0 0 20 0.0000000 4 240 1470 1260 6300 Mass centre\001
4 1 1 1 0 0 20 0.0000000 4 270 645 1350 9855 Tip b\001








Added mttroot/mtt/lib/examples/Inverse/iTwoLink/oldROD_desc.tex version [995adfaa28].
























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% Verbal description for system oldROD (oldROD_desc.tex)
% Generated by MTT on Fri Aug 15 09:53:23 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% Revision 1.1  1997/08/15  09:41:19  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{oldROD} is
   displayed in Figure \Ref{oldROD_abg} and its label
   file is listed in Section \Ref{sec:oldROD_lbl}.
   The subsystems are listed in Section \Ref{sec:oldROD_sub}.

{\bf oldROD} is essentially as described in Figure 10.2 of
``Metamodelling''.








Added mttroot/mtt/lib/examples/Inverse/iTwoLink/oldROD_lbl.txt version [0ac94f22b1].

























































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%SUMMARY	oldROD: rigid rod in two dimensions
%DESCRIPTION	Port [alpha_a]:	Angular torque/velocity - end a
%DESCRIPTION	Port [alpha_b]:	Angular torque/velocity - end b
%DESCRIPTION	Port [x_a]:	x force/velocity - end a
%DESCRIPTION	Port [x_b]:	x force/velocity - end b
%DESCRIPTION	Port [y_a]:	y force/velocity - end a
%DESCRIPTION	Port [y_b]:	y force/velocity - end b
%DESCRIPTION
%DESCRIPTION	Parameter 1:	length from end 1 to mass centre
%DESCRIPTION	Parameter 2:	length from end 2 to mass centre
%DESCRIPTION	Parameter 3:	inertia about mass centre
%DESCRIPTION	Parameter 4:	mass
%DESCRIPTION	See Section 10.2 of "Metamodelling"


%% Label file for system oldROD (oldROD_lbl.txt)



% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1997/08/15  09:43:06  peterg
% %% Now has lablelled (as opposed to numbered) ports.
% %%
% Revision 1.1  1996/11/07  10:57:17  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Inertias
J	lin	flow,$3
m_x	lin	flow,$4
m_y	lin	flow,$4

%Integrate angular velocity to get angle
th

%Modulated transformers
s1	lsin	flow,$1
s2	lsin	flow,$2
c1	lcos	flow,$1
c2	lcos	flow,$2


	








Added mttroot/mtt/lib/examples/Inverse/iTwoLink/twolink_abg.fig version [4bb685d60b].






















































































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#FIG 3.1
Portrait
Center
Metric
1200 2
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 1125 485 485 8550 1125 8730 1575
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 5625 485 485 8550 5625 9035 6110
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3468 1128 3738 1128
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5720 1130 5990 1130
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2025 5625 4502 5627 4277 5852
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 5851 4726 7426 4951 7201
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3472 8647 3742 8647
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4597 8647 4867 8647
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5724 8649 5994 8649
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4730 8645 4730 10220 4955 9995
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5855 8645 5855 10220 6080 9995
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 3826 3601 7426 3826 7201
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5851 3826 5851 7426 6076 7201
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 8775 6525 7200 2925 7200 2925 8775 6525 8775
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 2025 6525 450 2925 450 2925 2025 6525 2025
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 6435 6525 4860 2925 4860 2925 6435 6525 6435
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 11250 6525 9675 2925 9675 2925 11250 6525 11250
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 9450 11475 9450 225 180 225 180 11475 9450 11475
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3603 1128 3603 2703 3828 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5853 1128 5853 2703 6078 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 3826 4726 5401 4951 5176
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 4050 2925 4050 2925 2475 6525 2475 6525 4050
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 8622 3600 10197 3825 9972
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8775 5175 8775 1575 8325 1575 8325 5175 8775 5175
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8775 9675 8775 6075 8325 6075 8325 9675 8775 9675
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 4
	 2025 2250 4725 2250 4725 2700 4950 2475
4 1 -1 0 0 0 20 0.0000 4 255 810 3603 948 SS:v_x\001
4 0 -1 0 0 0 20 0.0000 4 195 135 4683 5718 0\001
4 1 -1 0 0 0 20 0.0000 4 255 840 3608 10673 SS:F_x\001
4 1 -1 0 0 0 20 0.0000 4 255 840 4733 10673 SS:F_a\001
4 1 -1 0 0 0 20 0.0000 4 255 840 5903 10673 SS:F_y\001
4 1 -1 0 0 0 20 0.0000 4 195 1200 4729 3379 ROD:rod1\001
4 1 -1 0 0 0 20 0.0000 4 195 1200 4731 8196 ROD:rod2\001
4 0 1 1 0 3 20 0.0000 4 210 720 6795 3375 Link 1\001
4 0 1 1 0 3 20 0.0000 4 225 795 6750 5760 Joint 2\001
4 0 1 1 0 3 20 0.0000 4 210 720 6750 8190 Link 2\001
4 0 1 1 0 3 20 0.0000 4 270 375 6750 10485 Tip\001
4 0 1 1 0 3 20 0.0000 4 225 795 6750 1260 Joint 1\001
4 1 4 0 0 0 16 0.0000 4 210 495 3600 2970 [x_a]\001
4 1 4 0 0 0 16 0.0000 4 225 900 4725 2970 [alpha_a]\001
4 1 4 0 0 0 16 0.0000 4 210 510 3600 3780 [x_b]\001
4 1 4 0 0 0 16 0.0000 4 225 915 4725 3780 [alpha_b]\001
4 1 4 0 0 0 16 0.0000 4 225 510 5850 3780 [y_b]\001
4 1 4 0 0 0 16 0.0000 4 225 495 5850 2970 [y_a]\001
4 1 4 0 0 0 16 0.0000 4 210 495 3605 7835 [x_a]\001
4 1 4 0 0 0 16 0.0000 4 225 900 4730 7835 [alpha_a]\001
4 1 4 0 0 0 16 0.0000 4 225 495 5855 7835 [y_a]\001
4 1 4 0 0 0 16 0.0000 4 210 510 3607 8512 [x_b]\001
4 1 4 0 0 0 16 0.0000 4 225 915 4733 8513 [alpha_b]\001
4 1 4 0 0 0 16 0.0000 4 225 510 5859 8514 [y_b]\001
4 2 4 0 0 0 20 0.0000 4 255 1380 1936 2341 SS:[joint_1]\001
4 2 4 0 0 0 20 0.0000 4 255 1380 1936 5716 SS:[joint_2]\001
4 1 -1 0 0 0 20 0.0000 4 255 810 5808 948 SS:v_y\001








Added mttroot/mtt/lib/examples/Inverse/iTwoLink/twolink_desc.tex version [40badf236c].
































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% Verbal description for system twolink (twolink_desc.tex)
% Generated by MTT on Fri Jun 13 16:30:23 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% Revision 1.1  1997/08/15  13:31:00  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{twolink} is
   displayed in Figure \Ref{twolink_abg} and its label
   file is listed in Section \Ref{sec:twolink_lbl}.
   The subsystems are listed in Section \Ref{sec:twolink_sub}.

This is a heirachical version of the example from Section 10.5 of
"Metamodelling".  It uses two compound components: {\bf ROD} and {\bf
GRAV}.  {\bf ROD} is essentially as described in Figure 10.2 {\bf
GRAV} represents gravity by a vertical accelleration as in Section
10.9 of "Metamodelling"

%%% Local Variables: 
%%% mode: plain-tex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Inverse/iTwoLink/twolink_lbl.txt version [d7401fba34].


























































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%SUMMARY twolink: two-link manipulator from Section 10.5 of "Metamodelling"
%DESCRIPTION This is a heirachical version of the 
%DESCRIPTION example from Section 10.5 of "Metamodelling".
%DESCRIPTION It uses two compound components: ROD and GRA
%DESCRIPTION ROD is essentially as described in Figure 10.2
%DESCRIPTION GRAV represents gravity by a vertical accelleration
%DESCRIPTION as in Section 10.9 of "Metamodelling"


%% Label (twolink_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1996/12/05  12:39:49  peterg
% %% Documentation
% %%
% %% Revision 1.1  1996/12/05 12:17:15  peterg
% %% Initial revision
% %%
% %% Revision 1.1  1996/11/14  10:48:42  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Rod parameters - identical rods
rod1	none	l;l;j_s;m_s
rod2	none	l;l;j_s;m_s

%Zero velocity sources
v_x	 SS     internal,0
v_y	 SS	internal,0


%Zero force/torque sources
F_x	SS	   0,internal
F_a	SS	   0,internal
F_y	SS	   0,internal


%Torque at joints
%f_a1	SS external,external
%f_a2	SS external,external

%Gravity
%g









Added mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_abg.fig version [fc9a7335dd].




















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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 1125 2700 2250 2700 2025 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2745 2700 3870 2700 3645 2925
4 1 0 100 0 18 20 1.5708 4 225 675 1035 2700 Free\001
4 1 0 100 0 18 20 1.5708 4 300 3405 2610 2700 BernoulliEuler:Lump*20\001
4 1 0 100 0 18 20 1.5708 4 225 795 4230 2700 Fixed\001








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_desc.tex version [b37e0425c2].































































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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system CantileverBeam (CantileverBeam_desc.tex)
% Generated by MTT on Mon Apr 19 07:04:54 BST 1999.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1999/05/18 04:01:50  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

The acausal bond graph of system \textbf{CantileverBeam} is displayed in
Figure \Ref{fig:CantileverBeam_abg.ps} and its label file is listed in
Section \Ref{sec:CantileverBeam_lbl}.  The subsystems are listed in Section
\Ref{sec:CantileverBeam_sub}.
   
This example represents the dynamics of a uniform beam with one fixed
and one free end.  The beam is approximated by 20 equal lumps using
the Bernoulli-Euler approximation with damping. 
The input is the angular velocity of the fixed end, the output is the
linear velocity of the free end.

The system parameters are given in Section
\Ref{sec:CantileverBeam_numpar.tex}. Note that the numer of ban
segments has been set to 21. 

 The system has 20 states (10
modes of vibration), 1 inputs and 1 outputs.

The first 5 vibration frequencies are given in Table \ref{tab:freq}
togtherr with the theoretical (based on the Bernoulli-Euler beam with
the same values of $EI$ and $\rho A$. 
\begin{table}[htbp]
  \begin{center}
    \begin{tabular}{||l|l|l||}
      \hline
      \hline
      Mode & Frequency & Theoretical frequency\\
      \hline
      1 &  76.14 &  76.14\\
      2 & 477.11 & 484.50\\
      3 &1330.62 &1334.55\\
      4 &2586.77 &2617.19\\
      5 &4225.14 &4323.77\\
       \hline
      \hline
    \end{tabular}
    \caption{Mode frequencies (rad $s^{-1}$)}
    \label{tab:freq}
  \end{center}
\end{table}













Added mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_input.txt version [8977885a4e].


















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# -*-octave-*- Put Emacs into octave-mode
# Input specification (CantileverBeam_input.txt)
# Generated by MTT at Thu Apr 22 00:12:54 BST 1999
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

# Set the inputs
mttu(1) = exp(-t/0.1); 	# tau (CantileverBeam)

# Set the switches








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_numpar.txt version [1d4fbd0634].














































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# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (CantileverBeam_numpar.txt)
# Generated by MTT at Mon Apr 19 06:24:08 BST 1999

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
N = 21;
BeamLength = 0.58;
BeamWidth = 0.05;
BeamThickness = 0.005;
Youngs = 68.94e9;
Density =  2712.8;
Area = BeamWidth*BeamThickness;
AreaMoment = (BeamWidth*BeamThickness^3)/12;

EI = Youngs*AreaMoment;
rhoA = Density*Area;

dz = BeamLength/N;		# Incremental length
dm = rhoA*dz;			# Incremental mass
dk = EI/dz;			# Incremental stiffness
dr = 0;				# Damping

K = sqrt(EI/rhoA)/BeamLength^2;	# Normalising factor


# EI= 58.6957			# from Reza
# rhoA= 0.7989			# from Reza
 















Added mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_rep.txt version [f61fd41422].
































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## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system CantileverBeam (CantileverBeam_rep.txt)
## Generated by MTT on" Mon Apr 19 06:43:08 BST 1999.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

mtt CantileverBeam abg tex			# The system description
## mtt CantileverBeam cbg ps 		        # The causal bond graph
## Uncomment the following lines or add others
mtt CantileverBeam struc tex	        # The system structure
## mtt CantileverBeam dae tex	        # The system dae
## mtt CantileverBeam ode tex	        # The system ode 
## mtt CantileverBeam sspar tex		# Steady-state parameters
## mtt CantileverBeam ss tex 		# Steady state
## mtt CantileverBeam dm tex		# Descriptor matrices (of linearised system)
## mtt CantileverBeam sm tex		# State matrices (of linearised system)
## mtt CantileverBeam tf tex		# Transfer function (of linearised system)
mtt CantileverBeam simpar tex		# Simulation parameters
mtt CantileverBeam numpar tex		# Numerical simulation parameters
## mtt CantileverBeam input tex		# Simulation input
## mtt CantileverBeam odeso ps		# Simulation output
mtt CantileverBeam lmfr ps		# log modulus of frequency response (of linearised system)









Added mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/CantileverBeam_simpar.txt version [bbb93af30e].






















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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system CantileverBeam (CantileverBeam_simpar.txt)
# Generated by MTT on Mon Apr 19 06:32:42 BST 1999.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################


LAST        = 1.0;       # Last time in simulation
DT          = 0.001;        # Print interval
STEPFACTOR  = 1;          # Integration steps per print interval
WMIN        = 1;         # Minimum frequency = 10^WMIN
WMAX        = 4;          # Maximum frequency = 10^WMAX
WSTEPS      = 200;        # Number of frequency steps
INPUT       = 1;          # Index of the input








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/Fixed_abg.fig version [e0ba4ffe54].

























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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4275 1800 5400 1800 5175 2025
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4230 2700 5355 2700 5130 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 5400 1575 5400 2025
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 5400 2475 5400 2925
4 0 0 100 0 18 20 0.0000 4 225 1065 5625 1890 Sf:zero\001
4 0 0 100 0 18 20 0.0000 4 225 585 5625 2790 Sf:u\001
4 2 4 100 0 18 20 0.0000 4 300 1230 4140 1890 SS:[y_in]\001
4 2 4 100 0 18 20 0.0000 4 300 1785 4140 2790 SS:[theta_in]\001








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/Free_abg.fig version [6e75a503c3].

























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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4275 1800 5400 1800 5175 2025
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4230 2700 5355 2700 5130 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 5400 1575 5400 2025
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 5400 2475 5400 2925
4 2 0 100 0 18 20 0.0000 4 300 585 4140 1890 Df:y\001
4 2 0 100 0 18 20 0.0000 4 225 1125 4140 2790 Se:zero\001
4 0 4 100 0 18 20 0.0000 4 300 1440 5490 1890 SS:[y_out]\001
4 0 4 100 0 18 20 0.0000 4 300 1995 5445 2790 SS:[theta_out]\001








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/CantileverBeam/frequencies.m version [2bba72298d].


















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function [w_r,w_a,n_null] = frequencies (A,B,C,D)

  ## usage:  [w_r,w_a] = frequencies (A,B,C,D)
  ##
  ## Resonant and antiresonant frequencies for undampled beam

  poles = eig(A);
  Np = length(poles);
  zeros = tzero(A,B,C,D);
  Nz = length(zeros);
  w_r = sort(imag(poles)); w_r = w_r(Np/2+1:Np);
  w_a = sort(imag(zeros)); w_a = nozeros(w_a(Nz/2+1:Nz))';
  n_null = (Nz/2-length(w_a))*2;
endfunction








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/MakeFreqTable.m version [71cecf4031].




































































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# ## Makes the table of resonant frequencies

# ## Actual resonant freqs
# fr_measured = [
# 	2.0683e+01
# 	7.5310e+01
# 	1.7080e+02
# 	3.0532e+02
# 	4.7414e+02];

# fa_measured = [
# 	 2.0896e+01
# 	 7.6867e+01
# 	 1.7794e+02
# 	 3.1890e+02
# 	 4.8768e+02];

## Parameters - ideal pinned beam
PinnedBeam_numpar;

## Ideal pinned beam - theory
[fr_theory] = beam_frequencies("pinned",ei,rhoa,beamlength)/(2*pi);
[fa_theory] = beam_frequencies("clamped-pinned",ei,rhoa,beamlength)/(2*pi);

## SM form to get poles and zeros of the model
# ## Ideal pinned
# [A,B,C,D] = PinnedBeam_sm;
# fr_model_ideal  = frequencies(A,B,C,D)/(2*pi);

# ## Actual with non-ideal pins 
# PinnedBeam_numpar;

[A,B,C,D] = PinnedBeam_sm;

[w_r, w_a]  = frequencies(A,B,C,D);
fr_model = w_r/(2*pi);
fa_model = w_a/(2*pi);


printf("\nIndex \t& Theory   \t& Model \t& Theory  \t& Model \\\\ \n");
printf("\\hline\n");
for i = 1:5
  printf("%i \t& %3.2f \t& %3.2f \t& %3.2f  \t& %3.2f\\\\ \n", i, \
	 fr_theory(i), fr_model(i), fa_theory(i), fa_model(i));
endfor

# printf("\nMode \t& Theory   \t& Model(ideal) \t& Model  \t& Actual \\\\ \n");
# printf("\\hline\n");
# for i = 1:5
#   printf("%i \t& %3.2f \t& %3.2f \t& %3.2f  \t& %3.2f\\\\ \n", i, fr_theory(i), \
# 	 fr_model_ideal(i), fr_model(i), fr_measured(i));
# endfor
	 
# printf("\nMode  \t& Theory  \t& Model  \t& Actual \\\\ \n");
# printf("\\hline\n");
# for i = 1:5
#   printf("%i \t& %3.2f \t& %3.2f \t& %3.2f \\\\ \n", i, fa_theory(i), fa_model(i), fa_measured(i));
# endfor
	













Added mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_abg.fig version [624a6ece3a].






















































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 2925 1980 3015 2520
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 2970 2025 2970 2475
-6
6 4005 2880 4095 3420
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 4050 2925 4050 3375
-6
6 8955 1980 9045 2520
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 9000 2025 9000 2475
-6
6 7830 2880 7920 3420
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 7875 2925 7875 3375
-6
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4770 2700 5895 2700 5670 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6300 2700 7425 2700 7200 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2970 2250 4095 2250 3870 2475
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2925 3150 4050 3150 3825 3375
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 7875 2250 9000 2250 8775 2475
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 7875 3150 9000 3150 8775 3375
2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5
	 1125 225 1125 5400 10800 5400 10800 225 1125 225
4 1 0 100 0 18 20 1.5708 4 360 3855 4635 2700 BernoulliEuler:LumpL\001
4 1 0 100 0 18 20 1.5708 4 360 4170 6165 2700 BernoulliEuler:Lump*18\001
4 1 0 100 0 18 20 1.5708 4 360 3885 7740 2700 BernoulliEuler:LumpR\001
4 2 4 100 0 18 14 0.0000 4 210 585 3915 2070 [y_in]\001
4 2 4 100 0 18 14 0.0000 4 210 990 3915 2970 [theta_in]\001
4 0 4 100 0 18 14 0.0000 4 210 735 7965 1980 [y_out]\001
4 0 4 100 0 18 14 0.0000 4 210 1140 7965 2970 [theta_out]\001
4 2 0 100 0 18 20 0.0000 4 285 1230 2835 3285 SS:ssL\001
4 0 0 100 0 18 20 0.0000 4 285 1515 9135 2385 Sf:zeroR\001
4 0 0 100 0 18 20 0.0000 4 285 1260 9135 3285 SS:ssR\001
4 2 0 100 0 18 20 0.0000 4 285 1485 2835 2385 Sf:zeroL\001








Modified mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_desc.tex
from [0cbac28189]
to [81085b5b72].



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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system PinnedBeam (PinnedBeam_desc.tex)
% Generated by MTT on Mon Apr 19 07:04:54 BST 1999.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1999/11/24 22:17:26  peterg
% %% Updated to correspond to Reza's beam
% %%
% %% Revision 1.1  1999/10/11 05:08:14  peterg
% %% Initial revision
% %%
% %% Revision 1.1  1999/05/18 04:01:50  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%




︙


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The system parameters are also given in Section
\Ref{sec:PinnedBeam_numpar.tex}.


\begin{table}[htbp]
  \begin{center}
    \begin{tabular}{||l|l|l|l||}
    \begin{tabular}{||l|l|l|l|l||}
      \hline
      \hline
Index   & Theory        & Model         & Theory        & Model \\ 
Index   & $f_r$ (theory) & $f_r$ (model)& $f_a$ (theory) & $f_a$ (model) \\ 
\hline
1       & 19.05         & 19.01         & 29.72         & 31.28\\ 
2       & 76.24         & 75.57         & 96.50         & 100.80\\ 
3       & 171.58        & 168.29        & 200.73        & 208.20\\ 
4       & 304.76        & 294.89        & 344.13        & 350.88\\ 
5       & 476.34        & 452.25        & 524.98        & 525.23\\ 
      \hline
      \hline
    \end{tabular}
    \caption{Mode frequencies (rad $s^{-1}$)}
    \caption{Resonant and anti-resonant frequencies (Hz)}
    \label{tab:freq}
  \end{center}
\end{table}

Standard modal analysis give the theoretical system resonant
frequencies (based on the Bernoulli-Euler beam with the same values of
$EI$ and $\rho A$). The system anti-resonances correspond to those of
frequencies $f_r$ (based on the Bernoulli-Euler beam with the same values of
$EI$ and $\rho A$). The system anti-resonances $f_a$ correspond to those of
the \emph{inverse} system with reversed causality, that the driven
pinned end is replaced by a clamped end; again modal analysis of the
inverse system gives the system anti resonances. The model and
theoretical values are compared in Table \ref{tab:freq} for the first
5 modes. (This table was generated using the script MakeFreqTable.m)









Added mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_input.txt version [35ed139acb].


















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# -*-octave-*- Put Emacs into octave-mode
# Input specification (PinnedBeam_input.txt)
# Generated by MTT at Thu Apr 22 00:12:54 BST 1999
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

# Set the inputs
mttu(1) = exp(-t/0.1); 	# tau (PinnedBeam)

# Set the switches








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_numpar.txt version [a5c9be85bc].


































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# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (pPinnedBeam_numpar.txt)
# Generated by MTT at Mon Apr 19 06:24:08 BST 1999

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

## Number of lumps
Lumps = 20;			# Number of lumps

## Beam physical parameters
BeamLength = 0.60;
BeamWidth  = 0.05;
BeamThickness = 0.003;
Youngs = 68.94e9;
Density =  2712.8;
Area = BeamWidth*BeamThickness;
AreaMoment = (BeamWidth*BeamThickness^3)/12;
EI = Youngs*AreaMoment;
rhoA = Density*Area;

## Segments
dz = BeamLength/Lumps;	        # Incremental length
dm = rhoA*dz;			# Incremental mass
dk = EI/dz;			# Incremental stiffness
dr = 0;				# Damping








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/Beams/PinnedBeam/PinnedBeam_simpar.txt version [3f7404ca28].






















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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system PinnedBeam (PinnedBeam_simpar.txt)
# Generated by MTT on Mon Apr 19 06:32:42 BST 1999.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################


LAST        = 1.0;       # Last time in simulation
DT          = 0.01;        # Print interval
STEPFACTOR  = 10;          # Integration steps per print interval
WMIN        = 1;         # Minimum frequency = 10^WMIN
WMAX        = 4;          # Maximum frequency = 10^WMAX
WSTEPS      = 200;        # Number of frequency steps
INPUT       = 1;          # Index of the input








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_abg.fig version [7358b66296].








































































































































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#FIG 3.1
Portrait
Center
Inches
1200 2
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2706 4806 3606 4806 3456 4956
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2406 5106 2406 6006 2556 5856
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3906 5106 3906 6006 4056 5856
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7208 4808 8108 4808 7958 4958
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8708 4808 9608 4808 9458 4958
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8408 5108 8408 6008 8558 5858
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7208 4508 8108 3608 8108 3833
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8708 3608 9608 4508 9383 4508
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9909 5109 9909 6009 10059 5859
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6908 5108 6908 6008 7058 5858
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8405 2405 8405 3305 8555 3155
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 11407 5107 11407 6007 11557 5857
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 11406 3306 11406 2406 11556 2556
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4206 4806 5106 4806 4956 4956
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5406 5106 5406 6006 5556 5856
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4206 4506 5106 3606 5106 3831
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5405 3305 5405 2405 5555 2555
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2405 3305 2405 2405 2555 2555
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 11707 4807 12607 4807 12457 4957
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 11707 3607 12607 4507 12382 4507
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2105 1805 2105 905 2255 1055
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2705 1805 2705 905 2855 1055
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5706 4806 6606 4806 6456 4956
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5706 3606 6606 4506 6381 4506
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2704 3604 3604 4504 3379 4504
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1208 4808 2108 4808 1958 4958
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1208 4508 2108 3608 2108 3833
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 681 3606 1131 3606
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 906 4506 906 3606 1056 3756
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 12905 4505 12905 3605 13055 3755
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 10207 4807 11107 4807 10957 4957
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 10207 4507 11107 3607 11107 3832
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8400 3300 8625 3300
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 12900 3600 13125 3600
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 12675 3600 12900 3600
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8175 3300 8400 3300
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 1501 5401 301 5401 301 3001 1501 3001 1501 5401
2 2 1 2 1 7 1 0 -1 6.000 1 0 0 0 0 5
	 1502 452 3302 452 3302 3377 1502 3377 1502 452
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 4501 6601 3301 6601 3301 3901 4501 3901 4501 6601
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 6000 6600 4800 6600 4800 1800 6000 1800 6000 6600
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 7501 6601 6301 6601 6301 3901 7501 3901 7501 6601
2 4 1 2 1 7 2 0 -1 6.000 0 0 7 0 0 5
	 9000 6600 7800 6600 7800 1800 9000 1800 9000 6600
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 10501 6601 9301 6601 9301 3901 10501 3901 10501 6601
2 4 1 2 1 -1 1 0 -1 6.000 0 0 7 0 0 5
	 12000 6600 10800 6600 10800 1800 12000 1800 12000 6600
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 13501 5401 12301 5401 12301 3001 13501 3001 13501 5401
4 1 -1 0 0 0 20 0.0000000 4 210 150 2406 4881 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 585 3906 6381 I:m1\001
4 1 -1 0 0 0 20 0.0000000 4 210 585 2405 6380 R:b1\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 2405 3680 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 3906 4881 1\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 8408 4883 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 8408 3683 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 585 8483 6383 R:b3\001
4 1 -1 0 0 0 20 0.0000000 4 210 675 8407 2182 SS:f2\001
4 1 -1 0 0 0 20 0.0000000 4 210 585 9906 6381 I:m3\001
4 1 -1 0 0 0 20 0.0000000 4 210 585 6905 6380 I:m2\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 11407 4882 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 11407 3682 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 525 11406 2181 C:kt\001
4 1 -1 0 0 0 20 0.0000000 4 210 525 11482 6382 R:bt\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 5406 4881 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 5406 3681 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 585 5481 6381 R:b2\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 12909 4884 1\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 6908 4883 1\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 2404 2179 1\001
4 1 -1 0 0 0 20 0.0000000 4 270 585 2779 754 C:p1\001
4 1 -1 0 0 0 20 0.0000000 4 210 585 2104 754 R:d1\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 910 4885 1\001
4 1 -1 0 0 0 20 0.0000000 4 210 675 902 3377 SS:fb\001
4 1 -1 0 0 0 20 0.0000000 4 210 615 12905 3380 SS:ft\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 9909 4884 1\001
4 1 -1 0 0 0 20 0.0000000 4 210 585 5405 2180 C:k2\001
4 1 1 1 0 3 20 0.0000000 4 240 1530 3901 6901 Macro mass\001
4 1 1 1 0 3 20 0.0000000 4 240 1800 2401 376 Macro control\001
4 1 1 1 0 3 20 0.0000000 4 240 1455 900 5700 Macro base\001
4 1 1 1 0 3 20 0.0000000 4 270 1890 5400 1650 Compliant link\001
4 1 1 1 0 3 20 0.0000000 4 240 1470 6901 6901 Micro mass\001
4 1 1 1 0 3 20 0.0000000 4 240 1890 8475 1650 Micro actuator\001
4 1 1 1 0 3 20 0.0000000 4 270 1125 9901 6901 Tip mass\001
4 1 1 1 0 3 20 0.0000000 4 270 2985 11400 1650 Compliant environment\001
4 1 1 1 0 3 20 0.0000000 4 270 1305 12901 5701 Tip sensor\001








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_desc.tex version [3e936ec3d0].






















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% Verbal description for system MacroMicro (MacroMicro_desc.tex)
% Generated by MTT on Tue Dec 9 17:55:41 GMT 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{MacroMicro} is
   displayed in Figure \Ref{MacroMicro_abg} and its label
   file is listed in Section \Ref{sec:MacroMicro_lbl}.
   The subsystems are listed in Section \Ref{sec:MacroMicro_sub}.

This is a Bond Graph model of the macro-micro manipulation system
discussed by Sharon in his thesis and BY Sharon, Hogan and Hardt in
various papers.








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_lbl.txt version [eda41e1822].




































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%% Label file (macmic_lbl.txt)
%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Masses
m1	lin	flow,m_1
m2	lin	flow,m_2
m3	lin	flow,m_3

%Springs
k2	lin	state,k_2
kt	lin	state,k_t

%Dampers
b1	lin	flow,b_1
b2	lin	flow,b_2
b3	lin	flow,b_3
bt	lin	flow,b_t

%Source/sensors
f2	SS	external,internal
ft	SS	external,0
fb	SS	internal,0

%Control
p1	lin	flow,p_1
d1	lin	flow,d_1











Added mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_numpar.txt version [d5d101b825].
















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m_1 = 0.0169;		# m_1;
m_2 = 0.0169;		# m_2;
b_1 = 0.13;		# b_1;
b_2 = 0.013;		# b_2;
k_2 = 24;	        # k_2;
k_t = 150;		# k_t;
b_t = 0.16;		# b_t;
b_3 = 0.13;		# b_3;
m_3 = 0.005;		# m_3;
p_1 = 10;		# p_1;
d_1 = 0.9;		# d_1;








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_rep.txt version [420def6255].























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# Outline report file for system MacroMicro (MacroMicro_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt MacroMicro abg tex
mtt MacroMicro cbg ps
mtt MacroMicro struc tex
mtt MacroMicro dae tex
mtt MacroMicro dm tex
mtt MacroMicro tf tex
mtt MacroMicro numpar txt
mtt MacroMicro lmfr ps 
mtt MacroMicro sro ps 









Added mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_simpar.txt version [479d1e287e].























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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system MacroMicro (MacroMicro_simpar.txt)
# Generated by MTT on Thu Nov 9 15:19:17 GMT 2000.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################


FIRST        = 0.0;       # First time in simulation output
DT          = 0.01;        # Print interval
LAST        = 1.0;       # Last time in simulation
STEPFACTOR  = 10;          # Integration steps per print interval
WMIN        = -1;         # Minimum frequency = 10^WMIN
WMAX        = 2;          # Maximum frequency = 10^WMAX
WSTEPS      = 100;        # Number of frequency steps
INPUT       = 1;          # Index of the input








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-1D/MacroMicro/MacroMicro_state.txt version [7abde731cb].


















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## -*-octave-*- Put Emacs into octave-mode ##
 
## 
## System MacroMicro, representation state, language txt; 
## File MacroMicro_state.txt; 
## Generated by MTT on Thu Nov  9 15:19:28 GMT 2000; 


MacroMicro_k2	= 0.0; # Default
MacroMicro_kt	= 0.0; # Default
MacroMicro_m1	= 0.0; # Default
MacroMicro_m2	= 0.0; # Default
MacroMicro_m3	= 0.0; # Default
MacroMicro_p1	= 0.0; # Default








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/Cart_abg.fig version [c7e129b96f].





















































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 90 3915 6615 4320
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2475 4050 3825 4050 3600 4275
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4275 4050 5625 4050 5400 4275
4 1 0 100 0 18 20 0.0000 4 210 165 4050 4140 1\001
4 1 4 100 0 18 20 0.0000 4 285 870 6165 4140 SS:[y]\001
4 2 0 100 0 18 20 0.0000 4 285 2310 2430 4140 Sf:zero_velocity\001
-6
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4050 2925 4050 1575 4275 1800
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4275 3150 5625 3150 5400 3375
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4275 4950 5625 4950 5400 5175
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 2475 3825 2475 4275
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2475 3150 3825 3150 3600 3375
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3825 4950 2475 4950 2700 5175
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3825 2925 2870 1970 2870 2289
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4288 2957 5243 2002 5243 2320
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6525 3150 7875 3150 7650 3375
4 1 1 101 0 3 20 0.0000 4 270 1290 4140 3600 x-velocity\001
4 1 0 100 0 18 20 0.0000 4 210 165 4050 3240 1\001
4 1 4 100 0 18 20 0.0000 4 285 1425 1710 3240 SS:[drive]\001
4 1 1 101 0 3 20 0.0000 4 270 1275 4185 4500 y-velocity\001
4 1 1 101 0 3 20 0.0000 4 270 2130 4050 5490 angular-velocity\001
4 1 0 100 0 18 20 0.0000 4 210 165 4050 5040 1\001
4 1 4 100 0 18 20 0.0000 4 285 870 6165 5040 SS:[a]\001
4 2 0 100 0 18 20 0.0000 4 300 780 2430 5040 R:r_p\001
4 1 0 100 0 18 20 0.0000 4 285 765 2835 1845 R:r_c\001
4 1 4 100 0 18 20 0.0000 4 285 870 4050 1440 SS:[x]\001
4 1 0 100 0 18 20 0.0000 4 285 795 5355 1845 I:m_c\001
4 1 0 100 0 18 20 0.0000 4 225 660 6075 3240 INTF\001
4 0 0 100 0 18 20 0.0000 4 225 1665 8010 3240 De:Position\001








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/Cart_lbl.txt version [45427e6965].




















































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%% Label file for system Cart (Cart_lbl.txt)
%SUMMARY Cart
%DESCRIPTION <Detailed description here>

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	
%ALIAS	in	drive
%ALIAS	pendulum|out	x,y,a

% Argument aliases
%ALIAS	$1	m_c

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type I
	m_c		lin	flow,m_c

% Component type R
	r_c		lin	flow,r_c
	r_p		lin	flow,r_p

% Component type SS
	[a]	SS		external,external
	[drive]	SS		external,external
	[x]	SS		external,external
	[y]	SS		external,external

% Component type Df
	v_c			SS	external

% Component type Sf
	zero_velocity		SS	0











Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_abg.fig version [4f8b99a8bb].




























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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 3780 4005 3870 4545
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 3825 4050 3825 4500
-6
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2475 4275 3825 4275 3600 4500
2 4 0 2 1 7 101 0 -1 0.000 0 0 7 0 0 5
	 5175 4725 3375 4725 3375 3825 5175 3825 5175 4725
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4275 4050 5230 3095 5230 3414
2 1 0 2 1 7 101 0 -1 0.000 0 0 -1 0 0 5
	 4477 3712 5872 2317 6052 2497 4702 3847 4522 3667
4 1 0 100 0 18 20 0.0000 4 225 600 4275 4365 Cart\001
4 1 0 100 0 18 20 0.0000 4 225 645 2070 4365 Se:F\001
4 1 0 100 0 18 20 0.0000 4 225 1440 5355 3060 InvertedPendulum\001








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_desc.tex version [1fb76406fa].

























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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system InvertedPendulumOnCart (InvertedPendulumOnCart_desc.tex)
% Generated by MTT on Thu Aug 5 10:38:16 BST 1999.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{InvertedPendulumOnCart} is
   displayed in Figure \Ref{fig:InvertedPendulumOnCart_abg.ps} and its label
   file is listed in Section \Ref{sec:InvertedPendulumOnCart_lbl}.
   The subsystems are listed in Section \Ref{sec:InvertedPendulumOnCart_sub}.

This is a one input, two output nonlinear system comprising an
inverted pendulum attached by a hinge to a cart constrained to move in
the horizontal direction. The input is the horizontal force acting on
the cart, and the two outputs are the horizontal position and the
pendulum angle respectively.








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_input.txt version [5ab6c2c810].


















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# -*-octave-*- Put Emacs into octave-mode
# Input specification (InvertedPendulumOnCart_input.txt)
# Generated by MTT at Thu Aug  5 09:17:30 BST 1999
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

# Set the inputs
## Removed by MTT on Fri Nov 10 14:31:10 GMT 2000: mttu(1) = 1.0*t<1 -1.0*((t>=1)&&(t<2)); 	# u (InvertedPendulumOnCart_F)

invertedpendulumoncart_f_1_u	= 1.0*t<1 -1.0*((t>=1)&&(t<2));








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_lbl.txt version [cc84de002b].

































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%% Label file for system InvertedPendulumOnCart (InvertedPendulumOnCart_lbl.txt)
%SUMMARY InvertedPendulumOnCart
%DESCRIPTION <Detailed description here>

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases

% Argument aliases

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type Se
	F   SS	 external












Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_numpar.txt version [553e3e5c8b].































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# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (InvertedPendulumOnCart_numpar.txt)
# Generated by MTT at Thu Aug  5 10:07:08 BST 1999

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: e_s = 	1.0;			# Se
## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: f_s = 	1.0;			# Sf
g = 	1.0;			# Pendulum,gRODa
## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: j_m = 	1.0;			# gRODa
j_r = 	1.0;			# Pendulum
l = 	1.0;			# Pendulum
## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: l_a = 	1.0;			# gRODa
## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: ## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: l_b = 	1.0;			# gRODa
## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: m = 	1.0;			# gRODa
## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: m_c = 	1.0;			# Cart
## Removed by MTT on Thu Nov  9 17:21:31 GMT 2000: m_r = 	1.0;			# Pendulum
r_c = 	0.1;			# Cart
r_p = 	0.1;			# Cart
m_c	= 1.0; # Added by MTT on Thu Nov 09 17:22:55 GMT 2000
m_r	= 1.0; # Added by MTT on Thu Nov 09 17:22:55 GMT 2000








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_rep.txt version [9fc8c17df2].































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## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system InvertedPendulumOnCart (InvertedPendulumOnCart_rep.txt)
## Generated by MTT on" Fri Oct 22 09:03:14 EST 1999.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

mtt InvertedPendulumOnCart abg tex			# The system description
mtt InvertedPendulumOnCart cbg ps 		        # The causal bond graph
## Uncomment the following lines or add others
mtt InvertedPendulumOnCart struc tex	        # The system structure
mtt InvertedPendulumOnCart dae tex	        # The system dae
## mtt InvertedPendulumOnCart ode tex	        # The system ode 
## mtt InvertedPendulumOnCart sspar tex		# Steady-state parameters
## mtt InvertedPendulumOnCart ss tex 		# Steady state
## mtt InvertedPendulumOnCart dm tex		# Descriptor matrices (of linearised system)
mtt InvertedPendulumOnCart sm tex		# State matrices (of linearised system)
## mtt InvertedPendulumOnCart tf tex		# Transfer function (of linearised system)
## mtt InvertedPendulumOnCart lmfr ps		# log modulus of frequency response (of linearised system)
mtt InvertedPendulumOnCart simpar tex		# Simulation parameters
mtt InvertedPendulumOnCart numpar tex		# Numerical simulation parameters
mtt InvertedPendulumOnCart input tex		# Simulation input
mtt -c InvertedPendulumOnCart odeso ps		# Simulation output








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_simpar.txt version [fa514a3154].






















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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system InvertedPendulumOnCart (InvertedPendulumOnCart_simpar.txt)
# Generated by MTT on Thu Aug 5 09:17:05 BST 1999.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################


LAST        = 100.0;      # Last time in simulation
DT          = 0.1;        # Print interval
STEPFACTOR  = 1;          # Integration steps per print interval
WMIN        = -1;         # Minimum frequency = 10^WMIN
WMAX        = 2;          # Maximum frequency = 10^WMAX
WSTEPS      = 100;        # Number of frequency steps
INPUT       = 1;          # Index of the input








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_subs.r version [b8d365e066].




















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% Default SUBS file
% File InvertedPendulumOnCart_subs.r
% Generated by MTT on Thu Nov  9 18:55:44 GMT 2000.


% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% Put algebraic substitution commands here

for all x let cos(x)^2+sin(x)^2 = 1
END;








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulum_abg.fig version [574af9822e].


















































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 3555 5085 6345 5310
4 1 4 100 0 18 14 0.0000 4 210 510 3825 5265 [x_b]\001
4 1 4 100 0 18 14 0.0000 4 210 525 4950 5265 [y_b]\001
4 1 4 100 0 18 14 0.0000 4 210 525 6075 5265 [a_b]\001
-6
6 3780 3105 6345 4545
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4950 3150 4950 4500 5175 4275
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6075 3150 6075 4500 6300 4275
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3825 3150 3825 4500 4050 4275
-6
6 3780 5355 6345 6795
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4950 5400 4950 6750 5175 6525
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6075 5400 6075 6750 6300 6525
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3825 5400 3825 6750 4050 6525
-6
6 3555 4545 6345 4770
4 1 4 100 0 18 14 0.0000 4 210 495 3825 4725 [x_a]\001
4 1 4 100 0 18 14 0.0000 4 210 510 4950 4725 [y_a]\001
4 1 4 100 0 18 14 0.0000 4 210 510 6075 4725 [a_a]\001
-6
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6840 4950 8190 4950 7965 5175
4 1 4 100 0 18 20 0.0000 4 285 870 3825 7065 SS:[x]\001
4 1 4 100 0 18 20 0.0000 4 285 870 4950 7065 SS:[y]\001
4 1 4 100 0 18 20 0.0000 4 285 870 6075 7065 SS:[a]\001
4 1 0 100 0 18 20 0.0000 4 285 1590 4964 5040 gRODa:rod\001
4 1 0 100 0 18 20 0.0000 4 285 960 3825 3015 Se:x_0\001
4 1 0 100 0 18 20 0.0000 4 285 960 4950 3015 Se:y_0\001
4 1 0 100 0 18 20 0.0000 4 285 960 6030 3015 Se:a_0\001
4 1 4 100 0 18 14 0.0000 4 210 270 6660 4995 [a]\001
4 1 0 100 0 18 20 0.0000 4 225 1200 8865 5040 De:theta\001








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulum_lbl.txt version [ecf421bd70].













































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%% Label file for system InvertedPendulum (InvertedPendulum_lbl.txt)
%SUMMARY InvertedPendulum
%DESCRIPTION <Detailed description here>

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	in	x,y,a


% Argument aliases

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type De
	theta			SS	external

% Component type SS
	[a]	SS		external,external
	[x]	SS		external,external
	[y]	SS		external,external

% Component type Se
	a_0	 SS	0
	x_0      SS     0
	y_0      SS     0

% Component type gRod
	rod	 none		l;l;j_r;m_r;g
 








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_abg.fig version [795633633a].























































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3017 1577 3287 1577
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5269 1579 5539 1579
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3152 1577 3152 3152 3377 2927
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4142 3152 4412 3152
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4277 1577 4277 3152 4502 2927
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5402 1577 5402 3152 5627 2927
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3019 4279 3289 4279
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4144 4279 4414 4279
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5271 4281 5541 4281
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4277 4277 4277 5852 4502 5627
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5402 4277 5402 5852 5627 5627
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 7200 2250 7200 675 1575 675 1575 2250 7200 2250
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 7200 4500 7200 2925 1575 2925 1575 4500 7200 4500
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 7200 6750 7200 5175 1575 5175 1575 6750 7200 6750
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3150 4299 3150 5874 3375 5649
4 1 -1 0 0 0 20 0.0000000 4 240 870 3152 1397 SS:v_x\001
4 1 -1 0 0 0 20 0.0000000 4 240 810 4277 1397 SS:f_a\001
4 1 -1 0 0 0 20 0.0000000 4 210 1110 4278 3828 ROD:rod\001
4 1 -1 0 0 0 20 0.0000000 4 240 885 3155 6305 SS:F_x\001
4 1 -1 0 0 0 20 0.0000000 4 240 870 4280 6305 SS:F_a\001
4 1 -1 0 0 0 20 0.0000000 4 270 885 5450 6305 SS:F_y\001
4 1 -1 0 0 0 20 0.0000000 4 270 1920 5986 1396 ACCEL:gravity\001
4 1 1 1 0 3 20 0.0000000 4 240 1245 7965 1440 Fixed end\001
4 1 1 1 0 3 20 0.0000000 4 240 1110 7920 6075 Free end\001
4 1 1 1 0 3 20 0.0000000 4 270 1755 8280 3735 Rod dynamics\001
4 1 4 0 0 0 16 0.0000000 4 195 495 3152 3467 [x_a]\001
4 1 4 0 0 0 16 0.0000000 4 210 885 4277 3467 [alpha_a]\001
4 1 4 0 0 0 16 0.0000000 4 210 495 5402 3467 [y_a]\001
4 1 4 0 0 0 16 0.0000000 4 195 510 3154 4144 [x_b]\001
4 1 4 0 0 0 16 0.0000000 4 210 900 4280 4145 [alpha_b]\001
4 1 4 0 0 0 16 0.0000000 4 210 510 5406 4146 [y_b]\001








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_desc.tex version [8fffb820c7].





























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% Verbal description for system Pendulum (Pendulum_desc.tex)
% Generated by MTT on Fri Aug 15 09:52:55 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{Pendulum} is
   displayed in Figure \Ref{Pendulum_abg} and its label
   file is listed in Section \Ref{sec:Pendulum_lbl}.
   The subsystems are listed in Section \Ref{sec:Pendulum_sub}.

This is a heirachical version of the example from Section 10.3 of
``Metamodelling''.  It uses two compound components: {\bf ROD} and {\bf
GRAV}. {\bf ROD} is
essentially as described in Figure 10.2 {\bf GRAV} represents gravity by a
vertical accelleration as in Section 10.9 of "Metamodelling".

%%% Local Variables: 
%%% mode: plain-tex
%%% TeX-master: t
%%% End: 








Modified mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_lbl.txt
from [c7e50a407d]
to [a4f4c9c248].



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%SUMMARY pendulum: Pendulum example from Section 10.3 of "Metamodelling"
%SUMMARY Pendulum: Pendulum example from Section 10.3 of "Metamodelling"
%DESCRIPTION This is a heirachical version of the 
%DESCRIPTION example from Section 10.3 of "Metamodelling".
%DESCRIPTION It uses two compound components: ROD and GRA
%DESCRIPTION ROD is essentially as described in Figure 10.2
%DESCRIPTION GRAV represents gravity by a vertical accelleration
%DESCRIPTION as in Section 10.9 of "Metamodelling".

%ALIAS ACCEL	Mechanical-2D/ACCEL # Constant acceleration
%% Label file for system pend (pend_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1997/08/15  09:46:22  peterg
% %% New labeled ports version
% %%
% Revision 1.1  1996/11/09  18:44:58  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Rod parameters
rod	none	l;l;j;m

%Zero velocity sources
v_x	internal	0
v_x	SS     internal,0

%Zero force/torque sources
F_x	0	internal
F_y	0	internal
F_a	0	internal
F_x	SS	   0,internal
F_y	SS	   0,internal
F_a	SS	   0,internal

%Torque at end
f_a	external external
f_a	SS external,external

%Gravity
gravity













Modified mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_simpar.txt
from [fe2eceda42]
to [18a566dbec].



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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system Pendulum (Pendulum_simpar.txt)
# Generated by MTT on Mon Jul 27 12:27:43 BST 1998.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.3  1999/12/23 20:16:47  peterg
## Removed MTHOD
##
## Revision 1.2  1999/02/22 10:08:05  peterg
## method to Euler
## 
##
## Revision 1.1  1998/07/27 11:29:13  peterg
## Initial revision
##
###############################################################






︙







Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/Pendulum/Pendulum_subs.r version [7a6dcb4fcb].





















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%% Reduce comands to sunstitute in system Pendulum (Pendulum_subs.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

        trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2,
                  cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2,
                  sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2,
                  cos(~x)^2       => (1+cos(2*x))/2,
                  sin(~x)^2       => (1-cos(2*x))/2};
       LET trig1;

END;








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_abg.fig version [e0aed8f131].




























































































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#FIG 3.1
Portrait
Center
Metric
1200 2
1 3 0 2 1 7 1 0 -1 0.0000000 1 0.000 8550 1125 485 485 8550 1125 8730 1575
1 3 0 2 1 7 1 0 -1 0.0000000 1 0.000 8550 5625 485 485 8550 5625 9035 6110
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3468 1128 3738 1128
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5720 1130 5990 1130
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4593 2703 4863 2703
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 1128 4728 2703 4953 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4502 5492 4502 5762
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 5627 4502 5627 4277 5852
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 5851 4726 7426 4951 7201
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3472 8647 3742 8647
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4597 8647 4867 8647
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5724 8649 5994 8649
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4730 8645 4730 10220 4955 9995
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5855 8645 5855 10220 6080 9995
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 3826 3601 7426 3826 7201
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5851 3826 5851 7426 6076 7201
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 8775 6525 7200 2925 7200 2925 8775 6525 8775
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 2025 6525 450 2925 450 2925 2025 6525 2025
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 6435 6525 4860 2925 4860 2925 6435 6525 6435
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 11250 6525 9675 2925 9675 2925 11250 6525 11250
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 9450 11475 9450 225 180 225 180 11475 9450 11475
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3603 1128 3603 2703 3828 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5853 1128 5853 2703 6078 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 3826 4726 5401 4951 5176
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 4050 2925 4050 2925 2475 6525 2475 6525 4050
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 8622 3600 10197 3825 9972
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8775 5175 8775 1575 8325 1575 8325 5175 8775 5175
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8775 9675 8775 6075 8325 6075 8325 9675 8775 9675
2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5
	 7650 450 9405 450 9405 675 7650 675 7650 450
4 1 -1 0 0 0 20 0.0000000 4 240 870 3603 948 SS:v_x\001
4 0 -1 0 0 0 20 0.0000000 4 210 150 4683 5718 0\001
4 1 -1 0 0 0 20 0.0000000 4 240 960 2432 5717 SS:f_a2\001
4 1 -1 0 0 0 20 0.0000000 4 240 885 3608 10673 SS:F_x\001
4 1 -1 0 0 0 20 0.0000000 4 240 870 4733 10673 SS:F_a\001
4 1 -1 0 0 0 20 0.0000000 4 270 885 5903 10673 SS:F_y\001
4 1 -1 0 0 0 20 0.0000000 4 210 1260 4729 3379 ROD:rod1\001
4 1 -1 0 0 0 20 0.0000000 4 210 1260 4731 8196 ROD:rod2\001
4 1 -1 0 0 0 20 0.0000000 4 240 960 4771 946 SS:f_a1\001
4 0 1 1 0 3 20 0.0000000 4 240 810 6795 3375 Link 1\001
4 0 1 1 0 3 20 0.0000000 4 240 870 6750 5760 Joint 2\001
4 0 1 1 0 3 20 0.0000000 4 240 810 6750 8190 Link 2\001
4 0 1 1 0 3 20 0.0000000 4 270 420 6750 10485 Tip\001
4 0 1 1 0 3 20 0.0000000 4 240 870 6750 1260 Joint 1\001
4 1 4 0 0 0 16 0.0000000 4 195 495 3600 2970 [x_a]\001
4 1 4 0 0 0 16 0.0000000 4 210 885 4725 2970 [alpha_a]\001
4 1 4 0 0 0 16 0.0000000 4 195 510 3600 3780 [x_b]\001
4 1 4 0 0 0 16 0.0000000 4 210 900 4725 3780 [alpha_b]\001
4 1 4 0 0 0 16 0.0000000 4 210 510 5850 3780 [y_b]\001
4 1 4 0 0 0 16 0.0000000 4 210 495 5850 2970 [y_a]\001
4 1 4 0 0 0 16 0.0000000 4 195 495 3605 7835 [x_a]\001
4 1 4 0 0 0 16 0.0000000 4 210 885 4730 7835 [alpha_a]\001
4 1 4 0 0 0 16 0.0000000 4 210 495 5855 7835 [y_a]\001
4 1 4 0 0 0 16 0.0000000 4 195 510 3607 8512 [x_b]\001
4 1 4 0 0 0 16 0.0000000 4 210 900 4733 8513 [alpha_b]\001
4 1 4 0 0 0 16 0.0000000 4 210 510 5859 8514 [y_b]\001
4 1 -1 0 0 0 20 0.0000000 4 270 870 5850 945 SS:v_y\001








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_abg.fig version [b1caa985f3].


























































































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#FIG 3.1
Portrait
Center
Metric
1200 2
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 1125 485 485 8550 1125 8730 1575
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 5625 485 485 8550 5625 9035 6110
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3468 1128 3738 1128
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5720 1130 5990 1130
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4593 2703 4863 2703
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 1128 4728 2703 4953 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4502 5492 4502 5762
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 5627 4502 5627 4277 5852
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 5851 4726 7426 4951 7201
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3472 8647 3742 8647
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4597 8647 4867 8647
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5724 8649 5994 8649
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4730 8645 4730 10220 4955 9995
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5855 8645 5855 10220 6080 9995
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 3826 3601 7426 3826 7201
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5851 3826 5851 7426 6076 7201
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 8775 6525 7200 2925 7200 2925 8775 6525 8775
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 2025 6525 450 2925 450 2925 2025 6525 2025
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 6435 6525 4860 2925 4860 2925 6435 6525 6435
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 11250 6525 9675 2925 9675 2925 11250 6525 11250
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 9450 11475 9450 225 180 225 180 11475 9450 11475
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3603 1128 3603 2703 3828 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5853 1128 5853 2703 6078 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 3826 4726 5401 4951 5176
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 4050 2925 4050 2925 2475 6525 2475 6525 4050
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 8622 3600 10197 3825 9972
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8775 5175 8775 1575 8325 1575 8325 5175 8775 5175
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8775 9675 8775 6075 8325 6075 8325 9675 8775 9675
4 1 -1 0 0 0 20 0.0000 4 255 810 3603 948 SS:v_x\001
4 0 -1 0 0 0 20 0.0000 4 195 135 4683 5718 0\001
4 1 -1 0 0 0 20 0.0000 4 255 900 2432 5717 SS:f_a2\001
4 1 -1 0 0 0 20 0.0000 4 255 840 3608 10673 SS:F_x\001
4 1 -1 0 0 0 20 0.0000 4 255 840 4733 10673 SS:F_a\001
4 1 -1 0 0 0 20 0.0000 4 255 840 5903 10673 SS:F_y\001
4 1 -1 0 0 0 20 0.0000 4 195 1200 4729 3379 ROD:rod1\001
4 1 -1 0 0 0 20 0.0000 4 195 1200 4731 8196 ROD:rod2\001
4 1 -1 0 0 0 20 0.0000 4 255 900 4771 946 SS:f_a1\001
4 0 1 1 0 3 20 0.0000 4 210 720 6795 3375 Link 1\001
4 0 1 1 0 3 20 0.0000 4 225 795 6750 5760 Joint 2\001
4 0 1 1 0 3 20 0.0000 4 210 720 6750 8190 Link 2\001
4 0 1 1 0 3 20 0.0000 4 270 375 6750 10485 Tip\001
4 0 1 1 0 3 20 0.0000 4 225 795 6750 1260 Joint 1\001
4 1 -1 0 0 0 20 0.0000 4 255 1170 5850 945 ACCEL:g\001
4 1 4 0 0 0 16 0.0000 4 210 495 3600 2970 [x_a]\001
4 1 4 0 0 0 16 0.0000 4 225 900 4725 2970 [alpha_a]\001
4 1 4 0 0 0 16 0.0000 4 210 510 3600 3780 [x_b]\001
4 1 4 0 0 0 16 0.0000 4 225 915 4725 3780 [alpha_b]\001
4 1 4 0 0 0 16 0.0000 4 225 510 5850 3780 [y_b]\001
4 1 4 0 0 0 16 0.0000 4 225 495 5850 2970 [y_a]\001
4 1 4 0 0 0 16 0.0000 4 210 495 3605 7835 [x_a]\001
4 1 4 0 0 0 16 0.0000 4 225 900 4730 7835 [alpha_a]\001
4 1 4 0 0 0 16 0.0000 4 225 495 5855 7835 [y_a]\001
4 1 4 0 0 0 16 0.0000 4 210 510 3607 8512 [x_b]\001
4 1 4 0 0 0 16 0.0000 4 225 915 4733 8513 [alpha_b]\001
4 1 4 0 0 0 16 0.0000 4 225 510 5859 8514 [y_b]\001








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_desc.tex version [6281d6e316].



































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% Verbal description for system TwoLinkxyc (TwoLinkxyc_desc.tex)
% Generated by MTT on Fri Jun 13 16:30:23 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% Revision 1.1  1997/08/15  13:31:00  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{TwoLinkxyc} is
   displayed in Figure \Ref{TwoLinkxyc_abg} and its label
   file is listed in Section \Ref{sec:TwoLinkxyc_lbl}.
   The subsystems are listed in Section \Ref{sec:TwoLinkxyc_sub}.

This system is identical to  \textbf{twolink} except that the two
colocated {\bf SS} components act at the tip in the $x$ and $y$
directions instead of at the two joints.

It uses two compound components: {\bf ROD} and {\bf GRAV}.  {\bf ROD}
is essentially as described in Figure 10.2 of "Metamodelling" and {\bf
GRAV} represents gravity by a vertical acceleration as in Section
10.9 of "Metamodelling"

%%% Local Variables: 
%%% mode: plain-tex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_input.txt version [b1362e33a2].


















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# Numerical parameter file (TwoLinkxyc_input.txt)
# Generated by MTT at Fri Jun 13 16:56:09 BST 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Set the inputs
u(1) =	(t<1.0);
u(2) =	0.0; # 
u(3) =	0.0; # gravity








Modified mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_lbl.txt
from [56234cc3f3]
to [3994ea9709].



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%SUMMARY twolinkxyc: two-link manipulator with collocated tip source-sensors.
%SUMMARY TwoLinkxyc: two-link manipulator with collocated tip source-sensors.
%DESCRIPTION This is related to a heirachical version of the 
%DESCRIPTION example from Section 10.5 of "Metamodelling".
%DESCRIPTION It uses two compound components: ROD and GRA
%DESCRIPTION ROD is essentially as described in Figure 10.2
%DESCRIPTION GRAV represents gravity by a vertical accelleration
%DESCRIPTION as in Section 10.9 of "Metamodelling"
%DESCRIPTION except that the  collocated  source-sensors act at the
%DESCRIPTION tip rather than at the joints.

%% Label (twolinkxyc_lbl.txt)
%% Label (TwoLinkxyc_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1996/12/05  12:39:49  peterg
% %% Documentation
% %%
% %% Revision 1.1  1996/12/05 12:17:15  peterg
% %% Revision 1.1  1998/01/06  15:56:31  peterg
% %% Initial revision
% %%
% %% Revision 1.1  1996/11/14  10:48:42  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Rod parameters - identical rods
rod1	none	l;l;j;m;mg
rod2	none	l;l;j;m;mg

%Zero velocity sources
v_x	internal	0
v_x	SS     internal,0


%Zero force/torque sources
F_a	0	internal
F_a	SS	   0,internal


%Torque at joints
f_a1	0	internal
f_a2	0	internal
f_a1	SS	0,internal
f_a2	SS	0,internal

%Forces at tip
F_x	external	external
F_y	external	external
F_x	SS	external,external
F_y	SS	external,external


%Gravity
g









Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_rep.txt version [678c8a9117].






















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# Outline report file for system TwoLinkxyc (TwoLinkxyc_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt TwoLinkxyc abg tex
mtt TwoLinkxyc struc tex
mtt TwoLinkxyc dae tex
mtt TwoLinkxyc cse tex
mtt TwoLinkxyc rfe tex
mtt TwoLinkxyc ode tex
mtt TwoLinkxyc input txt
mtt TwoLinkxyc numpar txt
mtt -c TwoLinkxyc odeso ps








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_simp.r version [e44c55285d].





















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%% Reduce comands to simplify output for system TwoLinkxyc (TwoLinkxyc_simp.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

        trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2,
                  cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2,
                  sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2,
                  cos(~x)^2       => (1+cos(2*x))/2,
                  sin(~x)^2       => (1-cos(2*x))/2};
       LET trig1;

END;








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_sspar.r version [77f6d0b61a].














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%% Reduce steady-state parameter file for TwoLinkxyc (TwoLinkxyc_sspar.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

END;








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_abg.fig version [b1caa985f3].


























































































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#FIG 3.1
Portrait
Center
Metric
1200 2
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 1125 485 485 8550 1125 8730 1575
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 5625 485 485 8550 5625 9035 6110
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3468 1128 3738 1128
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5720 1130 5990 1130
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4593 2703 4863 2703
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 1128 4728 2703 4953 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4502 5492 4502 5762
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 5627 4502 5627 4277 5852
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 5851 4726 7426 4951 7201
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3472 8647 3742 8647
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4597 8647 4867 8647
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5724 8649 5994 8649
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4730 8645 4730 10220 4955 9995
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5855 8645 5855 10220 6080 9995
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 3826 3601 7426 3826 7201
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5851 3826 5851 7426 6076 7201
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 8775 6525 7200 2925 7200 2925 8775 6525 8775
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 2025 6525 450 2925 450 2925 2025 6525 2025
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 6435 6525 4860 2925 4860 2925 6435 6525 6435
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 11250 6525 9675 2925 9675 2925 11250 6525 11250
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 9450 11475 9450 225 180 225 180 11475 9450 11475
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3603 1128 3603 2703 3828 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5853 1128 5853 2703 6078 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 3826 4726 5401 4951 5176
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 4050 2925 4050 2925 2475 6525 2475 6525 4050
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 8622 3600 10197 3825 9972
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8775 5175 8775 1575 8325 1575 8325 5175 8775 5175
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8775 9675 8775 6075 8325 6075 8325 9675 8775 9675
4 1 -1 0 0 0 20 0.0000 4 255 810 3603 948 SS:v_x\001
4 0 -1 0 0 0 20 0.0000 4 195 135 4683 5718 0\001
4 1 -1 0 0 0 20 0.0000 4 255 900 2432 5717 SS:f_a2\001
4 1 -1 0 0 0 20 0.0000 4 255 840 3608 10673 SS:F_x\001
4 1 -1 0 0 0 20 0.0000 4 255 840 4733 10673 SS:F_a\001
4 1 -1 0 0 0 20 0.0000 4 255 840 5903 10673 SS:F_y\001
4 1 -1 0 0 0 20 0.0000 4 195 1200 4729 3379 ROD:rod1\001
4 1 -1 0 0 0 20 0.0000 4 195 1200 4731 8196 ROD:rod2\001
4 1 -1 0 0 0 20 0.0000 4 255 900 4771 946 SS:f_a1\001
4 0 1 1 0 3 20 0.0000 4 210 720 6795 3375 Link 1\001
4 0 1 1 0 3 20 0.0000 4 225 795 6750 5760 Joint 2\001
4 0 1 1 0 3 20 0.0000 4 210 720 6750 8190 Link 2\001
4 0 1 1 0 3 20 0.0000 4 270 375 6750 10485 Tip\001
4 0 1 1 0 3 20 0.0000 4 225 795 6750 1260 Joint 1\001
4 1 -1 0 0 0 20 0.0000 4 255 1170 5850 945 ACCEL:g\001
4 1 4 0 0 0 16 0.0000 4 210 495 3600 2970 [x_a]\001
4 1 4 0 0 0 16 0.0000 4 225 900 4725 2970 [alpha_a]\001
4 1 4 0 0 0 16 0.0000 4 210 510 3600 3780 [x_b]\001
4 1 4 0 0 0 16 0.0000 4 225 915 4725 3780 [alpha_b]\001
4 1 4 0 0 0 16 0.0000 4 225 510 5850 3780 [y_b]\001
4 1 4 0 0 0 16 0.0000 4 225 495 5850 2970 [y_a]\001
4 1 4 0 0 0 16 0.0000 4 210 495 3605 7835 [x_a]\001
4 1 4 0 0 0 16 0.0000 4 225 900 4730 7835 [alpha_a]\001
4 1 4 0 0 0 16 0.0000 4 225 495 5855 7835 [y_a]\001
4 1 4 0 0 0 16 0.0000 4 210 510 3607 8512 [x_b]\001
4 1 4 0 0 0 16 0.0000 4 225 915 4733 8513 [alpha_b]\001
4 1 4 0 0 0 16 0.0000 4 225 510 5859 8514 [y_b]\001








Modified mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_desc.tex
from [dde59dc4e7]
to [4b8a2c615b].



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% Verbal description for system twolinkxyn (twolinkxyn_desc.tex)
% Verbal description for system TwoLinkxyn (TwoLinkxyn_desc.tex)
% Generated by MTT on Fri Jun 13 16:30:23 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% Revision 1.1  1997/08/15  13:31:00  peterg
% Revision 1.1  1998/01/06  17:36:33  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{twolinkxyn} is
   displayed in Figure \Ref{twolinkxyn_abg} and its label
   file is listed in Section \Ref{sec:twolinkxyn_lbl}.
   The subsystems are listed in Section \Ref{sec:twolinkxyn_sub}.
   The acausal bond graph of system \textbf{TwoLinkxyn} is
   displayed in Figure \Ref{TwoLinkxyn_abg} and its label
   file is listed in Section \Ref{sec:TwoLinkxyn_lbl}.
   The subsystems are listed in Section \Ref{sec:TwoLinkxyn_sub}.

This system is identical to  \textbf{twolink} except that there are
now two non-collocated input-output pairs: The torque input to joint 1
-- x velocity of the tip and the torque input to joint 2
-- y velocity of the tip. 

It uses two compound components: {\bf ROD} and {\bf GRAV}.  {\bf ROD}




︙







Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_input.txt version [3b69b5adbd].


















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# Numerical parameter file (TwoLinkxyn_input.txt)
# Generated by MTT at Fri Jun 13 16:56:09 BST 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Set the inputs
u(1) =	(t<1.0);
u(2) =	0.0; # 
u(3) =	0.0; # gravity








Modified mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_lbl.txt
from [9f8c30d9b0]
to [2f9773334c].



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%SUMMARY twolinkxyn: two-link manipulator with collocated tip source-sensors.
%SUMMARY TwoLinkxyn: two-link manipulator with collocated tip source-sensors.
%DESCRIPTION This is related to a heirachical version of the 
%DESCRIPTION example from Section 10.5 of "Metamodelling".
%DESCRIPTION It uses two compound components: ROD and GRA
%DESCRIPTION ROD is essentially as described in Figure 10.2
%DESCRIPTION GRAV represents gravity by a vertical accelleration
%DESCRIPTION as in Section 10.9 of "Metamodelling"
%DESCRIPTION except that the source sensors are not collocated:
%DESCRIPTION sources at the joints, sensors at the xy motion of the tip.

%% Label (twolinkxyn_lbl.txt)
%% Label (TwoLinkxyn_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1998/01/06  15:56:31  peterg
% %% Revision 1.1  1998/01/06  17:37:55  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Rod parameters - identical rods
rod1	none	l;l;j;m;mg
rod2	none	l;l;j;m;mg

%Zero velocity sources
v_x	internal	0
v_x	SS     internal,0


%Zero force/torque sources
F_a	0	internal
F_a	SS	   0,internal


%Torque at joints
f_a1	external	internal
f_a2	external	internal
f_a1	SS	external,internal
f_a2	SS	external,internal

%Forces at tip
F_x	0		external
F_y	0		external
F_x	SS	0,external
F_y	SS	0,external


%Gravity
g









Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_simp.r version [f03e08b08b].





















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%% Reduce comands to simplify output for system TwoLinkxyn (TwoLinkxyn_simp.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

        trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2,
                  cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2,
                  sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2,
                  cos(~x)^2       => (1+cos(2*x))/2,
                  sin(~x)^2       => (1-cos(2*x))/2};
       LET trig1;

END;








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_simpar.txt version [5eae2d65c3].






















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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system TwoLinkxyn (TwoLinkxyn_simpar.txt)
# Generated by MTT on Mon Feb 22 09:53:04 GMT 1999.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################


LAST        = 10.0;       # Last time in simulation
DT          = 0.1;        # Print interval
STEPFACTOR  = 10;          # Integration steps per print interval
WMIN        = -1;         # Minimum frequency = 10^WMIN
WMAX        = 2;          # Maximum frequency = 10^WMAX
WSTEPS      = 100;        # Number of frequency steps
INPUT       = 1;          # Index of the input








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_sspar.r version [f8140e05f7].














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%% Reduce steady-state parameter file for TwoLinkxyn (TwoLinkxyn_sspar.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

END;








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_abg.fig version [b1caa985f3].


























































































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#FIG 3.1
Portrait
Center
Metric
1200 2
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 1125 485 485 8550 1125 8730 1575
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 5625 485 485 8550 5625 9035 6110
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3468 1128 3738 1128
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5720 1130 5990 1130
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4593 2703 4863 2703
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 1128 4728 2703 4953 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4502 5492 4502 5762
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 5627 4502 5627 4277 5852
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 5851 4726 7426 4951 7201
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3472 8647 3742 8647
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4597 8647 4867 8647
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5724 8649 5994 8649
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4730 8645 4730 10220 4955 9995
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5855 8645 5855 10220 6080 9995
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 3826 3601 7426 3826 7201
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5851 3826 5851 7426 6076 7201
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 8775 6525 7200 2925 7200 2925 8775 6525 8775
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 2025 6525 450 2925 450 2925 2025 6525 2025
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 6435 6525 4860 2925 4860 2925 6435 6525 6435
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 11250 6525 9675 2925 9675 2925 11250 6525 11250
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 9450 11475 9450 225 180 225 180 11475 9450 11475
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3603 1128 3603 2703 3828 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5853 1128 5853 2703 6078 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 3826 4726 5401 4951 5176
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 4050 2925 4050 2925 2475 6525 2475 6525 4050
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 8622 3600 10197 3825 9972
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8775 5175 8775 1575 8325 1575 8325 5175 8775 5175
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8775 9675 8775 6075 8325 6075 8325 9675 8775 9675
4 1 -1 0 0 0 20 0.0000 4 255 810 3603 948 SS:v_x\001
4 0 -1 0 0 0 20 0.0000 4 195 135 4683 5718 0\001
4 1 -1 0 0 0 20 0.0000 4 255 900 2432 5717 SS:f_a2\001
4 1 -1 0 0 0 20 0.0000 4 255 840 3608 10673 SS:F_x\001
4 1 -1 0 0 0 20 0.0000 4 255 840 4733 10673 SS:F_a\001
4 1 -1 0 0 0 20 0.0000 4 255 840 5903 10673 SS:F_y\001
4 1 -1 0 0 0 20 0.0000 4 195 1200 4729 3379 ROD:rod1\001
4 1 -1 0 0 0 20 0.0000 4 195 1200 4731 8196 ROD:rod2\001
4 1 -1 0 0 0 20 0.0000 4 255 900 4771 946 SS:f_a1\001
4 0 1 1 0 3 20 0.0000 4 210 720 6795 3375 Link 1\001
4 0 1 1 0 3 20 0.0000 4 225 795 6750 5760 Joint 2\001
4 0 1 1 0 3 20 0.0000 4 210 720 6750 8190 Link 2\001
4 0 1 1 0 3 20 0.0000 4 270 375 6750 10485 Tip\001
4 0 1 1 0 3 20 0.0000 4 225 795 6750 1260 Joint 1\001
4 1 -1 0 0 0 20 0.0000 4 255 1170 5850 945 ACCEL:g\001
4 1 4 0 0 0 16 0.0000 4 210 495 3600 2970 [x_a]\001
4 1 4 0 0 0 16 0.0000 4 225 900 4725 2970 [alpha_a]\001
4 1 4 0 0 0 16 0.0000 4 210 510 3600 3780 [x_b]\001
4 1 4 0 0 0 16 0.0000 4 225 915 4725 3780 [alpha_b]\001
4 1 4 0 0 0 16 0.0000 4 225 510 5850 3780 [y_b]\001
4 1 4 0 0 0 16 0.0000 4 225 495 5850 2970 [y_a]\001
4 1 4 0 0 0 16 0.0000 4 210 495 3605 7835 [x_a]\001
4 1 4 0 0 0 16 0.0000 4 225 900 4730 7835 [alpha_a]\001
4 1 4 0 0 0 16 0.0000 4 225 495 5855 7835 [y_a]\001
4 1 4 0 0 0 16 0.0000 4 210 510 3607 8512 [x_b]\001
4 1 4 0 0 0 16 0.0000 4 225 915 4733 8513 [alpha_b]\001
4 1 4 0 0 0 16 0.0000 4 225 510 5859 8514 [y_b]\001








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_desc.tex version [c73da6dfdc].















































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% Verbal description for system gTwoLink (gTwoLink_desc.tex)
% Generated by MTT on Fri Jun 13 16:30:23 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1998/01/19 14:20:07  peterg
% %% Initial revision
% %%
% Revision 1.1  1997/08/15  13:31:00  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{gTwoLink} is
   displayed in Figure \Ref{gTwoLink_abg} and its label
   file is listed in Section \Ref{sec:gTwoLink_lbl}.
   The subsystems are listed in Section \Ref{sec:gTwoLink_sub}.

This is a heirachical version of the example from Section 10.5 of
"Metamodelling".  It uses the compound components: {\bf ROD}.  {\bf
ROD} is essentially as described in Figure 10.2.
Gravity is included as discussed in "Metamodelling" by accelerating
the manipulator vertically using the {\bf ACCEL} component.

This system has a number of dynamic elements (those corresponding to
translation motion) in derivative causality, thus the system is
represnted as a Differential-Algebraic Equation (Section
\Ref{sec:gTwoLink_dae.tex}). Hovever, this
is of contrained-state form and therfore can be written as a set of
constrained-state equations (Section \Ref{sec:gTwoLink_cse.tex}). The
corresponding ordinary differential equation is complicated due to the
trig functions involved in inverting the E matrix.

As well as the standard representation the ``robot-form'' equations
appear in Section  \Ref{sec:gTwoLink_rfe.tex}. 

%%% Local Variables: 
%%% mode: plain-tex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_input.txt version [e7d4199cf4].


















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# Numerical parameter file (gTwoLink_input.txt)
# Generated by MTT at Fri Jun 13 16:56:09 BST 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Set the inputs
u(1) =	(t<1.0);
u(2) =	0.0; # 
u(3) =	0.0; # gravity








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_lbl.txt version [ef35e2beef].

























































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%SUMMARY gTwoLink: two-link manipulator from Section 10.5 of "Metamodelling"
%DESCRIPTION This is a heirachical version of the 
%DESCRIPTION example from Section 10.5 of "Metamodelling".
%DESCRIPTION It uses two compound components: ROD and GRA
%DESCRIPTION ROD is essentially as described in Figure 10.2
%DESCRIPTION GRAV represents gravity by a vertical accelleration
%DESCRIPTION as in Section 10.9 of "Metamodelling"


%% Label (gTwoLink_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1996/12/05  12:39:49  peterg
% %% Documentation
% %%
% %% Revision 1.1  1996/12/05 12:17:15  peterg
% %% Initial revision
% %%
% %% Revision 1.1  1996/11/14  10:48:42  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Rod parameters - identical rods
rod1	none	l;l;j;m;mg
rod2	none	l;l;j;m;mg

%Zero velocity sources
v_x	SS     internal,0


%Zero force/torque sources
F_x	SS	   0,internal
F_a	SS	   0,internal
F_y	SS	   0,internal


%Torque at joints
f_a1	SS	external,external
f_a2	SS	external,external

%Gravity
g









Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_numpar.txt version [061c655bc3].



















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# Numerical parameter file (gTwoLink_numpar.txt)
# Generated by MTT at Fri Jun 13 16:39:41 BST 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
l = 	1.0; # Default value
m = 	1.0; # Default value
j = 	m*l*l/12.0; # Uniform rod









Modified mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_rep.txt
from [7c9c744eab]
to [a078fdf3d5].



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# Outline report file for system gTwoLink (gTwoLink_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1999/02/22 09:18:53  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt gTwoLink abg tex
mtt gTwoLink struc tex
mtt gTwoLink sympar tex
mtt gTwoLink dae tex
mtt gTwoLink cse tex
mtt gTwoLink rfe tex
mtt gTwoLink ode tex
mtt gTwoLink input txt
mtt gTwoLink numpar txt
mtt gTwoLink odeso ps
mtt -c gTwoLink odeso ps








Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/gTwoLink_simp.r version [db95ebfddb].





















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%% Reduce comands to simplify output for system gTwoLink (gTwoLink_simp.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

        trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2,
                  cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2,
                  sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2,
                  cos(~x)^2       => (1+cos(2*x))/2,
                  sin(~x)^2       => (1-cos(2*x))/2};
       LET trig1;

END;








Added mttroot/mtt/lib/examples/Sensitivity/sRCc/sRCc_abg.fig version [ccb1b9cb1f].









































































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 1800 1125 162 162 1800 1125 1890 1260
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1802 4277 2702 4277 2477 4502
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3152 4277 4052 4277 3827 4502
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4502 4277 5402 4277 5177 4502
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2926 4051 2926 3151 3151 3376
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4276 4051 4276 3151 4501 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2701 4276 2701 4501
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5401 4051 5401 4276
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5401 4276 5401 4501
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2701 4051 2701 4276
2 2 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 5
	 2475 585 3375 585 3375 765 2475 765 2475 585
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4050 1215 4500 1215
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4050 1080 4500 1080
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 1800 675 2475 675
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 3375 675 5400 675
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4275 675 4275 1080
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4275 1215 4275 1575
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 1800 1575 5400 1575
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 1800 945 1800 675
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 1800 1575 1800 1260
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2
	1 1 2.00 120.00 240.00
	 5400 1530 5400 765
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 6750 5625 6750 225 675 225 675 5625 6750 5625
4 1 -1 0 0 0 20 0.0000 4 255 180 2927 4367 1\001
4 1 -1 0 0 0 20 0.0000 4 255 180 4277 4367 0\001
4 1 -1 0 0 0 20 0.0000 4 255 600 2926 2926 sR:r\001
4 1 -1 0 0 0 20 0.0000 4 255 645 4276 2926 sC:c\001
4 1 -1 0 0 0 20 0.0000 4 255 945 1395 4365 sSe:e1\001
4 0 1 1 0 0 20 0.0000 4 180 120 2880 450 r\001
4 0 1 1 0 0 20 0.0000 4 180 165 4680 1215 c\001
4 0 1 1 0 0 20 0.0000 4 180 165 5625 1170 e\001
4 0 1 1 0 0 20 0.0000 4 255 180 5715 1305 2\001
4 0 1 1 0 0 20 0.0000 4 180 165 1260 1170 e\001
4 0 1 1 0 0 20 0.0000 4 255 180 1350 1305 1\001
4 1 1 1 0 0 20 0.0000 4 330 1725 3600 4995 Bond graph\001
4 1 1 1 0 0 20 0.0000 4 255 1545 3600 2025 Schematic\001
4 1 -1 0 0 0 20 0.0000 4 255 1005 5987 4367 sDe:e2\001
4 1 4 100 0 18 4 0.0000 4 120 270 4500 4005 [1,2]\001
4 1 4 100 0 18 4 0.0000 4 120 270 3105 4005 [1,2]\001








Added mttroot/mtt/lib/examples/Sensitivity/sRCc/sRCc_rep.txt version [17b4c98377].































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## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system sRCc (sRCc_rep.txt)
## Generated by MTT on" Thu Jul 29 06:02:47 BST 1999.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

mtt sRCc abg tex			# The system description
## mtt sRCc cbg ps 		        # The causal bond graph
## Uncomment the following lines or add others
mtt sRCc struc tex	        # The system structure
## mtt sRCc dae tex	        # The system dae
mtt sRCc ode tex	        # The system ode 
## mtt sRCc sspar tex		# Steady-state parameters
## mtt sRCc ss tex 		# Steady state
## mtt sRCc dm tex		# Descriptor matrices (of linearised system)
mtt sRCc sm tex		# State matrices (of linearised system)
mtt sRCc tf tex		# Transfer function (of linearised system)
mtt sRCc lmfr ps		# log modulus of frequency response (of linearised system)
## mtt sRCc simpar tex		# Simulation parameters
## mtt sRCc numpar tex		# Numerical simulation parameters
## mtt sRCc input tex		# Simulation input
 mtt sRCc odeso ps		# Simulation output








Added mttroot/mtt/lib/examples/Sensitivity/sRCr/sRCr_abg.fig version [d99238c53e].









































































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 1800 1125 162 162 1800 1125 1890 1260
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1802 4277 2702 4277 2477 4502
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3152 4277 4052 4277 3827 4502
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4502 4277 5402 4277 5177 4502
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2926 4051 2926 3151 3151 3376
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4276 4051 4276 3151 4501 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2701 4276 2701 4501
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5401 4051 5401 4276
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5401 4276 5401 4501
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2701 4051 2701 4276
2 2 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 5
	 2475 585 3375 585 3375 765 2475 765 2475 585
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4050 1215 4500 1215
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4050 1080 4500 1080
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 1800 675 2475 675
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 3375 675 5400 675
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4275 675 4275 1080
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 4275 1215 4275 1575
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 1800 1575 5400 1575
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 1800 945 1800 675
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 0 0 2
	 1800 1575 1800 1260
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2
	1 1 2.00 120.00 240.00
	 5400 1530 5400 765
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 6750 5625 6750 225 675 225 675 5625 6750 5625
4 1 -1 0 0 0 20 0.0000 4 255 180 2927 4367 1\001
4 1 -1 0 0 0 20 0.0000 4 255 180 4277 4367 0\001
4 1 -1 0 0 0 20 0.0000 4 255 600 2926 2926 sR:r\001
4 1 -1 0 0 0 20 0.0000 4 255 645 4276 2926 sC:c\001
4 1 -1 0 0 0 20 0.0000 4 255 945 1395 4365 sSe:e1\001
4 0 1 1 0 0 20 0.0000 4 180 120 2880 450 r\001
4 0 1 1 0 0 20 0.0000 4 180 165 4680 1215 c\001
4 0 1 1 0 0 20 0.0000 4 180 165 5625 1170 e\001
4 0 1 1 0 0 20 0.0000 4 255 180 5715 1305 2\001
4 0 1 1 0 0 20 0.0000 4 180 165 1260 1170 e\001
4 0 1 1 0 0 20 0.0000 4 255 180 1350 1305 1\001
4 1 1 1 0 0 20 0.0000 4 330 1725 3600 4995 Bond graph\001
4 1 1 1 0 0 20 0.0000 4 255 1545 3600 2025 Schematic\001
4 1 -1 0 0 0 20 0.0000 4 255 1005 5987 4367 sDe:e2\001
4 1 4 100 0 18 10 0.0000 4 150 345 4545 4005 [1,2]\001
4 1 4 100 0 18 10 0.0000 4 150 345 3195 4005 [1,2]\001








Modified mttroot/mtt/lib/examples/Sensitivity/sRCr/sRCr_lbl.txt
from [b06a0d8613]
to [5d8d850afc].



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%% Label file for system sRCr (sRCr_lbl.txt)
%SUMMARY sRCr Sensitivity of output of RC circuit wrt value of r
%DESCRIPTION Uses the sR and sC components and vector bonds

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1999/07/29 05:18:59  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases

% Argument aliases

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type sSe
	e1	
	e1       lin		external;0	

% Component type sDe
	e2

% Component type sC
	c	 lin;lin	effort,c;0

% Component type sR
	r	 lin;lin	flow,r;1








Added mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_abg.fig version [f4fec756c1].









































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4500 3150 5850 3150 5625 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4500 4275 5850 4275 5625 4500
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1800 3150 3150 3150 2925 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3150 2925 3150 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 1800 4050 1800 4500
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1777 4275 3127 4275 2902 4500
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4500 4095 4500 4545
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6975 3150 8325 3150 8100 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6975 2925 6975 3375
2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5
	 2925 2025 4725 2025 4725 5400 2925 5400 2925 2025
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 9450 5850 9450 1575 450 1575 450 5850 9450 5850
4 0 -1 0 0 0 20 0.0000000 4 240 870 6030 3240 RT:r_2\001
4 2 4 0 0 0 20 0.0000000 4 240 690 2835 3060 [t_in]\001
4 0 4 0 0 0 20 0.0000000 4 240 840 4770 3015 [t_out]\001
4 2 4 0 0 0 20 0.0000000 4 240 735 2880 4185 [e_in]\001
4 0 4 0 0 0 20 0.0000000 4 240 885 4770 4185 [e_out]\001
4 2 -1 0 0 0 20 0.0000000 4 240 900 1620 3240 SS:T_1\001
4 0 -1 0 0 0 20 0.0000000 4 240 900 8460 3240 SS:T_2\001
4 2 -1 0 0 0 20 0.0000000 4 240 780 1665 4365 SS:I_r\001
4 0 -1 0 0 0 20 0.0000000 4 240 930 5985 4365 SS:V_0\001
4 1 -1 0 0 0 20 0.0000000 4 270 1575 3780 3825 Segment:s*100\001








Added mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_input.txt version [2c95f7dc86].
















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# Numerical parameter file (BigHeatedRod_input.txt)
# Generated by MTT at Thu Sep  4 16:11:06 BST 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Set the inputs
u(1) =	10.0*(t<5.0); # I_r 








Added mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_lbl.txt version [2301cb55bc].




















































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%SUMMARY BigHeatedRod: Thermal/Electrical model of Electric rod
%DESCRIPTION Introduces the idea of the ES component which
%DESCRIPTION transforms a relative-temperature/enthalpy pseudo bond 
%DESCRIPTION (at the [e]port) into an absolute-temperature/enntropy 
%DESCRIPTION energy bond (at the [s] port) and vice versa.

%VAR rod_length
%VAR rod_radius
%VAR electrical_resistivity
%VAR thermal_resistivity
%VAR thermal_capacity
%VAR segments
%VAR area
%VAR delta_x
%VAR volume
%VAR density
%VAR mass

%% Label file for system BigHeatedRod (BigHeatedRod_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1997/09/11 16:16:29  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type RT
	r_2		lin	flow,r_2

% Component type SS
	I_r	SS	internal,external
	T_1	SS	t_0,internal
	T_2	SS	t_0,internal
	V_0	SS	internal,internal

% Component type Segment
	s








Added mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_numpar.txt version [f90b3de7c8].








































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# Numerical parameter file (BigHeatedRod_numpar.txt)
# Generated by MTT at Thu Sep  4 16:11:04 BST 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


# Constants for copper
density = 8.96;
rod_length = 1.0;
rod_radius = 1e-3;
electrical_resistivity = 16.8*0.000000001;
thermal_resistivity = 1/390.0;
thermal_capacity = 380.0;


segments = 100;
area = pi*rod_radius*rod_radius;
delta_x = rod_length/segments;
volume = area*delta_x;
mass = volume*density;

# Parameters
c_t = 	thermal_capacity*mass;
r = 	electrical_resistivity*delta_x/area;
r_t = 	thermal_resistivity*delta_x/area;
r_2 = 	r_t;
t_0 = 	300; # Ambient












Added mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_simpar.txt version [4609d162a5].
























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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system BigHeatedRod (BigHeatedRod_simpar.txt)
# Generated by MTT on Tue Aug 24 01:20:41 BST 1999.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################


LAST        = 10.0;       # Last time in simulation
DT          = 0.1;        # Print interval
STEPFACTOR  = 1;          # Integration steps per print interval
WMIN        = -1;         # Minimum frequency = 10^WMIN
WMAX        = 2;          # Maximum frequency = 10^WMAX
WSTEPS      = 100;        # Number of frequency steps
INPUT       = 1;          # Index of the input

DT          = 1.0;        # Print interval








Added mttroot/mtt/lib/examples/Simulation/BigHeatedRod/BigHeatedRod_state.txt version [75960b2537].



















































































































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# -*-octave-*- Put Emacs into octave-mode
# Initial state  file (BigHeatedRod_state.txt)
# Generated by MTT at Friday August 14 18:38:47 BST 1998
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

# Set the states
mttx(1) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(2) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(3) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(4) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(5) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(6) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(7) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(8) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(9) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(10) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(11) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(12) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(13) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(14) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(15) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(16) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(17) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(18) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(19) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(20) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(21) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(22) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(23) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(24) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(25) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(26) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(27) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(28) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(29) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(30) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(31) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(32) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(33) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(34) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(35) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(36) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(37) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(38) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(39) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(40) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(41) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(42) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(43) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(44) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(45) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(46) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(47) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(48) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(49) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(50) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(51) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(52) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(53) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(54) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(55) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(56) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(57) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(58) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(59) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(60) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(61) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(62) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(63) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(64) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(65) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(66) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(67) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(68) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(69) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(70) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(71) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(72) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(73) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(74) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(75) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(76) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(77) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(78) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(79) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(80) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(81) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(82) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(83) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(84) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(85) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(86) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(87) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(88) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(89) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(90) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(91) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(92) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(93) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(94) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(95) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(96) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(97) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(98) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(99) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)
mttx(100) 	= c_t*t_0; 	# c (BigHeatedRod_s_c_t)








Added mttroot/mtt/lib/examples/Simulation/BigHeatedRod/Segment_abg.fig version [1d5850b4e4].




































































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 2835 2205 2925 2745
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 2880 2250 2880 2700
-6
6 8505 2250 8595 2790
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 8550 2295 8550 2745
-6
6 5310 6255 5400 6795
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 5355 6300 5355 6750
-6
6 5805 6255 5895 6795
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 5850 6300 5850 6750
-6
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1306 2476 2881 2476 2656 2701
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3781 2476 5356 2476 5131 2701
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5761 2476 8550 2475 8325 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5581 4276 5581 2701 5806 2926
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5581 6301 5581 4726 5806 4951
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1350 6525 5356 6526 5131 6751
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5806 6526 8550 6525 8325 6750
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5806 2701 6920 3815 6601 3815
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5581 2251 5581 676 5806 901
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5356 676 5806 676
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 9900 7425 9900 90 45 90 45 7425 9900 7425
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 7650 4455 7650 1800 1575 1800 1575 4455 7650 4455
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 7650 6975 7650 4545 1575 4545 1575 6975 7650 6975
4 1 -1 0 0 0 20 0.0000 4 240 810 3331 2566 RT:r_t\001
4 1 -1 0 0 0 20 0.0000 4 195 150 5581 2566 0\001
4 1 -1 0 0 0 20 0.0000 4 210 555 5581 4591 RS:r\001
4 1 -1 0 0 0 20 0.0000 4 195 150 5581 6616 1\001
4 1 -1 0 0 0 20 0.0000 4 240 840 7021 4141 CT:c_t\001
4 1 -1 0 0 0 20 0.0000 4 255 870 5581 586 SS:T_s\001
4 2 4 0 0 0 20 0.0000 4 255 1110 1261 2566 SS:[t_in]\001
4 0 4 0 0 0 20 0.0000 4 255 1260 8685 2565 SS:[t_out]\001
4 2 4 0 0 0 20 0.0000 4 255 1155 1260 6615 SS:[e_in]\001
4 0 4 0 0 0 20 0.0000 4 255 1305 8685 6615 SS:[e_out]\001
4 0 1 1 0 0 20 0.0000 4 210 1875 1845 4050 Thermal model\001
4 0 1 1 0 0 20 0.0000 4 210 2025 1800 5175 Electrical model\001
4 0 1 1 0 0 20 0.0000 4 255 2415 6075 585 Temperature sensor\001








Modified mttroot/mtt/lib/examples/Simulation/BigHeatedRod/Segment_lbl.txt
from [7b28fc7431]
to [ffb638c19b].



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%SUMMARY Segment: Segment of HeatedRod
%DESCRIPTION Part of the HeatedRod example.
%% Label file for system Segment (Segment_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1998/08/10 12:29:48  peterg
% %% Added missing ports.
% %%
% %% Revision 1.1  1997/09/11 16:17:14  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type CT
	c_t		lin	effort,c_t

% Component type RS
	r		lin	flow,r

% Component type RT
	r_t		lin	flow,r_t

% Component type SS
	T_s		SS		external,0
	[t_in]		SS		external,external
	[t_out]		SS		external,external
	[e_in]		SS		external,external
	[e_out]		SS		external,external
	[t_in]		SS		external,internal
	[t_out]		SS		internal,external
	[e_in]		SS		external,internal
	[e_out]		SS		external,internal









Added mttroot/mtt/lib/examples/Simulation/BigHeatedRod/examples.m version [ccb8cc8f8c].





















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mttdt = 1;
mttx=(zeros(200,1));
mttu=(zeros(200,1));
BigHeatedRod_numpar;
alpha = BigHeatedRod_smx(mttx,mttu,mttdt);
show_matrix (alpha);
psfig("sparsity.ps");


[N,junk] = size(alpha);
A =  eye(N) - alpha;
plot(log10(abs(eig(A))))
grid;
xlabel("i");
ylabel("e_i");
psfig("eig.ps");








Added mttroot/mtt/lib/examples/Simulation/BigHeatedRod/time_svdlu.m version [d2d86013f2].




















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function [N,Ts,Tl]=time_svdlu;

  N=[100:100:700];

  Ts=[]; Tl=[];
  for n=N
    n
    M=rand(n,n);
    ts=time; svd(M); ts=time-ts
    tl=time; lu(M); tl=time-tl
    Ts=[Ts,ts];
    Tl=[Tl,tl];
  endfor;

endfunction;
  








Added mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_abg.fig version [ed25703b7d].

























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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 900 3150 2250 3150 2025 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 3150 4950 3150 4725 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6075 3150 7425 3150 7200 3375
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 8550 5175 8550 900 45 900 45 5175 8550 5175
4 1 -1 0 0 10 20 0.0000 4 210 570 495 3240 Se:u\001
4 1 -1 0 0 10 20 0.0000 4 210 1095 2925 3240 RC:slow\001
4 1 -1 0 0 10 20 0.0000 4 210 1005 5535 3240 RC:fast\001
4 1 -1 0 0 10 20 0.0000 4 270 600 7830 3240 De:y\001








Added mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_desc.tex version [fb1ca09eb2].









































































































































































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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system ImplicitRC (ImplicitRC_desc.tex)
% Generated by MTT on Wednesday June 24 09:50:17 BST 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

This report describes the \emph{implicit} integration methods
available in MTT. They are introduced to provide  simulation
of systems within the following context:
\begin{enumerate}
\item The system may be stiff with a mixture of slow and fast
  (possibly due to approximating algebraic loops) subsystems.
\item The fast parts of the response are of no interest
\item A fixed sample interval is required -- possibly for real-time
  simulation or control
\item The system is nonlinear.
\item The solution of nonlinear algebraic equations is to be avaided.
\end{enumerate}

The following sections consider the linear and nonlinear versions
respectively. The ideas are based on a standard textbook
\footnote{Press et al: \emph{Numerical Recipes in C}, 2nd edition,
  1992. Cambridge, Section 16.6}.
 

\subsection{Implicit integration - the linear case}
\label{sec:linear}

Consider the \emph{linear} system:
\begin{equation}
  \label{eq:sys}
    \dot x = A x + B u
\end{equation}

For the purposes of simulation, it can be discretised (with sample
interval $\Delta t$) in at least two
ways:
\begin{enumerate}
\item $ \dot x \approx \frac{x_{i+1} - x_{i}}{\Delta t}$
\item $ \dot x \approx \frac{x_{i} - x_{i-1}}{\Delta t}$
\end{enumerate}
The former is gives rise to the \emph{forward} Euler or \emph{explicit}
integration scheme:
\begin{equation}
   x_{i+1} =  x_{i} + \Delta t \left [ A x_{i} + B_{i} u \right ]
\end{equation}
and the latter gives rise to the \emph{backward} Euler or \emph{implicit}
integration scheme:
\begin{equation}
   x_{i} =  x_{i-1} + \Delta t \left [ A x_{i} + B_{i} u \right ]
\end{equation}
which must be rewritten as:
\begin{equation}
   x_{i} =   \left [ I -  \Delta t A \right ]^{-1} x_{i-1} + \Delta t  B_{i} u
\end{equation}
for the purposes of implementation.

The explicit method gives simple implementation whereas the implicit
method requires matrix inversion. However, the explicit method is only
stable if:
\begin{equation}
  \Delta t < \frac{2}{| \lambda |}
\end{equation}
where $\lambda$ is the \emph{largest} eigenvalue of $A$. If this
largest eigenvalue is real so $\lambda = \frac{1}{\tau}$ where $\tau$
is the \emph{smallest} system time constant:
\begin{equation}
  \Delta t < 2 \tau
\end{equation}

If the system is stiff, that is it contains at least one small time
constant relative to the dominant time constants, Euler integration is
not feasible due to the very small sample interval $\Delta t$
required.

In contrast, the implicit method is stable.


\subsubsection{Example}
   The acausal bond graph of system \textbf{ImplicitRC} is
   displayed in Figure \Ref{ImplicitRC_abg} and its label
   file is listed in Section \Ref{sec:ImplicitRC_lbl}.
   The subsystems are listed in Section \Ref{sec:ImplicitRC_sub}.

The system represents two simple RC circuits in series with
differential equations as given in Section \Ref{sec:ImplicitRC_ode.tex} and
transfer function  as given in Section \Ref{sec:ImplicitRC_tf.tex}.

For the purposes of this example the two time constants are $1$ and
$\epsilon=10^{-3}$ -- this is a stiff system. All of the simulations
use a sample interval of $\Delta t = 0.1$ ang the input is a unit
step.  Section \Ref{sec:ImplicitRC_sro} shows the exact (computed from
the matrix exponential) solution, and  Section \Ref{sec:ImplicitRC_odeso}
shows the solution by implicit integration.

The explicit solution is not shown, but was found to be unstable for
$\Delta t > 0.002$ as predicted.

\subsection{Implicit integration - the nonlinear case}}
\label{sec:nonlinear}

Consider the \emph{nonlinear} system:
\begin{equation}
  \label{eq:sys}
    \dot x = f(x,u)
\end{equation}
and suppose it can be linearised about any state and input to give:
\begin{equation}
  A(x,u) = \frac{\partial f(x,u)}{\partial x}
\end{equation}

The corresponding \emph{implicit} scheme is:
\begin{equation}
   x_{i} =  x_{i-1} + \Delta t f(x_{i},u_{i})
\end{equation}
This is not easy to solve in general due to the set of non-linear
equations that need to be solved. To avoid this, consider a further
approximation:
\begin{equation}
  f(x_{i},u_{i}) \approx f(x_{i-1},u_{i}) + A(x_{i-1},u_i) ( x_{i} -  x_{i-1} )
\end{equation}
This then gives the \emph{semi-implicit} scheme
\begin{equation}
  x_{i} =  x_{i-1} + \Delta t \left [  f(x_{i-1},u_{i}) + A(x_{i-1},u_i) (
    x_{i} -  x_{i-1} ) \right ]
\end{equation}
which can be rewritten as:
\begin{equation}\label{eq:implicit}
   x_{i} =  \left [ I -  \Delta t A(x_{i-1},u_i) \right ]^{-1} 
    \Delta t \left [  f(x_{i-1},u_{i}) - A(x_{i-1},u_i) x_{i-1}  \right ]
\end{equation}


Because of the approximations invoved, Equation \ref{eq:implicit} is
not guarenteed to be stable. Nevertheless, it should do a much better
job than the corresponding \emph{explicit} method for reasonably
smooth systems.
This method is chosen by setting 
\begin{verbatim}
METHOD='Implicit'
\end{verbatim}
in the MTT simpar.txt file.

A further approximation arises by setting  $A(x_{i-1},u_i) =
A(x_{0},u_0)$ ie computing it one only at the beginning of the
simulation.
This method is chosen by setting 
\begin{verbatim}
METHOD='ImplicitL'
\end{verbatim}
in the MTT simpar.txt file.

Both methods make use of the \textbf{smx} ``state-matrix with state $x$''
representation of MTT which is generated symbolically from the system
bond graph.

%%% Local Variables: 
%%% mode: latex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_lbl.txt version [e8ed754f2f].


































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%SUMMARY ImplicitRC
%DESCRIPTION <Detailed description here>
%% Label file for system ImplicitRC (ImplicitRC_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type RC
	fast		lin	epsilon;1
	slow		lin	1;1

% Component type SS
	u		SS	external
	y		SS	external













Added mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_numpar.txt version [308e6c5a7a].



















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# Numerical parameter file (ImplicitRC_numpar.txt)
# Generated by MTT at Wednesday June 24 09:21:23 BST 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
epsilon = 	1e-3; # ImplicitRC
c =		1.0;
r =		1.0;









Added mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_rep.txt version [3341c40ade].


























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# Outline report file for system ImplicitRC (ImplicitRC_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt ImplicitRC abg tex
mtt ImplicitRC struc tex
mtt ImplicitRC ode tex
mtt ImplicitRC sm tex
mtt ImplicitRC sm m
mtt ImplicitRC tf tex

mtt ImplicitRC sro ps

mtt ImplicitRC numpar tex

mtt ImplicitRC simpar tex
mtt -c ImplicitRC odeso ps








Added mttroot/mtt/lib/examples/Simulation/ImplicitRC/ImplicitRC_simpar.txt version [8d36b2a6d0].



















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%% Simulation parameters for system ImplicitRC (ImplicitRC_simpar.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1998/08/12 13:29:02  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

LAST=10.0
DT=0.1
STEPFACTOR=1








Added mttroot/mtt/lib/examples/Simulation/ImplicitRC/examples.sh version [4fe342f5cf].
































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#! /bin/sh

mv ImplicitRC_simpar.txt SAVE
Delta="0.01 0.2 1.0"
for delta in $Delta; do
    echo Doing with sample interval = $delta

    cp SAVE ImplicitRC_simpar.txt 
cat <<EOF >>ImplicitRC_simpar.txt 
DT=$delta
EOF
    mtt -q ImplicitRC odeso dat
    cp ImplicitRC_odeso.dat ImplicitRC_odeso.$delta
done

gnuplot <<EOF 
set term postscript
set output "ImplicitRC.ps"
set grid
plot "ImplicitRC_odeso.0.01" with lines, \
     "ImplicitRC_odeso.0.2" with linespoints, \
     "ImplicitRC_odeso.1.0" with linespoints
EOF
mv SAVE ImplicitRC_simpar.txt 

ghostview ImplicitRC.ps

mv ImplicitRC.ps ../../Figs








Added mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Fuel_abg.fig version [91a602d65e].






























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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6303 2703 6303 3844 6528 3619
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6301 1128 6301 2269 6526 2044
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6525 2475 7425 2475 7200 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6075 2250 6525 2250
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6525 2250 6525 2700
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 12377 4725 12377 225 450 225 450 4725 12377 4725
4 1 -1 0 0 22 20 0.0000 4 210 765 6300 990 Se:T3\001
4 0 -1 0 0 22 20 0.0000 4 210 1035 7605 2565 Df:Heat\001
4 1 -1 0 0 22 20 0.0000 4 210 390 6255 2565 PS\001
4 0 4 0 0 2 12 0.0000 4 180 630 6660 2385 [power]\001
4 1 4 100 0 18 18 0.0000 4 270 1065 6390 4185 SS:[out]\001








Added mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Fuel_lbl.txt version [ea89d593a7].






































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%% Label file for system Fuel (Fuel_lbl.txt)
%SUMMARY Fuel
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	out	out

% Argument aliases
%ALIAS	$1	Heat
%ALIAS	$2	T3

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type Df
 	Heat	SS		external

% Component type SS
	[out]	SS		external,external

% Component type Se
	T3	SS		external








Added mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/In_abg.fig version [7eb82b8438].























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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2253 2253 3198 2253 3018 2433
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2252 4952 3197 4952 3017 5132
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3196 2026 3196 2476
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 5400 5625 5400 1530 675 1530 675 5625 5400 5625
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3195 4725 3195 5175
4 0 4 0 0 0 20 0.0000 4 255 1440 3332 5042 SS:[Hy_out]\001
4 0 4 0 0 0 20 0.0000 4 255 1425 3377 2342 SS:[Th_out]\001
4 2 -1 0 0 0 20 0.0000 4 255 1095 2026 2341 SS:Th_in\001
4 2 -1 0 0 0 20 0.0000 4 255 1110 2071 5041 SS:Hy_in\001








Added mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/In_desc.tex version [0c97485c1c].


















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% Verbal description for system In (In_desc.tex)
% Generated by MTT on Tue Jan 13 18:02:36 GMT 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{In} is
   displayed in Figure \Ref{In_abg} and its label
   file is listed in Section \Ref{sec:In_lbl}.
   The subsystems are listed in Section \Ref{sec:In_sub}.








Modified mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/In_lbl.txt
from [b2774b50ac]
to [b98a7bad58].



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%SUMMARY In: Inflow conditions
%DESCRIPTION <Detailed description here>
%ALIAS	in|out Th_out,Hy_out
%% Label file for system In (In_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1998/07/04 09:41:53  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type SS
	[Hy_out]	SS	external,external
	[Th_out]	SS	external,external
	Hy_in		SS	p_1,internal
	Th_in		SS	t_1,internal









Added mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Load_abg.fig version [f6adaf70fd].




























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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2700 900 2700 2250 2925 2025
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2700 2700 2700 4050 2925 3825
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4050 2475 5400 2475 5175 2700
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 6795 5175 6795 225 1350 225 1350 5175 6795 5175
4 1 4 0 0 22 20 0.0000 4 270 900 2745 720 SS:[in]\001
4 1 -1 0 0 22 20 0.0000 4 210 2325 2880 2565 PS:PowerSensor\001
4 1 4 0 0 22 20 0.0000 4 270 420 2385 2250 [in]\001
4 1 4 0 0 22 20 0.0000 4 270 615 2385 2835 [out]\001
4 1 4 0 0 22 20 0.0000 4 270 1035 3735 2250 [power]\001
4 1 -1 0 0 22 20 0.0000 4 210 1095 6030 2565 Df:Work\001
4 1 -1 0 0 22 20 0.0000 4 270 630 2655 4410 R:r_l\001








Added mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Load_lbl.txt version [cd55430fc2].








































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%% Label file for system Load (Load_lbl.txt)
%SUMMARY Load
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	in	in

% Argument aliases
%ALIAS	$1	r_l

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----


	PowerSensor			

% Component type Df
	Work	SS		external

% Component type R
	r_l	lin		flow,r_l

% Component type SS
	[in]	SS		external,external








Added mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Out_abg.fig version [34cc41cc19].

























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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2252 4952 3197 4952 3017 5132
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 5400 5625 5400 1530 675 1530 675 5625 5400 5625
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2205 2250 3150 2250 2970 2430
2 1 0 3 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2250 4725 2250 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2250 2250 2250 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2250 1980 2250 2250
4 0 -1 0 0 0 20 0.0000000 4 240 1290 3465 2340 SS:Th_out\001
4 0 -1 0 0 0 20 0.0000000 4 270 1320 3375 5040 SS:Hy_out\001
4 2 4 0 0 0 20 0.0000000 4 270 1380 2160 5040 SS:[Hy_in]\001
4 2 4 0 0 0 20 0.0000000 4 240 1350 2115 2340 SS:[Th_in]\001








Added mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Out_desc.tex version [3dd57dc573].


















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% Verbal description for system Out (Out_desc.tex)
% Generated by MTT on Tue Jan 13 18:02:44 GMT 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{Out} is
   displayed in Figure \Ref{Out_abg} and its label
   file is listed in Section \Ref{sec:Out_lbl}.
   The subsystems are listed in Section \Ref{sec:Out_sub}.








Added mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Shaft_abg.fig version [598a000ebe].































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 1620 2700 2970 2700 2745 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3375 2700 4725 2700 4500 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3150 2925 3150 4275 3375 4050
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3150 2475 3150 1125 3375 1350
2 4 0 2 31 7 50 0 -1 0.000 0 0 7 0 0 5
	 6075 4950 6075 450 450 450 450 4950 6075 4950
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3375 2475 4330 1520 4330 1839
4 1 0 100 0 18 18 0.0000 4 195 150 3150 2790 1\001
4 1 0 100 0 18 18 0.0000 4 270 540 3150 990 I:j_s\001
4 1 4 100 0 18 18 0.0000 4 270 870 1170 2790 SS:[in]\001
4 1 4 100 0 18 18 0.0000 4 270 1065 5310 2790 SS:[out]\001
4 1 4 100 0 18 18 0.0000 4 270 1215 3195 4680 SS:[load]\001
4 1 0 100 0 18 18 0.0000 4 270 1245 4455 1395 Df:speed\001








Added mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/Shaft_lbl.txt version [93c7018fae].







































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%% Label file for system Shaft (Shaft_lbl.txt)
%SUMMARY Shaft
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	in	in
%ALIAS	load	load
%ALIAS	out	out

% Argument aliases
%ALIAS	$1	j_s

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----
	speed	SS		external

% Component type I
	j_s	lin		flow,j_s

% Component type SS
	[in]	SS		external,external
	[load]	SS		external,external
	[out]	SS		external,external








Added mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_abg.fig version [9abd037150].

















































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6078 1803 6078 2944 6303 2719
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4230 3375 5584 3375 5359 3600
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6750 3375 8104 3375 7879 3600
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1575 3375 2704 3375 2479 3600
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9450 3375 10579 3375 10354 3600
2 1 0 2 0 7 50 0 -1 0.000 0 0 -1 0 0 4
	 8550 3870 8550 5850 6975 5850 7200 6075
2 1 0 2 0 7 50 0 -1 0.000 0 0 -1 0 0 4
	 5175 5850 3375 5850 3375 3825 3600 4050
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6075 6284 6075 7425 6300 7200
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 12152 8550 12152 675 225 675 225 8550 12152 8550
4 1 4 0 0 2 12 0.0000 4 180 540 8510 3740 [Shaft]\001
4 1 4 0 0 2 12 0.0000 4 180 540 3379 3739 [Shaft]\001
4 1 1 1 0 2 30 0.0000 4 300 210 2162 3017 1\001
4 1 1 1 0 2 30 0.0000 4 300 210 4817 3017 2\001
4 1 1 1 0 2 30 0.0000 4 300 210 7292 3017 3\001
4 1 1 1 0 2 30 0.0000 4 300 210 9947 3017 4\001
4 1 4 0 0 2 12 0.0000 4 180 540 6078 3198 [Heat]\001
4 1 -1 0 0 22 20 0.0000 4 210 570 1217 3467 In:in\001
4 1 -1 0 0 2 20 0.0000 4 195 1050 6167 3467 Comb:c1\001
4 0 -1 0 0 22 20 0.0000 4 210 1005 10758 3468 Out:out\001
4 1 -1 0 0 2 20 0.0000 4 255 1455 3469 3469 Pump:comp\001
4 1 -1 0 0 2 20 0.0000 4 255 1335 8780 3470 Pump:turb\001
4 1 4 0 0 2 12 0.0000 4 180 465 6075 6165 [load]\001
4 1 -1 0 0 22 20 0.0000 4 210 1500 6078 5943 Shaft:shaft\001
4 1 -1 0 0 22 20 0.0000 4 210 1380 6075 7740 Load:load\001
4 1 1 1 0 3 25 0.0000 4 270 1425 6030 8145 Work out\001
4 1 -1 0 0 22 20 0.0000 4 210 1185 6030 1665 Fuel:fuel\001
4 1 1 1 0 3 25 0.0000 4 270 1140 5985 1215 Heat in\001








Added mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_input.txt version [93a80833a9].




















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# Numerical parameter file (SimpleGasTurbine_input.txt)
# Generated by MTT at Tue Mar 31 12:38:39 BST 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

t_3 = 1000;

# Set the inputs
## Removed by MTT on Mon Nov 27 15:18:54 GMT 2000: u(1) =	 t_3 + 0.1*t_3*(t>1) -  0.2*t_3*(t>5); # SimpleGasTurbine (T3)
simplegasturbine_fuel_1_t3_1_u	= t_3 + 0.1*t_3*(t>1) -  0.2*t_3*(t>5); 









Modified mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_lbl.txt
from [ab1d07768e]
to [84a69ceae1].



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%SUMMARY SimpleGasTurbine: single-spool gas turbine producing shaft power
%DESCRIPTION SimpleGasTurbine can be regarded as an single-spool gas
%DESCRIPTION turbine (producing shaft power) with an ideal-gas working fluid. It
%DESCRIPTION corresponds to the simple Joule Cycle as described in Chapter 12 of
%DESCRIPTION Rogers and Mayhew and in Chapter 2 of Cohen, Rogers and
%DESCRIPTION Saravanamutto. However, unlike those examples, the system is
%DESCRIPTION written with dynamics in mind.
#SUMMARY SimpleGasTurbine: single-spool gas turbine producing shaft power
#DESCRIPTION SimpleGasTurbine can be regarded as an single-spool gas
#DESCRIPTION turbine (producing shaft power) with an ideal-gas working fluid. It
#DESCRIPTION corresponds to the simple Joule Cycle as described in Chapter 12 of
#DESCRIPTION Rogers and Mayhew and in Chapter 2 of Cohen, Rogers and
#DESCRIPTION Saravanamutto. However, unlike those examples, the system is
#DESCRIPTION written with dynamics in mind.

%ALIAS	Comb	CompressibleFlow/Comb
%ALIAS	Pump	CompressibleFlow/Pump
#ALIAS	Comb	CompressibleFlow/Comb
#ALIAS	Pump	CompressibleFlow/Pump

%VAR t_2;
%VAR t_3;
%VAR t_4;
%VAR p_2;
%VAR p_3;
%VAR p_4;
%VAR mdot;
%VAR gamma_0;
%VAR q_0;
%VAR w_0;
%VAR omega_0;
%VAR r_p;
%VAR c_p;
%VAR mom_0;
#PAR t_2
#PAR t_3
#PAR t_4
#PAR p_2
#PAR p_3
#PAR p_4
#PAR mdot
#PAR gamma_0
#PAR q_0
#PAR w_0
#PAR omega_0
#PAR r_p
#PAR c_p
#PAR mom_0

#NOTPAR 	density
#NOTPAR	ideal_gas
#NOTPAR	q_0

%% Label file for system SimpleGasTurbine (SimpleGasTurbine_lbl.txt)
## Label file for system SimpleGasTurbine (SimpleGasTurbine_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.3  1998/07/03 14:54:45  peterg
% %% k_p --> k
% %% k_t --> k
% %%
% %% Revision 1.2  1998/07/03 14:53:38  peterg
% %% Renames tank to comb to be consistent.
% %%
% %% Revision 1.1  1998/05/18 15:46:02  peterg
% %% Initial revision
% %%
# ###############################################################
# ## Version control history
# ###############################################################
# ## $Id$
# ## $Log$
# ## Revision 1.4  1998/07/30 15:27:42  peterg
# ## Use #VAR inplace of dummy component.
# ##
# ## Revision 1.3  1998/07/03 14:54:45  peterg
# ## k_p --> k
# ## k_t --> k
# ##
# ## Revision 1.2  1998/07/03 14:53:38  peterg
# ## Renames tank to comb to be consistent.
# ##
# ## Revision 1.1  1998/05/18 15:46:02  peterg
# ## Initial revision
# ##
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# ###############################################################

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank
## Each line should be of one of the following forms:
#	a comment (ie starting with #)
#	Component-name	CR_name	arg1,arg2,..argn
#	blank

# Component type Fuel
	fuel

# Component type In
	in

# Component type Pump
	comp		none		c_v;density,ideal_gas,r;alpha;effort,k

% Component type Comb
# Component type Comb
	c1		none		m_c;v_c;r

% Component type I
	j_s		lin		flow,j_s
# Component type Pump
	turb		none		c_v;density,ideal_gas,r;alpha;effort,k

% Component type Pump
# Component type Out
	comp		none		c_v;density,ideal_gas,r;alpha;effort,k
	turb		none		c_v;density,ideal_gas,r;alpha;effort,k

	out

% Component type SS
# Component type Shaft
	Work		SS	0,external
	Heat		SS	0,external
        shaft		none		j_s
	Speed		SS	0,external
	T3		SS	external,external

% Component type In
	in
# Component type Load
	load		none		r_l

% Component type Out
	out














Added mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_numpar.txt version [29d5371a75].




























































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# Numerical parameter file (SimpleGasTurbine_numpar.txt)
# Generated by MTT at Tue Mar 31 12:15:00 BST 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
c_p = 	1005.0;
c_v = 	718.0; 
gamma_0 =  c_p/c_v;
alpha = (gamma_0-1)/gamma_0;
k = 	1.0;
p_1 = 	1e5; # 1 bar
p_4 = 	p_1; 
r = 	c_p-c_v;
t_1 = 	288.0; # In
v_c = 	1.0;

%Set the CC pressure and temperature
t_3 = 1000.0;
r_p = 6.0;
p_3 = r_p*p_1;

%Find stored mass to give combustion chamber pressure p_3 (at
% temperature t_3
m_c = (p_3*v_c)/(t_3*r);

%Equate pressures
p_4 = p_1;
p_2 = p_3;

%Compute ss temperatures (isentropic)
t_2 = t_1*(p_2/p_1)^alpha;
t_4 = t_3*(p_4/p_3)^alpha;

%Find the steady-state work output
w_0 = c_p*(t_3-t_4) - c_p*(t_2-t_1);

%Unit mass flow
mdot = 1;

%Corresponding shaft speed
omega_0 = mdot/k;

%Compute the corresponding load resistance (to absorb that work)
r_l = w_0/(omega_0)^2;

%Compute shaft inertia to give unit time constant (j_s*r_l)
j_s = r_l;

%Find angular momentum to give shaft speed omega_0
mom_0 =  omega_0*j_s;








Modified mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_rep.txt
from [ece9048c5b]
to [23bb4693b4].



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# Outline report file for system SimpleGasTurbine (SimpleGasTurbine_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/11/27 18:16:18  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt -o -ss SimpleGasTurbine abg tex
mtt -o -ss SimpleGasTurbine struc tex
mtt -o -ss SimpleGasTurbine sympar tex
mtt -o -ss SimpleGasTurbine ode tex

mtt -o -ss SimpleGasTurbine sspar r
mtt -o -ss SimpleGasTurbine ss tex
mtt -o -ss SimpleGasTurbine sm tex

mtt -o -ss SimpleGasTurbine numpar tex
mtt -o -ss SimpleGasTurbine input tex
mtt -o -ss SimpleGasTurbine state tex
mtt -o -ss SimpleGasTurbine simpar tex
mtt -o -ss -c SimpleGasTurbine odeso ps \
    'SimpleGasTurbine_comp_1_T,SimpleGasTurbine_c1_1_T,SimpleGasTurbine_turb_1_T'
mtt -o -ss -c SimpleGasTurbine odeso ps 'SimpleGasTurbine_comp_1_T,SimpleGasTurbine_c1_1_T,SimpleGasTurbine_turb_1_T'

mtt -o -ss -c SimpleGasTurbine odeso ps \
mtt -o -ss -c SimpleGasTurbine odeso ps 'SimpleGasTurbine_fuel_1_Heat_1_y,SimpleGasTurbine_load_1_Work_1_y'
    'SimpleGasTurbine_fuel_1_Heat_1_y,SimpleGasTurbine_load_1_Work_1_y'

mtt -o -ss -c SimpleGasTurbine odeso ps \
mtt -o -ss -c SimpleGasTurbine odeso ps 'SimpleGasTurbine_shaft_1_speed_1_y'
    'SimpleGasTurbine_shaft_1_speed_1_y'

mtt -o -ss -c SimpleGasTurbine odeso ps \
mtt -o -ss -c SimpleGasTurbine odeso ps 'SimpleGasTurbine_c1_1_P'
    'SimpleGasTurbine_c1_1_P'













Added mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_simp.r version [81a3a4cecb].















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%% Reduce commands to simplify output for system SimpleGasTurbine (SimpleGasTurbine_simp.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

LET c_v = c_p - r;
END;








Added mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_sspar.r version [9448edc654].




















































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% Steady-state parameter file (SimpleGasTurbine_sspar.r)
% Generated by MTT at Thu Mar 26 16:28:59 GMT 1998

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % $Id$
% % $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%Find stored mass to give combustion chamber pressure p_3 (at
% temperature t_3
m_c := (p_3*v_c)/(t_3*r);

%Equate pressures
p_4 := p_1;
p_2 := p_3;

%Compute ss temperatures (isentropic)
t_2 := t_1*(p_2/p_1)^alpha;
t_4 := t_3*(p_4/p_3)^alpha;

%Find the steady-state work output
w_0 := c_p*(t_3-t_4) - c_p*(t_2-t_1);

%Compute the corresponding load resistance (to absorb that work)
r_l := w_0/(omega_0)^2;

%Unit mass flow
mdot := 1;

%Corresponding shaft speed
omega_0 := mdot/k;

%Compute shaft inertia to give unit time constant (j_s*r_l)
j_s := r_l;

%Find angular momentum to give shaft speed omega_0
mom_0 :=  omega_0*j_s;

% Steady-state states
MTTX1 := 	mom_0;

% Steady-state inputs - combustion temperature
MTTU1 := 	t_3; % SimpleGasTurbine (T3)

;;END;









Added mttroot/mtt/lib/examples/Thermal/GasTurbines/SimpleGasTurbine/SimpleGasTurbine_state.txt version [6b258d7849].



















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# State initialisation file (SimpleGasTurbine_state.txt)
# Generated by MTT at Tue Mar 31 12:37:17 BST 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


# Set the states
## Removed by MTT on Mon Nov 27 15:20:21 GMT 2000: x(1) =	 j_s/k ; # SimpleGasTurbine (j_s)

simplegasturbine_shaft_1_j_s	= j_s/k ;








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPipe/TestPipe_abg.fig version [546701647b].




































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2026 1351 4051 1351 3826 1576
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4051 1126 4051 1576
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2027 2702 4052 2702 3827 2927
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4951 2702 6976 2702 6751 2927
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4951 1351 6976 1351 6751 1576
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 8550 3375 8550 405 450 405 450 3375 8550 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4050 2475 4050 2925
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4950 2475 4950 2925
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4950 1125 4950 1575
4 2 4 0 0 0 20 0.0000000 4 240 930 4096 991 [Th_in]\001
4 2 -1 0 0 22 20 0.0000000 4 285 1065 1936 1441 SS:Th_in\001
4 2 -1 0 0 22 20 0.0000000 4 285 1080 1937 2792 SS:Hy_in\001
4 2 4 0 0 0 20 0.0000000 4 270 960 4097 2342 [Hy_in]\001
4 0 -1 0 0 22 20 0.0000000 4 285 1215 7111 1441 SS:Th_out\001
4 0 4 0 0 0 20 0.0000000 4 240 1080 4951 991 [Th_out]\001
4 0 4 0 0 0 20 0.0000000 4 270 1110 4951 2342 [Hy_out]\001
4 0 -1 0 0 22 20 0.0000000 4 285 1230 7111 2792 SS:Hy_out\001
4 1 -1 0 0 22 20 0.0000000 4 285 1110 4545 1980 Pipe:pipe\001








Modified mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPipe/TestPipe_lbl.txt
from [a68022eeb1]
to [151ff03f63].



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%SUMMARY TestPipe
%DESCRIPTION <Detailed description here>
%% Label file for system TestPipe (TestPipe_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1998/11/20 08:02:53  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%ALIAS Pipe IncompressibleFlow/Pipe

% Component type Pipe
	pipe		lin		rho;c_p;lin,r

% Component type SS
	Hy_in		external	external
	Hy_out		external	external
	Th_in		external	external
	Th_out		external	external
	Hy_in		SS	external,external
	Hy_out		SS	external,external
	Th_in		SS	external,external
	Th_out		SS	external,external








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPipe/TestPipe_rep.txt version [864bebdd7e].






























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# Outline report file for system TestPipe (TestPipe_rep.txt)
# Generated by MTT on" Fri Nov 20 08:16:40 GMT 1998.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

mtt TestPipe abg tex			# The system description
mtt TestPipe cbg ps 		        # The causal bond graph
# Uncomment the following lines or add others
mtt TestPipe struc tex	        # The system structure
mtt TestPipe dae tex	        # The system dae
# mtt TestPipe ode tex	        # The system ode 
# mtt TestPipe sspar tex		# Steady-state parameters
# mtt TestPipe ss tex 		# Steady state
# mtt TestPipe dm tex			# Descriptor matrices (of linearised system)
# mtt TestPipe sm tex			# State matrices (of linearised system)
# mtt TestPipe tf tex			# Transfer function (of linearised system)
# mtt TestPipe lmfr ps		# log modulus of frequency response (of linearised system)
# mtt TestPipe simpar tex		# Simulation parameters
# mtt TestPipe numpar tex		# Numerical simulation parameters
# mtt TestPipe input tex		# Simulation input
# mtt TestPipe odeso ps		# Simulation output








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPump/TestPump_abg.fig version [1e77e038d9].










































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2026 1351 4051 1351 3826 1576
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	 2027 2702 4052 2702 3827 2927
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4951 2702 6976 2702 6751 2927
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4951 1351 6976 1351 6751 1576
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 8550 3375 8550 405 450 405 450 3375 8550 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4500 4500 4500 2475 4725 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4275 4500 4725 4500
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4050 2475 4050 2925
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4950 2476 4950 2926
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4950 1125 4950 1575
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4050 1125 4050 1575
4 2 4 0 0 0 20 0.0000 4 255 870 4096 991 [Th_in]\001
4 2 -1 0 0 22 20 0.0000 4 270 1200 1936 1441 SS:Th_in\001
4 2 -1 0 0 22 20 0.0000 4 270 1245 1937 2792 SS:Hy_in\001
4 0 -1 0 0 22 20 0.0000 4 270 1395 7111 1441 SS:Th_out\001
4 0 4 0 0 0 20 0.0000 4 255 1020 4951 991 [Th_out]\001
4 0 -1 0 0 22 20 0.0000 4 270 1440 7111 2792 SS:Hy_out\001
4 2 4 0 0 0 20 0.0000 4 255 885 3735 2565 [Hy_in]\001
4 0 4 0 0 0 20 0.0000 4 255 1035 5355 2565 [Hy_out]\001
4 1 4 0 0 0 20 0.0000 4 240 810 4545 2340 [Shaft]\001
4 1 -1 0 0 22 20 0.0000 4 210 1200 4500 4815 SS:Shaft\001
4 1 -1 0 0 22 20 0.0000 4 270 1740 4545 1980 lPump:pump\001








Modified mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPump/TestPump_lbl.txt
from [9d1c57e1de]
to [0beeb5c1ed].



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%SUMMARY TestPump: test of incompressible-flow pump component
%DESCRIPTION
%% Label file for system TestPump (TestPump_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.5  1998/11/20 13:00:27  peterg
% %% Replaces Pump by lPump in ALIAS
% %%
% %% Revision 1.4  1998/11/20 08:31:24  peterg
% %% Fixed alias error
% %%
% %% Revision 1.3  1998/11/20 08:28:41  peterg
% %% Tidied
% %%
% %% Revision 1.2  1998/11/20 08:09:57  peterg




︙


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%ALIAS lPump IncompressibleFlow/lPump


% Component type lPump
	pump		lin;lin		rho;c_p;flow,r_p;k_p;flow,r_l

% Component type SS
	Hy_in		external	external
	Hy_out		external	external
	Shaft		external	external
	Th_in		external	external
	Th_out		external	external
	Hy_in		SS	external,external
	Hy_out		SS	external,external
	Shaft		SS	external,external
	Th_in		SS	external,external
	Th_out		SS	external,external








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestPump/TestPump_rep.txt version [a84c161cd8].






























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# Outline report file for system TestPump (TestPump_rep.txt)
# Generated by MTT on" Fri Nov 20 08:19:56 GMT 1998.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

mtt TestPump abg tex			# The system description
mtt TestPump cbg ps 		        # The causal bond graph
# Uncomment the following lines or add others
mtt TestPump struc tex	        # The system structure
#mtt TestPump dae tex	        # The system dae
mtt TestPump ode tex	        # The system ode 
# mtt TestPump sspar tex		# Steady-state parameters
# mtt TestPump ss tex 		# Steady state
# mtt TestPump dm tex			# Descriptor matrices (of linearised system)
# mtt TestPump sm tex			# State matrices (of linearised system)
# mtt TestPump tf tex			# Transfer function (of linearised system)
# mtt TestPump lmfr ps		# log modulus of frequency response (of linearised system)
# mtt TestPump simpar tex		# Simulation parameters
# mtt TestPump numpar tex		# Numerical simulation parameters
# mtt TestPump input tex		# Simulation input
# mtt TestPump odeso ps		# Simulation output








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestTank/TestTank_abg.fig version [39fee160b3].








































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2026 1351 4051 1351 3826 1576
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2027 2702 4052 2702 3827 2927
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4951 2702 6976 2702 6751 2927
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4951 1351 6976 1351 6751 1576
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 8550 3375 8550 405 450 405 450 3375 8550 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2025 1125 2025 1575
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6975 1126 6975 1576
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6975 2476 6975 2926
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2025 2476 2025 2926
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4502 4500 4502 2475 4727 2700
4 2 4 0 0 0 20 0.0000000 4 240 930 4096 991 [Th_in]\001
4 2 -1 0 0 22 20 0.0000000 4 285 1065 1936 1441 SS:Th_in\001
4 2 -1 0 0 22 20 0.0000000 4 285 1080 1937 2792 SS:Hy_in\001
4 0 -1 0 0 22 20 0.0000000 4 285 1215 7111 1441 SS:Th_out\001
4 0 4 0 0 0 20 0.0000000 4 240 1080 4951 991 [Th_out]\001
4 0 -1 0 0 22 20 0.0000000 4 285 1230 7111 2792 SS:Hy_out\001
4 1 -1 0 0 22 20 0.0000000 4 225 1140 4545 1980 Tank:tank\001
4 1 4 0 0 0 20 0.0000000 4 240 1170 4590 2295 [Heat_in]\001
4 2 4 0 0 0 20 0.0000000 4 270 960 3915 2565 [Hy_in]\001
4 0 4 0 0 0 20 0.0000000 4 270 1110 5130 2565 [Hy_out]\001
4 1 -1 0 0 0 20 0.0000000 4 240 1590 4500 4860 SS:[Heat_in]\001








Modified mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestTank/TestTank_lbl.txt
from [3122a3f540]
to [f62d6e747b].



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%SUMMARY TestTank: Equations for incompressible-flow Tank component
%DESCRIPTION
%% Label file for system TestTank (TestTank_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.3  1998/11/20 08:36:30  peterg
% %% Corrected alias
% %%
% %% Revision 1.2  1998/11/20 08:09:20  peterg
% %% Added alias for Tank
% %%
% %% Revision 1.1  1998/11/20 08:07:20  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%ALIAS Tank IncompressibleFlow/Tank

% Component type SS
	Heat_in		SS	external,external
	Hy_in		external	external
	Hy_out		external	external
	Th_in		external	external
	Th_out		external	external
	Hy_in		SS	external,external
	Hy_out		SS	external,external
	Th_in		SS	external,external
	Th_out		SS	external,external

% Component type Tank
	tank		none		rho;c_p;c









Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Components/TestTank/TestTank_rep.txt version [92aadf89bd].






























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# Outline report file for system TestTank (TestTank_rep.txt)
# Generated by MTT on" Fri Nov 20 08:11:01 GMT 1998.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

mtt TestTank abg tex			# The system description
mtt TestTank cbg ps 		        # The causal bond graph
# Uncomment the following lines or add others
mtt TestTank struc tex	        # The system structure
# mtt TestTank dae tex	        # The system dae
mtt TestTank ode tex	        # The system ode 
# mtt TestTank sspar tex		# Steady-state parameters
# mtt TestTank ss tex 		# Steady state
# mtt TestTank dm tex			# Descriptor matrices (of linearised system)
# mtt TestTank sm tex			# State matrices (of linearised system)
# mtt TestTank tf tex			# Transfer function (of linearised system)
# mtt TestTank lmfr ps		# log modulus of frequency response (of linearised system)
# mtt TestTank simpar tex		# Simulation parameters
# mtt TestTank numpar tex		# Numerical simulation parameters
# mtt TestTank input tex		# Simulation input
# mtt TestTank odeso ps		# Simulation output








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/In_abg.fig version [991e0796f9].





























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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2253 2253 3198 2253 3018 2433
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2252 4952 3197 4952 3017 5132
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3196 2026 3196 2476
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3195 4725 3195 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3602 4950 4547 4950 4367 5130
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3602 2250 4547 2250 4367 2430
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 7200 5670 7200 1530 675 1530 675 5670 7200 5670
4 2 -1 0 0 0 20 0.0000 4 255 1095 2026 2341 SS:Th_in\001
4 2 -1 0 0 0 20 0.0000 4 255 1110 2071 5041 SS:Hy_in\001
4 1 -1 0 0 0 20 0.0000 4 195 135 3376 5041 0\001
4 1 -1 0 0 0 20 0.0000 4 195 135 3376 2341 0\001
4 0 4 0 0 0 20 0.0000 4 255 2235 4727 5042 SS:[Hydraulic_out]\001
4 0 4 0 0 0 20 0.0000 4 255 2085 4772 2342 SS:[Thermal_out]\001








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/In_desc.tex version [0c97485c1c].


















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% Verbal description for system In (In_desc.tex)
% Generated by MTT on Tue Jan 13 18:02:36 GMT 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{In} is
   displayed in Figure \Ref{In_abg} and its label
   file is listed in Section \Ref{sec:In_lbl}.
   The subsystems are listed in Section \Ref{sec:In_sub}.








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/In_lbl.txt version [3db8aa0e33].































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%SUMMARY In: Inflow conditions
%DESCRIPTION <Detailed description here>
%% Label file for system In (In_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%ALIAS	out Thermal_out,Hydraulic_out
%ALIAS	Th_out  Thermal_out
%ALIAS	Hy_out  Hydraulic_out



% Component type SS
	Hy_in			SS	p_0,external
	Th_in			SS	t_0,external
	[Hydraulic_out]		SS	external,external
	[Thermal_out]		SS	external,external








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_abg.fig version [1fdbc1249e].













































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#FIG 3.1
Portrait
Center
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1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6302 1127 6302 2252 6527 2027
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6077 1127 6527 1127
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9495 2700 10534 2703 10309 2928
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 4
	 6075 5175 3600 5175 3600 3150 3849 3399
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6076 5401 6526 5401
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6300 4950 6300 4050 6525 4275
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 4
	 8775 3150 8775 5175 6525 5175 6750 5400
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6301 6299 6301 5399 6526 5624
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2025 2700 3060 2700 2835 2925
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4497 2698 5715 2700 5490 2925
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6930 2700 8145 2700 7920 2925
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 11925 7200 11925 225 900 225 900 7200 11925 7200
4 1 4 0 0 2 16 0.0000 4 210 750 3602 3062 [Shaft]\001
4 1 4 0 0 2 16 0.0000 4 225 1005 6302 2477 [Heat_in]\001
4 1 4 0 0 2 16 0.0000 4 210 750 8733 3063 [Shaft]\001
4 1 -1 0 0 2 20 0.0000 4 255 1185 3737 2792 lPump:p1\001
4 1 -1 0 0 22 20 0.0000 4 210 1110 6257 1037 SS:Heat\001
4 1 -1 0 0 22 20 0.0000 4 195 150 6301 5266 1\001
4 1 -1 0 0 22 20 0.0000 4 210 1170 6391 6751 SS:Work\001
4 1 -1 0 0 22 20 0.0000 4 270 555 6300 3915 I:j_s\001
4 1 -1 0 0 2 20 0.0000 4 195 1065 6302 2792 Tank:C1\001
4 1 -1 0 0 2 20 0.0000 4 255 1140 8868 2793 lPump:t1\001
4 1 -1 0 0 22 20 0.0000 4 210 570 1620 2790 In:in\001
4 1 -1 0 0 22 20 0.0000 4 210 1005 11116 2791 Out:out\001








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_desc.tex version [4d57456af9].









































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% -*-latex-*- used to set EMACS into LaTeX-mode
% Verbal description for system LiquidTurbine (LiquidTurbine_desc.tex)
% Generated by MTT on Tue Jan 13 18:01:55 GMT 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{LiquidTurbine} is
   displayed in Figure \Ref{LiquidTurbine_abg} and its label
   file is listed in Section \Ref{sec:LiquidTurbine_lbl}.
   The subsystems are listed in Section \Ref{sec:LiquidTurbine_sub}.

\textbf{LiquidTurbine} can be regarded as a single-spool gas turbine
with an incompressible working fluid. Of course, such a device cannot
convert heat to work; however, it provides a useful first step towards
modelling a gas turbine.

There are three main components:
\begin{enumerate}
\item p1 -- a leaky pump \textbf{lPump} component. This is analogous
  to the gas turbine compressor.
\item c1 -- a tank \textbf{Tank} component. This is analogous
  to the gas turbine combustion chamber.
\item t1 -- a leaky turbine \textbf{lTurb} component. This is analogous
  to the gas turbine turbine.
\end{enumerate}
The components \textbf{In} and \textbf{Out} provide the inlet and
outlet conditions.

%%% Local Variables: 
%%% mode: latex
%%% TeX-master: t
%%% End: 








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_lbl.txt version [e86e85fc85].


















































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%SUMMARY LiquidTurbine
%DESCRIPTION <Detailed description here>
%% Label file for system LiquidTurbine (LiquidTurbine_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%ALIAS	lPump	IncompressibleFlow/lPump
%ALIAS	Tank	IncompressibleFlow/Tank

%VAR p_0
%VAR q_0
%VAR t_0


%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

% Component type I
	j_s		lin		flow,j_s

% Component type Pump
	p1		lin;lin		rho;c_p;flow,r_p;k_p;flow,r_pl

% Component type SS
	Heat		SS	external,external
	Work		SS	external,external

% Component type Turb
	t1		lin;lin		rho;c_p;flow,r_t;k_t;flow,r_tl

% Component type Tank
	C1		none		rho;c_p;c_t

% Component type In
	in

% Component type Out
	out









Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_numpar.txt version [5ce4952130].





























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# Numerical parameter file (LiquidTurbine_numpar.txt)
# Generated by MTT at Mon Mar  9 09:16:28 GMT 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
c   =   1.0;
c_p = 	1.0; # LiquidTurbine
c_t = 	1.0; # LiquidTurbine
j_s = 	1.0; # LiquidTurbine
k_p = 	1.0; # LiquidTurbine
k_t = 	1.0; # LiquidTurbine
p_0 = 	1e5; # In,Out
q_0 = 	1e5; # Heat in 
r_p = 	1.0; # LiquidTurbine
r_pl = 	100.0; # LiquidTurbine
r_t = 	1.0; # LiquidTurbine
r_tl = 	100.0; # LiquidTurbine
rho = 	1.0; # LiquidTurbine
t_0 = 	300.0; # In,Out








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/LiquidTurbine_sspar.r version [9128209004].
























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% Steady-state parameter file (LiquidTurbine_sspar.r)
% Generated by MTT at Fri Nov 20 11:42:16 GMT 1998

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % $Id$
% % $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%



% Steady-state states
MTTX1 := 	1; % LiquidTurbine (j_s)
MTTX2 := 	p_0*c/rho; % LiquidTurbine_C1 (tank) - pressure = p0
MTTX3 := 	t_0*p_0*c*c_p; % LiquidTurbine_C1 (tank) - temp = t0
% Steady-state inputs
MTTU1 := 	q_0; % LiquidTurbine (Heat)
MTTU2 := 	0; % LiquidTurbine (Work)
;;END;








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/Out_abg.fig version [50c38b16c3].





























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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2252 4952 3197 4952 3017 5132
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2205 2250 3150 2250 2970 2430
2 1 0 3 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2250 4725 2250 5175
2 1 0 3 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2205 2025 2205 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 4950 4545 4950 4365 5130
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3555 2250 4500 2250 4320 2430
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 6075 5850 6075 1530 45 1530 45 5850 6075 5850
4 2 4 0 0 0 20 0.0000 4 255 2085 2160 5040 SS:[Hydraulic_in]\001
4 2 4 0 0 0 20 0.0000 4 255 1935 2115 2340 SS:[Thermal_in]\001
4 1 -1 0 0 0 20 0.0000 4 195 135 3375 5040 0\001
4 1 -1 0 0 0 20 0.0000 4 195 135 3375 2340 0\001
4 0 -1 0 0 0 20 0.0000 4 255 1245 4590 2340 SS:Th_out\001
4 0 -1 0 0 0 20 0.0000 4 255 1260 4635 5040 SS:Hy_out\001








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/Out_desc.tex version [3dd57dc573].


















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% Verbal description for system Out (Out_desc.tex)
% Generated by MTT on Tue Jan 13 18:02:44 GMT 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{Out} is
   displayed in Figure \Ref{Out_abg} and its label
   file is listed in Section \Ref{sec:Out_lbl}.
   The subsystems are listed in Section \Ref{sec:Out_sub}.








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/LiquidTurbine/Out_lbl.txt version [36c671bdc9].































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%SUMMARY Out: Outflow conditions
%DESCRIPTION <Detailed description here>
%% Label file for system Out (Out_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%ALIAS	in  Thermal_in,Hydraulic_in
%ALIAS	Th_in  Thermal_in
%ALIAS	Hy_in  Hydraulic_in


% Component type SS
	Hy_out		SS	p_0,external
	Th_out		SS	t_0,external
	[Hydraulic_in]	SS	external,external
	[Thermal_in]	SS	external,external









Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/In_abg.fig version [695cb8cbc2].

































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2253 2253 3198 2253 3018 2433
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2252 4952 3197 4952 3017 5132
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3196 2026 3196 2476
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3602 4950 4547 4950 4367 5130
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3602 2250 4547 2250 4367 2430
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 7200 5670 7200 1530 675 1530 675 5670 7200 5670
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2250 4725 2250 5175
4 2 -1 0 0 0 20 0.0000 4 285 1140 2026 2341 SS:Th_in\001
4 2 -1 0 0 0 20 0.0000 4 285 1125 2071 5041 SS:Hy_in\001
4 1 -1 0 0 0 20 0.0000 4 210 150 3376 5041 0\001
4 1 -1 0 0 0 20 0.0000 4 210 150 3376 2341 0\001
4 0 4 0 0 0 20 0.0000 4 285 2295 4727 5042 SS:[Hydraulic_out]\001
4 0 4 0 0 0 20 0.0000 4 285 2175 4772 2342 SS:[Thermal_out]\001








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/In_desc.tex version [0c97485c1c].


















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% Verbal description for system In (In_desc.tex)
% Generated by MTT on Tue Jan 13 18:02:36 GMT 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{In} is
   displayed in Figure \Ref{In_abg} and its label
   file is listed in Section \Ref{sec:In_lbl}.
   The subsystems are listed in Section \Ref{sec:In_sub}.








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/In_lbl.txt version [7b70ce34dc].































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%SUMMARY In: Inflow conditions
%DESCRIPTION <Detailed description here>
%% Label file for system In (In_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%ALIAS	out Thermal_out,Hydraulic_out
%ALIAS	Th_out  Thermal_out
%ALIAS	Hy_out  Hydraulic_out



% Component type SS
	Hy_in			SS	internal,external
	Th_in			SS	external,internal
	[Hydraulic_out]		SS	external,external
	[Thermal_out]		SS	external,external








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/Out_abg.fig version [168ef8465c].

































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2252 4952 3197 4952 3017 5132
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2205 2250 3150 2250 2970 2430
2 1 0 3 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2250 4725 2250 5175
2 1 0 3 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2205 2025 2205 2475
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 4950 4545 4950 4365 5130
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3555 2250 4500 2250 4320 2430
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 6075 5850 6075 1530 45 1530 45 5850 6075 5850
4 2 4 0 0 0 20 0.0000 4 285 2145 2160 5040 SS:[Hydraulic_in]\001
4 2 4 0 0 0 20 0.0000 4 285 2025 2115 2340 SS:[Thermal_in]\001
4 1 -1 0 0 0 20 0.0000 4 210 150 3375 5040 0\001
4 1 -1 0 0 0 20 0.0000 4 210 150 3375 2340 0\001
4 0 -1 0 0 0 20 0.0000 4 285 1290 4590 2340 SS:Th_out\001
4 0 -1 0 0 0 20 0.0000 4 285 1275 4635 5040 SS:Hy_out\001








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/Out_desc.tex version [3dd57dc573].


















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% Verbal description for system Out (Out_desc.tex)
% Generated by MTT on Tue Jan 13 18:02:44 GMT 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{Out} is
   displayed in Figure \Ref{Out_abg} and its label
   file is listed in Section \Ref{sec:Out_lbl}.
   The subsystems are listed in Section \Ref{sec:Out_sub}.








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/Out_lbl.txt version [6454b3a5a6].






























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%SUMMARY Out: Outflow conditions
%DESCRIPTION <Detailed description here>
%% Label file for system Out (Out_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%ALIAS	in  Thermal_in,Hydraulic_in
%ALIAS	Th_in  Thermal_in
%ALIAS	Hy_in  Hydraulic_in


% Component type SS
	Hy_out		SS        p_0,internal
	Th_out		SS        t_0,internal
	[Hydraulic_in]	SS	external,external
	[Thermal_in]	SS	external,external








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_abg.fig version [5d0413d6f9].











































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 6210 4140 6390 4365
4 1 0 100 0 18 18 0.0000 4 195 150 6300 4365 0\001
-6
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9495 2700 10534 2703 10309 2928
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2025 2700 3060 2700 2835 2925
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4497 2698 5715 2700 5490 2925
2 1 0 4 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6930 2700 8145 2700 7920 2925
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 11925 7200 11925 225 900 225 900 7200 11925 7200
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6300 4050 6300 2925 6525 3150
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6525 4275 7650 4275 7425 4500
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4950 4275 6075 4275 5850 4500
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2475 4275 3600 4275 3375 4500
4 1 4 0 0 2 16 0.0000 4 240 1020 6302 2477 [Heat_in]\001
4 1 -1 0 0 2 20 0.0000 4 210 1245 6302 2792 TankC:t1\001
4 1 -1 0 0 2 20 0.0000 4 285 945 8868 2793 Pipe:p2\001
4 1 -1 0 0 22 20 0.0000 4 225 600 1620 2790 In:in\001
4 1 -1 0 0 22 20 0.0000 4 225 1080 11116 2791 Out:out\001
4 1 -1 0 0 2 20 0.0000 4 285 945 3737 2792 Pipe:p1\001
4 1 0 100 0 18 18 0.0000 4 210 1305 4275 4365 RS:heater\001
4 1 0 100 0 18 18 0.0000 4 270 1020 1935 4365 Se:V_in\001
4 1 0 100 0 18 18 0.0000 4 270 1215 8280 4365 De:T_out\001








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_input.txt version [41b9db6185].




















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# -*-octave-*- Put Emacs into octave-mode
# Input specification (ShowerHeater_input.txt)
# Generated by MTT at Tue Dec 14 10:03:59 EST 1999
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

# Set the inputs
mttu(1) = 1e-4*(t>30);		# Inflow
mttu(2) = 280;			# In temperature
mttu(3) = 240*((t<60)&&(t>1));	# Input voltage

# Set the switches








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_lbl.txt version [4a31eec2e1].













































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%SUMMARY ShowerHeater
%DESCRIPTION <Detailed description here>
%% Label file for system ShowerHeater (ShowerHeater_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%ALIAS	Pipe	IncompressibleFlow/Pipe

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank


% Component type Pipe
	p1		lin	        rho;c_p;flow,0
	p2		lin	        rho;c_p;flow,0


% Component type TankC
	t1		TankC		rho;c_p;v

% Component type In
	in

% Component type Out
	out

% Component type RS
        heater	        lin		flow,r_h

% Component type Se
        V_in             SS              external

% Component type De
        T_out            SS              external








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_numpar.txt version [dbff65808f].























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# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (ShowerHeater_numpar.txt)
# Generated by MTT at Tue Dec 14 09:52:42 EST 1999

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
c_p = 	4.184*1e3;		# Specific heat
p_0 = 	0.0;			# Ambient pressure
r   =   1.0;                    # Pipe flow resistance (no idea what
				# this should be)
r_h = 	10.0;			# Heater resistance
rho = 	1e3;			# Density
v = 	1e-3;			# Volume (1 lit)








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_rep.txt version [6ab3f0a293].



























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# Outline report file for system ShowerHeater (ShowerHeater_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1999/02/21 02:13:25  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt  ShowerHeater abg tex
mtt  ShowerHeater struc tex
mtt  ShowerHeater sympar tex
mtt  ShowerHeater ode tex


mtt  ShowerHeater numpar txt
mtt  ShowerHeater input txt

mtt -c  ShowerHeater odeso ps 









Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_simpar.txt version [3b623625a5].






















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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system ShowerHeater (ShowerHeater_simpar.txt)
# Generated by MTT on Tue Dec 14 10:05:57 EST 1999.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################


LAST        = 100.0;		# Last time in simulation
DT          = 0.5;        # Print interval
STEPFACTOR  = 1;          # Integration steps per print interval
WMIN        = -1;         # Minimum frequency = 10^WMIN
WMAX        = 2;          # Maximum frequency = 10^WMAX
WSTEPS      = 100;        # Number of frequency steps
INPUT       = 1;          # Index of the input








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_simpar.txt_old version [3b623625a5].






















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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system ShowerHeater (ShowerHeater_simpar.txt)
# Generated by MTT on Tue Dec 14 10:05:57 EST 1999.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################


LAST        = 100.0;		# Last time in simulation
DT          = 0.5;        # Print interval
STEPFACTOR  = 1;          # Integration steps per print interval
WMIN        = -1;         # Minimum frequency = 10^WMIN
WMAX        = 2;          # Maximum frequency = 10^WMAX
WSTEPS      = 100;        # Number of frequency steps
INPUT       = 1;          # Index of the input








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_sspar.r version [c5e3a0b620].
























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% Steady-state parameter file (ShowerHeater_sspar.r)
% Generated by MTT at Fri Nov 20 11:42:16 GMT 1998

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % $Id$
% % $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%



% Steady-state states
MTTX1 := 	1; % ShowerHeater (j_s)
MTTX2 := 	p_0*c/rho; % ShowerHeater_C1 (tank) - pressure = p0
MTTX3 := 	t_0*p_0*c*c_p; % ShowerHeater_C1 (tank) - temp = t0
% Steady-state inputs
MTTU1 := 	q_0; % ShowerHeater (Heat)
MTTU2 := 	0; % ShowerHeater (Work)
;;END;








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/ShowerHeater_state.txt version [e0b794af70].



















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# -*-octave-*- Put Emacs into octave-mode
# Initial state  file (ShowerHeater_state.txt)
# Generated by MTT at Tue Dec 14 10:06:08 EST 1999
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

# Set the states
mttx(1) 	= 280*rho*v*c_p; # Initial heat in tank











Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/TankC_TankC_abg.fig version [61a9baa3f5].





















































































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 2430 2070 3600 3105
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2445 2477 3570 2477 3345 2702
4 1 1 1 0 3 20 0.0000 4 210 180 2850 2297 T\001
4 1 1 1 0 3 20 0.0000 4 210 150 2985 2387 1\001
4 1 1 1 0 3 20 0.0000 4 210 150 2985 3062 1\001
4 1 1 1 0 3 20 0.0000 4 210 180 2850 2927 S\001
4 1 1 1 0 3 30 0.0000 4 60 120 2850 2657 .\001
-6
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5865 2477 6990 2477 6765 2702
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4065 5627 6990 5627 6765 5852
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7440 2478 8565 2478 8340 2703
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9241 2479 10366 2479 10141 2704
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7440 5626 10365 5626 10140 5851
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 8609 6571 5864 6571 5864 1801 8609 1801 8609 6571
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6989 2701 7439 2701
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7214 2702 7214 3827 7439 3602
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4050 5850 4050 5400
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3825 1127 3825 2252 4050 2027
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4065 2475 5190 2475 4965 2700
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 12825 7155 12825 225 225 225 225 7155 12825 7155
4 0 4 0 0 0 20 0.0000 4 285 2295 10546 5719 SS:[Hydraulic_out]\001
4 0 4 0 0 0 20 0.0000 4 285 2175 10501 2569 SS:[Thermal_out]\001
4 2 4 0 0 0 20 0.0000 4 285 2145 4019 5716 SS:[Hydraulic_in]\001
4 1 -1 0 0 22 20 0.0000 4 225 390 5550 2567 ES\001
4 1 1 1 0 3 20 0.0000 4 210 150 4606 5538 1\001
4 1 1 1 0 3 30 0.0000 4 60 120 4471 5808 .\001
4 1 1 1 0 3 20 0.0000 4 210 180 4471 5448 P\001
4 1 1 1 0 3 20 0.0000 4 210 210 4471 6078 V\001
4 1 4 0 0 0 20 0.0000 4 270 300 5280 2252 [s]\001
4 1 4 0 0 0 20 0.0000 4 270 315 5820 2252 [e]\001
4 1 1 1 0 3 20 0.0000 4 210 150 6406 2388 1\001
4 1 1 1 0 3 20 0.0000 4 210 660 6584 2206 T - T\001
4 1 1 1 0 3 20 0.0000 4 210 150 6899 2386 0\001
4 1 1 1 0 3 30 0.0000 4 60 120 6497 2659 .\001
4 1 1 1 0 3 20 0.0000 4 210 195 6497 2929 E\001
4 1 -1 0 0 22 20 0.0000 4 225 915 7214 4186 C:tank\001
4 1 -1 0 0 22 20 0.0000 4 210 165 7215 5762 0\001
4 1 -1 0 0 22 20 0.0000 4 225 390 8925 2568 ES\001
4 1 1 1 0 3 30 0.0000 4 60 120 9648 5811 .\001
4 1 1 1 0 3 20 0.0000 4 210 180 9648 5451 P\001
4 1 1 1 0 3 20 0.0000 4 210 210 9648 6081 V\001
4 1 1 1 0 3 20 0.0000 4 210 150 9783 5541 2\001
4 1 1 1 0 3 20 0.0000 4 210 195 7846 2930 E\001
4 1 4 0 0 0 20 0.0000 4 270 315 8655 2208 [e]\001
4 1 4 0 0 0 20 0.0000 4 270 300 9150 2208 [s]\001
4 1 1 1 0 3 20 0.0000 4 210 180 9648 2301 T\001
4 1 1 1 0 3 20 0.0000 4 210 150 9783 2391 2\001
4 1 1 1 0 3 20 0.0000 4 210 180 9648 2931 S\001
4 1 1 1 0 3 30 0.0000 4 60 120 9648 2661 .\001
4 1 1 1 0 3 20 0.0000 4 210 150 9783 3066 2\001
4 1 1 1 0 3 30 0.0000 4 60 120 7846 2660 .\001
4 1 1 1 0 3 20 0.0000 4 210 660 7936 2209 T - T\001
4 1 1 1 0 3 20 0.0000 4 210 150 8251 2389 0\001
4 1 1 1 0 3 20 0.0000 4 210 150 7758 2391 2\001
4 1 1 1 0 3 20 0.0000 4 285 2550 7259 6346 Pseudo Bond Graph\001
4 1 4 0 0 0 20 0.0000 4 285 1530 3870 945 SS:[Heat_in]\001
4 1 -1 0 0 22 20 0.0000 4 210 165 7245 2565 0\001
4 1 -1 0 0 22 20 0.0000 4 210 165 3825 2565 0\001
4 2 4 0 0 0 20 0.0000 4 285 2025 2385 2565 SS:[Thermal_in]\001








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/TankC_abg.fig version [61a9baa3f5].





















































































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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 2430 2070 3600 3105
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2445 2477 3570 2477 3345 2702
4 1 1 1 0 3 20 0.0000 4 210 180 2850 2297 T\001
4 1 1 1 0 3 20 0.0000 4 210 150 2985 2387 1\001
4 1 1 1 0 3 20 0.0000 4 210 150 2985 3062 1\001
4 1 1 1 0 3 20 0.0000 4 210 180 2850 2927 S\001
4 1 1 1 0 3 30 0.0000 4 60 120 2850 2657 .\001
-6
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5865 2477 6990 2477 6765 2702
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4065 5627 6990 5627 6765 5852
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7440 2478 8565 2478 8340 2703
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 9241 2479 10366 2479 10141 2704
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7440 5626 10365 5626 10140 5851
2 4 1 2 1 7 1 0 -1 6.000 0 0 7 0 0 5
	 8609 6571 5864 6571 5864 1801 8609 1801 8609 6571
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6989 2701 7439 2701
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7214 2702 7214 3827 7439 3602
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4050 5850 4050 5400
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3825 1127 3825 2252 4050 2027
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4065 2475 5190 2475 4965 2700
2 4 0 2 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 12825 7155 12825 225 225 225 225 7155 12825 7155
4 0 4 0 0 0 20 0.0000 4 285 2295 10546 5719 SS:[Hydraulic_out]\001
4 0 4 0 0 0 20 0.0000 4 285 2175 10501 2569 SS:[Thermal_out]\001
4 2 4 0 0 0 20 0.0000 4 285 2145 4019 5716 SS:[Hydraulic_in]\001
4 1 -1 0 0 22 20 0.0000 4 225 390 5550 2567 ES\001
4 1 1 1 0 3 20 0.0000 4 210 150 4606 5538 1\001
4 1 1 1 0 3 30 0.0000 4 60 120 4471 5808 .\001
4 1 1 1 0 3 20 0.0000 4 210 180 4471 5448 P\001
4 1 1 1 0 3 20 0.0000 4 210 210 4471 6078 V\001
4 1 4 0 0 0 20 0.0000 4 270 300 5280 2252 [s]\001
4 1 4 0 0 0 20 0.0000 4 270 315 5820 2252 [e]\001
4 1 1 1 0 3 20 0.0000 4 210 150 6406 2388 1\001
4 1 1 1 0 3 20 0.0000 4 210 660 6584 2206 T - T\001
4 1 1 1 0 3 20 0.0000 4 210 150 6899 2386 0\001
4 1 1 1 0 3 30 0.0000 4 60 120 6497 2659 .\001
4 1 1 1 0 3 20 0.0000 4 210 195 6497 2929 E\001
4 1 -1 0 0 22 20 0.0000 4 225 915 7214 4186 C:tank\001
4 1 -1 0 0 22 20 0.0000 4 210 165 7215 5762 0\001
4 1 -1 0 0 22 20 0.0000 4 225 390 8925 2568 ES\001
4 1 1 1 0 3 30 0.0000 4 60 120 9648 5811 .\001
4 1 1 1 0 3 20 0.0000 4 210 180 9648 5451 P\001
4 1 1 1 0 3 20 0.0000 4 210 210 9648 6081 V\001
4 1 1 1 0 3 20 0.0000 4 210 150 9783 5541 2\001
4 1 1 1 0 3 20 0.0000 4 210 195 7846 2930 E\001
4 1 4 0 0 0 20 0.0000 4 270 315 8655 2208 [e]\001
4 1 4 0 0 0 20 0.0000 4 270 300 9150 2208 [s]\001
4 1 1 1 0 3 20 0.0000 4 210 180 9648 2301 T\001
4 1 1 1 0 3 20 0.0000 4 210 150 9783 2391 2\001
4 1 1 1 0 3 20 0.0000 4 210 180 9648 2931 S\001
4 1 1 1 0 3 30 0.0000 4 60 120 9648 2661 .\001
4 1 1 1 0 3 20 0.0000 4 210 150 9783 3066 2\001
4 1 1 1 0 3 30 0.0000 4 60 120 7846 2660 .\001
4 1 1 1 0 3 20 0.0000 4 210 660 7936 2209 T - T\001
4 1 1 1 0 3 20 0.0000 4 210 150 8251 2389 0\001
4 1 1 1 0 3 20 0.0000 4 210 150 7758 2391 2\001
4 1 1 1 0 3 20 0.0000 4 285 2550 7259 6346 Pseudo Bond Graph\001
4 1 4 0 0 0 20 0.0000 4 285 1530 3870 945 SS:[Heat_in]\001
4 1 -1 0 0 22 20 0.0000 4 210 165 7245 2565 0\001
4 1 -1 0 0 22 20 0.0000 4 210 165 3825 2565 0\001
4 2 4 0 0 0 20 0.0000 4 285 2025 2385 2565 SS:[Thermal_in]\001








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/TankC_cr.r version [b7730f4aa2].



















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% Constitutive relation file for TankC (TankC_cr.r)
% Generated by MTT at Thu Mar  5 10:30:23 GMT 1998

OPERATOR TankC;

%Pressure
% -- not relevant here

%Temperature
FOR ALL rho,c_p,volume,Energy
LET TankC(rho,c_p,volume,effort,1,
	Energy,state,1
	) = Energy/(volume*rho*c_p);

END;








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/TankC_desc.tex version [944934a0ef].


















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% Verbal description for system TankC (TankC_desc.tex)
% Generated by MTT on Tue Jan 13 18:03:04 GMT 1998.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{TankC} is
   displayed in Figure \Ref{TankC_abg} and its label
   file is listed in Section \Ref{sec:TankC_lbl}.
   The subsystems are listed in Section \Ref{sec:TankC_sub}.








Added mttroot/mtt/lib/examples/Thermal/Incompressible/Incompressible-Systems/ShowerHeater/TankC_lbl.txt version [649a90bba0].






























































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%% Label file for system TankC (TankC_lbl.txt)
%SUMMARY TankC: TankC of hot incompressible liquid - fixed volume
%DESCRIPTION rho - density; c_p - specific heat; v - volume
%DESCRIPTION Typical lable: tank  TankC  rho;c_p;v

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.3  1998/11/20 13:20:27  peterg
% %% Aliased ports
% %%
% %% Revision 1.2  1998/11/20 09:46:34  peterg
% %% Modernised lbl syntax
% %%
% %% Revision 1.1  1998/11/20 08:57:19  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	in  Thermal_in,Hydraulic_in
%ALIAS	out Thermal_out,Hydraulic_out

%ALIAS	Th_in  Thermal_in
%ALIAS	Hy_in  Hydraulic_in

%ALIAS	Th_out  Thermal_out
%ALIAS	Hy_out  Hydraulic_out

%ALIAS	Heat	Heat_in

% Argument aliases
%ALIAS	$1	rho
%ALIAS	$2	c_p
%ALIAS	$3	v

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type C
	tank		TankC	       rho,c_p,v

% Component type SS
	[Heat_in]	SS	external,external
	[Hydraulic_in]	SS	external,external
	[Hydraulic_out]	SS	external,external
	[Thermal_in]	SS	external,external
	[Thermal_out]	SS	external,external











Added mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_abg.fig version [ebaa782f1c].









































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4500 3150 5850 3150 5625 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4500 4275 5850 4275 5625 4500
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1800 3150 3150 3150 2925 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3150 2925 3150 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 1800 4050 1800 4500
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1777 4275 3127 4275 2902 4500
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4500 4095 4500 4545
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6975 3150 8325 3150 8100 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6975 2925 6975 3375
2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5
	 2925 2025 4725 2025 4725 5400 2925 5400 2925 2025
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 9450 5850 9450 1575 450 1575 450 5850 9450 5850
4 0 -1 0 0 0 20 0.0000000 4 240 870 6030 3240 RT:r_2\001
4 2 4 0 0 0 20 0.0000000 4 240 690 2835 3060 [t_in]\001
4 0 4 0 0 0 20 0.0000000 4 240 840 4770 3015 [t_out]\001
4 2 4 0 0 0 20 0.0000000 4 240 735 2880 4185 [e_in]\001
4 0 4 0 0 0 20 0.0000000 4 240 885 4770 4185 [e_out]\001
4 2 -1 0 0 0 20 0.0000000 4 240 900 1620 3240 SS:T_1\001
4 0 -1 0 0 0 20 0.0000000 4 240 900 8460 3240 SS:T_2\001
4 2 -1 0 0 0 20 0.0000000 4 240 780 1665 4365 SS:I_r\001
4 0 -1 0 0 0 20 0.0000000 4 240 930 5985 4365 SS:V_0\001
4 1 -1 0 0 0 20 0.0000000 4 270 1575 3780 3825 Segment:s*20\001








Added mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_desc.tex version [4a2a8618be].







































































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% Verbal description for system HeatedRod (HeatedRod_desc.tex)
% Generated by MTT on Thu Sep 4 18:05:09 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1997/09/11 16:16:50  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

\begin{table}[htbp]
  \begin{center}
    \leavevmode
    \begin{tabular}{l l l}
      \hline
      Parameter & Symbol & Value  \\
      \hline
      Length & $L_r$ & 1m \\
      Diameter & $D_r$ & 1mm \\
      Resistivity & $\rho$ & $1.68\times10^{-9} \Omega$m \\
      Thermal conductivity & $\sigma$ & 390 W$\text{m}^{-1}$\\
      Thermal capacity & $\kappa$ & 380 J$\text{m}^{-3}$\\
      \hline
    \end{tabular}
    \caption{Heated rod parameters}
    \label{tab:rod}
  \end{center}
\end{table}

 System \textbf{HeatedRod} is a model of a well-insulated rod of copper with an
 electric current passing through it which warms it up. The two ends of
 the rod are fixed at ambient temperature; this is where all the heat
 loss occurs. 
 
 This example introduces the idea of the {\bf FP}, \textbf{RT} and
 \textbf{CT} components in the context of thermal conduction.
 
 The model is similar to that described in chapter 8 of \citeN{Cel91}.
 However, instead of representing the thermal resistance by {\bf RS}
 components and reinserting the entropy flow, the {\bf RT} component
 uses two {\bf FP} components to convert from true to pseudo bonds and
 back again. Similary, the thermal capacity is modelled by the {\bf
   CT} component.
 
 This distributed system (which strictly speaking has a partial
 differential equation model) is approximated by an ordinary
 diffferential equation model by modelling the system by a number of
 discrete segments of length $\Delta x$. Each segment model consists
 of two conceptual parts.
 \begin{itemize}
 \item An ideal lump of copper with no thermal resistance but with the
   normal attributes of electrical resistance (modelled by the
   \textbf{RS} component and thermal capacity (modelled by the
   \textbf{CF} component).
 \item A thin lump wtih thermal resistance but no thermal capacity or
   electrical resistance (modeled by the \textbf{RT} component).
 \end{itemize}
At this level of the hierarchy, all bonds are true energy bonds and
thus energy conservation is assured. Note that the \textbf{RS}
component correctely transforms electrical to thermal energy.

The system was simulated with a total of nine lumps whilst passing a
current of 1A though the rod for a total of 10s. The initial
temperature and the end temperatures were all set at 300K.








Added mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_input.txt version [514b68757e].



















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# Numerical parameter file (HeatedRod_input.txt)
# Generated by MTT at Thu Sep  4 16:11:06 BST 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %% Revision 1.1  1998/08/15 13:40:20  peterg
# %% Initial revision
# %%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Set the inputs
u(1) =	10.0*(t<5.0); # I_r 








Added mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_lbl.txt version [d5b6ca5013].




















































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%SUMMARY HeatedRod: Thermal/Electrical model of Electric rod
%DESCRIPTION Introduces the idea of the ES component which
%DESCRIPTION transforms a relative-temperature/enthalpy pseudo bond 
%DESCRIPTION (at the [e]port) into an absolute-temperature/enntropy 
%DESCRIPTION energy bond (at the [s] port) and vice versa.

%VAR rod_length
%VAR rod_radius
%VAR electrical_resistivity
%VAR thermal_resistivity
%VAR thermal_capacity
%VAR segments
%VAR area
%VAR delta_x
%VAR volume
%VAR density
%VAR mass

%% Label file for system HeatedRod (HeatedRod_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1997/09/11 16:16:29  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type RT
	r_2		lin	flow,r_2

% Component type SS
	I_r	SS	internal,external
	T_1	SS	t_0,internal
	T_2	SS	t_0,internal
	V_0	SS	internal,internal

% Component type Segment
	s








Added mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_numpar.txt version [a9f0752d97].











































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# Numerical parameter file (HeatedRod_numpar.txt)
# Generated by MTT at Thu Sep  4 16:11:04 BST 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %% Revision 1.1  1998/08/15 13:40:33  peterg
# %% Initial revision
# %%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


# Constants for copper
density = 8.96;
rod_length = 1.0;
rod_radius = 1e-3;
electrical_resistivity = 16.8*0.000000001;
thermal_resistivity = 1/390.0;
thermal_capacity = 380.0;


segments = 20;
area = pi*rod_radius*rod_radius;
delta_x = rod_length/segments;
volume = area*delta_x;
mass = volume*density;

# Parameters
c_t = 	thermal_capacity*mass;
r = 	electrical_resistivity*delta_x/area;
r_t = 	thermal_resistivity*delta_x/area;
r_2 = 	r_t;
t_0 = 	300; # Ambient












Added mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_simpar.txt version [b039d6f9cd].

























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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system HR (HR_simpar.txt)
# Generated by MTT on Wednesday July 29 13:59:50 BST 1998.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.1  1998/08/15 13:40:47  peterg
## Initial revision
##
###############################################################


LAST        = 10;       # Last time in simulation
WMIN        = 1;         # Minimum frequency = 10^WMIN
WMAX        = 2;          # Maximum frequency = 10^WMAX
WSTEPS      = 100;        # Number of frequency steps

STEPFACTOR = 1; # Added automatically
DT = 0.1;                 # Added automatically








Added mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_sspar.r version [a711759aa0].































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% Steady-state parameter file (HeatedRod_sspar.r)
% Generated by MTT at Thu Jun 25 09:32:38 BST 1998

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % $Id$
% % $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%



% Steady-state states
MTTX1 := 	t_0*c_t; % HeatedRod_s_c_t (c)
MTTX2 := 	t_0*c_t; % HeatedRod_s_c_t (c)
MTTX3 := 	t_0*c_t; % HeatedRod_s_c_t (c)
MTTX4 := 	t_0*c_t; % HeatedRod_s_c_t (c)
MTTX5 := 	t_0*c_t; % HeatedRod_s_c_t (c)
MTTX6 := 	t_0*c_t; % HeatedRod_s_c_t (c)
MTTX7 := 	t_0*c_t; % HeatedRod_s_c_t (c)
MTTX8 := 	t_0*c_t; % HeatedRod_s_c_t (c)
MTTX9 := 	t_0*c_t; % HeatedRod_s_c_t (c)

% Steady-state inputs
MTTU1 := 	1.0; % HeatedRod (I_r)

;;END;








Added mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/HeatedRod_state.txt version [c02c4e3e15].



































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# -*-octave-*- Put Emacs into octave-mode
# Initial state  file (HeatedRod_state.txt)
# Generated by MTT at Sat Aug 15 15:34:41 BST 1998
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

# Set the states
mttx(1) 	= c_t*t_0; 	# c (HeatedRod_s_c_t)
mttx(2) 	= c_t*t_0; 	# c (HeatedRod_s_c_t)
mttx(3) 	= c_t*t_0; 	# c (HeatedRod_s_c_t)
mttx(4) 	= c_t*t_0; 	# c (HeatedRod_s_c_t)
mttx(5) 	= c_t*t_0; 	# c (HeatedRod_s_c_t)
mttx(6) 	= c_t*t_0; 	# c (HeatedRod_s_c_t)
mttx(7) 	= c_t*t_0; 	# c (HeatedRod_s_c_t)
mttx(8) 	= c_t*t_0; 	# c (HeatedRod_s_c_t)
mttx(9) 	= c_t*t_0; 	# c (HeatedRod_s_c_t)
mttx(10) 	= c_t*t_0; 	# c (HeatedRod_s_c_t)
mttx(11) 	= c_t*t_0; 	# c (HeatedRod_s_c_t)
mttx(12) 	= c_t*t_0; 	# c (HeatedRod_s_c_t)
mttx(13) 	= c_t*t_0; 	# c (HeatedRod_s_c_t)
mttx(14) 	= c_t*t_0; 	# c (HeatedRod_s_c_t)
mttx(15) 	= c_t*t_0; 	# c (HeatedRod_s_c_t)
mttx(16) 	= c_t*t_0; 	# c (HeatedRod_s_c_t)
mttx(17) 	= c_t*t_0; 	# c (HeatedRod_s_c_t)
mttx(18) 	= c_t*t_0; 	# c (HeatedRod_s_c_t)
mttx(19) 	= c_t*t_0; 	# c (HeatedRod_s_c_t)
mttx(20) 	= c_t*t_0; 	# c (HeatedRod_s_c_t)








Added mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/Segment_abg.fig version [b5d0a0a3ff].
















































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1306 2476 2881 2476 2656 2701
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3781 2476 5356 2476 5131 2701
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5761 2476 8550 2475 8325 2700
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5581 4276 5581 2701 5806 2926
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5581 6301 5581 4726 5806 4951
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1350 6525 5356 6526 5131 6751
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5806 6526 8550 6525 8325 6750
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5806 2701 6920 3815 6601 3815
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5581 2251 5581 676 5806 901
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5356 676 5806 676
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 9900 7425 9900 90 45 90 45 7425 9900 7425
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 7650 4455 7650 1800 1575 1800 1575 4455 7650 4455
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 7650 6975 7650 4545 1575 4545 1575 6975 7650 6975
4 1 -1 0 0 0 20 0.0000000 4 240 810 3331 2566 RT:r_t\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 5581 2566 0\001
4 1 -1 0 0 0 20 0.0000000 4 210 555 5581 4591 RS:r\001
4 1 -1 0 0 0 20 0.0000000 4 210 150 5581 6616 1\001
4 1 -1 0 0 0 20 0.0000000 4 240 840 7021 4141 CT:c_t\001
4 1 -1 0 0 0 20 0.0000000 4 240 870 5581 586 SS:T_s\001
4 2 4 0 0 0 20 0.0000000 4 240 1020 1261 2566 SS:[t_in]\001
4 0 4 0 0 0 20 0.0000000 4 240 1020 8685 2565 SS:[t_out]\001
4 2 4 0 0 0 20 0.0000000 4 240 1065 1260 6615 SS:[e_in]\001
4 0 4 0 0 0 20 0.0000000 4 240 1065 8685 6615 SS:[e_out]\001
4 0 1 1 0 0 20 0.0000000 4 240 1875 1845 4050 Thermal model\001
4 0 1 1 0 0 20 0.0000000 4 240 2025 1800 5175 Electrical model\001
4 0 1 1 0 0 20 0.0000000 4 270 2415 6075 585 Temperature sensor\001








Added mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/Segment_desc.tex version [6387facfb7].























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% Verbal description for system Segment (Segment_desc.tex)
% Generated by MTT on Thu Sep 4 18:05:43 BST 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%



   The acausal bond graph of system \textbf{Segment} is
   displayed in Figure \ref{Segment_abg} and its label
   file is listed in Section \ref{sec:Segment_lbl}.
   The subsystems are listed in Section \ref{sec:Segment_sub}.











Added mttroot/mtt/lib/examples/Thermal/ThermalConduction/HeatedRod/Segment_lbl.txt version [1cb8b4681d].











































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%SUMMARY Segment: Segment of HeatedRod
%DESCRIPTION Part of the HeatedRod example.
%% Label file for system Segment (Segment_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1998/08/10 12:29:48  peterg
% %% Added missing ports.
% %%
% %% Revision 1.1  1997/09/11 16:17:14  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type CT
	c_t		lin	effort,c_t

% Component type RS
	r		lin	flow,r

% Component type RT
	r_t		lin	flow,r_t

% Component type SS
	T_s		SS		external,0
	[t_in]		SS		external,external
	[t_out]		SS		external,external
	[e_in]		SS		external,external
	[e_out]		SS		external,external








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_abg.fig version [7b663bd4fd].






























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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3827 3152 5402 3152 5177 3377
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 6977 3152 8552 3152 8327 3377
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8552 2927 8552 3377
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1352 3150 2927 3150 2702 3375
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 9900 5850 9900 450 0 450 0 5850 9900 5850
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2925 2925 2925 3375
4 1 -1 0 0 0 20 0.0000000 4 270 1440 6212 3242 Cycle:cycle\001
4 0 -1 0 0 0 20 0.0000000 4 210 1110 8687 3242 SS:Work\001
4 1 1 1 0 3 20 0.0000000 4 210 735 4456 3466 dS/dT\001
4 1 1 1 0 3 20 0.0000000 4 210 180 4501 2926 T\001
4 1 1 1 0 3 20 0.0000000 4 210 180 7921 2926 P\001
4 1 1 1 0 3 20 0.0000000 4 210 765 7786 3466 dV/dT\001
4 2 -1 0 0 0 20 0.0000000 4 210 990 1170 3285 SS:Heat\001
4 1 1 1 0 3 30 0.0000000 4 390 2310 5085 4635 Carnot cycle\001
4 1 -1 0 0 0 20 0.0000000 4 210 570 3375 3240 RT:r\001








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_input.txt version [1e7784419c].














































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# Numerical parameter file (CarnotCycle_input.txt)
# Generated by MTT at Mon Dec  8 20:05:30 GMT 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


alpha = 0.553;

# Set the inputs
if ((t>=0.0)&&(t<1.0))		#Cooling
  u(1) = 300.0;			# Source temperature
  r    = 1e-5;			# Small r - isothermal
  u(2) = -alpha;		# Volume rate-of-change
endif;

if ((t>=1.0)&&(t<2.0))		#Compression
  u(1) = 300.0;			# Source temperature 
  r    = 1e5;			# Large resistance -- isentropic
  u(2) = -(0.8-alpha);		# Volume rate-of-change
  TopTemp = x(1)/(m_g*c_v);
endif;

if ((t>=2.0)&&(t<3.0))		#Heating
  u(1) = TopTemp;		# Source temperature
  r    = 1e-5;			# Small r - isothermal
  u(2) = (0.8-alpha);		# Volume rate-of-change
endif;

if (t>=3.0)			#Cooling
%  Temp = x(1)/(m_g*c_v);	# 
  u(1) = 300.0;			# Source temperature
  r    = 1e5;			# Large resistance -- no entropy flow
  u(2) = alpha;			# Volume rate-of-change
endif;











Modified mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_numpar.txt
from [050f6680c6]
to [001ae1d227].



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# Numerical parameter file (CarnotCycle_numpar.txt)
# Generated by MTT at Mon Dec  8 20:02:31 GMT 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %% Revision 1.1  1998/03/04 11:49:01  peterg
# %% Initial revision
# %%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Initial states -- needed to choose an approppriate mass
P_0 = 1e5;
V_0 = 1;
T_0 = 300;

# Parameters
r = 	1.0; # Parameter r for CarnotCycle
c_v = 	718.0; # Parameter c_v for CT2
gamma = 1.4; # Parameter gamma for CT2
m = 	1.0; # Parameter m for CT2
t_0 = 	300.0; # Parameter t_0 for CT
c_v = 	718.0; # Parameter c_v for CU
gamma_g = 1.4; # Parameter gamma for CU
m_g = 	P_0*V_0/(T_0*(gamma_g-1)*c_v); # Parameter m for CU


r = 	1.0; # Parameter r for CarnotCycle










Added mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_params.r version [20ff45d443].















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%% Parameter file for system CarnotCycle (CarnotCycle_params.r)
%% This file provides symbolic parameters for simplification

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

END;








Modified mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_rep.txt
from [f1a4777463]
to [972b985cb2].



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# Outline report file for system CarnotCycle (CarnotCycle_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1999/02/21 02:15:05  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt -ss -o CarnotCycle abg tex
mtt -ss -o CarnotCycle struc tex
mtt -ss -o CarnotCycle ode tex
mtt -ss -o CarnotCycle ss tex

mtt -ss -o CarnotCycle numpar txt
mtt -ss -o CarnotCycle input txt
mtt -ss -o CarnotCycle odes h
mtt -ss -o CarnotCycle odeso ps 'CarnotCycle_cycle_V'
mtt -ss -o CarnotCycle odeso ps 'CarnotCycle_cycle_P'
mtt -ss -o CarnotCycle odeso ps 'CarnotCycle_cycle_S'
mtt -ss -o CarnotCycle odeso ps 'CarnotCycle_cycle_T'
mtt -ss -o CarnotCycle odeso ps 'CarnotCycle_cycle_V:CarnotCycle_cycle_P'
mtt -ss -o CarnotCycle odeso ps 'CarnotCycle_cycle_S:CarnotCycle_cycle_T'

mtt -ss -c -o CarnotCycle odeso ps 'CarnotCycle_cycle_V'
mtt -ss -c -o CarnotCycle odeso ps 'CarnotCycle_cycle_P'
mtt -ss -c -o CarnotCycle odeso ps 'CarnotCycle_cycle_S'
mtt -ss -c -o CarnotCycle odeso ps 'CarnotCycle_cycle_T'
mtt -ss -c -o CarnotCycle odeso ps 'CarnotCycle_cycle_V:CarnotCycle_cycle_P'
mtt -ss -c -o CarnotCycle odeso ps 'CarnotCycle_cycle_S:CarnotCycle_cycle_T'








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_simp.r version [8c64ed9a32].














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%% Reduce comands to simplify output for system CarnotCycle (CarnotCycle_simp.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

END;








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_simpar.txt version [4178b56134].
















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%% Simulation parameters for system OttoCycle (OttoCycle_simpar.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

LAST=4.0
DT=0.01
STEPFACTOR=10








Modified mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/CarnotCycle/CarnotCycle_sspar.r
from [fe27cc3f43]
to [7171022687].



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% Steady-state parameter file (CarnotCycle_sspar.r)
% Generated by MTT at Wed Mar  4 11:02:40 GMT 1998

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % $Id$
% % $Log$
% % Revision 1.1  1998/03/04 11:49:14  peterg
% % Initial revision
% %
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%



% Set a pressure of 1 bar
P_0 := 10^5;

% Unit initial volume
V_0 := 1;

% Internal energy
U_0 := P_0*V_0/(gamma_g-1);

% Set initial temperature of 300k
T_0 := 300;

% Deduce the mass of gas
m :=  U_0/(T_0*c_v);

% Entropy
S_0 := U_0/T_0;

% Steady-state states
MTTX1 := 	t_0*m*c_v; % CarnotCycle_cycle_gas (c)
MTTX2 := 	10.0;      % CarnotCycle_cycle_gas (c)
MTTX3 := 	m*c_v;	   % CarnotCycle_cycle_entropy (3)
MTTX4 := 	10.0;      % CarnotCycle_cycle_volume (3)
MTTX1 := 	U_0;         % CarnotCycle_cycle_gas (c)
MTTX2 := 	V_0;         % CarnotCycle_cycle_gas (c)
MTTX3 := 	S_0;         % CarnotCycle_cycle_entropy (3)
MTTX4 := 	V_0;         % CarnotCycle_cycle_volume (3)

% Steady-state inputs
MTTU1 := 	0; % CarnotCycle (Heat)
MTTU2 := 	0; % CarnotCycle (Work)
;;END;









Added mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_abg.fig version [88eaa76f60].





































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2026 3151 3601 3151 3376 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5176 3151 6751 3151 6526 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6751 2926 6751 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2026 2926 2026 3376
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 10350 5850 10350 450 675 450 675 5850 10350 5850
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7425 2925 7425 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7426 3150 9001 3150 8776 3375
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7065 2924 7065 1349 7290 1574
4 1 4 0 0 0 20 0.0000 4 240 735 3601 2926 [Heat]\001
4 1 -1 0 0 0 20 0.0000 4 255 1290 4411 3241 Cycle:cycle\001
4 1 4 0 0 0 20 0.0000 4 240 825 5176 2926 [Work]\001
4 2 -1 0 0 0 20 0.0000 4 195 960 1936 3241 SS:Heat\001
4 1 1 1 0 3 20 0.0000 4 210 690 2655 3465 dS/dT\001
4 1 1 1 0 3 20 0.0000 4 195 165 2700 2925 T\001
4 1 1 1 0 3 20 0.0000 4 195 165 6120 2925 P\001
4 1 1 1 0 3 20 0.0000 4 210 720 5985 3465 dV/dT\001
4 0 -1 0 0 0 20 0.0000 4 195 1050 9091 3241 SS:Work\001
4 1 1 1 0 3 30 0.0000 4 405 2085 5535 4500 Diesel cycle\001
4 1 -1 0 0 0 20 0.0000 4 195 135 7066 3241 1\001
4 1 -1 0 0 0 20 0.0000 4 195 375 7021 1261 R:r\001








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_input.txt version [6836ac416b].
















































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# Numerical parameter file (DieselCycle_input.txt)
# Generated by MTT at Thu Dec  4 11:17:09 GMT 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


# Set the inputs

if ((t>=0.0)&&(t<1.0))		#Compression
  u(1) = 0.0;			# Entropy flow
  r = 1e10;			# Big R to make a flow source 
  u(2) = 0.8*r;			#- Volume rate-of-change
  TopPressure = (gamma_g-1)*(x(1)/x(2))
endif;

if ((t>=1.0)&&(t<2.0))		#Heating
  u(1) = 1000;			# Entropy flow
  r    = 1e4;			# small r constant pressure
  u(2) = TopPressure;		# Pressure source
  Volume = x(4);
endif;

if ((t>=2.0)&&(t<3.0))		#Expansion
  u(1) = 0.0;			# Entropy flow
  r = 1e10;			# Big R to make a flow source 
  u(2) = -(1-Volume)*r;		# Volume rate-of-change
endif;

if (t>=3.0)			#Cooling
  Pressure = (gamma_g-1)*x(1)/x(2);
  u(1) = -1000*(Pressure>1e5);	# Entropy flow
  r = 1e10;			# Big R to make a flow source 
  u(2) = 0.0*r;			# Volume rate-of-change
endif;













Modified mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_lbl.txt
from [af8cc4d544]
to [8af9af50cf].



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%SUMMARY DieselCycle:a simple closed thermodynamic cycle
%DESCRIPTION The Diese cycle is a simple closed thermodynamic cycle
%DESCRIPTION with four parts:
%DESCRIPTION o Isentropic compression
%DESCRIPTION o Heating at constant pressure
%DESCRIPTION o Isentropic expansion
%DESCRIPTION o Cooling at constant volume
  
%VAR P_0
%VAR T_0
%VAR V_0
%VAR S_0
%VAR U_0
%VAR TopPressure
%VAR Volume
%VAR Pressure

%% Label file for system DieselCycle (DieselCycle_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1998/07/21 15:25:50  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type Cycle
	cycle	
	cycle	none	ideal_gas;c_v;gamma_g;m_g	

% Component type R
	r		lin	flow,r

% Component type SS
	Heat	SS	internal,external
	Work	SS	external,internal








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_numpar.txt version [ca28228f51].



























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# Numerical parameter file (DieselCycle_numpar.txt)
# Generated by MTT at Thu Dec  4 11:44:46 GMT 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %% Revision 1.1  1998/03/04 11:45:49  peterg
# %% Initial revision
# %%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Initial states -- needed to choose an approppriate mass
P_0 = 1e5;
V_0 = 1;
T_0 = 300;

# Parameters
c_v = 	718.0;			# Parameter c_v for CU
gamma_g = 1.4;			# Parameter gamma_g for CU
m_g = 	P_0*V_0/(T_0*(gamma_g-1)*c_v);# Parameter m for CU









Added mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_simpar.txt version [e9cd3abd99].
















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%% Simulation parameters for system DieselCycle (DieselCycle_simpar.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

LAST=4.0
DT=0.01
STEPFACTOR=10








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/DieselCycle_sspar.r version [2c036456eb].











































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% Steady-state parameter file (DieselCycle_sspar.r)
% Generated by MTT at Wed Mar  4 11:02:40 GMT 1998

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % $Id$
% % $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Set a pressure of 1 bar
P_0 := 10^5;

% Unit initial volume
V_0 := 1;

% Internal energy
U_0 := P_0*V_0/(gamma_g-1);

% Set initial temperature of 300k
T_0 := 300;

% Deduce the mass of gas
m :=  U_0/(T_0*c_v);

% Entropy
S_0 := U_0/T_0;

% Steady-state states
MTTX1 := 	U_0;         % DieselCycle_cycle_gas (c)
MTTX2 := 	V_0;         % DieselCycle_cycle_gas (c)
MTTX3 := 	S_0;         % DieselCycle_cycle_entropy (3)
MTTX4 := 	V_0;         % DieselCycle_cycle_volume (3)

% Steady-state inputs
MTTU1 := 	0; % DieselCycle (Heat)
MTTU2 := 	0; % DieselCycle (Work)
;;END;








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/TestCU_abg.fig version [398c1900da].




















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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1125 2925 2475 2925 2250 3150
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3150 2925 4500 2925 4275 3150
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 1125 2700 1125 3150
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4500 2700 4500 3150
4 1 -1 0 0 0 20 0.0000 4 195 600 2790 3015 CU:c\001
4 2 -1 0 0 0 20 0.0000 4 195 960 1035 3015 SS:Heat\001
4 0 -1 0 0 0 20 0.0000 4 195 1050 4635 3015 SS:Work\001








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/TestCU_cr.r version [5ae303ac70].










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% Constitutive relation file for TestCU (TestCU_cr.r)
% Generated by MTT at Sat Jun 27 12:13:42 BST 1998

in "CU_cr.r";
in "lin.cr";
END;








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/TestCU_lbl.txt version [392aab3c76].




























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%SUMMARY TestCU
%DESCRIPTION <Detailed description here>
%% Label file for system TestCU (TestCU_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type CU
	c		CU		ideal_gas,c_v,gamma,m

% Component type SS
	Heat		external	external
	Work		external	external








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/DieselCycle/TestCU_simp.r version [b8a043bcf9].
















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%% Reduce commands to simplify output for system TestCU (TestCU_simp.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

On Factor;
Off Div;
END;








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_abg.fig version [060f831f14].



























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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2026 3151 3601 3151 3376 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5176 3151 6751 3151 6526 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6751 2926 6751 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2026 2926 2026 3376
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 8325 5850 8325 450 675 450 675 5850 8325 5850
4 1 -1 0 0 0 20 0.0000000 4 270 1440 4411 3241 Cycle:cycle\001
4 0 -1 0 0 0 20 0.0000000 4 210 1110 6886 3241 SS:Work\001
4 2 -1 0 0 0 20 0.0000000 4 210 990 1936 3241 SS:Heat\001
4 1 1 1 0 3 20 0.0000000 4 210 735 2655 3465 dS/dT\001
4 1 1 1 0 3 20 0.0000000 4 210 180 2700 2925 T\001
4 1 1 1 0 3 20 0.0000000 4 210 180 6120 2925 P\001
4 1 1 1 0 3 20 0.0000000 4 210 765 5985 3465 dV/dT\001
4 1 1 1 0 3 30 0.0000000 4 390 1800 4365 4770 Otto cycle\001








Modified mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_input.txt
from [205901be92]
to [34a972c0cb].



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# Numerical parameter file (OttoCycle_input.txt)
# Generated by MTT at Thu Dec  4 11:17:09 GMT 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %% Revision 1.1  1998/08/10 14:42:13  peterg
# %% Initial revision
# %%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Set the inputs

if ((t>=0.0)&&(t<1.0))		#Compression
  u(1) = 0.0;			# Entropy flow
else
  u(2) = -0.8;			# Volume rate-of-change
endif;

if ((t>=1.0)&&(t<2.0))		#Heating
  u(1) = 1000;			# Entropy flow
else
  u(2) = 0.0;			# Volume rate-of-change
endif;

if ((t>=2.0)&&(t<3.0))		#Expansion
  u(1) = 0.0;			# Entropy flow
else
  u(2) = 0.8;			# Volume rate-of-change
endif;

if (t>=3.0)			#Cooling
  u(1) = -1000;			# Entropy flow
else
  u(2) = 0.0;			# Volume rate-of-change
endif;












Modified mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_numpar.txt
from [f6d59adcea]
to [b464fa9930].



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# Numerical parameter file (OttoCycle_numpar.txt)
# Generated by MTT at Thu Dec  4 11:44:46 GMT 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %% Revision 1.1  1998/03/04 11:45:49  peterg
# %% Initial revision
# %%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Initial states -- needed to choose an appropriate mass
P_0 = 1e5;
V_0 = 1;
T_0 = 300;			

# Parameters
c_v = 	718.0; # Parameter c_v for CT2
gamma = 1.4; # Parameter gamma for CT2
m = 	1.0; # Parameter m for CT2
c_v = 	718.0;			# Parameter c_v for CU
gamma_g = 1.4;			# Parameter gamma for CU
m_g = 	P_0*V_0/(T_0*(gamma_g-1)*c_v);# Parameter m for CU
t_0 = 	300.0; # Parameter t_0 for CT2









Modified mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_rep.txt
from [008733df7c]
to [e5ad3c322a].



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# Outline report file for system OttoCycle (OttoCycle_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1999/02/21 02:16:17  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt -o -ss OttoCycle abg tex
mtt -o -ss OttoCycle struc tex
mtt -o -ss OttoCycle ode tex
mtt -o -ss OttoCycle ss tex

mtt -o -ss OttoCycle numpar txt
mtt -o -ss OttoCycle input txt
mtt -o -ss OttoCycle odes h
mtt -o -ss OttoCycle odeso ps 'OttoCycle_cycle_V'
mtt -o -ss OttoCycle odeso ps 'OttoCycle_cycle_P'
mtt -o -ss OttoCycle odeso ps 'OttoCycle_cycle_S'
mtt -o -ss OttoCycle odeso ps 'OttoCycle_cycle_T'
mtt -o -ss OttoCycle odeso ps 'OttoCycle_cycle_V:OttoCycle_cycle_P'
mtt -o -ss OttoCycle odeso ps 'OttoCycle_cycle_S:OttoCycle_cycle_T'

mtt -o -ss -c OttoCycle odeso ps 'OttoCycle_cycle_V'
mtt -o -ss -c OttoCycle odeso ps 'OttoCycle_cycle_P'
mtt -o -ss -c OttoCycle odeso ps 'OttoCycle_cycle_S'
mtt -o -ss -c OttoCycle odeso ps 'OttoCycle_cycle_T'
mtt -o -ss -c OttoCycle odeso ps 'OttoCycle_cycle_V:OttoCycle_cycle_P'
mtt -o -ss -c OttoCycle odeso ps 'OttoCycle_cycle_S:OttoCycle_cycle_T'












Added mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_simpar.txt version [5caab9af7f].
















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%% Simulation parameters for system OttoCycle (OttoCycle_simpar.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

LAST=4.0
DT=0.01
STEPFACTOR=1








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicCycles/OttoCycle/OttoCycle_sspar.r version [1c0494b9f2].











































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% Steady-state parameter file (OttoCycle_sspar.r)
% Generated by MTT at Wed Mar  4 11:02:40 GMT 1998

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % $Id$
% % $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Set a pressure of 1 bar
P_0 := 10^5;

% Unit initial volume
V_0 := 1;

% Internal energy
U_0 := P_0*V_0/(gamma_g-1);

% Set initial temperature of 300k
T_0 := 300;

% Deduce the mass of gas
m :=  U_0/(T_0*c_v);

% Entropy
S_0 := U_0/T_0;

% Steady-state states
MTTX1 := 	U_0;         % OttoCycle_cycle_gas (c)
MTTX2 := 	V_0;         % OttoCycle_cycle_gas (c)
MTTX3 := 	S_0;         % OttoCycle_cycle_entropy (3)
MTTX4 := 	V_0;         % OttoCycle_cycle_volume (3)

% Steady-state inputs
MTTU1 := 	0; % OttoCycle (Heat)
MTTU2 := 	0; % OttoCycle (Work)
;;END;








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_abg.fig version [5d72c6d9ef].





























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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2026 3151 3601 3151 3376 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5176 3151 6751 3151 6526 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6751 2926 6751 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2026 2926 2026 3376
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 8325 5850 8325 450 675 450 675 5850 8325 5850
4 1 -1 0 0 0 20 0.0000000 4 270 1440 4411 3241 Cycle:cycle\001
4 0 -1 0 0 0 20 0.0000000 4 210 1110 6886 3241 SS:Work\001
4 2 -1 0 0 0 20 0.0000000 4 210 990 1936 3241 SS:Heat\001
4 1 1 1 0 3 20 0.0000000 4 210 180 2700 2925 T\001
4 1 1 1 0 3 20 0.0000000 4 210 180 6120 2925 P\001
4 1 1 1 0 3 30 0.0000000 4 390 3360 4365 4770 Isentropic process\001
4 1 1 1 0 3 20 0.0000000 4 210 480 2700 3555 S=0\001
4 1 1 1 0 3 30 0.0000000 4 60 105 2565 3330 .\001
4 1 1 1 0 3 20 0.0000000 4 210 195 6120 3555 V\001
4 1 1 1 0 3 30 0.0000000 4 60 105 6165 3285 .\001








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_desc.tex version [ff2532462b].




















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% Verbal description for system Isentropic (Isentropic_desc.tex)
% Generated by MTT on Thu Dec 4 15:59:55 GMT 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% Revision 1.1  1997/12/09  12:30:26  peterg
% Initial revision
%
% Revision 1.1  1997/12/08  09:37:04  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%









Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_input.txt version [4ba9e8c0c3].



















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# Numerical parameter file (Isentropic_input.txt)
# Generated by MTT at Thu Dec  4 11:17:09 GMT 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Set the inputs
  u(1) = -0.8;     # Volume rate-of-change











Modified mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_lbl.txt
from [fd3bf2cd3c]
to [6423440a0f].



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%SUMMARY Isentropic: Isentropic thermodynamic process - ideal gas
%DESCRIPTION A dynamic simulation of an isentropic process using
%DESCRIPTION the Cycle component and the two-prt CU component.

%VAR P_0
%VAR T_0
%VAR V_0


%% Label file for system Isentropic (Isentropic_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1998/07/21 14:27:44  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type Cycle
	cycle	
	cycle	none	ideal_gas;c_v;gamma_g;m_g	

% Component type SS
	Heat	SS	internal,0
	Work	SS	internal,external








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_numpar.txt version [561c815b07].



























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# Numerical parameter file (Isentropic_numpar.txt)
# Generated by MTT at Thu Dec  4 11:44:46 GMT 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %% Revision 1.1  1998/03/04 11:45:49  peterg
# %% Initial revision
# %%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Initial states -- needed to choose an approppriate mass
P_0 = 1e5;
V_0 = 1;
T_0 = 300;

# Parameters
c_v = 	718.0; # Parameter c_v for CU
gamma_g = 1.4; # Parameter gamma for CU
m_g = 	P_0*V_0/(T_0*(gamma_g-1)*c_v); # Parameter m for CU









Modified mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_rep.txt
from [eddf4cf466]
to [32e4eabd87].



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# Outline report file for system Isentropic (Isentropic_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1999/02/21 02:18:41  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt -o -ss Isentropic abg tex
mtt -o -ss Isentropic struc tex
mtt -o -ss Isentropic ode tex
mtt -o -ss Isentropic ss tex

mtt -o -ss Isentropic numpar txt
mtt -o -ss Isentropic input txt
mtt -o -ss Isentropic odes h
mtt -o -ss Isentropic odeso ps 'Isentropic_cycle_V'
mtt -o -ss Isentropic odeso ps 'Isentropic_cycle_P'
mtt -o -ss Isentropic odeso ps 'Isentropic_cycle_S'
mtt -o -ss Isentropic odeso ps 'Isentropic_cycle_T'
mtt -o -ss Isentropic odeso ps 'Isentropic_cycle_V:Isentropic_cycle_P'
mtt -o -ss Isentropic odeso ps 'Isentropic_cycle_S:Isentropic_cycle_T'

mtt -o -ss -c Isentropic odeso ps 'Isentropic_cycle_V'
mtt -o -ss -c Isentropic odeso ps 'Isentropic_cycle_P'
mtt -o -ss -c Isentropic odeso ps 'Isentropic_cycle_S'
mtt -o -ss -c Isentropic odeso ps 'Isentropic_cycle_T'
mtt -o -ss -c Isentropic odeso ps 'Isentropic_cycle_V:Isentropic_cycle_P'
mtt -o -ss -c Isentropic odeso ps 'Isentropic_cycle_S:Isentropic_cycle_T'












Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_simpar.txt version [ac622df4b8].

















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%% Simulation parameters for system Isentropic (Isentropic_simpar.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

LAST=1.0
DT=0.01
STEPFACTOR=1









Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_simpar.txt_old version [ac622df4b8].

















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%% Simulation parameters for system Isentropic (Isentropic_simpar.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

LAST=1.0
DT=0.01
STEPFACTOR=1









Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isentropic/Isentropic_sspar.r version [b36b93a55f].











































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% Steady-state parameter file (Isentropic_sspar.r)
% Generated by MTT at Wed Mar  4 11:02:40 GMT 1998

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % $Id$
% % $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Set a pressure of 1 bar
P_0 := 10^5;

% Unit initial volume
V_0 := 1;

% Internal energy
U_0 := P_0*V_0/(gamma_g-1);

% Set initial temperature of 300k
T_0 := 300;

% Deduce the mass of gas
m :=  U_0/(T_0*c_v);

% Entropy
S_0 := U_0/T_0;

% Steady-state states
MTTX1 := 	U_0;         % Isentropic_cycle_gas (c)
MTTX2 := 	V_0;         % Isentropic_cycle_gas (c)
MTTX3 := 	S_0;         % Isentropic_cycle_entropy (3)
MTTX4 := 	V_0;         % Isentropic_cycle_volume (3)

% Steady-state inputs
MTTU1 := 	0; % Isentropic (Heat)
MTTU2 := 	0; % Isentropic (Work)
;;END;








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Cycle_abg.fig version [93ba4d6458].





















































































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5400 1800 6750 1800 6525 2025
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5175 2025 5175 3375 5400 3150
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5175 3825 5175 5175 5400 4950
2 2 0 3 1 7 1 0 -1 0.000 1 0 -1 0 0 5
	 6075 900 9000 900 9000 2700 6075 2700 6075 900
2 2 0 2 1 3 1 0 20 0.000 0 0 -1 0 0 5
	 8325 900 8550 900 8550 2700 8325 2700 8325 900
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 10125 3825 10125 5175 10350 4950
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7875 1800 9900 1800 9675 2025
2 2 0 2 1 3 1 0 20 0.000 0 0 -1 0 0 5
	 8550 1665 9585 1665 9585 1935 8550 1935 8550 1665
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2
	1 0 2.00 120.00 240.00
	 4725 1440 5805 1440
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2
	1 0 2.00 120.00 240.00
	 9675 1440 10755 1440
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2
	1 0 2.00 120.00 240.00
	 7785 3465 8415 2835
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 1800 4950 1800 4725 2025
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1755 1800 3105 1800 2880 2025
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3375 2025 3375 5175 3600 4950
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3150 5175 3600 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 10350 1800 11700 1800 11475 2025
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 12150 1800 13500 1800 13275 2025
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 11700 5175 12150 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 11925 2025 11925 5175 12150 4950
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 10125 2025 10125 3375 10350 3150
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4950 2025 5400 2025
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9900 2025 10350 2025
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9900 5175 10350 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4950 5175 5400 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5400 1575 5400 2025
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 7875 1575 7875 2025
4 1 -1 0 0 0 20 0.0000 4 255 855 7290 1890 CU:gas\001
4 1 -1 0 0 0 20 0.0000 4 195 135 5175 1890 1\001
4 1 -1 0 0 0 20 0.0000 4 255 1590 5175 3690 INTF:entropy\001
4 1 -1 0 0 0 20 0.0000 4 195 135 10125 1890 1\001
4 1 1 1 0 3 20 0.0000 4 270 1035 7200 1440 Ideal gas\001
4 1 1 1 0 3 20 0.0000 4 210 885 4635 1305 Heat in\001
4 1 1 1 0 3 20 0.0000 4 210 1080 10170 1305 Work out\001
4 1 1 1 0 3 20 0.0000 4 270 1800 5130 5895 Entropy change\001
4 1 1 1 0 3 20 0.0000 4 270 1365 7110 3690 Ideal piston\001
4 1 -1 0 0 0 20 0.0000 4 195 1560 10125 3690 INTF:volume\001
4 1 -1 0 0 0 20 0.0000 4 195 135 3375 1890 0\001
4 2 4 0 0 0 20 0.0000 4 240 1140 1575 1890 SS:[Heat]\001
4 1 -1 0 0 0 20 0.0000 4 195 585 3375 5490 SS:T\001
4 1 1 1 0 3 20 0.0000 4 255 1485 3240 5895 Temperature\001
4 1 -1 0 0 0 20 0.0000 4 195 570 5130 5490 SS:S\001
4 1 -1 0 0 0 20 0.0000 4 195 615 10125 5490 SS:V\001
4 1 -1 0 0 0 20 0.0000 4 195 570 11880 5490 SS:P\001
4 0 4 0 0 0 20 0.0000 4 240 1230 13680 1890 SS:[Work]\001
4 1 1 1 0 3 20 0.0000 4 270 1815 10080 5850 Volume change\001
4 1 1 1 0 3 20 0.0000 4 195 975 11925 5850 Pressure\001
4 1 -1 0 0 0 20 0.0000 4 195 135 11925 1890 0\001








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Cycle_desc.tex version [9decb9a7b6].














































































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% Verbal description for system Cycle (Cycle_desc.tex)
% Generated by MTT on Thu Dec 4 15:59:55 GMT 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1998/06/30 12:46:49  peterg
% %% Changed CT2 to CU
% %%
% %% Revision 1.1  1998/06/30 12:46:24  peterg
% %% Initial revision
% %%
% Revision 1.1  1997/12/08  09:37:04  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{Cycle} is
   displayed in Figure \Ref{Cycle_abg} and its label
   file is listed in Section \Ref{sec:Cycle_lbl}.
   The subsystems are listed in Section \Ref{sec:Cycle_sub}.

The system has two heat engine ports: 
\begin{enumerate}
\item \textbf{[Heat]} and
\item \textbf{[Work]}
\end{enumerate}
By convention, energy flows in to the \textbf{[Heat]} port and out of
the \textbf{[Work]} port. Both ports are true energy ports.


The subsystem \textbf{CU} (Section \Ref{sec:CU}) is a two-port
component describing an ideal gas. It has two energy ports which, with
integral causality correspond to
\begin{enumerate}
\item Entropy flow in; temperature out
\item Volume rate of change in; pressure out
\end{enumerate}

Four \textbf{SS} components are set up as sensors to measure the
important quantities pertaining to the cycle:
\begin{enumerate}
\item \textbf{S} to measure the integrated entropy flow
\item \textbf{T} to measure the (absolute) temperature
\item \textbf{V} to measure the integrated volume change
\item \textbf{P} to measure the pressure
\end{enumerate}

   \begin{table}[htbp]
     \begin{center}
       \leavevmode
       \begin{tabular}{|l|l|l|l|l|}
         \hline
         Cycle & Compression & Heating & Expansion & Cooling \\
         \hline
         Otto & II & II & II & II \\
         Carnot & II & DI & II & DI \\
         Diesel & II & ID & II & II \\
         Joule & II & ID & II & ID \\
         \hline
       \end{tabular}
       \caption{Cycles and their causality}
       \label{tab:cycles}
     \end{center}
   \end{table}
   
   A number of cycles can be built depending on the causality of the
   two ports \textbf{[Heat]} and \textbf{[Work]} of \textbf{Cycle}
   Some possible cycles listed in Tables \Ref{tab:cycles} where each
   table entry gives the causality on the heat and work ports
   respectively.









Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Cycle_lbl.txt version [d82e73d04d].


























































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#SUMMARY Cycle: Closed cycle with ideal gas
#DESCRIPTION Uses the CU two-port thermal capacitor.

#ALIAS in	Heat
#ALIAS out	Work

#ALIAS $1	ideal_gas
#ALIAS $2	c_v
#ALIAS $3	gamma_g
#ALIAS $4	m_g

## Label file for system Cycle (Cycle_lbl.txt)

# ###############################################################
# ## Version control history
# ###############################################################
# ## $Id$
# ## $Log$
# ## Revision 1.2  1998/07/21 14:21:04  peterg
# ## New style file
# ##
# ## Revision 1.1  1997/12/08 20:24:43  peterg
# ## Initial revision
# ##
# ## Revision 1.1  1997/12/07 20:38:05  peterg
# ## Initial revision
# ##
# ###############################################################

## Each line should be of one of the following forms:
#	a comment (ie starting with #)
#	Component-name	CR_name	arg1,arg2,..argn
#	blank




# Component type CU
	gas	CU	ideal_gas,c_v,gamma_g,m_g

# Component type INTF
	entropy
	volume

# Component type SS
	S	SS	external,0
	T	SS	external,0
	V	SS	external,0
	P	SS	external,0
	[Heat]	SS	external,external
	[Work]	SS	external,external











Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Cycle_simp.r version [b8f003f5e9].














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%% Reduce commands to simplify output for system Cycle (Cycle_simp.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

END;








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_abg.fig version [476d13332f].





























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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2026 3151 3601 3151 3376 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5176 3151 6751 3151 6526 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2026 2926 2026 3376
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 8325 5850 8325 450 675 450 675 5850 8325 5850
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5175 2925 5175 3375
4 1 -1 0 0 0 20 0.0000000 4 270 1440 4411 3241 Cycle:cycle\001
4 0 -1 0 0 0 20 0.0000000 4 210 1110 6886 3241 SS:Work\001
4 2 -1 0 0 0 20 0.0000000 4 210 990 1936 3241 SS:Heat\001
4 1 1 1 0 3 20 0.0000000 4 210 180 2700 2925 T\001
4 1 1 1 0 3 20 0.0000000 4 210 180 6120 2925 P\001
4 1 1 1 0 3 30 0.0000000 4 390 3015 4365 4770 Isobaric process\001
4 1 1 1 0 3 20 0.0000000 4 210 480 2700 3555 S=0\001
4 1 1 1 0 3 30 0.0000000 4 60 105 2565 3330 .\001
4 1 1 1 0 3 20 0.0000000 4 210 195 6120 3555 V\001
4 1 1 1 0 3 30 0.0000000 4 60 105 6165 3285 .\001








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_desc.tex version [b3e2d1ccc2].




















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% Verbal description for system Isobaric (Isobaric_desc.tex)
% Generated by MTT on Thu Dec 4 15:59:55 GMT 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% Revision 1.1  1997/12/09  12:30:26  peterg
% Initial revision
%
% Revision 1.1  1997/12/08  09:37:04  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%









Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_input.txt version [2035ce9de6].



















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# Numerical parameter file (Isobaric_input.txt)
# Generated by MTT at Thu Dec  4 11:17:09 GMT 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Set the inputs
  u(1) = 1000;     #Entropy flow 











Modified mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_lbl.txt
from [1cb05c11b7]
to [bdf17571a6].



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%SUMMARY Isobaric: Isobaric thermodynamic process - ideal gas 
%DESCRIPTION A dynamic simulation of an isobaric (constant pressure)
%DESCRIPTION  process using the Cycle component and the two-port CU component.

%VAR P_0
%VAR T_0
%VAR V_0

%% Label file for system Isobaric (Isobaric_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1998/07/21 14:32:49  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type Cycle
	cycle	
	cycle	none	ideal_gas;c_v;gamma_g;m_g	

% Component type SS
	Heat	SS	internal,external
	Work	SS	P_0,internal








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_numpar.txt version [fbce8cfc6e].



























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# Numerical parameter file (Isobaric_numpar.txt)
# Generated by MTT at Thu Dec  4 11:44:46 GMT 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %% Revision 1.1  1998/03/04 11:45:49  peterg
# %% Initial revision
# %%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Initial states -- needed to choose an approppriate mass
P_0 = 1e5;
V_0 = 1;
T_0 = 300;

# Parameters
c_v = 	718.0; # Parameter c_v for CU
gamma_g = 1.4; # Parameter gamma_g for CU
m_g = 	P_0*V_0/(T_0*(gamma_g-1)*c_v); # Parameter m for CU









Modified mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_rep.txt
from [0490ca6373]
to [c73088f2ef].



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# Outline report file for system Isobaric (Isobaric_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1999/02/21 02:19:31  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt  -ss Isobaric abg tex
mtt  -ss Isobaric struc tex
mtt  -ss Isobaric ode tex
mtt  -ss Isobaric ss tex

mtt  -ss Isobaric numpar txt
mtt  -ss Isobaric input txt
mtt  -ss Isobaric odes h
mtt  -ss Isobaric odeso ps 'Isobaric_cycle_V'
mtt  -ss Isobaric odeso ps 'Isobaric_cycle_P'
mtt  -ss Isobaric odeso ps 'Isobaric_cycle_S'
mtt  -ss Isobaric odeso ps 'Isobaric_cycle_T'
mtt  -ss Isobaric odeso ps 'Isobaric_cycle_V:Isobaric_cycle_P'
mtt  -ss Isobaric odeso ps 'Isobaric_cycle_S:Isobaric_cycle_T'

mtt  -ss -c Isobaric odeso ps 'Isobaric_cycle_V'
mtt  -ss -c Isobaric odeso ps 'Isobaric_cycle_P'
mtt  -ss -c Isobaric odeso ps 'Isobaric_cycle_S'
mtt  -ss -c Isobaric odeso ps 'Isobaric_cycle_T'
mtt  -ss -c Isobaric odeso ps 'Isobaric_cycle_V:Isobaric_cycle_P'
mtt  -ss -c Isobaric odeso ps 'Isobaric_cycle_S:Isobaric_cycle_T'












Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_simpar.txt version [545a74e285].
















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%% Simulation parameters for system Isobaric (Isobaric_simpar.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

LAST=1.0
DT=0.01
STEPFACTOR=1








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_simpar.txt_old version [545a74e285].
















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%% Simulation parameters for system Isobaric (Isobaric_simpar.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

LAST=1.0
DT=0.01
STEPFACTOR=1








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isobaric/Isobaric_sspar.r version [c0e371332c].










































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% Steady-state parameter file (Isobaric_sspar.r)
% Generated by MTT at Wed Mar  4 11:02:40 GMT 1998

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % $Id$
% % $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Set a pressure of 1 bar
P_0 := 10^5;

% Unit initial volume
V_0 := 1;

% Internal energy
U_0 := P_0*V_0/(gamma_g-1);

% Set initial temperature of 300k
T_0 := 300;

% Deduce the mass of gas
m :=  U_0/(T_0*c_v);

% Entropy
S_0 := U_0/T_0;

% Steady-state states
MTTX1 := 	U_0;         % Isobaric_cycle_gas (c)
%MTTX2 := 	V_0;         % Isobaric_cycle_gas (c)
MTTX2 := 	S_0;         % Isobaric_cycle_entropy (3)
MTTX3 := 	V_0;         % Isobaric_cycle_volume (3)

% Steady-state inputs
MTTU1 := 	0; % Isobaric (Heat)
;;END;








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Cycle_abg.fig version [8fdef28898].





















































































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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5400 1800 6750 1800 6525 2025
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5175 2025 5175 3375 5400 3150
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5175 3825 5175 5175 5400 4950
2 2 0 3 1 7 1 0 -1 0.000 1 0 -1 0 0 5
	 6075 900 9000 900 9000 2700 6075 2700 6075 900
2 2 0 2 1 3 1 0 20 0.000 0 0 -1 0 0 5
	 8325 900 8550 900 8550 2700 8325 2700 8325 900
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 10125 3825 10125 5175 10350 4950
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 7875 1800 9900 1800 9675 2025
2 2 0 2 1 3 1 0 20 0.000 0 0 -1 0 0 5
	 8550 1665 9585 1665 9585 1935 8550 1935 8550 1665
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2
	1 0 2.00 120.00 240.00
	 4725 1440 5805 1440
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2
	1 0 2.00 120.00 240.00
	 9675 1440 10755 1440
2 1 0 2 1 7 1 0 -1 0.000 0 0 -1 1 0 2
	1 0 2.00 120.00 240.00
	 7785 3465 8415 2835
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 1800 4950 1800 4725 2025
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1755 1800 3105 1800 2880 2025
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3375 2025 3375 5175 3600 4950
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3150 5175 3600 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 10350 1800 11700 1800 11475 2025
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 12150 1800 13500 1800 13275 2025
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 11700 5175 12150 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 11925 2025 11925 5175 12150 4950
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 10125 2025 10125 3375 10350 3150
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4950 2025 5400 2025
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9900 2025 10350 2025
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9900 5175 10350 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4950 5175 5400 5175
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6750 2025 6750 1575
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 9900 2025 9900 1575
4 1 -1 0 0 0 20 0.0000 4 255 855 7290 1890 CU:gas\001
4 1 -1 0 0 0 20 0.0000 4 195 135 5175 1890 1\001
4 1 -1 0 0 0 20 0.0000 4 255 1590 5175 3690 INTF:entropy\001
4 1 -1 0 0 0 20 0.0000 4 195 135 10125 1890 1\001
4 1 1 1 0 3 20 0.0000 4 270 1035 7200 1440 Ideal gas\001
4 1 1 1 0 3 20 0.0000 4 210 885 4635 1305 Heat in\001
4 1 1 1 0 3 20 0.0000 4 210 1080 10170 1305 Work out\001
4 1 1 1 0 3 20 0.0000 4 270 1800 5130 5895 Entropy change\001
4 1 1 1 0 3 20 0.0000 4 270 1365 7110 3690 Ideal piston\001
4 1 -1 0 0 0 20 0.0000 4 195 1560 10125 3690 INTF:volume\001
4 1 -1 0 0 0 20 0.0000 4 195 135 3375 1890 0\001
4 2 4 0 0 0 20 0.0000 4 240 1140 1575 1890 SS:[Heat]\001
4 1 -1 0 0 0 20 0.0000 4 195 585 3375 5490 SS:T\001
4 1 1 1 0 3 20 0.0000 4 255 1485 3240 5895 Temperature\001
4 1 -1 0 0 0 20 0.0000 4 195 570 5130 5490 SS:S\001
4 1 -1 0 0 0 20 0.0000 4 195 615 10125 5490 SS:V\001
4 1 -1 0 0 0 20 0.0000 4 195 570 11880 5490 SS:P\001
4 0 4 0 0 0 20 0.0000 4 240 1230 13680 1890 SS:[Work]\001
4 1 1 1 0 3 20 0.0000 4 270 1815 10080 5850 Volume change\001
4 1 1 1 0 3 20 0.0000 4 195 975 11925 5850 Pressure\001
4 1 -1 0 0 0 20 0.0000 4 195 135 11925 1890 0\001








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Cycle_desc.tex version [9decb9a7b6].














































































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% Verbal description for system Cycle (Cycle_desc.tex)
% Generated by MTT on Thu Dec 4 15:59:55 GMT 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1998/06/30 12:46:49  peterg
% %% Changed CT2 to CU
% %%
% %% Revision 1.1  1998/06/30 12:46:24  peterg
% %% Initial revision
% %%
% Revision 1.1  1997/12/08  09:37:04  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{Cycle} is
   displayed in Figure \Ref{Cycle_abg} and its label
   file is listed in Section \Ref{sec:Cycle_lbl}.
   The subsystems are listed in Section \Ref{sec:Cycle_sub}.

The system has two heat engine ports: 
\begin{enumerate}
\item \textbf{[Heat]} and
\item \textbf{[Work]}
\end{enumerate}
By convention, energy flows in to the \textbf{[Heat]} port and out of
the \textbf{[Work]} port. Both ports are true energy ports.


The subsystem \textbf{CU} (Section \Ref{sec:CU}) is a two-port
component describing an ideal gas. It has two energy ports which, with
integral causality correspond to
\begin{enumerate}
\item Entropy flow in; temperature out
\item Volume rate of change in; pressure out
\end{enumerate}

Four \textbf{SS} components are set up as sensors to measure the
important quantities pertaining to the cycle:
\begin{enumerate}
\item \textbf{S} to measure the integrated entropy flow
\item \textbf{T} to measure the (absolute) temperature
\item \textbf{V} to measure the integrated volume change
\item \textbf{P} to measure the pressure
\end{enumerate}

   \begin{table}[htbp]
     \begin{center}
       \leavevmode
       \begin{tabular}{|l|l|l|l|l|}
         \hline
         Cycle & Compression & Heating & Expansion & Cooling \\
         \hline
         Otto & II & II & II & II \\
         Carnot & II & DI & II & DI \\
         Diesel & II & ID & II & II \\
         Joule & II & ID & II & ID \\
         \hline
       \end{tabular}
       \caption{Cycles and their causality}
       \label{tab:cycles}
     \end{center}
   \end{table}
   
   A number of cycles can be built depending on the causality of the
   two ports \textbf{[Heat]} and \textbf{[Work]} of \textbf{Cycle}
   Some possible cycles listed in Tables \Ref{tab:cycles} where each
   table entry gives the causality on the heat and work ports
   respectively.









Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Cycle_lbl.txt version [d82e73d04d].


























































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#SUMMARY Cycle: Closed cycle with ideal gas
#DESCRIPTION Uses the CU two-port thermal capacitor.

#ALIAS in	Heat
#ALIAS out	Work

#ALIAS $1	ideal_gas
#ALIAS $2	c_v
#ALIAS $3	gamma_g
#ALIAS $4	m_g

## Label file for system Cycle (Cycle_lbl.txt)

# ###############################################################
# ## Version control history
# ###############################################################
# ## $Id$
# ## $Log$
# ## Revision 1.2  1998/07/21 14:21:04  peterg
# ## New style file
# ##
# ## Revision 1.1  1997/12/08 20:24:43  peterg
# ## Initial revision
# ##
# ## Revision 1.1  1997/12/07 20:38:05  peterg
# ## Initial revision
# ##
# ###############################################################

## Each line should be of one of the following forms:
#	a comment (ie starting with #)
#	Component-name	CR_name	arg1,arg2,..argn
#	blank




# Component type CU
	gas	CU	ideal_gas,c_v,gamma_g,m_g

# Component type INTF
	entropy
	volume

# Component type SS
	S	SS	external,0
	T	SS	external,0
	V	SS	external,0
	P	SS	external,0
	[Heat]	SS	external,external
	[Work]	SS	external,external











Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Cycle_simp.r version [b8f003f5e9].














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%% Reduce commands to simplify output for system Cycle (Cycle_simp.r)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

END;








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_abg.fig version [a9b0aef23c].





























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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2026 3151 3601 3151 3376 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5176 3151 6751 3151 6526 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6751 2926 6751 3376
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 8325 5850 8325 450 675 450 675 5850 8325 5850
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3600 2925 3600 3375
4 1 -1 0 0 0 20 0.0000000 4 270 1440 4411 3241 Cycle:cycle\001
4 0 -1 0 0 0 20 0.0000000 4 210 1110 6886 3241 SS:Work\001
4 2 -1 0 0 0 20 0.0000000 4 210 990 1936 3241 SS:Heat\001
4 1 1 1 0 3 20 0.0000000 4 210 180 6120 2925 P\001
4 1 1 1 0 3 30 0.0000000 4 390 3510 4365 4770 Isothermal process\001
4 1 1 1 0 3 20 0.0000000 4 210 195 6120 3555 V\001
4 1 1 1 0 3 30 0.0000000 4 60 105 6165 3285 .\001
4 1 1 1 0 3 20 0.0000000 4 210 165 2700 3555 S\001
4 1 1 1 0 3 30 0.0000000 4 60 105 2700 3285 .\001
4 1 1 1 0 3 20 0.0000000 4 210 1005 2700 2925 T=const\001








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_desc.tex version [ccb4c49b18].




















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% Verbal description for system Isothermal (Isothermal_desc.tex)
% Generated by MTT on Thu Dec 4 15:59:55 GMT 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% Revision 1.1  1997/12/09  12:30:26  peterg
% Initial revision
%
% Revision 1.1  1997/12/08  09:37:04  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%









Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_input.txt version [9bf6eb21e4].



















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# Numerical parameter file (Isothermal_input.txt)
# Generated by MTT at Thu Dec  4 11:17:09 GMT 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Set the inputs
  u(1) = -0.8;     # Volume rate-of-change











Modified mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_lbl.txt
from [36a1a8e184]
to [f260e8f499].



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%SUMMARY Isothermal: Isothermal thermodynamic process - ideal gas
%DESCRIPTION A dynamic simulation of an isothermal process using
%DESCRIPTION the Cycle component and the two-port CU component.

%VAR P_0
%VAR T_0
%VAR V_0

%% Label file for system Isothermal (Isothermal_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1998/07/21 14:30:29  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type Cycle
	cycle	
	cycle	none	ideal_gas;c_v;gamma_g;m_g	

% Component type SS
	Heat		SS	t_0,internal
	Work		SS	internal,external








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_numpar.txt version [7bdc15640d].



























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# Numerical parameter file (Isothermal_numpar.txt)
# Generated by MTT at Thu Dec  4 11:44:46 GMT 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %% Revision 1.1  1998/03/04 11:45:49  peterg
# %% Initial revision
# %%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Initial states -- needed to choose an approppriate mass
P_0 = 1e5;
V_0 = 1;
T_0 = 300;

# Parameters
c_v = 	718.0; # Parameter c_v for CU
gamma_g = 1.4; # Parameter gamma_g for CU
m_g = 	P_0*V_0/(T_0*(gamma_g-1)*c_v); # Parameter m for CU









Modified mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_rep.txt
from [dcfc76fd97]
to [d94809da93].



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# Outline report file for system Isothermal (Isothermal_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1999/02/21 02:20:18  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt -ss Isothermal abg tex
mtt -ss Isothermal struc tex
mtt -ss Isothermal ode tex
mtt -ss Isothermal ss tex

mtt -ss Isothermal numpar txt
mtt -ss Isothermal input txt
mtt -ss Isothermal odes h
mtt -ss Isothermal odeso ps 'Isothermal_cycle_V'
mtt -ss Isothermal odeso ps 'Isothermal_cycle_P'
mtt -ss Isothermal odeso ps 'Isothermal_cycle_S'
mtt -ss Isothermal odeso ps 'Isothermal_cycle_T'
mtt -ss Isothermal odeso ps 'Isothermal_cycle_V:Isothermal_cycle_P'
mtt -ss Isothermal odeso ps 'Isothermal_cycle_S:Isothermal_cycle_T'

mtt -ss -c Isothermal odeso ps 'Isothermal_cycle_V'
mtt -ss -c Isothermal odeso ps 'Isothermal_cycle_P'
mtt -ss -c Isothermal odeso ps 'Isothermal_cycle_S'
mtt -ss -c Isothermal odeso ps 'Isothermal_cycle_T'
mtt -ss -c Isothermal odeso ps 'Isothermal_cycle_V:Isothermal_cycle_P'
mtt -ss -c Isothermal odeso ps 'Isothermal_cycle_S:Isothermal_cycle_T'












Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_simpar.txt version [ba2a940038].
















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%% Simulation parameters for system Isothermal (Isothermal_simpar.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

LAST=1.0
DT=0.01
STEPFACTOR=1








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_simpar.txt_old version [ba2a940038].
















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%% Simulation parameters for system Isothermal (Isothermal_simpar.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

LAST=1.0
DT=0.01
STEPFACTOR=1








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isothermal/Isothermal_sspar.r version [14b711f7a3].









































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% Steady-state parameter file (Isothermal_sspar.r)
% Generated by MTT at Wed Mar  4 11:02:40 GMT 1998

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % $Id$
% % $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Set a pressure of 1 bar
P_0 := 10^5;

% Unit initial volume
V_0 := 1;

% Internal energy
U_0 := P_0*V_0/(gamma_g-1);

% Set initial temperature of 300k
T_0 := 300;

% Deduce the mass of gas
m :=  U_0/(T_0*c_v);

% Entropy
S_0 := U_0/T_0;

% Steady-state states
MTTX1 := 	V_0;         % Isothermal_cycle_gas (c)
MTTX2 := 	S_0;         % Isothermal_cycle_entropy (3)
MTTX3 := 	V_0;         % Isothermal_cycle_volume (3)

% Steady-state inputs
MTTU1 := 	0; % Isothermal (Work)
;;END;








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_abg.fig version [4deb859011].





























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#FIG 3.1
Portrait
Center
Metric
1200 2
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2026 3151 3601 3151 3376 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5176 3151 6751 3151 6526 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 6751 2926 6751 3376
2 1 0 2 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 2026 2926 2026 3376
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 8325 5850 8325 450 675 450 675 5850 8325 5850
4 1 -1 0 0 0 20 0.0000000 4 270 1440 4411 3241 Cycle:cycle\001
4 0 -1 0 0 0 20 0.0000000 4 210 1110 6886 3241 SS:Work\001
4 2 -1 0 0 0 20 0.0000000 4 210 990 1936 3241 SS:Heat\001
4 1 1 1 0 3 20 0.0000000 4 210 180 2700 2925 T\001
4 1 1 1 0 3 20 0.0000000 4 210 180 6120 2925 P\001
4 1 1 1 0 3 30 0.0000000 4 390 4020 4365 4770 Isovolumetric process\001
4 1 1 1 0 3 20 0.0000000 4 210 510 6120 3555 V=0\001
4 1 1 1 0 3 30 0.0000000 4 60 105 5940 3285 .\001
4 1 1 1 0 3 20 0.0000000 4 210 165 2700 3555 S\001
4 1 1 1 0 3 30 0.0000000 4 60 105 2700 3285 .\001








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_desc.tex version [6670b4774d].




















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% Verbal description for system Isovolumetric (Isovolumetric_desc.tex)
% Generated by MTT on Thu Dec 4 15:59:55 GMT 1997.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% Revision 1.1  1997/12/09  12:30:26  peterg
% Initial revision
%
% Revision 1.1  1997/12/08  09:37:04  peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%









Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_input.txt version [f0aabff4d1].



















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# Numerical parameter file (Isovolumetric_input.txt)
# Generated by MTT at Thu Dec  4 11:17:09 GMT 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Set the inputs
  u(1) = 1000;     #Entropy flow 











Modified mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_lbl.txt
from [0278c7ad03]
to [2f48ed2971].



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%SUMMARY Isovolumetric: Isovolumetric thermodynamic process - ideal gas 
%DESCRIPTION A dynamic simulation of an Isovolumetric (constant volume)
%DESCRIPTION  process using the Cycle component and the two-port CU component.
%DESCRIPTION 
%DESCRIPTION the Cycle component and the two-port CU component.

%VAR P_0
%VAR T_0
%VAR V_0

%% Label file for system Isovolumetric (Isovolumetric_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1998/07/21 14:37:03  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank



% Component type Cycle
	cycle	
	cycle	none	ideal_gas;c_v;gamma_g;m_g	

% Component type SS
	Heat	SS	internal,external
	Work	SS	internal,0








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_numpar.txt version [df377cc85f].



























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# Numerical parameter file (Isovolumetric_numpar.txt)
# Generated by MTT at Thu Dec  4 11:44:46 GMT 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %% Revision 1.1  1998/03/04 11:45:49  peterg
# %% Initial revision
# %%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Initial states -- needed to choose an approppriate mass
P_0 = 1e5;
V_0 = 1;
T_0 = 300;

# Parameters
c_v = 	718.0; # Parameter c_v for CU
gamma_g = 1.4; # Parameter gamma_g for CU
m_g = 	P_0*V_0/(T_0*(gamma_g-1)*c_v); # Parameter m for CU









Modified mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_rep.txt
from [b305d40885]
to [bdec411e19].



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# Outline report file for system Isovolumetric (Isovolumetric_rep.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1999/02/21 02:21:03  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

mtt -o -ss Isovolumetric abg tex
mtt -o -ss Isovolumetric struc tex
mtt -o -ss Isovolumetric ode tex
mtt -o -ss Isovolumetric ss tex

mtt -o -ss Isovolumetric numpar txt
mtt -o -ss Isovolumetric input txt
mtt -o -ss Isovolumetric odes h
mtt -o -ss Isovolumetric odeso ps 'Isovolumetric_cycle_V'
mtt -o -ss Isovolumetric odeso ps 'Isovolumetric_cycle_P'
mtt -o -ss Isovolumetric odeso ps 'Isovolumetric_cycle_S'
mtt -o -ss Isovolumetric odeso ps 'Isovolumetric_cycle_T'
mtt -o -ss Isovolumetric odeso ps 'Isovolumetric_cycle_V:Isovolumetric_cycle_P'
mtt -o -ss Isovolumetric odeso ps 'Isovolumetric_cycle_S:Isovolumetric_cycle_T'

mtt -o -ss -c Isovolumetric odeso ps 'Isovolumetric_cycle_V'
mtt -o -ss -c Isovolumetric odeso ps 'Isovolumetric_cycle_P'
mtt -o -ss -c Isovolumetric odeso ps 'Isovolumetric_cycle_S'
mtt -o -ss -c Isovolumetric odeso ps 'Isovolumetric_cycle_T'
mtt -o -ss -c Isovolumetric odeso ps 'Isovolumetric_cycle_V:Isovolumetric_cycle_P'
mtt -o -ss -c Isovolumetric odeso ps 'Isovolumetric_cycle_S:Isovolumetric_cycle_T'












Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_simpar.txt version [669617cdc7].
















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%% Simulation parameters for system Isovolumetric (Isovolumetric_simpar.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

LAST=1.0
DT=0.01
STEPFACTOR=1








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_simpar.txt_old version [669617cdc7].
















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%% Simulation parameters for system Isovolumetric (Isovolumetric_simpar.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

LAST=1.0
DT=0.01
STEPFACTOR=1








Added mttroot/mtt/lib/examples/Thermal/ThermodynamicProcesses/Isovolumetric/Isovolumetric_sspar.r version [cfb7ef7827].











































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% Steady-state parameter file (Isovolumetric_sspar.r)
% Generated by MTT at Wed Mar  4 11:02:40 GMT 1998

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % $Id$
% % $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Set a pressure of 1 bar
P_0 := 10^5;

% Unit initial volume
V_0 := 1;

% Internal energy
U_0 := P_0*V_0/(gamma_g-1);

% Set initial temperature of 300k
T_0 := 300;

% Deduce the mass of gas
m :=  U_0/(T_0*c_v);

% Entropy
S_0 := U_0/T_0;

% Steady-state states
MTTX1 := 	U_0;         % Isovolumetric_cycle_gas (c)
MTTX2 := 	V_0;         % Isovolumetric_cycle_gas (c)
MTTX3 := 	S_0;         % Isovolumetric_cycle_entropy (3)
MTTX4 := 	V_0;         % Isovolumetric_cycle_volume (3)

% Steady-state inputs
MTTU1 := 	0; % Isovolumetric (Heat)
MTTU2 := 	0; % Isovolumetric (Work)
;;END;






















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