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Comment:Write longer sequence to Ustar.h
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SHA3-256: d868689075bb099d2f5efadb4319350e1d50fed3f5cfe78e2d0337c6ab5ee7ea
User & Date: gawthrop@users.sourceforge.net on 2003-06-26 11:55:05
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Context
2003-06-26
15:36:09
Tidied check-in: 4423576ece user: gawthrop@users.sourceforge.net tags: origin/master, trunk
11:55:05
Write longer sequence to Ustar.h check-in: d868689075 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
08:01:46
Added comments
Correct observer pole computation check-in: 979e3f22f3 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
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Modified mttroot/mtt/lib/control/PPP/ppp_lin_run.m from [c55486575a] to [a8dbb844ec].

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  endif
  
  if nargin<5
    x_0 = zeros(n_x,1);
  endif
  
  if nargin<6
    p_c.N = 5;
    p_c.N = 10;
  endif

  if nargin<7
    p_o.sigma = 1e-1;
  endif

  if !struct_contains(p_c,"delta_ol")
    p_c.delta_ol = 0.5;	# OL sample interval
    p_c.delta_ol = 1.0;	# OL sample interval
  endif
  
  if !struct_contains(p_c,"T")
    p_c.T = 5.0;			# Last time point.
    p_c.T = 10.0;			# Last time point.
  endif
  
  if !struct_contains(p_c,"Method")
    p_c.Method = "lq";
  endif

  if struct_contains(p_c,"Method")
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  ## Display the poles
  obs_poles

  ## Short sample interval
  dt = p_c.delta_ol/p_c.N;

  ## Write the include file for the real-time function
  ## Use double length to allow for overuns
  disp("Writing Ustar.h");
  overrun = 2;
  ppp_ustar2h(ppp_ustar (p_c.A_u, n_u, [0:dt:p_c.delta_ol], 0,0)); 
  ppp_ustar2h(ppp_ustar (p_c.A_u, n_u, [0:dt:overrun*p_c.delta_ol], 0,0)); 


  ## Control loop
  y = [];
  u = [];
  t = [];
  y_e = [];
  t_e = [];
  e_e = [];
  tick = time;
  for i=1:I
    i
    tim=time;			# Timing
    if Simulate			# Exact simulation 
      t_sim = [0:p_c.N]*dt;	# Simulation time points
      [yi,ui,xsi] = ppp_ystar(A,B,C,D,x,p_c.A_u,U,t_sim); # Simulate
      x = xsi(:,p_c.N+1);	# Current state
      x = xsi(:,p_c.N+1);	# Current state (for next time)
      y_now = yi(:,p_c.N+1);	# Current output
    else			# The real thing
      to_rt(U');		# Send U
      data = from_rt(p_c.N);	# Receive data
      [yi,ui] = convert_data(data); # And convert from integer format
      y_now = yi(:,p_c.N);	# Current output
    endif
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    ti  = [(i-1)*p_c.N:i*p_c.N-1]*dt; 
    t = [t;ti'];
    y = [y;yi(:,1:p_c.N)'];
    u = [u;ui(:,1:p_c.N)'];
    y_e = [y_e; y_est'];
    t_e = [t_e; (i*p_c.N)*dt];
    e_e = [e_e; e_est];
    sample_time = (time-tim)/p_c.N
    dt
  endfor			# Main loop
  
  sample_interval = (time-tick)/(I*p_c.N)

  ## Put data on file (so can use for identification)
  filename = sprintf("%s_ident_data.dat",Name);
  eval(sprintf("save -ascii %s t y u",filename));
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