40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
|
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
|
-
+
-
+
-
+
-
+
|
endif
if nargin<5
x_0 = zeros(n_x,1);
endif
if nargin<6
p_c.N = 10;
p_c.N = 25;
endif
if nargin<7
p_o.sigma = 1e-1;
endif
if !struct_contains(p_c,"delta_ol")
p_c.delta_ol = 1.0; # OL sample interval
p_c.delta_ol = 0.5; # OL sample interval
endif
if !struct_contains(p_c,"T")
p_c.T = 10.0; # Last time point.
endif
if !struct_contains(p_c,"augment")
p_c.augment = 1; # Augment basis funs with contand
endif
if !struct_contains(p_c,"Method")
p_c.Method = "lq";
p_c.Method = "original";
endif
if struct_contains(p_c,"Method")
if strcmp(p_c.Method,"lq")
p_c.Q = eye(n_y);
p_c.R = (0.25^2)*eye(n_u);
p_c.n_U = n_x;
elseif strcmp(p_c.Method,"original");
if !struct_contains(p_c,"A_w")
p_c.A_w = 0;
endif
if !struct_contains(p_c,"A_u")
p_c.n_U = n_x;
a_u = 2.0;
p_c.A_u = laguerre_matrix(p_c.n_U,a_u);
if p_c.augment # Put in constant term
A_u = ppp_aug(0,A_u);
p_c.A_u = ppp_aug(0,p_c.A_u);
endif
endif
else
error(sprintf("Method %s not recognised", p_c.Method));
endif
endif
|
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
|
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
|
+
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
-
-
+
+
+
+
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
|
y = [];
u = [];
t = [];
y_e = [];
t_e = [];
e_e = [];
tick = time;
i=0;
for i=1:I
i
tim=time; # Timing
if Simulate # Exact simulation
t_sim = [1: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); # Current state (for next time)
y_now = yi(:,p_c.N); # Current output
ti = [(i-1)*p_c.N:i*p_c.N-1]*dt;
else # The real thing
to_rt(U'); # Send U
data = from_rt(p_c.N); # Receive data
[yi,ui,ti] = convert_data(data); # And convert from integer format
y_now = yi(:,p_c.N); # Current output
endif
sample_time = (time-tim)/p_c.N
tim = time;
## Observer
if strcmp(p_o.method, "intermittent")
[x_est y_est e_est] = ppp_int_obs \
(x_est,y_now,U,A,B,C,D,p_c.A_u,p_c.delta_ol,L);
elseif strcmp(p_o.method, "continuous")
Ui = U; # U at sub intervals
for k = 1:p_c.N
[x_est y_est e_est] = ppp_int_obs \
(x_est,yi(:,k),Ui,A,B,C,D,p_c.A_u,dt,L);
Ui = A_ud'*Ui;
y_e = [y_e; y_est'];
e_e = [e_e; e_est];
endfor
endif
##Control
U = K_w*w - K_x*x_est;
for j=1:20
for k=1:I
i++;
tim=time; # Timing
if Simulate # Exact simulation
t_sim = [1: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); # Current state (for next time)
y_i = yi(:,p_c.N); # Current output
ti = [(i-1)*p_c.N:i*p_c.N-1]*dt;
else # The real thing
# to_rt(U'); # Send U
# data = from_rt(p_c.N); # Receive data
# [yi,ui,ti] = convert_data(data); # And convert from integer format
[t_i,y_i,u_i] = ppp_put_get(U); # Generic interface to real-time
# y_i = yi(:,p_c.N); # Current output
endif
sample_time = (time-tim)/p_c.N;
tim = time;
## Observer
if strcmp(p_o.method, "intermittent")
[x_est y_est e_est] = ppp_int_obs \
(x_est,y_i,U,A,B,C,D,p_c.A_u,p_c.delta_ol,L);
elseif strcmp(p_o.method, "continuous")
Ui = U; # U at sub intervals
for k = 1:p_c.N
[x_est y_est e_est] = ppp_int_obs \
(x_est,yi(:,k),Ui,A,B,C,D,p_c.A_u,dt,L);
Ui = A_ud'*Ui;
y_e = [y_e; y_est'];
e_e = [e_e; e_est];
endfor
endif
##Control
U = K_w*w - K_x*x_est;
## Save data
t = [t;ti'];
y = [y;yi'];
u = [u;ui'];
if strcmp(p_o.method, "intermittent")
y_e = [y_e; y_est'];
e_e = [e_e; e_est];
t_e = [t_e; (i*p_c.N)*dt];
endif
## Save data
if Simulate
t = [t;ti'];
y = [y;yi'];
u = [u;ui'];
else
t = [t;t_i];
y = [y;y_i];
u = [u;u_i];
endif
if strcmp(p_o.method, "intermittent")
y_e = [y_e; y_est'];
e_e = [e_e; e_est];
t_e = [t_e; (i*p_c.N)*dt];
endif
overrun = time-tim
endfor # Main loop
overrun = time-tim;
endfor # Main loop
w = -w
endfor # Outer loop
if strcmp(p_o.method, "continuous")
t_e = t;
endif
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));
# ## Plot
# gset nokey
# title("");
# boxed=0;
# monochrome=1;
# grid;
# xlabel("t");
# ylabel("y");
# figure(1);plot(t,y, t_e,y_e,"+");
# ylabel("u");
# figure(2);plot(t,u);
# ylabel("e");
# figure(3);plot(t_e,e_e);
|