Overview
| Comment: | Prediction matices for open-loop control |
|---|---|
| Downloads: | Tarball | ZIP archive | SQL archive |
| Timelines: | family | ancestors | descendants | both | origin/master | trunk |
| Files: | files | file ages | folders |
| SHA3-256: |
e0beb0cc3ba856fc9cf579c3d4a88b70 |
| User & Date: | gawthrop@users.sourceforge.net on 2005-10-13 07:28:50 |
| Other Links: | branch diff | manifest | tags |
Context
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2005-10-13
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| 10:01:57 | Explicitly set U to zero check-in: c982c26de6 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
| 07:28:50 | Prediction matices for open-loop control check-in: e0beb0cc3b user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
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2005-09-29
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| 13:46:25 | Converts labg.fig -> ps/eps correctly (using fig2ps) check-in: abdbc1c97d user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
Changes
Added mttroot/mtt/lib/control/PPP/ppp_pred.m version [a109d8be6c].
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function [A_p,B_p] = ppp_pred (A,B,C,D,A_u,Ust0,T)
## usage: [A_p,B_p] = ppp_pred (A,B,C,D,A_u,Ust0,T)
##
## PPP prediction matrices: x_pred = A_p*x + B_p*U
## Sanity
[n_x,n_u,n_y] = abcddim(A,B,C,D); # System dimensions
if (n_x==-1)
error("A B C D not compatible");
endif
n_U = issquare(A_u);
if (n_U!=n_x)
error(sprintf("A_u must be %ix%i",n_x,n_x));
endif
[nn,mm] = size(Ust0);
if (nn!=1)||(mm!=n_x)
error(sprintf("Ust0 must be 1x%i",n_x));
endif
Z = zeros(n_x,n_x);
AA = [A B*Ust0
Z A_u'];
eAA = expm(AA*T);
A_p = eAA(1:n_x,1:n_x);
B_p = eAA(1:n_x,n_x+1:2*n_x);
endfunction
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