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Comment:Identification example
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2001-04-06
05:24:31
-stdin for .cc reps. check-in: 19df88b4b1 user: geraint@users.sourceforge.net tags: origin/master, trunk
2001-04-05
12:00:18
Identification example check-in: e2aded79c6 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
11:51:42
Model-based identification for PPP check-in: 36dbdfe9cc user: gawthrop@users.sourceforge.net tags: origin/master, trunk
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Added mttroot/mtt/lib/examples/Identification/idNonlinearTanks/README version [64f32ec93d]. 












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This is the example from:
@Article{Gaw00c,
  author =       {Peter J Gawthrop},
  title =        {Sensitivity Bond Graphs},
  journal =      JFI,
  year =         {2000}
}


NB Compile with -i euler








Added mttroot/mtt/lib/examples/Identification/idNonlinearTanks/conical.cr version [7eab0220f3].













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%% CR for conical tank example

OPERATOR conical;
%% State input.
FOR ALL rho,g,V_0,V LET
    conical(rho,g,V_0,effort,1,V,state,1) = rho*g*(12*(V+V_0)/pi)^(1/3);


END;;








Added mttroot/mtt/lib/examples/Identification/idNonlinearTanks/discharge.cr version [28f3427960].

















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%% CR for pipe discharge


OPERATOR discharge;
%% Flow input
FOR ALL alpha,beta,F LET
    discharge(alpha,beta,effort,1,F,flow,1) = beta*F^alpha;

%% Effort input
FOR ALL alpha,beta,P LET
    discharge(alpha,beta,flow,1,P,effort,1) = (P/beta)^(1/alpha);

END;;








Added mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_abg.fig version [62dde3975f].











































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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
	 1575 2925 2745 2925 2520 3150
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3150 2925 4320 2925 4095 3150
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4725 2925 5895 2925 5670 3150
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6300 2925 7470 2925 7245 3150
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2925 2700 2925 1530 3150 1755
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4500 2700 4500 1530 4725 1755
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6075 2700 6075 1530 6300 1755
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 7650 2700 7650 1530 7875 1755
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6075 3150 6075 4320 6300 4095
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 1575 2700 1575 3150
4 1 0 100 0 18 20 0.0000 4 270 195 2925 3015 0\001
4 1 0 100 0 18 20 0.0000 4 270 195 4500 3015 1\001
4 1 0 100 0 18 20 0.0000 4 270 195 7650 3015 1\001
4 1 0 100 0 18 20 0.0000 4 285 705 2925 1440 C:t1\001
4 1 0 100 0 18 20 0.0000 4 360 780 4545 1440 R:p1\001
4 1 0 100 0 18 20 0.0000 4 360 780 7695 1440 R:p2\001
4 1 0 100 0 18 20 0.0000 4 285 705 6075 1440 C:t2\001
4 1 0 100 0 18 20 0.0000 4 270 195 6075 3015 0\001
4 1 0 100 0 18 20 0.0000 4 360 825 6075 4680 De:y\001
4 1 0 100 0 18 20 0.0000 4 285 720 1125 3060 Sf:u\001








Added mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_desc.tex version [3e4f2fb3e7].






































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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system idNonlinearTanks (idRC_desc.tex)
% Generated by MTT on Thu Apr 5 11:04:33 BST 2001.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/12/28 09:13:38  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{idNonlinearTanks} is
   displayed in Figure \Ref{fig:idRC_abg.ps} and its label
   file is listed in Section \Ref{sec:idRC_lbl}.
   The subsystems are listed in Section \Ref{sec:idRC_sub}.

   
   This example illustrates the sensitivity approach to model-based
   system identification\footnote{Peter J Gawthrop, \emph{Sensitivity
       Bond Graphs}, Journal Franklin Institute, \textbf{337}, 2000,
     pp 907--922}.

   The system compprises two non-linear tanks (see the paper for details).
   The method identifies four parameters: the two initial states ans
   the two parameters of the non-linear flow resistance.

   To see the results, type: 
\begin{verbatim}
mtt -oct -i euler -pdf idNonlinearTanks ippp view
\end{verbatim}









Added mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_ippp.m version [3864de3022].





























































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## Set up parameters
name = "idNonlinearTanks";
sim = sidNonlinearTanks_simpar;	# Simulation parameter
sym = sidNonlinearTanks_sympar;	# Parameter names
par = sidNonlinearTanks_numpar;	# Parameter values
x0  = sidNonlinearTanks_state(par); # Initial state

## Simulation of "actual" system
t = [0:sim.dt:sim.last]';
T = 5;				# Period
u = ones(size(t));
y_0 = sidNonlinearTanks_ssim(x0,par,sim,u,2);

plot(t,y_0);

## The initial parameters
par_0 = par;
par_0(sym.V_1) = 2.0;
par_0(sym.V_2) = 1.0;
par_0(sym.alpha) = 1.0;
par_0(sym.beta) = 2.0;

## Identify
extras.criterion = 1e-5;
extras.max_iterations = 10;
extras.v = 10;			# Use a really big initial value
extras.verbose = 1;		# Show what is going on
[par,Par,Error,Y] = ppp_identify (name,u,y_0,["V_1  ";"V_2  ";"alpha";"beta "],par_0,extras);

par = par

grid;
xlabel("Time")
title("Output");
plot(t,y_0);
figfig("idNonlinearTanks_output","pdf");
figfig("idNonlinearTanks_output","ps");
grid;

xlabel("Time")
title("Estimated output");
plot(t,y_0,t,Y);
figfig("idNonlinearTanks_outputs","pdf");
figfig("idNonlinearTanks_outputs","ps");

xlabel("Iteration")
title("Estimation error");
plot(Error);
figfig("idNonlinearTanks_error","pdf");
figfig("idNonlinearTanks_error","ps");

xlabel("Iteration")
title("Estimated Parameter");
plot(Par');
figfig("idNonlinearTanks_parameters","pdf");
figfig("idNonlinearTanks_parameters","ps");








Added mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_lbl.txt version [833116b223].






























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%% Label file for system idNonlinearTanks (NonlinearTanks_lbl.txt)
%SUMMARY NonlinearTanks
%DESCRIPTION <Detailed description here>

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


% Component type C
	t1		conical		rho,g,V_1
	t2		conical		rho,g,V_2

% Component type R
	p1		discharge	alpha,beta
	p2		discharge	alpha,beta

% Component type Sf
        u		SS		external

% Component type De
        y		SS		external









Added mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_numpar.txt version [01084da6b8].






























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# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (sNonlinearTanks_numpar.txt)
# Generated by MTT at Mon Nov 29 17:36:54 EST 1999

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

## Parameters

## States 
v_1 = 	0.5;			# Tank 1
v_2 = 	0.25;			# Tank 2

## Tank parameters
g = 	1;			#Gravity
rho = 	1;			# sC,sNonlinearTanks
alpha = 	1.5;

## Pipe parameters
beta = 	1; 










Added mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_rep.tex version [d07140a9ae].









































































































































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\section{\textbf{abg.tex}: System idNonlinearTanks, representation \textbf{abg}, language \textbf{tex}}
\label{sec:idNonlinearTanks_abg.tex}
\index{\textbf{idNonlinearTanks} -- abg}


MTT command:
\begin{verbatim}
mtt idNonlinearTanks abg tex 
\end{verbatim}
  \input{/home/peterg/Research/Identification/MTT/idNonlinearTanks/MTT_work/idNonlinearTanks_abg.tex}


\section{\textbf{cbg.ps}: System idNonlinearTanks, representation \textbf{cbg}, language \textbf{ps}}
\label{sec:idNonlinearTanks_cbg.ps}
\index{\textbf{idNonlinearTanks} -- cbg}


MTT command:
\begin{verbatim}
mtt idNonlinearTanks cbg ps 
\end{verbatim}
This representation is given as Figure \Ref{fig:idNonlinearTanks_cbg.ps}.
\fig{/home/peterg/Research/Identification/MTT/idNonlinearTanks/MTT_work/idNonlinearTanks_cbg}
    {idNonlinearTanks_cbg.ps}
    {0.9}
    {System \textbf{idNonlinearTanks}, representation cbg}


\section{\textbf{struc.tex}: System idNonlinearTanks, representation \textbf{struc}, language \textbf{tex}}
\label{sec:idNonlinearTanks_struc.tex}
\index{\textbf{idNonlinearTanks} -- struc}


MTT command:
\begin{verbatim}
mtt idNonlinearTanks struc tex 
\end{verbatim}
  \input{/home/peterg/Research/Identification/MTT/idNonlinearTanks/MTT_work/idNonlinearTanks_struc.tex}


\section{\textbf{sympar.tex}: System idNonlinearTanks, representation \textbf{sympar}, language \textbf{tex}}
\label{sec:idNonlinearTanks_sympar.tex}
\index{\textbf{idNonlinearTanks} -- sympar}


MTT command:
\begin{verbatim}
mtt idNonlinearTanks sympar tex 
\end{verbatim}
  \input{/home/peterg/Research/Identification/MTT/idNonlinearTanks/MTT_work/idNonlinearTanks_sympar.tex}


\section{\textbf{odeso.ps}: System sidNonlinearTanks, representation \textbf{odeso}, language \textbf{ps}}
\label{sec:sidNonlinearTanks_odeso.ps}
\index{\textbf{sidNonlinearTanks} -- odeso}


MTT command:
\begin{verbatim}
mtt -oct -s sidNonlinearTanks odeso ps 
\end{verbatim}
This representation is given as Figure \Ref{fig:sidNonlinearTanks_odeso.ps}.
\fig{/home/peterg/Research/Identification/MTT/idNonlinearTanks/MTT_work/sidNonlinearTanks_odeso}
    {sidNonlinearTanks_odeso.ps}
    {0.9}
    {System \textbf{sidNonlinearTanks}, representation odeso}


\section{\textbf{ippp.ps}: System idNonlinearTanks, representation \textbf{ippp}, language \textbf{ps}}
\label{sec:idNonlinearTanks_ippp.ps}
\index{\textbf{idNonlinearTanks} -- ippp}


MTT command:
\begin{verbatim}
mtt -oct -i euler idNonlinearTanks ippp ps 
\end{verbatim}
This representation is given as Figure \Ref{fig:idNonlinearTanks_ippp.ps}.
\fig{/home/peterg/Research/Identification/MTT/idNonlinearTanks/MTT_work/idNonlinearTanks_ippp}
    {idNonlinearTanks_ippp.ps}
    {0.9}
    {System \textbf{idNonlinearTanks}, representation ippp}


\section{\textbf{rep.txt}: System idNonlinearTanks, representation \textbf{rep}, language \textbf{txt}}
\label{sec:idNonlinearTanks_rep.txt}
\index{\textbf{idNonlinearTanks} -- rep}


MTT command:
\begin{verbatim}
mtt idNonlinearTanks rep txt 
\end{verbatim}
  \begin{verbatim}
## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system idNonlinearTanks (idRC_rep.txt)
## Generated by MTT on" Thu Apr  5 11:17:27 BST 2001.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.1  2000/12/28 11:58:07  peterg
## Put under RCS
##
###############################################################

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

mtt idNonlinearTanks rep txt		# This file
  \end{verbatim}








Added mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_rep.txt version [cf637754a5].








































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## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system idNonlinearTanks (idRC_rep.txt)
## Generated by MTT on" Thu Apr  5 11:17:27 BST 2001.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.1  2000/12/28 11:58:07  peterg
## Put under RCS
##
###############################################################

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

mtt idNonlinearTanks rep txt		# This file








Added mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_simpar.txt version [1629ef8da3].


























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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system idNonlinearTanks (sidNonlinearTanks_simpar.txt)
# Generated by MTT on Wed Apr 4 15:25:33 BST 2001.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.1  2000/12/28 11:58:07  peterg
## Put under RCS
##
###############################################################


FIRST        = 0.0;       # First time in simulation output
DT          = 0.1;        # Print interval
LAST        = 10.0;       # 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/Identification/idNonlinearTanks/idNonlinearTanks_subs.r version [2fa7735088].























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% Default SUBS file
% File idRC_subs.r
% Generated by MTT on Tue Apr  3 09:43:38 BST 2001.


% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/12/28 09:13:38  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% Put algebraic substitution commands here

FOR ALL x,y LET x^y = pow(x,y);
END;








Added mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sC_abg.fig version [28ce05ebfc].






























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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 3105 3105 3195 3645
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 3150 3150 3150 3600
-6
6 6705 3105 6795 3645
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 6750 3150 6750 3600
-6
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6750 3375 5400 3375 5625 3600
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3150 3375 4500 3375 4275 3600
4 1 4 100 0 18 14 0.0000 4 210 270 4410 3105 [1]\001
4 1 4 100 0 18 14 0.0000 4 210 270 5535 3105 [2]\001
4 0 4 100 0 18 18 0.0000 4 270 1935 6840 3465 SS:[sensitivity]\001
4 2 4 100 0 18 18 0.0000 4 270 1410 3060 3465 SS:[actual]\001
4 1 0 100 0 18 18 0.0000 4 210 450 4950 3465 C:c\001








Added mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sC_lbl.txt version [d300c10d36].

































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%% Label file for system sC (sC_lbl.txt)
%SUMMARY sC
%DESCRIPTION 

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


% Port aliases
%ALIAS	in	actual,sensitivity

% Argument aliases
%ALIAS	$1	rho,g,V_0,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 ----
	c	sconical 	rho,g,V_0,V_0s

% Component type SS
	[actual]	SS		external,external
	[sensitivity]	SS		external,external








Added mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sR_abg.fig version [7ee767975f].






























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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 4455 3105 4545 3645
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 4500 3150 4500 3600
-6
6 5355 3105 5445 3645
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 5400 3150 5400 3600
-6
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6750 3375 5400 3375 5625 3600
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3150 3375 4500 3375 4275 3600
4 1 4 100 0 18 14 0.0000 4 210 270 4410 3105 [1]\001
4 1 4 100 0 18 14 0.0000 4 210 270 5535 3105 [2]\001
4 0 4 100 0 18 18 0.0000 4 270 1935 6840 3465 SS:[sensitivity]\001
4 2 4 100 0 18 18 0.0000 4 270 1410 3060 3465 SS:[actual]\001
4 1 0 100 0 18 18 0.0000 4 210 390 4950 3465 R:r\001








Added mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sR_lbl.txt version [663f556b3d].

































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%% Label file for system sR (sR_lbl.txt)
%SUMMARY sR
%DESCRIPTION 

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


% Port aliases
%ALIAS	in	actual,sensitivity

% Argument aliases
%ALIAS	$1	alpha,beta,alpha_s,beta_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 ----
	r	sdischarge 	alpha,beta,alpha_s,beta_s

% Component type SS
	[actual]	SS		external,external
	[sensitivity]	SS		external,external








Added mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sconical.cr version [6e21d13445].

























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%% CR for conical tank example - sensitivity

in "conical.cr";

OPERATOR sconical;
%% The actual port (1) 
FOR ALL rho,g,V_0,V_0s,V,sV LET
    sconical(rho,g,V_0,V_0s,effort,1,
               V,state,1,
               sV,state,2)
    = conical(rho,g,V_0,effort,1,V,state,1);

%% The sensitivity port (2) 
FOR ALL rho,g,V_0,V_0s,V,sV LET
    sconical(rho,g,V_0,V_0s,effort,2,
               V,state,1,
               sV,state,2)
    = df(conical(rho,g,V_0,effort,1,V,state,1),V) * sV
    + df(conical(rho,g,V_0,effort,1,V,state,1),V_0)* V_0s;

END;;








Added mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sdischarge.cr version [8d882eb23f].



































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%% CR file for the sR component. - 2 port.
%% Special version just for this example.

%% CR for non-linear pipe discharge
%% Just do for flow input causality.

in "discharge.cr";

PROCEDURE l_discharge(alpha,beta,P);
BEGIN
  result := sub({x=P},df(discharge(alpha,beta,flow,1,x,effort,1), x));
  return result;
END;

OPERATOR sdischarge;
%% The actual port (1) -- Pressure input
FOR ALL alpha,beta,alpha_s,beta_s,P,sP LET
    sdischarge(alpha,beta,alpha_s,beta_s,flow,1,
               P,effort,1,
               sP,effort,2)
    = discharge(alpha,beta,flow,1,P,effort,1);

%% The sensitivity port (2) -- Pressure input
FOR ALL alpha,beta,alpha_s,beta_s,P,sP LET
    sdischarge(alpha,beta,alpha_s,beta_s,flow,2,
               P,effort,1,
               sP,effort,2)
    =  l_discharge(alpha,beta,P) * sP
    + df(discharge(alpha,beta,flow,1,P,effort,1), alpha)* alpha_s
    + df(discharge(alpha,beta,flow,1,P,effort,1), beta) * beta_s;
END;;








Added mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sidNonlinearTanks_lbl.txt version [fe01918d62].




































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

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% 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 labels ----

% Component type C
	t1		sconical	rho,g,V_1,V_1s
	t2		sconical	rho,g,V_2,V_2s

% Component type R
	p1		sdischarge	alpha,beta,alphas,betas
	p2		sdischarge	alpha,beta,alphas,betas

% Component type Sf
        u		SS		external;0

% Component type De
        y		SS		external;external









Added mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sidNonlinearTanks_numpar.txt version [e78bd62c33].




































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# -*-octave-*- Put Emacs into octave-mode
# Numerical parameter file (sNonlinearTanks_numpar.txt)
# Generated by MTT at Mon Nov 29 17:36:54 EST 1999

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

## Parameters

## States 
v_1 = 	0.5;			# Tank 1
v_2 = 	0.25;			# Tank 2

## Tank parameters
g = 	1;			#Gravity
rho = 	1;			# sC,sNonlinearTanks
alpha = 	1.5;

## Pipe parameters
beta = 	1; 

## Sensitivity.
v_1s = 	0;			# Tank 1
v_2s = 	0;			# Tank 2

alphas = 	0;
betas  = 	0;









Added mttroot/mtt/lib/examples/Identification/idNonlinearTanks/sidNonlinearTanks_simpar.txt version [a95d2a72de].


























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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system sidNonlinearTanks (sidNonlinearTanks_simpar.txt)
# Generated by MTT on Wed Apr 4 15:25:33 BST 2001.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.1  2000/12/28 11:58:07  peterg
## Put under RCS
##
###############################################################


FIRST        = 0.0;       # First time in simulation output
DT          = 0.1;        # Print interval
LAST        = 10.0;       # 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/Identification/idNonlinearTanks/sidNonlinearTanks_subs.r version [2949fe13a0].


























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% Default SUBS file
% File idRC_subs.r
% Generated by MTT on Tue Apr  3 09:43:38 BST 2001.


% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/12/28 09:13:38  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% Put algebraic substitution commands here

FOR ALL x,y LET x^y = pow(x,y); % Use the pow function

ON ROUNDED; % No integer output

END;








Added mttroot/mtt/lib/examples/Identification/idRC/idRC_abg.fig version [d7e806eb37].






















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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
	 2250 2475 3600 2475 3375 2700
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4500 2475 5850 2475 5625 2700
2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5
	 6975 3600 1125 3600 1125 1800 6975 1800 6975 3600
4 1 0 100 0 18 18 0.0000 4 210 600 1800 2565 Se:u\001
4 1 0 100 0 18 18 0.0000 4 210 750 4050 2565 RC:rc\001
4 1 0 100 0 18 18 0.0000 4 270 600 6345 2565 De:y\001








Added mttroot/mtt/lib/examples/Identification/idRC/idRC_desc.tex version [a29ed1a75e].





































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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system idRC (idRC_desc.tex)
% Generated by MTT on Thu Apr 5 11:04:33 BST 2001.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/12/28 09:13:38  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{idRC} is
   displayed in Figure \Ref{fig:idRC_abg.ps} and its label
   file is listed in Section \Ref{sec:idRC_lbl}.
   The subsystems are listed in Section \Ref{sec:idRC_sub}.

   
   This example illustrates the sensitivity approach to model-based
   system identification\footnote{Peter J Gawthrop, \emph{Sensitivity
       Bond Graphs}, Journal Franklin Institute, \textbf{337}, 2000,
     pp 907--922}.

   The system is a simple RC circuit with zero initial condition; the
   method identifies the resitance $r$.

   To see the results, type: 
\begin{verbatim}
mtt -oct -i euler -pdf idRC ippp view
\end{verbatim}









Added mttroot/mtt/lib/examples/Identification/idRC/idRC_ippp.m version [4d16198bcb].


















































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## Set up parameters
name = "idRC";
sim = sidRC_simpar;		# Simulation parameter
sym = sidRC_sympar;		# Parameter names
par = sidRC_numpar;		# Parameter values
par([sym.us,sym.rs,sym.cs])=0;	# Reset sensitivity params
x0  = sidRC_state(par);         # Initial state

## Simulation of "actual" system
t = [0:sim.dt:sim.last]';
T = 5;				# Period
u = sin((2*pi/T)*t);
y_0 = sidRC_ssim(x0,par,sim,u,1);

## Initial parameter
par_0 = par;
par_0(sym.r) = 0.1;

## Identify
extras.criterion = 1e-5;
extras.max_iterations = 10;
extras.v = 1e-5;
extras.verbose = 1;		# Show what is going on
[par,Par,Error,Y] = ppp_identify (name,u,y_0,["r"],par_0,extras);

par = par

grid;
xlabel("Time")
title("Estimated output");
plot(t,y_0,t,Y);
figfig("idRC_outputs","pdf");
figfig("idRC_outputs","ps");

xlabel("Iteration")
title("Estimation error");
plot(Error);
figfig("idRC_error","pdf");
figfig("idRC_error","ps");

xlabel("Iteration")
title("Estimated Parameter");
plot(Par');
figfig("idRC_parameters","pdf");
figfig("idRC_parameters","ps");








Added mttroot/mtt/lib/examples/Identification/idRC/idRC_rep.tex version [85839553dd].









































































































































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\section{\textbf{abg.tex}: System idRC, representation \textbf{abg}, language \textbf{tex}}
\label{sec:idRC_abg.tex}
\index{\textbf{idRC} -- abg}


MTT command:
\begin{verbatim}
mtt idRC abg tex 
\end{verbatim}
  \input{/home/peterg/Research/Identification/MTT/idRC/MTT_work/idRC_abg.tex}


\section{\textbf{cbg.ps}: System idRC, representation \textbf{cbg}, language \textbf{ps}}
\label{sec:idRC_cbg.ps}
\index{\textbf{idRC} -- cbg}


MTT command:
\begin{verbatim}
mtt idRC cbg ps 
\end{verbatim}
This representation is given as Figure \Ref{fig:idRC_cbg.ps}.
\fig{/home/peterg/Research/Identification/MTT/idRC/MTT_work/idRC_cbg}
    {idRC_cbg.ps}
    {0.9}
    {System \textbf{idRC}, representation cbg}


\section{\textbf{struc.tex}: System idRC, representation \textbf{struc}, language \textbf{tex}}
\label{sec:idRC_struc.tex}
\index{\textbf{idRC} -- struc}


MTT command:
\begin{verbatim}
mtt idRC struc tex 
\end{verbatim}
  \input{/home/peterg/Research/Identification/MTT/idRC/MTT_work/idRC_struc.tex}


\section{\textbf{sympar.tex}: System idRC, representation \textbf{sympar}, language \textbf{tex}}
\label{sec:idRC_sympar.tex}
\index{\textbf{idRC} -- sympar}


MTT command:
\begin{verbatim}
mtt idRC sympar tex 
\end{verbatim}
  \input{/home/peterg/Research/Identification/MTT/idRC/MTT_work/idRC_sympar.tex}


\section{\textbf{odeso.ps}: System idRC, representation \textbf{odeso}, language \textbf{ps}}
\label{sec:idRC_odeso.ps}
\index{\textbf{idRC} -- odeso}


MTT command:
\begin{verbatim}
mtt -oct idRC odeso ps 
\end{verbatim}
This representation is given as Figure \Ref{fig:idRC_odeso.ps}.
\fig{/home/peterg/Research/Identification/MTT/idRC/MTT_work/idRC_odeso}
    {idRC_odeso.ps}
    {0.9}
    {System \textbf{idRC}, representation odeso}


\section{\textbf{ippp.ps}: System idRC, representation \textbf{ippp}, language \textbf{ps}}
\label{sec:idRC_ippp.ps}
\index{\textbf{idRC} -- ippp}


MTT command:
\begin{verbatim}
mtt -oct -i euler idRC ippp ps 
\end{verbatim}
This representation is given as Figure \Ref{fig:idRC_ippp.ps}.
\fig{/home/peterg/Research/Identification/MTT/idRC/MTT_work/idRC_ippp}
    {idRC_ippp.ps}
    {0.9}
    {System \textbf{idRC}, representation ippp}


\section{\textbf{rep.txt}: System idRC, representation \textbf{rep}, language \textbf{txt}}
\label{sec:idRC_rep.txt}
\index{\textbf{idRC} -- rep}


MTT command:
\begin{verbatim}
mtt idRC rep txt 
\end{verbatim}
  \begin{verbatim}
## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system idRC (idRC_rep.txt)
## Generated by MTT on" Thu Apr  5 11:17:27 BST 2001.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.1  2000/12/28 11:58:07  peterg
## Put under RCS
##
###############################################################

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

mtt idRC rep txt		# This file
  \end{verbatim}








Added mttroot/mtt/lib/examples/Identification/idRC/idRC_rep.txt version [2d54c35474].








































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## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system idRC (idRC_rep.txt)
## Generated by MTT on" Thu Apr  5 11:17:27 BST 2001.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.1  2000/12/28 11:58:07  peterg
## Put under RCS
##
###############################################################

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

mtt idRC rep txt		# This file








Added mttroot/mtt/lib/examples/Identification/idRC/sRC_lbl.txt version [2c3b1d134e].













































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%% Label file for system sRC (sRC_lbl.txt)
%SUMMARY sRC
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/12/28 09:13:38  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	in	Electrical_in_1,Electrical_in_2
%ALIAS	out	Electrical_out_1,Electrical_out_2

% Argument aliases
%ALIAS	$1	c
%ALIAS	$2	cs
%ALIAS	$3	r
%ALIAS	$4	rs

%% 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
	[Electrical_in]	SS		external,external
	[Electrical_out]	SS		external,external

% Component type C
	c	lin		effort,c;cs

% Component type R
	r	lin		flow,r;rs








Added mttroot/mtt/lib/examples/Identification/idRC/sidRC.h version [a7ffc6f8bf].








Added mttroot/mtt/lib/examples/Identification/idRC/sidRC_input.txt version [317dc5b945].














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## -*-octave-*- Put Emacs into octave-mode ##
 
## 
## System sidRC, representation input, language txt; 
## File sidRC_input.txt; 
## Generated by MTT on Tue Apr  3 10:17:44 BST 2001; 



sidRC_u_1_se_1_1_u	= 1.0; # Default








Added mttroot/mtt/lib/examples/Identification/idRC/sidRC_numpar.txt version [d96030ec99].


















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## -*-octave-*- Put Emacs into octave-mode ##
 
## 
## System sidRC, representation numpar, language txt; 
## File sidRC_numpar.txt; 
## Generated by MTT on Wed Apr  4 12:11:21 BST 2001; 



c	= 1.0;			# Capacitance
cs	= 0.0;			# Sensitivity
r	= 1.0;			# Resistance
rs	= 0.0;			# Sensitivity
us	= 0.0;			# Sensitivity








Added mttroot/mtt/lib/examples/Identification/idRC/sidRC_subs.r version [84a767b42e].


























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% Default SUBS file
% File sidRC_subs.r
% Generated by MTT on Tue Apr  3 09:43:38 BST 2001.


% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/12/28 09:13:38  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% Put algebraic substitution commands here

FOR ALL x,y LET x^y = pow(x,y); % Use the pow function

ON ROUNDED; % No integer output

END;






















MTT: Model Transformation Tools
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