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Comment:Make time horizon tau part of p_c struct
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SHA3-256: fa74b12eb31ee713ac7e5b9b57f547ddfbc9c45a085eaec699064edbca1c3aea
User & Date: gawthrop@users.sourceforge.net on 2003-10-21 09:55:02
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Context
2003-10-22
23:49:43
Put Xmtt into Debian|App|Math menu. check-in: 424d392212 user: geraint@users.sourceforge.net tags: origin/master, trunk
2003-10-21
09:55:02
Make time horizon tau part of p_c struct check-in: fa74b12eb3 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
09:30:24
Revised to work with LQ on alnalogue circuit example with integration check-in: b4a88aed89 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
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Modified mttroot/mtt/lib/control/PPP/ppp_lin_run.m from [fdb48937ab] to [afe5f8a794].

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	endif
      endif
    else
      error(sprintf("Method %s not recognised", p_c.Method));
    endif
  endif
  












  if !struct_contains(p_o,"x_0")
    p_o.x_0 = zeros(n_x,1);
  endif
  
  if !struct_contains(p_o,"method")
    ##p_o.method = "continuous";
    p_o.method = "intermittent";








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	endif
      endif
    else
      error(sprintf("Method %s not recognised", p_c.Method));
    endif
  endif
  
  if !struct_contains(p_c,"tau") # Time horizon
    if strcmp(p_c.Method,"lq")
      p_c.tau = [0:0.1:1]*2;
    elseif strcmp(p_c.Method,"original");
      p_c.tau = [10:0.1:11];
    else
      error(sprintf("Method %s not recognised", p_c.Method));
    endif
  endif
  
      

  if !struct_contains(p_o,"x_0")
    p_o.x_0 = zeros(n_x,1);
  endif
  
  if !struct_contains(p_o,"method")
    ##p_o.method = "continuous";
    p_o.method = "intermittent";
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    K_w = zeros(p_c.n_U,n_y);
    K_w(1,1) = 1;
    K_w(2,1) = -1;
    K_x = zeros(p_c.n_U,n_x);
  else
    I = ceil(p_c.T/p_c.delta_ol) # Number of large samples
    if strcmp(p_c.Method, "original")
      tau = [10:0.1:11]*(2/a_u);	# Time horizons
      [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww] =\
	  ppp_lin(A,B,C,D,p_c.A_u,p_c.A_w,tau); # Design
    elseif strcmp(p_c.Method, "lq") # LQ design
      tau = [0:0.1:2]; # Time horizons
      [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,A_u] \
	  = ppp_lin_quad (A,B,C,D,tau,p_c.Q,p_c.R);
      p_c.A_u = A_u;
    else
      error(sprintf("Control method %s not recognised", p_c.Method));
    endif

    ##Sanity check A_u
    [p_c.n_U,M_u] = size(p_c.A_u);
    if (p_c.n_U!=M_u)
      error("A_u must be square");
    endif

    ## Checks
    [ol_zeros, ol_poles] = sys2zp(sys)
    cl_poles = eig(A - B*k_x)


  endif

  ## Initial control U
  U = zeros(p_c.n_U,1);	


  ## Short sample interval








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    K_w = zeros(p_c.n_U,n_y);
    K_w(1,1) = 1;
    K_w(2,1) = -1;
    K_x = zeros(p_c.n_U,n_x);
  else
    I = ceil(p_c.T/p_c.delta_ol) # Number of large samples
    if strcmp(p_c.Method, "original")
##      tau = [10:0.1:11]*(2/a_u);	# Time horizons
      [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww] =\
	  ppp_lin(A,B,C,D,p_c.A_u,p_c.A_w,p_c.tau); # Design
    elseif strcmp(p_c.Method, "lq") # LQ design
##      tau = [0:0.001:1]*2; # Time horizons
      [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,A_u] \
	  = ppp_lin_quad (A,B,C,D,p_c.tau,p_c.Q,p_c.R);
      p_c.A_u = A_u;
    else
      error(sprintf("Control method %s not recognised", p_c.Method));
    endif

    ##Sanity check A_u
    [p_c.n_U,M_u] = size(p_c.A_u);
    if (p_c.n_U!=M_u)
      error("A_u must be square");
    endif

    ## Checks
    [ol_zeros, ol_poles] = sys2zp(sys)
    cl_poles = eig(A - B*k_x)
    t_max = 1/min(abs(cl_poles))
    t_min = 1/max(abs(cl_poles))
  endif

  ## Initial control U
  U = zeros(p_c.n_U,1);	


  ## Short sample interval
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