Overview
Comment:Make time horizon tau part of p_c struct
Downloads: Tarball | ZIP archive | SQL archive
Timelines: family | ancestors | descendants | both | origin/master | trunk
Files: files | file ages | folders
SHA3-256: fb3311a46fd82ae5b87aeddcacb5af37c9a8d3cdd4283e0b6267cc2e099951f3
User & Date: gawthrop@users.sourceforge.net on 2003-10-21 09:55:02
Other Links: branch diff | manifest | tags
Context
2003-10-22
23:49:43
Put Xmtt into Debian|App|Math menu. check-in: cdfbf2e2fc 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: fb3311a46f 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: 19c0c38dde user: gawthrop@users.sourceforge.net tags: origin/master, trunk
Changes
Hide Diffs Unified Diffs Ignore Whitespace Patch

Modified mttroot/mtt/lib/control/PPP/ppp_lin_run.m from [fdb48937ab] to [afe5f8a794].

︙︙
102
103
104
105
106
107
108












109
110
111
112
113
114
115

	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";








>
>
>
>
>
>
>
>
>
>
>
>








102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127

	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";
︙︙
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162


163
164
165
166
167
168
169

    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








|

|

|

|














>
>








147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183

    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
︙︙

MTT: Model Transformation Tools
[ GitHub | SourceHut | Sourceforge | Fossil RSS ]