Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/Cart_abg.fig
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/Cart_abg.fig
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/Cart_abg.fig
@@ -29,10 +29,12 @@
 	 9900 5850 225 5850 225 900 9900 900 9900 5850
 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
 	 2475 4050 3825 4050 3600 4275
 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
 	 4275 4050 5625 4050 5400 4275
+2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
+	 5625 4725 5625 5175
 4 1 1 101 0 3 20 0.0000 4 270 1155 4140 3600 x-velocity\001
 4 1 0 100 0 18 20 0.0000 4 195 150 4050 3240 1\001
 4 1 4 100 0 18 20 0.0000 4 270 1320 1710 3240 SS:[drive]\001
 4 1 1 101 0 3 20 0.0000 4 270 1125 4185 4500 y-velocity\001
 4 1 1 101 0 3 20 0.0000 4 270 1905 4050 5490 angular-velocity\001

Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_desc.tex
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_desc.tex
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_desc.tex
@@ -5,10 +5,13 @@
 % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 % %% Version control history
 % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 % %% $Id$
 % %% $Log$
+% %% Revision 1.1  2001/04/11 15:41:45  gawthrop
+% %% New identification example - friction components only
+% %%
 % %% Revision 1.1  2000/12/28 18:00:45  peterg
 % %% To RCS
 % %%
 % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
@@ -22,6 +25,6 @@
 the horizontal direction. The input is the horizontal force acting on
 the cart, and the two outputs are the horizontal position and the
 pendulum angle respectively.
 
 The identification procedure estimates the two friction parameters
-$r_c$ and $r_c$
+$r_c$ and $r_c$ together with the cart mass $m_c$.

Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_ippp.m
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_ippp.m
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/idInvertedPendulumOnCart_ippp.m
@@ -12,19 +12,19 @@
 u = 1.0*(t<one);
 y_0 = sidInvertedPendulumOnCart_ssim(x0,par,sim,u);
 
 ## Initial parameter
 par_0 = par;
-par_0(sym.r_c) = 0.0;
-par_0(sym.r_p) = 0.0;
-
+par_0(sym.r_c) = 0.1;
+par_0(sym.r_p) = 0.1;
+par_0(sym.m_c) = 1.0;
 ## Identify
 extras.criterion = 1e-5;
 extras.max_iterations = 10;
-extras.v = 1e-5;
+extras.v = 1e-1;		#Cautious initial step
 extras.verbose = 1;		# Show what is going on
-[par,Par,Error,Y] = ppp_identify (name,u,y_0,["r_c";"r_p"],par_0,extras);
+[par,Par,Error,Y] = ppp_identify (name,u,y_0,["r_c";"r_p";"m_c"],par_0,extras);
 
 par = par
 
 grid;
 xlabel("Time")
@@ -39,13 +39,13 @@
 figfig("idInvertedPendulumOnCart_error","pdf");
 figfig("idInvertedPendulumOnCart_error","ps");
 
 xlabel("Iteration")
 title("Estimated Parameters");
-plot(Par([sym.r_c,sym.r_p],:)');
+plot(Par([sym.r_c,sym.r_p,sym.m_c],:)');
 figfig("idInvertedPendulumOnCart_parameters","pdf");
 figfig("idInvertedPendulumOnCart_parameters","ps");
 
 
 
 
 

Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sCart_lbl.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sCart_lbl.txt
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sCart_lbl.txt
@@ -5,10 +5,13 @@
 % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 % %% Version control history
 % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 % %% $Id$
 % %% $Log$
+% %% Revision 1.1  2001/04/11 15:41:45  gawthrop
+% %% New identification example - friction components only
+% %%
 % %% Revision 1.1  2000/12/28 09:13:38  peterg
 % %% Initial revision
 % %%
 % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
@@ -38,17 +41,17 @@
 
 % Component type De
 	Position	SS		external
 
 % Component type I
-	m_c	lin		flow,m_c;m_cs
+	m_c	slin		flow,m_c;m_cs
 
 % Component type R
-	r_c	lin		flow,r_c;r_cs
-	r_p	lin		flow,r_p;r_ps
+	r_c	slin		flow,r_c;r_cs
+	r_p	slin		flow,r_p;r_ps
 
 % Component type Sf
 	zero_velocity	SS		0;0
 
 
 
 

Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sInvertedPendulum_lbl.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sInvertedPendulum_lbl.txt
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sInvertedPendulum_lbl.txt
@@ -5,10 +5,13 @@
 % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 % %% Version control history
 % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 % %% $Id$
 % %% $Log$
+% %% Revision 1.1  2001/04/11 15:41:45  gawthrop
+% %% New identification example - friction components only
+% %%
 % %% Revision 1.1  2000/12/28 09:13:38  peterg
 % %% Initial revision
 % %%
 % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
@@ -41,6 +44,6 @@
 	a_0	SS		0;0
 	x_0	SS		0;0
 	y_0	SS		0;0
 
 % Component type gRODa
-	rod     none		m_p*l_p*l_p/12;m_ps*l_p*l_p/12;m_p;m_ps;l_p/2;l_p/2;g			
+	rod     none		j_p;j_ps;m_p;m_ps;l_p/2;l_p/2;g			

Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sgRODa_lbl.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sgRODa_lbl.txt
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sgRODa_lbl.txt
@@ -5,10 +5,13 @@
 % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 % %% Version control history
 % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 % %% $Id$
 % %% $Log$
+% %% Revision 1.1  2001/04/11 15:41:45  gawthrop
+% %% New identification example - friction components only
+% %%
 % %% Revision 1.1  2000/12/28 09:13:38  peterg
 % %% Initial revision
 % %%
 % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
@@ -52,12 +55,14 @@
 s2	lsin;slsin	l_b
 c1	lcos;slcos	l_a
 c2	lcos;slcos	l_b
 
 % Component type I
-	J	lin		flow,J;Js
-	m_x	lin		flow,m;ms
-	m_y	lin		flow,m;ms
+	J	slin		flow,J;Js
+	m_x	slin		flow,m;ms
+	m_y	slin		flow,m;ms
 	th			
 
 % Component type Se
 	mg	SS		m*g;0
+
+

Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_numpar.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_numpar.txt
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_numpar.txt
@@ -12,10 +12,11 @@
 
 l_p =   0.61;			# Pendulum length
 m_p =   0.210;			# Pendulum mass
 r_p = 	0.5;			# Pendulum friction
 
+j_p = l_p*l_p*m_p/12;
 g = 9.81;			# Gravity
 
 
 ## Sensitivity paramenters - all zero
 m_cs	= 0.0;

Index: mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_simpar.txt
==================================================================
--- mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_simpar.txt
+++ mttroot/mtt/lib/examples/Identification/idInvertedPendulumOnCart/sidInvertedPendulumOnCart_simpar.txt
@@ -4,16 +4,20 @@
 ###############################################################
 ## Version control history
 ###############################################################
 ## $Id$
 ## $Log$
+## Revision 1.1  2001/04/11 15:41:45  gawthrop
+## New identification example - friction components only
+##
 ## Revision 1.1  2000/12/28 18:00:45  peterg
 ## To RCS
 ##
 ###############################################################
 
 
+FIRST        = 0.0;      # Last time in simulation
 LAST        = 10.0;      # Last time in simulation
 DT          = 0.1;        # Print interval
 STEPFACTOR  = 1;          # Integration steps per print interval
 WMIN        = -1;         # Minimum frequency = 10^WMIN
 WMAX        = 2;          # Maximum frequency = 10^WMAX