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