ADDED   mttroot/mtt/lib/rep/ident_rep.make
Index: mttroot/mtt/lib/rep/ident_rep.make
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/rep/ident_rep.make
@@ -0,0 +1,101 @@
+# -*-makefile-*-
+# Makefile for representation ident
+# File ident_rep.make
+
+#Copyright (C) 2000,2001,2002 by Peter J. Gawthrop
+
+## Model targets
+model_reps =  ${SYS}_sympar.m ${SYS}_simpar.m ${SYS}_state.m 
+model_reps += ${SYS}_numpar.m ${SYS}_input.m ${SYS}_ode2odes.m  
+model_reps += ${SYS}_def.m
+
+## Prepend s to get the sensitivity targets
+sensitivity_reps = ${model_reps:%=s%}
+
+## Simulation targets
+sims = ${SYS}_sim.m s${SYS}_ssim.m
+
+## m-files needed for ident
+ident_m = ${SYS}_ident.m ${SYS}_ident_numpar.m 
+
+## Targets for the ident simulation
+ident_reps = ${ident_m} ${sims} ${model_reps} ${sensitivity_reps}
+
+## ps output files
+psfiles = ${SYS}_ident.ps ${SYS}_ident.basis.ps ${SYS}_ident.par.ps ${SYS}_ident.U.ps
+figfiles = ${psfiles:%.ps=%.fig}
+
+all: ${SYS}_ident.${LANG}
+
+echo:
+	echo "sims: ${sims}"
+	echo "model_reps: ${model_reps}"
+	echo "sensitivity_reps: ${sensitivity_reps}"
+	echo "ident_reps: ${ident_reps}"
+
+${SYS}_ident.view: ${SYS}_ident.ps
+	ident_rep.sh ${SYS} view
+
+${psfiles}: ${SYS}_ident.fig
+	ident_rep.sh ${SYS} ps
+
+${SYS}_ident.gdat: ${SYS}_ident.dat2
+	ident_rep.sh ${SYS} gdat
+
+${SYS}_ident.fig ${SYS}_ident.dat2: ${ident_reps}
+	ident_rep.sh ${SYS} dat2
+
+${SYS}_ident.m: 
+	ident_rep.sh ${SYS} m
+
+${SYS}_ident_numpar.m:
+	ident_rep.sh ${SYS} numpar.m
+
+## System model reps
+## Generic txt files 
+${SYS}_%.txt:
+	mtt ${OPTS} -q -stdin ${SYS} $* txt
+
+## Specific m files
+${SYS}_ode2odes.m: ${SYS}_rdae.r
+	mtt -q -stdin ${OPTS} ${SYS} ode2odes m
+
+${SYS}_sim.m: ${SYS}_ode2odes.m
+	mtt ${OPTS} -q -stdin ${SYS} sim m
+
+## Generic txt to m
+${SYS}_%.m: ${SYS}_%.txt
+	mtt ${OPTS} -q -stdin ${SYS} $* m
+
+## r files
+${SYS}_def.r: ${SYS}_abg.fig
+	mtt ${OPTS} -q -stdin ${SYS} def r
+
+${SYS}_rdae.r: 
+	mtt ${OPTS} -q -stdin ${SYS} rdae r
+
+## Sensitivity model reps
+## Generic txt files 
+s${SYS}_%.txt:
+	mtt ${OPTS} -q -stdin -s s${SYS} $* txt
+
+## Specific m files
+s${SYS}_ode2odes.m: s${SYS}_rdae.r
+	mtt -q -stdin ${OPTS} -s s${SYS} ode2odes m
+
+s${SYS}_ssim.m:
+	mtt -q -stdin ${OPTS} -s s${SYS} ssim m
+
+s${SYS}_def.m:
+	mtt -q -stdin ${OPTS} -s s${SYS} def m
+
+
+## Generic txt to m
+s${SYS}_%.m: s${SYS}_%.txt
+	mtt ${OPTS} -q -stdin s${SYS} $* m
+
+## r files
+s${SYS}_rdae.r: 
+	mtt ${OPTS} -q -stdin -s s${SYS} rdae r
+
+

ADDED   mttroot/mtt/lib/rep/ident_rep.sh
Index: mttroot/mtt/lib/rep/ident_rep.sh
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/rep/ident_rep.sh
@@ -0,0 +1,331 @@
+#! /bin/sh
+
+## ident_rep.sh
+## DIY representation "ident" for mtt
+# Copyright (C) 2002 by Peter J. Gawthrop
+
+sys=$1
+rep=ident
+lang=$2
+mtt_parameters=$3
+rep_parameters=$4
+
+## Some names
+target=${sys}_${rep}.${lang}
+def_file=${sys}_def.r
+dat2_file=${sys}_ident.dat2
+dat2s_file=${sys}_idents.dat2
+ident_numpar_file=${sys}_ident_numpar.m
+option_file=${sys}_ident_mtt_options.txt
+
+## Get system information
+if [ -f "${def_file}" ]; then
+ echo Using ${def_file}
+else
+  mtt -q ${sys} def r
+fi
+
+ny=`mtt_getsize $1 y`
+nu=`mtt_getsize $1 u`
+
+check_new_options() {
+    if [ -f "${option_file}" ]; then
+	old_options=`cat ${option_file}`
+        if [ "${mtt_options}" != "${old_options}" ]; then
+	   echo ${mtt_options} > ${option_file}
+	fi
+    else
+	echo ${mtt_options} > ${option_file}
+    fi
+}
+
+## Make the _ident.m file
+make_ident() {
+filename=${sys}_${rep}.m
+echo Creating ${filename}
+
+cat > ${filename} <<EOF    
+function [y,u,t] = ${sys}_ident (last, ppp_names, par_names, A_u, A_w, w, Q, extras)
+
+  ## usage:  [y,u,t] = ${sys}_ident (last, ppp_names, par_names, A_u, A_w, w, Q, extras)
+  ##
+  ## last      last time in run
+  ## ppp_names Column vector of names of ppp params
+  ## par_names Column vector of names of estimated params
+  ## extras    Structure containing additional info
+
+  ##Sanity check
+  if nargin<2
+    printf("Usage: [y,u,t] = ${sys}_ident(N, ppp_names[, par_names, extras])\n");
+    return
+  endif
+
+  if nargin<4
+    ## Set up optional parameters
+    extras.criterion = 1e-3;
+    extras.emulate_timing = 0;
+    extras.max_iterations = 15;
+    extras.simulate = 1;
+    extras.v =  1e-6;
+    extras.verbose = 0;
+    extras.visual = 1;
+  endif
+  
+  ## System info
+  [n_x,n_y,n_u,n_z,n_yz] = ${sys}_def;
+  sympar  = ${sys}_sympar;
+  simpar  = ${sys}_simpar;
+  sympars  = s${sys}_sympar;
+  simpars  = s${sys}_simpar;
+  t_ol = simpar.last;
+    
+  ## Number of intervals needed
+  N = ceil(last/t_ol);
+
+  ## Setpoints
+  if extras.verbose
+    printf("Open-loop interval %3.2f \n", simpar.last);
+    printf(" -- using info in ${sys}_simpar.txt\n");
+    printf("PPP optimisation from %3.2f to %3.2f\n", simpars.first, simpars.last);
+    printf(" -- using info in s${sys}_simpar.txt\n");
+  endif
+  
+  t_horizon = [simpars.first+simpars.dt:simpars.dt:simpars.last]';
+  w_s = ones(length(t_horizon)-1,1)*w';
+
+  ## Setup the indices of the adjustable stuff
+  if nargin<2
+    i_ppp = []
+  else
+    i_ppp = ppp_indices (ppp_names,sympar,sympars); # Parameters
+  endif
+
+  n_ppp = length(i_ppp(:,1));
+
+  if nargin<3
+    i_par = []
+  else
+    i_par = ppp_indices (par_names,sympar,sympars); # Parameters
+  endif
+  
+    ## Do some simulations to check things out
+    ## System itself
+    par = ${sys}_numpar;
+    x_0_ol = ${sys}_state(par);
+    [y_ol,x_ol, t_ol] =  ${sys}_sim(x_0_ol, par, simpar, ones(1,n_u));
+    simpar_OL = simpar;
+    simpar_OL.last = simpars.last;
+    [y_OL,x_OL, t_OL] =  ${sys}_sim(x_0_ol, par, simpar_OL, ones(1,n_u));
+
+    pars = s${sys}_numpar;
+    x_0_ppp = s${sys}_state(pars);
+    [y_ppp,y_par,x_ppp, t_ppp] =  s${sys}_ssim(x_0_ppp, pars, simpars, ones(1,n_u));
+
+    simpar_PPP = simpars;
+    simpar_PPP.first = simpar.first;
+    [y_PPP,y_par,x_PPP, t_PPP] =  s${sys}_ssim(x_0_ppp, pars, simpar_PPP, ones(1,n_u));
+
+    ## Basis functions
+    Us = ppp_ustar(A_u,1,t_OL',0,0)';
+
+
+  if extras.visual		#Show some graphs
+    figure(2); 	
+    grid; title("Outputs of ${sys}_sim and s${sys}_ssim");
+    plot(t_ol,y_ol, '*', t_ppp, y_ppp, '+', t_OL, y_OL, t_PPP, y_PPP);
+
+
+    figure(3); 	
+    grid; title("Basis functions");
+    plot(t_OL, Us);
+
+  endif
+
+
+
+  ## Do it
+  [y,u,t,P,U,t_open,t_ppp,t_est,its_ppp,its_est] \
+      = ppp_nlin_run ("${sys}",i_ppp,i_par,A_u,w_s,N,Q,extras);
+
+  ## Compute values at ends of ol intervals
+  T_open = cumsum(t_open);
+  T_open = T_open(1:length(T_open)-1); # Last point not in t
+  j=[];
+  for i = 1:length(T_open)
+    j = [j; find(T_open(i)*ones(size(t))==t)];
+  endfor
+  y_open = y(j,:);
+  u_open = u(j,:);
+
+  ## Plots
+
+    gset nokey
+    gset nogrid
+    #eval(sprintf("gset xtics %g", simpar.last));
+    #gset noytics
+    gset format x "%.1f"
+    gset format y "%.2f"
+    gset term fig monochrome portrait fontsize 20 size 20 20 metric \
+	     thickness 4
+    gset output "${sys}_ident.fig"
+
+    title("");
+    xlabel("Time (s)");
+    ylabel("u");
+    subplot(2,1,2); plot(t,u,'-',  T_open, u_open,"+");
+    #subplot(2,1,2); plot(t,u);   
+    ylabel("y");
+    subplot(2,1,1); plot(t,y,'-',  T_open, y_open,"+"); 
+    #subplot(2,1,1); plot(t,y); 
+    oneplot;
+    gset term fig monochrome portrait fontsize 20 size 20 10 metric \
+	     thickness 4
+    gset output "${sys}_ident.basis.fig"
+    title("");
+    xlabel("Time (s)");
+    ylabel("Basis functions");
+    plot(t_OL, Us);
+
+
+    ## Create plot against time
+    TTT = [ [0;T_open] [T_open; last] ]';
+    TT = TTT(:);
+
+    [n,m] = size(P);
+    if m>0
+      P = P(1:n-1,:);  # Loose last point
+      PP = [];
+      for j=1:m
+        pp = [P(:,j) P(:,j)]';
+        PP = [PP pp(:)];
+      endfor
+
+      oneplot;
+      gset output "${sys}_ident.par.fig"
+      title("");
+      xlabel("Time (s)");
+      ylabel("Parameters");
+      plot(TT,PP);
+    endif
+
+    [n,m] = size(U);
+    if m>0    oneplot;
+      gset output "${sys}_ident.U.fig"
+      title("");
+      xlabel("Time (s)");
+      ylabel("U");
+      [n,m] = size(U);
+      U = U(1:n-1,:);  # Loose last point
+      UU = [];
+      for j=1:m
+        uu = [U(:,j) U(:,j)]';
+        UU = [UU uu(:)];
+      endfor
+      plot(TT,UU);
+    endif
+
+endfunction
+
+EOF
+}
+
+make_ident_numpar() {
+echo Creating ${ident_numpar_file}
+cat > ${sys}_ident_numpar.m <<EOF
+function [last, ppp_names, par_names, A_u, A_w, w, Q, extras] = ${sys}_ident_numpar 
+
+## usage:  [last, ppp_names, par_names, A_u, A_w, w, Q, extras] = ${sys}_ident_numpar ()
+##
+## 
+
+  ## Last time of run
+  last = 10;
+
+  ## Specify basis functions
+  A_w = zeros(1,1);
+  n_ppp = ${nu};
+  A_u = ppp_aug(A_w,laguerre_matrix(n_ppp-1,2.0));
+
+ 
+  ## Names of ppp parameters
+  ppp_names = "";
+  for i=1:n_ppp
+    name = sprintf("ppp_%i", i);
+    ppp_names = [ppp_names; name];
+  endfor
+
+  ## Estimated parameters
+  par_names = [];
+
+  ## Weights
+  Q = ones(${ny},1);
+
+  ## Setpoint
+  w = zeros(${ny},1); w(1) = 1;
+
+  ## Set up optional parameters
+  extras.criterion = 1e-3;
+  extras.emulate_timing = 0;
+  extras.max_iterations = 15;
+  extras.simulate = 1;
+  extras.v =  1e-6;
+  extras.verbose = 0;
+  extras.visual = 0;
+
+endfunction
+EOF
+}
+
+make_dat2() {
+
+## Inform user
+echo Creating ${dat2_file}
+
+## Use octave to generate the data
+octave -q <<EOF
+  [last, ppp_names, par_names, A_u, A_w, w, Q, extras] = ${sys}_ident_numpar;
+  [y,u,t] = ${sys}_ident(last, ppp_names, par_names, A_u, A_w, w, Q, extras);
+  data = [t,y,u];
+  save -ascii ${dat2_file} data
+EOF
+}
+
+case ${lang} in
+    numpar.m)
+        ## Make the numpar stuff
+        make_ident_numpar;
+	;;
+    m)
+        ## Make the code
+        make_ident;
+	;;
+    dat2|fig|basis.fig|par.fig|U.fig)
+        ## The dat2 language (output data) & fig file
+        rm ${sys}_ident*.fig
+	make_dat2; 
+	;;
+    gdat)
+        cp ${dat2_file} ${dat2s_file} 
+	dat22dat ${sys} ${rep} 
+        dat2gdat ${sys} ${rep}
+	;;
+    ps|basis.ps|par.ps|U.ps)
+        figs=`ls ${sys}_ident*.fig | sed -e 's/\.fig//'`
+        echo $figs
+	for fig in ${figs}; do
+            fig2dev -Leps ${fig}.fig > ${fig}.ps
+	done
+	;;
+    view)
+	pss=`ls ${sys}_ident*.ps` 
+        echo Viewing ${pss}
+        for ps in ${pss}; do
+          gv ${ps}&
+	done
+	;;
+    *)
+	echo Language ${lang} not supported by ${rep} representation
+        exit 3
+esac
+
+