Index: mttroot/mtt/bin/trans/abg2lbl_fig2txt
==================================================================
--- mttroot/mtt/bin/trans/abg2lbl_fig2txt
+++ mttroot/mtt/bin/trans/abg2lbl_fig2txt
@@ -11,10 +11,13 @@
 ###############################################################
 ## Version control history
 ###############################################################
 ## $Id$
 ## $Log$
+## Revision 1.12  2001/05/08 15:18:10  gawthrop
+## Added trig and hyperbolic functions to argument exclusion list
+##
 ## Revision 1.11  2000/09/19 11:14:30  peterg
 ## Now writes the first component type header correctely
 ##
 ## Revision 1.10  2000/01/26 10:11:10  peterg
 ## Added I component
@@ -121,11 +124,16 @@
     if (length(sensitivity)>0) {
       s_arg = sprintf("%ss",$2);
       alias[++i] = s_arg;
       s_arg = sprintf(";%s",s_arg);
       Component = substr(Component,2);
+      lin = "slin"
+    }
+   else {
+      lin = "lin"
     }
+  
  }
 
     ## Table of components
     cr["SS"] = "SS";  arg["SS"] = "external,external";
 
@@ -133,16 +141,17 @@
     cr["Sf"] = "SS";  arg["Sf"] = sprintf("external%s", s_arg);
 
     cr["De"] = "SS";  arg["De"] = "external";
     cr["Df"] = "SS";  arg["Df"] = "external";
 
-    cr["R"] = "lin";  arg["R"]  = sprintf("flow,%s%s", $2, s_arg);
-    cr["C"] = "lin";  arg["C"]  = sprintf("effort,%s%s", $2, s_arg);
-    cr["I"] = "lin";  arg["I"]  = sprintf("flow,%s%s", $2, s_arg);
+    cr["R"] = lin;  arg["R"]  = sprintf("flow,%s%s", $2, s_arg);
+    cr["C"] = lin;  arg["C"]  = sprintf("effort,%s%s", $2, s_arg);
+    cr["I"] = lin;  arg["I"]  = sprintf("flow,%s%s", $2, s_arg);
 
-    cr["CS"] = "lin";  arg["CS"]  = sprintf("effort,%s;x_0%s", $2, s_arg);
-    cr["IS"] = "lin";  arg["IS"]  = sprintf("flow,%s;x_0%s", $2, s_arg);
+    cr["CS"] = "lin";  arg["CS"]  = sprintf("effort,%s;%s_x0%s", $2, $2, s_arg);
+    cr["IS"] = "lin";  arg["IS"]  = sprintf("flow,%s;%s_x0%s", $2, $2, s_arg);
+    cr["INTFS"] = "lin";  arg["INTFS"]  = sprintf("%s_x0%s", $2, s_arg);
 
     cr["TF"] = "lin";  arg["TF"]  = sprintf("flow,%s%s", $2, s_arg);
     cr["GY"] = "lin";  arg["GY"]  = sprintf("flow,%s%s", $2, s_arg);
 
     cr["AE"] = "lin";  arg["AE"]  = sprintf("%s%s", $2, s_arg);

Index: mttroot/mtt/lib/control/PPP/ppp_nlin_sim.m
==================================================================
--- mttroot/mtt/lib/control/PPP/ppp_nlin_sim.m
+++ mttroot/mtt/lib/control/PPP/ppp_nlin_sim.m
@@ -1,8 +1,8 @@
-function [y,x,u,t,UU,UU_c,UU_l] = ppp_nlin_sim (system_name,i_ppp,i_par,A_u,w_s,N_ol,extras)
+function [y,x,u,t,p,UU,UU_c,UU_l,t_ppp,t_est] = ppp_nlin_sim (system_name,i_ppp,i_par,A_u,w_s,N_ol,extras)
 
-  ## usage:  [y,x,u,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w)
+  ## usage: [y,x,u,t,p,UU,UU_c,UU_l,t_ppp,t_est] = ppp_nlin_sim (system_name,i_ppp,i_par,A_u,w_s,N_ol,extras) 
   ##
   ## 
   
   ## Simulate nonlinear PPP
   ## Copyright (C) 2000 by Peter J. Gawthrop
@@ -13,10 +13,11 @@
     extras.U_next = "continuation";
     extras.criterion = 1e-5;
     extras.max_iterations = 10;
     extras.v = 0.1;
     extras.verbose = 0;
+    extras.estimate = 1;
   endif
   
   
 
   ## Names
@@ -28,11 +29,10 @@
   x_0 = eval(sprintf("%s_state(par);", system_name));
   [n_x,n_y,n_u] = eval(sprintf("%s_def;", system_name));
 
   ## Sensitivity system details -- defines moving horizon simulation
   simpars = eval(sprintf("%s_simpar;", s_system_name));
-  sympars = eval(sprintf("%s_sympar;", s_system_name));
   pars = eval(sprintf("%s_numpar;", s_system_name));
 
   ## Times
   ## -- within opt horizon
   n_Tau = round(simpars.last/simpars.dt);
@@ -99,15 +99,21 @@
   ## Main simulation loop
   y = [];
   x = [];
   u = [];
   t = [];
+
+  p = [];
+
   t_last = 0;
   UU = [];
   UU_l =[];
   UU_c =[];
   
+  t_ppp = [];
+  t_est = [];
+
   x_0s = zeros(2*n_x,1);
 
   if  strcmp(extras.U_initial,"linear")
     U = K_w*w - K_x*x_0;
   elseif strcmp(extras.U_initial,"zero")
@@ -147,25 +153,36 @@
       [U, U_all, Error, Y] = ppp_nlin(system_name,x_0s,pars,simpars,u_star_tau,w_s,i_ppp,extras);
       pars(i_ppp(:,1)) = U;	# Put final value of U into the parameter vector
     else
       Error = [];
     endif
-    opt_time = time-tick;  
-    printf("Optimisation %i took %i iterations and %2.2f sec\n", i, \
-	   length(Error), opt_time);
+    ppp_time = time-tick;  
+    t_ppp = [t_ppp;ppp_time];
     
     ## Generate control
     u_ol = u_star_t*U;		# Not used - just for show
 
     ## Simulate system over one ol interval
-    [y_ol,ys_ol,x_ol] = eval(sprintf("%s_ssim(x_0s, pars, simpar, u_star_t);", s_system_name));
+    par(i_ppp(:,3)) = pars(i_ppp(:,1)); # Update the simulation ppp weights
+    [y_ol,x_ol] = eval(sprintf("%s_sim(x_0, par, simpar, u_star_t);", system_name));
+
+
+    ## Tune parameters/states
+    if (extras.estimate==1)
+      tick = time;
+      par_est = pars(i_par(:,1));
+      p = [p; par_est'];
+      pars = ppp_optimise(s_system_name,x_0s,pars,simpar,u_star_t,y_ol,i_par,extras);
+      est_time = time-tick;  
+      t_est = [t_est;est_time];
+    endif
 
     x_0  = x_ol(n_t+1,:)';	# Extract state for next time
     y_ol = y_ol(1:n_t,:);	# Avoid extra points due to rounding error 
     x_ol = x_ol(1:n_t,:);	# Avoid extra points due to rounding error 
-
-
+    
+    
     y = [y; y_ol];
     x = [x; x_ol];
     u = [u; u_ol];
 
     UU = [UU; U'];
@@ -172,9 +189,10 @@
     UU_l = [UU_l; U_l'];
     UU_c = [UU_c; U_c'];
 
     t = [t; t_ol+t_last*ones(n_t,1) ];
     t_last = t_last + T_ol; 
+
+
   endfor
 
 endfunction
-

Index: mttroot/mtt/lib/rep/nppp_rep.make
==================================================================
--- mttroot/mtt/lib/rep/nppp_rep.make
+++ mttroot/mtt/lib/rep/nppp_rep.make
@@ -1,10 +1,10 @@
 # -*-makefile-*-
 # Makefile for representation nppp
 # File nppp_rep.make
 
-#Copyright (C) 2000 by Peter J. Gawthrop
+#Copyright (C) 2000,2001 by Peter J. Gawthrop
 
 all: $(SYS)_nppp.$(LANG)
 
 $(SYS)_nppp.view: $(SYS)_nppp.ps
 	echo Viewing $(SYS)_nppp.ps; ghostview $(SYS)_nppp.ps&