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9bb230d7c8
All of these code samples currently are mis-identified in my repositories. I'm donating them to the cause.
75 lines
2.2 KiB
Matlab
75 lines
2.2 KiB
Matlab
function [dx, y] = adapting_structural_model(t, x, u, varargin)
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%
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% Returns the time derivatives of the states and the output of the
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% structural control model with an adapting controller.
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%
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% Parameters
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% ----------
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% t : double
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% The current time.
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% x : double, size(8, 1)
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% The current state.
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% u : double, size(1, 1)
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% The current input.
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% varargin : cell array
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% m1, m2, m3, m4, b1, b2, b3, b4 : double
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% The slope of the four gains and the offset of the four gains.
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% aux : cell array containing a single structure
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% The structure contains:
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% pars : double, size(1,9)
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% The controller parameters.
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% timeDelay : logical
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% If true a 1st order Pade approximation of the human's time delay
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% is included.
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% plantFirst : integer
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% The number of the first plant.
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% plantSecond : integer
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% The number of the second plant.
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% m : double, size(2, 1)
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% The slope of the transfer function adaption function.
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% b : double, size(2, 1)
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% The offset of the transfer function adaption function.
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%
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% Returns
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% -------
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% dx : double, size(8, 1)
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% The derivatives of the states.
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% y : double, size(1, 1)
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% The output, theta.
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% MATLAB SUCKS! This is unbelievable. On the first iteration varargin is 1x2
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% and after that it is 1x9.
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%size(varargin, 2)
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% Unpack varargin.
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aux = varargin{end}{1};
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m = zeros(4, 1);
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b = zeros(4, 1);
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for i=1:4
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if size(varargin, 2) == 2
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m(i) = varargin{1}(i);
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b(i) = varargin{1}(i + 4);
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elseif size(varargin, 2) == 9
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m(i) = varargin{i};
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b(i) = varargin{i + 4};
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else
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display('Matlab is stupid.')
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end
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end
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% First compute the gains at this time.
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aux.pars(1:4) = m .* t + b;
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% Compute the controller.
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Yp = human(aux.pars, aux.timeDelay);
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% Compute the plant and this time.
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c1 = aux.m(1) * t + aux.b(1) + 1e-10;
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c2 = aux.m(2) * t + aux.b(2) + 1e-10;
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Yc = parallel(c1 * plant(aux.plantFirst), c2 * plant(aux.plantSecond));
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% Compute the closed loop system.
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Ys = feedback(Yp * Yc, 1);
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% Convert to state space.
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[A, B, C, D] = tf2ss(Ys.num{1}, Ys.den{1});
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% Compute the derivatives of the states and the outputs.
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dx = A * x + B * u;
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y = C * x + D * u;
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