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Revision 1249, 0.5 kB
(checked in by zimamiro, 15 years ago)
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| 1 | function [ztrata H]=lqg_control(system, apriori,regulator_parameters) |
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| 2 | horizont=system.horizont_rizeni; |
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| 3 | ztrata=0; |
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| 4 | |
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| 5 | H=zeros(horizont+1,size(apriori.H,1),size(apriori.H,2)); |
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| 6 | u=zeros(2,horizont+1); |
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| 7 | H(1,:,:)=apriori.H; |
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| 8 | |
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| 9 | for i=1:horizont |
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| 10 | H0(:,:)=H(i,:,:); |
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| 11 | u(:,i)=simple_control(system,H0(:,1), regulator_parameters); |
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| 12 | system.x=get_next(system,system.x,u(:,i)); |
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| 13 | H1=kalman_filter(H0,u(:,i),system); |
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| 14 | H(i+1,:,:)=H1; |
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| 15 | ztrata=ztrata+(H1(:,1)-system.x_opt)^2+u(:,i)*system.gamma*u(:,i)'; |
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| 16 | end |
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| 17 | end |
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