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Revision 1249, 0.6 kB
(checked in by zimamiro, 14 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.horizont_simulace);
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| 12 | system.x=get_next(system,system.x_skutecne,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_optimalni)'*system.ksi*(H1(:,1)-system.x_optimalni)+u(:,i)'*system.gamma*u(:,i);
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| 16 | end
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| 17 | end
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| 18 |
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