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Revision 1351, 0.9 kB
(checked in by zimamiro, 13 years ago)
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| 1 | function [ztrata omega]=jednoduche_rizeni(system,apriori)
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| 2 | kresli=0;
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| 3 | horizont=system.horizont_rizeni;
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| 4 | ztrata=0;
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| 5 | H=apriori.H;
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| 6 | x_hat=H(:,1);
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| 7 |
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| 8 | system.S=zeros(1,3);
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| 9 | for i=1:horizont
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| 10 | [u system]=simple_control(system,x_hat);
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| 11 | system.x=get_next(system,system.x,u);
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| 12 | H=kalman_filter(H,u,system);
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| 13 | x_hat=H(:,1);
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| 14 | omega(1,i)=system.x(3);
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| 15 | omega(2,i)=x_hat(3);
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| 16 | theta(1,i)=system.x(4);
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| 17 | theta(2,i)=x_hat(4);
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| 18 | ztrata= ztrata+u'*system.gamma*u+(system.x-system.x_opt)'*system.ksi*(system.x-system.x_opt);
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| 19 | neurcitost(i)=H(4,5);
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| 20 | zas(:,i)=u;
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| 21 | end
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| 22 | if(kresli)
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| 23 | figure
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| 24 | plot(zas(1,:)); hold on
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| 25 | plot(zas(2,:)); hold off
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| 26 | figure
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| 27 | plot(omega(1,:),'-'); hold on
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| 28 | plot(omega(2,:),'.-.'); hold off
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| 29 | legend('SKUTECNE','ODHAD');
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| 30 | figure
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| 31 | plot(theta(1,:),'-'); hold on
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| 32 | plot(theta(2,:),'.-.'); hold off
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| 33 | legend('SKUTECNE','ODHAD');
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| 34 | figure
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| 35 | plot(neurcitost)
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| 36 | ztrata
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| 37 | end
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| 38 |
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| 39 | end |
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