Revision 1351, 1.7 kB
(checked in by zimamiro, 13 years ago)
|
|
Line | |
---|
1 | function [system,apriori,regulator_parameters, compare_parameters]=nastav
|
---|
2 | eps=0.001;
|
---|
3 |
|
---|
4 | %parametry systemu
|
---|
5 | system.P=[3 20 20];
|
---|
6 | system.I=[0.00375 0.5 0.5];
|
---|
7 | system.S=zeros(1,3);
|
---|
8 |
|
---|
9 | system.a=0.9898;
|
---|
10 | system.b=0.0072;
|
---|
11 | system.c=0.0361;
|
---|
12 | system.d=1;
|
---|
13 | system.e=0.0149;
|
---|
14 | system.deltat=0.000125;
|
---|
15 | system.Q=diag([0.0013,0.0013,5*exp(-6),exp(-10)],0);
|
---|
16 | system.R=diag([0.0006,0.0006],0);
|
---|
17 | system.ksi=[0 0 0 0
|
---|
18 | 0 0 0 0
|
---|
19 | 0 0 1 0
|
---|
20 | 0 0 0 0];
|
---|
21 | v=0.1;
|
---|
22 | system.gamma=[v 0
|
---|
23 | 0 v];
|
---|
24 | system.B=[system.c 0
|
---|
25 | 0 system.c
|
---|
26 | 0 0
|
---|
27 | 0 0];
|
---|
28 | system.C=[1 0 0 0
|
---|
29 | 0 1 0 0];
|
---|
30 | system.horizont_rizeni=500;
|
---|
31 | system.x_opt=[0; 0; 1.1; 0];
|
---|
32 | system.x=[0; 0; 1; 3*pi/4];
|
---|
33 |
|
---|
34 | %apriorni informace
|
---|
35 | apriori.H=[0 0.01 0 0 0
|
---|
36 | 0 0 0.01 0 0
|
---|
37 | 1 0 0 0.01 0
|
---|
38 | pi/4 0 0 0 1];
|
---|
39 | apriori.Hmin=[-0.5 0.01 0 0 0
|
---|
40 | -0.5 0 0.01 0 0
|
---|
41 | 1 0 0 0.01 0
|
---|
42 | 0 0 0 0 0.01];
|
---|
43 | apriori.Hmax=[0.5 0.01 0 0 0
|
---|
44 | 0.5 0 0.01 0 0
|
---|
45 | 2 0 0 0.1 0
|
---|
46 | 2*pi-eps 0 0 0 1];
|
---|
47 |
|
---|
48 |
|
---|
49 | %parametry regulatoru
|
---|
50 | regulator_parameters.horizont_simulace=10;
|
---|
51 | regulator_parameters.H_tilde_on=[0 0 0 0 0
|
---|
52 | 0 0 0 0 0
|
---|
53 | 0 0 0 0 0
|
---|
54 | 0 0 0 0 1]; %H=[x_hat S]
|
---|
55 | regulator_parameters.n_iter=5;
|
---|
56 | regulator_parameters.num_of_candidates=7;
|
---|
57 | regulator_parameters.generate_candidates_mode='rand';
|
---|
58 | regulator_parameters.search_region_init=10;
|
---|
59 | regulator_parameters.gama=0.2;
|
---|
60 | regulator_parameters.n_grid=10;
|
---|
61 |
|
---|
62 | %Parametry RSSS
|
---|
63 | compare_parameters.n0=30;
|
---|
64 | compare_parameters.delta=0; %nevim
|
---|
65 | compare_parameters.alpha=0.05;
|
---|
66 | compare_parameters.on=0;
|
---|
67 |
|
---|
68 | end |
---|