Revision 1351, 1.8 kB
(checked in by zimamiro, 13 years ago)
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[1351] | 1 | function [system,apriori,regulator_parameters, compare_parameters]=nastav |
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| 2 | eps=0.001; |
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| 3 | |
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| 4 | %parametry systemu |
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| 5 | system.P=[1 20 20]; |
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| 6 | system.I=[0.00375 0.5 0.5]; |
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| 7 | system.S=zeros(1,3); |
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| 8 | |
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| 9 | system.a=0.9898; |
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| 10 | system.b=0.0072; |
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| 11 | system.c=0.0361; |
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| 12 | system.d=1; |
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| 13 | system.e=0.0149; |
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| 14 | system.deltat=0.000125; |
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| 15 | system.Q=diag([0.0013,0.0013,5*10^(-6),10^(-10)],0); |
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| 16 | system.R=diag([0.0006,0.0006],0); |
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| 17 | system.ksi=[0 0 0 0 |
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| 18 | 0 0 0 0 |
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| 19 | 0 0 1 0 |
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| 20 | 0 0 0 0]; |
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| 21 | v=0.1; |
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| 22 | system.gamma=[v 0 |
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| 23 | 0 v]; |
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| 24 | system.B=[system.c 0 |
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| 25 | 0 system.c |
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| 26 | 0 0 |
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| 27 | 0 0]; |
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| 28 | system.C=[1 0 0 0 |
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| 29 | 0 1 0 0]; |
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| 30 | system.horizont_rizeni=500; |
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| 31 | system.x_opt=[0; 0; 1.1; 0]; |
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| 32 | system.x=[0; 0; 0; pi/4]; |
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| 33 | system.pozorovani=[0 0]; |
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| 34 | |
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| 35 | %apriorni informace |
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| 36 | apriori.H=[0 0.01 0 0 0 |
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| 37 | 0 0 0.01 0 0 |
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| 38 | 0 0 0 1 0 |
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| 39 | 0 0 0 0 10]; |
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| 40 | apriori.Hmin=[-0.5 0.01 0 0 0 |
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| 41 | -0.5 0 0.01 0 0 |
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| 42 | 0 0 0.01 0 |
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| 43 | 0 0 0 0 0.01]; |
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| 44 | apriori.Hmax=[0.5 0.01 0 0 0 |
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| 45 | 0.5 0 0.01 0 0 |
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| 46 | 2 0 0 0.5 0 |
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| 47 | 2*pi 0 0 0 10]; |
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| 48 | |
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| 49 | |
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| 50 | %parametry regulatoru |
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| 51 | regulator_parameters.horizont_simulace=20; |
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| 52 | regulator_parameters.H_tilde_on=[0 0 0 0 0 |
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| 53 | 0 0 0 0 0 |
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| 54 | 0 0 0 0 0 |
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| 55 | 0 0 0 0 1]; %H=[x_hat S] |
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| 56 | regulator_parameters.n_iter=8; |
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| 57 | regulator_parameters.num_of_candidates=7; |
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| 58 | regulator_parameters.generate_candidates_mode='norm'; |
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| 59 | regulator_parameters.search_region_init=3; |
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| 60 | regulator_parameters.gama=0.4; |
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| 61 | regulator_parameters.n_grid=10; |
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| 62 | |
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| 63 | |
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| 64 | system.H_tilde_on=regulator_parameters.H_tilde_on; |
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| 65 | %Parametry RSSS |
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| 66 | compare_parameters.n0=20; |
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| 67 | compare_parameters.delta=0; %nevim |
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| 68 | compare_parameters.alpha=0.05; |
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| 69 | compare_parameters.on=0; |
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| 70 | |
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| 71 | end |
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