Changeset 1215 for library

Timestamp:

10/13/10 21:23:36 (14 years ago)

Author:

vahalam

Message:

added test

Files:

• library/tests/testsuite/LQG_test.cpp (modified) (5 diffs)

library/tests/testsuite/LQG_test.cpp

@@ -702 +702 @@
 TEST (LQGU_PMSM_test){
         
-        int K = 10;
-        int Kt = 100;
+        int K = 5;
+        int Kt = 200;
         int N = 15;
 
@@ -712 +712 @@
         double e = 0.0149; 
 
-        double OMEGAt = 1.15;
+        double OMEGAt = 11.5;
         double DELTAt = 0.000125;
 
@@ -815 +815 @@
         vec losses(N);
                 losses.zeros();
+        vec omega(Kt+K);
+                omega.zeros();
         
         for(n = 0; n < N; n++) {
@@ -882 +884 @@
         
                         losses(n) += (x.get_col(k+1).transpose() * X * x.get_col(k+1))(0);// + (u.transpose() * Y * u)(0);                      
-                }       
+                }
+
+                omega += x.get_row(2);
         }
 
-        cout << "Ztrata: " << sum(losses)/n << endl;
+        cout << "Ztrata: " << sum(losses)/N << endl;
+        //cout << "Trajektorie:\n" << omega(0,Kt-1)/N << endl;
+        
+        ofstream log;
+        log.open ("log.txt");
+        for(k = 0; k < Kt; k++)
+                log << k << "\t" << omega(k)/N + OMEGAt << endl;
+        log.close();
+
 }
 
@@ -938 +950 @@
  
         lq.finalLoss.Q.setCh(mat("1"));
+        lq.finalLoss.rv = RV("yt", 1, 0);       
+
+        lq.validate(); 
+
+        lq.resetTime();
+        lq.redesign();
+
+        for(int k = K-1; k > 0; k--){
+                //cout << "L: " << lq.getL() << endl;
+                lq.redesign();
+        }
+
+        cout << "L: " << lq.getL() << endl;
+}
+
+TEST (LQGU_181_ten){
+        /*                                               v ????? .8189
+                y_t = 1.81 y_{t-1} -.9 y_{t-2} + .00438 u_t + .00468 u_{t-1}
+
+                S = y^2 + u^2/1000
+
+                y_r = 0  :> u_t = -69.0908 y_{t-1} + 46.8955 y_{t-2}  -0.2509 u_{t-1}
+                y_r = 10 :> u_t = -69.0908 y_{t-1} + 46.8955 y_{t-2}  -0.2509 u_{t-1} + 233.7581
+        */
+
+        int K = 150;
+        //yr = 10.0;
+
+        LQG_universal lq;
+        lq.rv = RV("ut", 1, 0); 
+        RV rvc; 
+        rvc = RV("yt", 1, -1);  
+        rvc.add(RV("yt", 1, -2));
+        rvc.add(RV("ut", 1, -1));       
+        rvc.add(RV("1", 1, 0));
+        lq.set_rvc(rvc);
+        lq.horizon = K;
+
+        Array<linfnEx> model(4);  
+        model(0).A = mat("1.81");
+        model(0).B = vec("0");
+        model(0).rv = RV("yt", 1, -1);
+        model(0).rv_ret = RV("yt", 1, 0);        
+        model(1).A = mat("-0.8189");
+        model(1).B = vec("0");
+        model(1).rv = RV("yt", 1, -2);
+        model(1).rv_ret = RV("yt", 1, 0);       
+        model(2).A = mat("0.00438");
+        model(2).B = vec("0");
+        model(2).rv = RV("ut", 1, 0);
+        model(2).rv_ret = RV("yt", 1, 0);       
+        model(3).A = mat("0.00468");
+        model(3).B = vec("0");
+        model(3).rv = RV("ut", 1, -1);
+        model(3).rv_ret = RV("yt", 1, 0);       
+        lq.Models = model;
+
+        Array<quadraticfn> qloss(2);  
+        qloss(0).Q.setCh(mat("1 -10"));
+        qloss(0).rv = RV("yt", 1, 0);   
+        qloss(0).rv.add(RV("1", 1, 0));
+        qloss(1).Q.setCh(mat("0.03162"));       
+        qloss(1).rv = RV("ut", 1, 0);   
+        lq.Losses = qloss;
+ 
+        lq.finalLoss.Q.setCh(mat("0"));
         lq.finalLoss.rv = RV("yt", 1, 0);