Changeset 703 for library/tests/LQG_test.cpp

Timestamp:

11/04/09 22:55:17 (15 years ago)

Author:

smidl

Message:

New transformation between StateSpace? and ARX

Files:

• library/tests/LQG_test.cpp (modified) (3 diffs)

library/tests/LQG_test.cpp

@@ -39 +39 @@
 }
 
+TEST(to_state_arx_test) {
+        mlnorm<fsqmat> ml;
+        mat A="1.1, 2.3";
+        ml.set_parameters(A, vec_1(1.3), eye(1));
+        RV yr=RV("y",1);
+        RV ur=RV("u",1);
+        ml.set_rv(yr);
+        yr.t_plus(-1);
+        ml.set_rvc(concat(yr, ur));
+        
+        shared_ptr<StateFromARX> Stsp=new StateFromARX;
+        Stsp->connect_mlnorm(ml);
+        
+        /* results from 
+        [A,B,C,D]=tf2ss([2.3 0],[1 -1.1])
+        */
+        cout << "---" << endl;
+}
+
 TEST(arx_LQG_test){
         mlnorm<fsqmat> ml;
         mat A="1.81, -.8189, .00468, .00438";
-        ml.set_parameters(A, vec_1(0), eye(0.0001));
+        ml.set_parameters(A, vec_1(0.0), 0.00001*eye(1));
         RV yr=RV("y",1);
         RV ur=RV("u",1);
@@ -48 +67 @@
         rgr.add(yr.copy_t(-2));
         rgr.add(yr.copy_t(-2));
+        rgr.add(ur.copy_t(-2));
         rgr.add(ur.copy_t(-1));
-        rgr.add(ur);
         
         ml.set_rv(yr);
@@ -64 +83 @@
         
         L.redesign();
+        cout << L.to_string()<<endl;
 }