Changeset 764

Timestamp:

01/11/10 14:39:47 (14 years ago)

Author:

smidl

Message:

burnin in controlloop is configurable

Location:

applications/bdmtoolbox

Files:

• mex/controlloop.cpp (modified) (3 diffs)
• tutorial/userguide/dist_ctrl_example.m (modified) (1 diff)

applications/bdmtoolbox/mex/controlloop.cpp

@@ -70 +70 @@
         // Check the number of inputs and output arguments
         if ( n_input<2 ) mexErrMsgTxt ( "Usage:\n"
-                                                "result=estimator(system, estimators, experiment, logger)\n"
+                                                "result=controlloop(system, controllers, experiment, logger)\n"
                                                 "  system     = struct('class','datasource',...);  % Estimated system\n"
-                                                "  estimators = {struct('class','estimator',...),  % Estimators\n"
-                                                "                struct('class','estimator',...),...} \n"
+                                                "  controllers= {struct('class','controller',...),  % Controllers\n"
+                                                "                struct('class','controller',...),...} \n"
                                                 "  === optional ==="
-                                                "  experiment = struct('ndat',10);                 % number of data in experiment, full length of finite datasources, 10 otherwise \n"
+                                                "  experiment = struct('ndat',100,...               % number of data in experiment, full length of finite datasources, 100 otherwise \n"
+                                                "               'burnin',10,...                    % initial time with different control\n"
+                                                "               'burn_pdf', struct('class','epdf_offspring') );\n"
+                                                "                                                  % sampler of the initial control\n"
                                                 "  logger     = struct('class','mexlogger');       % How to store results, default=mexlog, i.e. matlab structure\n\n"
                                                 "see documentation of classes datasource, BM, and mexlogger and their offsprings in BDM." );
@@ -115 +118 @@
         UI::get ( Cs,Cfg, "controllers" );
         int Ndat=100;
-        int burnin=10;
+        int burnin=0;
+        shared_ptr<epdf> burn_pdf; 
+        
         if ( Cfg.exists ( "experiment" ) ) {
-                if ( Cfg.getRoot().lookupValue ( "experiment.ndat",Ndat ) ) {
+                Setting &exper=Cfg.getRoot()["experiment"];
+                if (UI::get(Ndat, exper, "Ndat", UI::optional ) ) {
                         bdm_assert ( Ndat<=Ds->max_length(), "Data source has less data then required" );
                 };
+                if (UI::get(burnin, exper, "burnin",UI::optional )){
+                        burn_pdf = UI::build<epdf>(exper,"burn_pdf", UI::compulsory);
+                        if (burn_pdf){
+                                bdm_assert(burn_pdf->dimension()==Ds->_urv()._dsize(),"Given burn_pdf does not match the DataSource");
+                        } else {
+                                bdm_error("burn_pdf not specified!");
+                        }
+                        
+                }
         } else {
                 if ( Ds->max_length() < std::numeric_limits< int >::max() ) {
@@ -183 +198 @@
                                 Cs(i) -> redesign();
                                 Cs(i) -> adapt( Dlsc(i) ->pushdown(dt));
+                                if (tK >= burnin){
+                                        vec uti=Cs ( i )->ctrlaction ( Dlsc(i) ->pushdown(dt) );                // update estimates
+                                        Dlsu(i)->filldown(uti, ut);
+                                }
                         }
-                        if (tK > burnin){
-                                vec uti=Cs ( i )->ctrlaction ( Dlsc(i) ->pushdown(dt) );                // update estimates
-                                Dlsu(i)->filldown(uti, ut);
-                        } else {
-                                ut = 0.1*randn(Ds->_urv()._dsize());
+                        if(tK<burnin) {
+                                ut = burn_pdf->sample();
                         }
                         

applications/bdmtoolbox/tutorial/userguide/dist_ctrl_example.m

@@ -36 +36 @@
 C2.ARX = A2;
 
-M= controlloop(DS,{C1,C2});
+exper.Ndat=100;
+exper.burnin=3;
+exper.burn_pdf.class='enorm<chmat>';
+exper.burn_pdf.mu=[0,0];
+exper.burn_pdf.R=0.1*eye(2);
+
+
+M= controlloop(DS,{C1,C2},exper);