Changeset 787 for applications/bdmtoolbox/tutorial

Timestamp:

01/14/10 21:37:57 (14 years ago)

Author:

smidl

Message:

arena experiment + numerical fixes

Location:

applications/bdmtoolbox/tutorial/mpdm

Files:

• dist_ctrl_acc.m (modified) (2 diffs)
• dist_ctrl_example.m (modified) (4 diffs)

applications/bdmtoolbox/tutorial/mpdm/dist_ctrl_acc.m

@@ -50 +50 @@
 %P1.merger.dbg_file = 'mp.it';
 P1.merger.ncoms = 20;
+P1.merger.stop_niter= 5;
 P1.neighbours = {};%{'P2'};
 
@@ -88 +89 @@
     Y = [M.DS_y1 M.DS_y2 M.DS_y3];
     Yreq = ones(size(M.DS_y1))*[0 1 0];
-    loss_non_coop(i) = trace((Y-Yreq)'*0.01*(Y-Yreq)) + M.DS_u1'*C1.Qu*M.DS_u1 + M.DS_u2'*C1.Qu*M.DS_u2;
+    loss_coop(i) = trace((Y-Yreq)'*0.01*(Y-Yreq)) + M.DS_u1'*C1.Qu*M.DS_u1 + M.DS_u2'*C1.Qu*M.DS_u2;
     if loss_coop(i)>100
         %keyboard

applications/bdmtoolbox/tutorial/mpdm/dist_ctrl_example.m

@@ -31 +31 @@
 C1.Qy = 1*eye(1);
 C1.yreq = 1;
-C1.horizon = 5;
+C1.horizon = 1;
 
 C2=C1;
@@ -44 +44 @@
 %P1.merger.dbg_file = 'mp.it';
 P1.merger.ncoms = 20;
+P1.merger.stop_niter= 5;
 P1.neighbours = {};%{'P2'};
 
@@ -60 +61 @@
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%% MONTE CARLO %%%%%%%%%%%%%%%%%%%
 
-Ntrials = 100;
+Ntrials = 3;
 loss_non_coop = zeros(1,Ntrials);
 for i=1:Ntrials
     M= arena(DS,{P1,P2},exper);
 
-    loss_non_coop(i) = M.DS_y'*C1.Qy*M.DS_y + M.DS_u1'*C1.Qu*M.DS_u1 + M.DS_u2'*C1.Qu*M.DS_u2;
+    loss_non_coop(i) = (M.DS_y-C1.yreq)'*C1.Qy*(M.DS_y-C1.yreq) + M.DS_u1'*C1.Qu*M.DS_u1 + M.DS_u2'*C1.Qu*M.DS_u2;
     if loss_non_coop(i)>100
         %keyboard
@@ -78 +79 @@
     M= arena(DS,{P1,P2},exper);
 
-    loss_coop(i) = M.DS_y'*C1.Qy*M.DS_y + M.DS_u1'*C1.Qu*M.DS_u1 + M.DS_u2'*C1.Qu*M.DS_u2;
+    loss_coop(i) = (M.DS_y-C1.yreq)'*C1.Qy*(M.DS_y-C1.yreq) + M.DS_u1'*C1.Qu*M.DS_u1 + M.DS_u2'*C1.Qu*M.DS_u2;
     if loss_coop(i)>100
         %keyboard