Changeset 909 for applications/dual

Timestamp:

04/20/10 18:55:09 (14 years ago)

Author:

vahalam

Message:

 

Files:

• applications/dual/IterativeLocal/pmsm_lqg.m (modified) (4 diffs)

applications/dual/IterativeLocal/pmsm_lqg.m

@@ -85 +85 @@
 neznalost = 1;
 
-errnans = 0;
-
 % vycisti kreslici okno
     clf
@@ -141 +139 @@
             xn(:, 1, n) = x00;
             for k = 1:Kt+K-1,               
-               u(:, k) = L(:, :, k)*(xn(:, k, n)); %tady se vyuzije(k) / nevyuzije(1) receding horizon              
+               u(:, k) = L(:, :, k)*(xn(:, k, n));               
                xn(1, k+1, n) = a*xn(1, k, n) + b*(xn(3, k, n) + xn(5, k, n))*sin(xn(4, k, n)) + c*u(1, k) + sumsim*sqrt(Q(1, 1))*randn();  
                xn(2, k+1, n) = a*xn(2, k, n) - b*(xn(3, k, n) + xn(5, k, n))*cos(xn(4, k, n)) + c*u(2, k) + sumsim*sqrt(Q(2, 2))*randn();
@@ -148 +146 @@
                xn(5, k+1, n) = xn(5, k, n);
             end
-            
-    %kontrola spatne L matice
-    lstore(:,:,n) = L(:,:,1);
-    if(isnan(sum(sum(L(:,:,1))))==1)
-        errnans = errnans + 1;
-    end
-    
+           
+        
     %vykresleni
         subplot(2, 3, 1);
@@ -184 +177 @@
 toc
 
-if(errnans > 0)
-        lstore
-        disp('L is NaN')
-        errnans
 end
-
-
-
-
-end