Added new codeHEADmaster

1 files changed, 52 insertions, 0 deletions

diff --git a/2048/DEPENDENCIES/gpc_pid.sci b/2048/DEPENDENCIES/gpc_pid.sci
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+++ b/2048/DEPENDENCIES/gpc_pid.sci
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+// Predictive PID, tuned with GPC, as explained in Sec. 12.2.3.

+// 12.11

+

+function [Kp,Ki,Kd] = ...

+gpc_pid(A,dA,B,dB,C,dC,N1,N2,Nu,lambda,gamm,gamma_y)

+Adelta=convol(A,[1 -1]); G=[];

+for i=N1:N2

+    zi=zpowk(i);

+    [E,dE,F,dF]=xdync(Adelta,dA+1,zi,i,C,dC);

+    [Gtilda,dGtilda,Gbar,dGbar] = ...

+      xdync(C,dC,zi,i,E*B,dE+dB);

+    for j = 1:i, Gtilda1(j)=Gtilda(i+1-j); end

+    Gtilda2 = Gtilda1.'; // Added because Scilab forms a column vecor 

+    // while Matlab forms a row vector, by default

+        if i<=Nu-1

+       G=[G;[Gtilda2,zeros(1,Nu-i)]];

+    else

+       G=[G;Gtilda2(1:Nu)];

+    end

+end

+es=sum(C)/sum(A); gs=sum(B)/sum(A); F_s=es*A; G_s=[];

+for i=1:Nu

+    if ((Nu - i) == 0)

+    row=gs*ones(1,i);

+    else

+    row=gs*ones(1,i); row=[row,zeros(Nu-i,Nu-i)];

+    end;

+    G_s=[G_s;row];

+end

+lambda_mat=lambda*(diag(ones(1,Nu)));

+gamma_mat=gamm*(diag(ones(1,Nu)));

+gamma_y_mat=gamma_y*(diag(ones(1,N2-N1+1))); 

+mat1=inv(G'*gamma_y_mat*G+lambda_mat+G_s'*gamma_mat*G_s);

+mat2=mat1*(G'*gamma_y_mat);

+mat2_s=mat1*(G_s'*gamma_mat);

+h_s=sum(mat2_s(1,:)); h=mat2(1,:);

+T=C; R=C*(sum(h(:))+h_s); S=0;

+for i=N1:N2

+    zi=zpowk(i);

+    [E,dE,F,dF]=xdync(Adelta,dA+1,zi,i,C,dC);

+    [Gtilda,dGtilda,Gbar,dGbar]=...

+      xdync(C,dC,zi,i,E*B,dE+dB);

+    S=S+F*h(i);

+end

+S=S+F_s*h_s;

+if length(A)==3

+   Kp=S(1)-R-S(3); Ki=R; Kd=S(3);

+else

+   Kp=S(1)-R; Ki=R; Kd=0;

+end

+

+endfunction;