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| author | prashantsinalkar | 2018-02-03 11:01:52 +0530 |
|---|---|---|
| committer | prashantsinalkar | 2018-02-03 11:01:52 +0530 |
| commit | 7bc77cb1ed33745c720952c92b3b2747c5cbf2df (patch) | |
| tree | 449d555969bfd7befe906877abab098c6e63a0e8 /2048/DEPENDENCIES/lqg1.sci | |
| parent | d1e070fe2d77c8e7f6ba4b0c57b1b42e26349059 (diff) | |
| download | Scilab-TBC-Uploads-7bc77cb1ed33745c720952c92b3b2747c5cbf2df.tar.gz Scilab-TBC-Uploads-7bc77cb1ed33745c720952c92b3b2747c5cbf2df.tar.bz2 Scilab-TBC-Uploads-7bc77cb1ed33745c720952c92b3b2747c5cbf2df.zip | |
Diffstat (limited to '2048/DEPENDENCIES/lqg1.sci')
| -rw-r--r-- | 2048/DEPENDENCIES/lqg1.sci | 48 |
1 files changed, 48 insertions, 0 deletions
diff --git a/2048/DEPENDENCIES/lqg1.sci b/2048/DEPENDENCIES/lqg1.sci new file mode 100644 index 000000000..2ce4a74ec --- /dev/null +++ b/2048/DEPENDENCIES/lqg1.sci @@ -0,0 +1,48 @@ +// LQG control design by polynomial method, to solve Eq. 13.51 on page 472.
+// 13.4
+
+// LQG controller design by method of Ahlen and Sternad
+// function [R,degR,S,degS] = ...
+// lqg(A,degA,B,degB,C,degC,k,rho,V,degV,W,degW,F,degF)
+
+function [R,degR,S,degS] = ...
+lqg1(A,degA,B,degB,C,degC,k,rho,V,degV,W,degW,F,degF)
+
+[r,b,degb] = ...
+specfac(A,degA,B,degB,rho,V,degV,W,degW,F,degF);
+
+WFA = flip(convol(A,convol(F,W)));
+dWFA = degW + degF + degA;
+
+[rhs1,drhs1] = polmul(W,degW,WFA,dWFA);
+[rhs1,drhs1] = polmul(rhs1,drhs1,C,degC);
+rhs1 = rho * rhs1;
+rhs2 = convol(C,convol(V,flip(convol(B,V))));
+drhs2 = degC + 2*degV + degB;
+for i = 1:degb-degB-degV,
+ rhs2 = convol(rhs2,[0,1]);
+end
+drhs2 = drhs2 + degb-degB-degV;
+C1 = zeros(1,2);
+
+[C1,degC1] = putin(C1,0,rhs1,drhs1,1,1);
+[C1,degC1] = putin(C1,degC1,rhs2,drhs2,1,2);
+rbf = r * flip(b);
+D1 = zeros(2,2);
+[D1,degD1] = putin(D1,0,rbf,degb,1,1);
+for i = 1:k,
+ rbf = convol(rbf,[0 1]);
+end
+[D1,degD1] = putin(D1,degD1,rbf,degb+k,2,2);
+N = zeros(1,2);
+[N,degN] = putin(N,0,-B,degB,1,1);
+[AF,dAF] = polmul(A,degA,F,degF);
+[N,degN] = putin(N,degN,AF,dAF,1,2);
+
+[Y,degY,X,degX] = xdync(N,degN,D1,degD1,C1,degC1);
+
+[R,degR] = ext(X,degX,1,1);
+[S,degS] = ext(X,degX,1,2);
+X = flip(Y);
+
+endfunction;
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