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Diffstat (limited to '2048/DEPENDENCIES/pp_basic.sci')
| -rw-r--r-- | 2048/DEPENDENCIES/pp_basic.sci | 26 |
1 files changed, 26 insertions, 0 deletions
diff --git a/2048/DEPENDENCIES/pp_basic.sci b/2048/DEPENDENCIES/pp_basic.sci new file mode 100644 index 000000000..c8fb0a356 --- /dev/null +++ b/2048/DEPENDENCIES/pp_basic.sci @@ -0,0 +1,26 @@ +// Design of 2-DOF pole placement controller, as discussed in Sec. 9.2.
+// 9.5
+
+// function [Rc,Sc,Tc,gamma] = pp_basic(B,A,k,phi)
+// calculates pole placement controller
+
+
+function [Rc,Sc,Tc,gamm] = pp_basic(B,A,k,phi)
+
+// Setting up and solving Aryabhatta identity
+[Ag,Ab] = polsplit2(A); dAb = length(Ab) - 1;
+[Bg,Bb] = polsplit2(B); dBb = length(Bb) - 1;
+
+[zk,dzk] = zpowk(k);
+
+[N,dN] = polmul(Bb,dBb,zk,dzk);
+dphi = length(phi) - 1;
+
+[S1,dS1,R1,dR1] = xdync(N,dN,Ab,dAb,phi,dphi);
+
+// Determination of control law
+Rc = convol(Bg,R1); Sc = convol(Ag,S1);
+Tc = Ag; gamm = sum(phi)/sum(Bb);
+
+endfunction;
+
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