www.pudn.com > nnctrl_v5.zip > lininit.m, change:1997-06-06,size:3331b


% -------------------------------> LININIT.M <------------------------------- 
 
% ----------      Switches       ----------- 
regty      ='rst';           % Controller type (rst/pid/none) 
design     ='ppaz';          % Controller design (ppnz/ppaz/mv1/off) 
refty      ='myref';         % Reference signal (siggener/<var. name>) 
simul      ='simulink';      % Control object spec. (simulink/matlab/nnet) 
if exist('simulink')~=4, 
  simul      ='matlab';      % Simulink not present 
end 
if pp==2, design     ='ppnz'; end %(This line is only required to run the demo) 
 
 
% ----------   Initializations   ----------- 
Ts = 0.2;                    % Sampling period (in seconds) 
samples = 300 ;              % Number of samples in simulation 
 
% --  System to be Controlled (SIMULINK) -- 
integrator= 'ode45';         % Name of dif. eq. solver (f. ex. ode45 or ode15s) 
sim_model = 'spm1';          % Name of SIMULINK model 
 
 
% ---  System to be Controlled (MATLAB)  -- 
mat_model = 'springm';       % Name of MATLAB model 
model_out = 'smout';         % Output equation (function of the states) 
x0        = [0;0];           % Initial states 
 
 
% ----- Neural Network Specification ------ 
% "nnfile" must contain the following variables which together define 
% an NNARX model: 
% NN, NetDef, W1, W2 
% (i.e. regressor structure, architecture definition, and weight matrices) 
nnfile  = 'forward2';        % Name of file containing neural network model 
 
 
% -- Design parameters in pole placement -- 
% deg(Am)=deg(A)+deg(Ar) 
% deg(Ao)=deg(A)-1         if no zeros are cancled 
% deg(Ao)=deg(A)-deg(B)-1  if all zeros are canceled 
Am = [1.0 -1.4 0.49 0];      % Denominator of desired model 
Bm = [0.09];                 % Numerator of desired model (starts in z^{-1}) 
Ao = [1];                    % Observer polynomial 
Ar = [1 -1];                 % Pre-specified factor of R. Ar must contain 
                             % [1 -1] as a factor (=integrator). 
As = 1;                      % Pre-specified factor of S (eg. notch filter) 
if pp==2, Ao = [1 0];end     %(This line is only needed to run the demo) 
 
% -------- Design parameters in MV1 -------- 
delta = 0.002;               % Penalty factor on squared control dif. controls 
 
 
% ----------- Reference signal ------------- 
dc      = 0;                 % DC-level 
sq_amp  = 01;                % Amplitude of square signals (row vector) 
sq_freq = 0.05;              % Frequencies of square signals (column vector) 
sin_amp = [0];               % Amplitude of sine signals (row vector) 
sin_freq= [0]';              % Frequencies of sine signals (column vector) 
Nvar    = 0';                % Variance of white noise signal 
myref =[0.3*ones(50,1);-0.3*ones(50,1);]; 
myref =[myref;1*ones(50,1);-1*ones(50,1)]; 
myref=[myref;2*ones(50,1);-2*ones(50,1)]; 
 
% --------  Controller Parameters  ---------  
K=8;                         % PID parameters 
Td=0.8;                      % PID 
alf=0.1;                     % PID 
Wi=0.2;                      % PID (1/Ti) 
 
 
% ------ Specify data vectors to plot  ------- 
% All strings in plot_a and plot_b, respectively, must have equal length! 
 
plot_a(1,:) = 'ref_data    '; 
plot_a(2,:) = 'y_data      '; 
plot_a(3,:) = 'ym_data     '; 
%plot_a(4,:) = 'yhat_data   '; 
plot_b(1,:) = 'u_data';