idseq.m

非线性控制 Matlab编译

function [P, T]=idseq(XX,UU,m,mc,nd,case);
% [StateTransitionVector, Pert]=IDSEQ(X,U,m,mc,nd,case);
% Function IDSEQ rearranges vectors of N applied perturbations U(:,1...N)
% and vectors of system responses X(:,1....N) into vectors of
% StateTransitions and corresponding perturbations Pert.
% m is the dimensionality of the state vector, mc-is the length
% of the controlling sequence, nd-is the delay between a perturbation
% and its effect on the system. Usually mc=m.
% case - goal dynamics type

% Valery Petrov, CNLD 10-29-96
% e-mail: [e-mail]

% Copyright (c) The University of Texas at Austin


if (case == 0)
  indx1=(1:m);          	% X indices for the future state
  indu1=(1:m-1)+nd;            	% U indices for the future state
  indx2=(mc+m+nd:mc+2*m+nd-1);  % X indices for the past state   
  indu2=(mc+m+nd:mc+2*m+2*nd-2);% U indices for the past state
  indc = mc+m+nd-1;            	% controlling perturbation index


  XD=delsig2(XX,[indx1 indx2]);
  UD=delsig2(UU,[indu1 indu2]);
  UC=delsig2(UU,indc);


% Allign XD and UD, UC vectors, because they were truncated
% by delaysig2

  szc=size(UC,2);
  szx=size(XD,2);

 if (m + nd > 1) %U's are involved  
   szy=size(UD,2);
   sz=min(szx,szy);
   XD=XD(:,szx-sz+1:szx);
   UD=UD(:,szy-sz+1:szy);
% Mapping is created as F(P)=T;
   P=[XD; UD];
  else
   sz=szx;
   XD=XD(:,szx-sz+1:szx);
   P=[XD];
 end
  UC=UC(:,szc-sz+1:szc);
  T=UC;
  
end  

if (case == 1)
  indx1=(0:m-1);        	% X indices for the future state
  indu1=(0:m-1)+nd;            	% U indices for the future state
  indx2=(mc+m+nd:mc+2*m+nd-1); 	% X indices for the past state   
  indu2=(mc+m+nd:mc+2*m+2*nd-1);% U indices for the past state
  indc = mc+m+nd-1;            	% controlling perturbation index

  XD=delsig2(diff(XX')',[indx1 indx2]);
  UD=delsig2(UU,[indu1 indu2]);
  UC=delsig2(UU,indc);
 
% Allign XD and UD, UC vectors, because they were truncated
% by delaysig2

  szx=size(XD,2);
  szy=size(UD,2);
  szc=size(UC,2);

  sz=min(szx,szy);
  XD=XD(:,szx-sz+1:szx);
  UD=UD(:,szy-sz+1:szy);
  UC=UC(:,szc-sz+1:szc);
% Mapping is created as F(P)=T;
  
  P=[XD; UD];
  T=UC;
end

if (case == 2)
  indx1=(0:m);        		% X indices for the future state
  indu1=(1:m-1)+nd;            	% U indices for the future state
  indx2=(mc+m+nd:mc+2*m+nd); 	% X indices for the past state   
  indu2=(mc+m+nd:mc+2*m+2*nd-2);% U indices for the past state
  indc = mc+m+nd-1;            	% controlling perturbation index

  XD=delsig2(XX,[indx1 indx2]);
  UD=delsig2(diff(UU')',[indu1 indu2]);
  UC=delsig2(UU,indc);

  szc=size(UC,2);
  szx=size(XD,2);

 if(m + nd > 1) %U's are involved  
   szy=size(UD,2);
   sz=min(szx,szy);
   XD=XD(:,szx-sz+1:szx);
   UD=UD(:,szy-sz+1:szy);
   P=[XD; UD];
  else
   sz=szx;
   XD=XD(:,szx-sz+1:szx);
   P=[XD];
 end
  UC=UC(:,szc-sz+1:szc);
  T=UC;


end