matlab.tex

由matlab开发的hybrid系统的描述语言

\chapter{\matlab{} Functions}

\hysdel{} comes with a number of \matlab{} functions. This section
reports verbatim the \matlab{} help for those commands.

\section{Main Routines}

\subsection{hysdel}\index{hysdel}
{\footnotesize
\begin{verbatim}
% hysdel(filename,simname,options)
% Compiles the HYSDEL list <filename.hys>,
% generates the M-file <filename.m>
%
% INPUT:
% filename: the hysdel source
% simname : if not empty, generates the HYSDEL simulator (see manual)
% options : a string of space separated command line switches to append to
%           HYSDEL call (see HYSDEL manual, it includes: -p -a -5
%           --no-symbol-table --no-row-info --no-params-checks
%           --matlab-symbolic -v[0-3])
%
% OUTPUT:
% filename.m and simname.m on disk
%
% (C) 2000--2002 F.D. Torrisi,
% Automatic Control Laboratory, ETH Zentrum, CH-8092 Zurich, Switzerland
% [e-mail]
%
% see license.txt for the terms and conditions.
\end{verbatim}}

\subsection{hybsim}\index{hybsim}
{\footnotesize
\begin{verbatim}
% [XX,DD,ZZ,YY]=HYBSIM(X0,UU,FILE,PARS,OPT)
% Simulates a hybrid system
% if sys is a simulator-file-name, uses the Matlab simulator (see HYSDEL Manual)
% if sys is a MLDstructure, uses MLDSIM which solves a Mixed Integer Program
% (see MLDSIM)
%
% INPUT:
% X0  : is the initial condition;
% UU  : is the input vector u(t) = UU(:,t);
% SYS : system either the filename of the Matlab simulator
%              or the Name of the MLD struct
% PARS: is the parameters structure passed to the one step
%              Matlab simulator (see HYSDEL Manual, Simulator)
% OPT : are the options passed to the one step MLDsimulator MLDSIM (see MLDSIM)
%
% OUTPUT:
% XX  : is the state trajectory
% DD  : is the auxiliary bool variables trajectory
% ZZ  : is the auxiliary real variables trajectory
% YY  : is the output trajectory
%
% REMARK:
% using the matlab simulator is much faster. The results produced by the two
% approaches should be the same.
%
% SEE:
% matlab simulator (in the HYSDEL manual, simulator)
% MLDSIM
% PANMIP
% MIQP
%
% (C) 2002 F.D. Torrisi
% Automatic Control Laboratory, ETH Zentrum, CH-8092 Zurich, Switzerland
% [e-mail]
%
% see license.txt for the terms and conditions.
\end{verbatim}}

\subsection{hylink}\index{hylink}
{\footnotesize
\begin{verbatim}
%HYLINK: HYSDEL models in simulink via S-function
%
% use: drag a simulink block of type 'S-function' in your simulink model
%      set the function name to hylink and the filename as parameter.
%      The optional parameter x0 sets the initial state.
%      Use multiplex/demultiplex to access all the inputs/outputs
%
% (C) 2000--2002 F.D. Torrisi,
% Automatic Control Laboratory, ETH Zentrum, CH-8092 Zurich, Switzerland
% [e-mail]
%
% see license.txt for the terms and conditions.
\end{verbatim}}

\subsection{syminfo}\index{syminfo}
{\footnotesize
\begin{verbatim}
% info = syminfo(S, vname, vtype, vkind, vindex)
% extract infos from the symble table
% look up the symble table for entries matching the query
% item.name == name AND item.type == type AND item.kind == kind
% empty field ('') matches all entries
%
% INPUT:
% S     : the system name
% vname : var name as in the Hysdel source
% vtype : var type ('b','r')
% vkind : var kind ('x','u','d','z')
% vindex: var index
%
% OUTPUT
% info  : cell array of info records saisfying the query
%
% REMARK
% the contents of the syminfo records are detailed in the HYSDEL manual in the
% section describing the MLD-structure
%
% (C) 2001 by F.D. Torrisi
% Automatic Control Laboratory, ETH Zentrum, CH-8092 Zurich, Switzerland
% [e-mail]
%
% see license.txt for the terms and conditions.
\end{verbatim}}

\subsection{gen\_log}\index{gen\_log}
{\footnotesize
\begin{verbatim}
% gen_log(S, log)
% generates log-file of all variables
%
% INPUT:
% S  : structure containing the MLD-model
% log: structure containing the log-data of all variables (d, z, u, x, y)
%      obtained by runing 'hybsim.m' i.e.: log.x has the dimensions
%      nx times nm (nx=number of states, nm=number of time-steps)
%
% OUTPUT:
% a logfile ''systemname''.log on disk
%
% (C) 2002 Tobias Geyer
% Automatic Control Laboratory, ETH Zentrum, CH-8092 Zurich, Switzerland
% [e-mail]
%
% see license.txt for the terms and conditions.
\end{verbatim}}

\subsection{mldsim}
{\footnotesize
\begin{verbatim}
% function [xt1, dt, zt, yt, fl, eps] = mldsim( m, xt, ut, Options )
% Simulates an MLD System. Given the MLD system and the current state and
% input, computes the next state and the current output.
%
% INPUT:
% m      : MLD system
% xt     : current state
% ut     : current input
% Options: 1. Specify with Options.solver the miqp solver desired, e.g. like:
%             Options.solver      = 'miqp';
%             SEE PANMIP
%          2. Specify options for the choosen solver e.g. like:
%             Options.miqp.solver = 'linprog';
%             SEE PANMIP
%          3. Specify options for the simulation
%             Options.large        : specifies the magnitude of the box bounds
%                                    for the solver
%          4. Specify options to debug models (see implementation for details)
%             Options.relaxIneq = 1: relax inequalities to maintain feasibility
%             Options.relaxU = 1   : relax inputs
%
% OUTPUT:
% xt1    : next time step
% dt     : delta vector
% zt     : zeta vector
% yt     : output vector
% fl     : flags from the MIP solver
% eps    : epsilon needed in relaxation (see implementation for details)
%
% REMARK:
% Requires panmip as solver interface and some solver supported by panmip
%
% (C) 1998--2002 D. Mignone
% Automatic Control Laboratory, ETH Zentrum, CH-8092 Zurich, Switzerland
% [e-mail]
%
% see license.txt for the terms and conditions.
\end{verbatim}}

\subsection{hysdel\_old}\index{hysdel\_old}
{\footnotesize
\begin{verbatim}
% hysdel_old(filename)
% THIS FILE GENERATES THE DEPRECATED MLD STRUCTURE 1.0
% IT IS PROVIDED FOR BACKWARDS COMPATIBILITY.
%
% INPUT:
% filename: the hysdel source
%
% OUTPUT:
% filename.mat on disk
%
% REMARK:
% the M-file <hout.m> contains the system in the new format. Use
% load filename.mat if you want to access the system in the old format.
%
% (C) 2000--2002 by F.D. Torrisi, A. Bemporad, T. Geyer
% Automatic Control Laboratory, ETH Zentrum, CH-8092 Zurich, Switzerland
% torrisi|bemporad|[e-mail]
%
% see license.txt for the terms and conditions.
\end{verbatim}}


\subsection{new2old}
{\footnotesize
\begin{verbatim}
% Sold = new2old(S)
% THIS FILE TRANSLATES THE MLD STRUCTURE INTO THE DEPRECATED MLD STRUCTURE 1.0
% IT IS PROVIDED FOR BACKWARDS COMPATIBILITY.
%
% INPUT:
% S   : a MLD-structure 2.0
%
% OUTPUT:
% Sold: a MLD-structure 1.0
%
% (C) 2002 by F.D. Torrisi
% Automatic Control Laboratory, ETH Zentrum, CH-8092 Zurich, Switzerland
% [e-mail]
%
% see license.txt for the terms and conditions.
\end{verbatim}}

\section{Support Routines}
This is the list of additional routines that come with \hysdel{}:
mld2mat.m (extracts matrices from the MLD structure), panmip.m
(common MIP interface), miqp.m (free MIQP solver).

\section{Contributed Routines}
The subdirectory contrib of the \hysdel{} distribution, contains
routines contributed by the users: pwa2hys.m (Piecewise affine to
\hysdel{}), con\_list6.m (adjacency map for a polyhedral
partition)