hybsim.m

由matlab开发的hybrid系统的描述语言

function [XX,DD,ZZ,YY]=hybsim(x0,UU,sys,params,Options)
% [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.

if nargin < 5 
        Options.solver      = 'miqp';
        Options.miqp.solver = 'linprog';
	if nargin < 4
		params = [];
		if nargin < 3 
			error('Too few input parameters');
		end
	end
end
		
x = x0(:);
XX = [];
DD = [];
ZZ = [];
YY = [];

if isstr(sys)
   for i = 1:size(UU,2),
      XX = [XX,x];
      u =UU(:,i);
      eval(['[x,d,z,y] = ' sys '(x, u, params);']);
      DD = [DD,d];
      ZZ = [ZZ,z];
      YY = [YY,y];
   end
elseif isstruct(sys) 
   for i = 1:size(UU,2),
      XX = [XX,x];
      u =UU(:,i);
      [x,d,z,y] = mldsim(sys, x, u, Options);
      d = d(:); z = z(:); y = y(:); 
      DD = [DD,d];
      ZZ = [ZZ,z];
      YY = [YY,y];
   end
end