bfgs_f_celu2.m

来自「Control optimisation. It is example of u」· M 代码 · 共 27 行

% funkcja celu
function q = bfgs_f_celu2(tau,x0,h0,u2)


global RzRm bm az am c;
global kq;

tau=tau';
[x_rk4,t] = rk4(x0,tau,h0,u2);
t_dlugosc = length(t);
%plot(1:length(x_rk4),x_rk4);
xT = x_rk4(length(x_rk4),1:5);     %polozenieT
% rownania ruchu Marsa:
xmT = RzRm*cos((am*t(t_dlugosc))+bm);
ymT = RzRm*sin((am*t(t_dlugosc))+bm);
dxmT = -RzRm*am*sin((am*t(t_dlugosc))+bm);
dymT =  RzRm*am*cos((am*t(t_dlugosc))+bm);

q1 = kq(1)*( (xmT-xT(1))^2 );
q2 = kq(2)*( (dxmT-xT(2))^2 );
q3 = kq(3)*( (ymT-xT(3))^2 );
q4 = kq(4)*( (dymT-xT(4))^2 );
q5 = kq(5)*xT(5);

q = 0.5*(q1 + q2 + q3 + q4) + q5;
%q = daj_q(t(t_dlugosc),xmT,ymT,dxmT,dymT,polozenieT);
end % koniec funkcji