[Octave-cvsupdate] SF.net SVN: octave:[7660] trunk/octave-forge/main/control/inst

[<par...@us...>]

Revision: 7660
          http://octave.svn.sourceforge.net/octave/?rev=7660&view=rev
Author:   paramaniac
Date:     2010-09-05 07:00:41 +0000 (Sun, 05 Sep 2010)

Log Message:
-----------
control: reformat example

Modified Paths:
--------------
    trunk/octave-forge/main/control/inst/optiPID.m

Added Paths:
-----------
    trunk/octave-forge/main/control/inst/optiPIDfun.m

Removed Paths:
-------------
    trunk/octave-forge/main/control/inst/optiPIDfunction.m

Modified: trunk/octave-forge/main/control/inst/optiPID.m
===================================================================
--- trunk/octave-forge/main/control/inst/optiPID.m	2010-09-05 06:42:21 UTC (rev 7659)
+++ trunk/octave-forge/main/control/inst/optiPID.m	2010-09-05 07:00:41 UTC (rev 7660)
@@ -1,12 +1,13 @@
+% ===================================================================================
+% optiPID                          Lukas Reichlin                           July 2009
+% ===================================================================================
 % Numerical Optimization of an A/H PID Controller
-% Written by Lukas Reichlin     July 2009
 % Required OCTAVE Packages: control, miscellaneous, optim
 % Required MATLAB Toolboxes: Control, Optimization
+% ===================================================================================
 
 % Tabula Rasa
-clear all;
-close all;
-clc;
+clear all, close all, clc;
 
 % Global Variables
 global P t dt mu_1 mu_2 mu_3
@@ -18,8 +19,8 @@
 
 % Relative Weighting Factors: PLAY AROUND WITH THESE!
 mu_1 = 1;       % Minimize ITAE Criterion
-mu_2 = 1;       % Minimize Max Overshoot
-mu_3 = 1;       % Minimize Sensitivity Ms
+mu_2 = 10;      % Minimize Max Overshoot
+mu_3 = 20;      % Minimize Sensitivity Ms
 
 % Simulation Settings: PLANT-DEPENDENT!
 t_sim = 30;             % Simulation Time [s]
@@ -53,7 +54,7 @@
   error ('optiPID: please install optim package to proceed');
 end
 
-C_par_opt = fminsearch (@optiPIDfunction, C_par_0);
+C_par_opt = fminsearch (@optiPIDfun, C_par_0);
 
 % Optimized Controller
 disp ('optiPID: optimized PID controller parameters:');
@@ -95,3 +96,5 @@
 xlabel ('Time [s]')
 ylabel ('Output [-]')
 legend ('A/H', 'Optimized', 'Location', 'SouthEast')
+
+% ===================================================================================

Added: trunk/octave-forge/main/control/inst/optiPIDfun.m
===================================================================
--- trunk/octave-forge/main/control/inst/optiPIDfun.m	                        (rev 0)
+++ trunk/octave-forge/main/control/inst/optiPIDfun.m	2010-09-05 07:00:41 UTC (rev 7660)
@@ -0,0 +1,59 @@
+% ===================================================================================
+% optiPIDfun                       Lukas Reichlin                           July 2009
+% ===================================================================================
+% Objective Function
+% See "Analysis and Synthesis of SISO Control Systems"
+% by Lino Guzzella for further details
+% ===================================================================================
+
+function J = optiPIDfun (C_par)
+
+  % Global Variables
+  global P t dt mu_1 mu_2 mu_3
+
+  % Function Argument -> Controller Parameters
+  kp = C_par(1);
+  Ti = C_par(2);
+  Td = C_par(3);
+  tau = Td / 10;
+
+  % PID Controller with Roll-Off
+  numC = kp * [Ti * Td,  Ti,  1];
+  denC = conv ([Ti, 0], [tau^2,  2 * tau,  1]);
+  C = tf (numC, denC);
+
+  % Open Loop
+  L = P * C;
+
+  % Sum Block: e = r - y
+  SUM = ss ([1, -1]);  % Matlab converts to SS (and back) for MIMO TF connections
+
+  % Group Sum Block and Open Loop
+  SUML = append (SUM, L);
+
+  % Build System Interconnections
+  CM = [3, 1;   % Controller Input with Sum Block Output 
+        2, 2];  % Sum Block Negative Input with Plant Output
+
+  inputs = [1];      % Input 1: reference r(t)
+  outputs = [1, 2];  % Output 1: error e(t), Output 2: output y(t)
+
+  SUML = connect (SUML, CM, inputs, outputs);
+
+  % Simulation
+  [y, t_y] = step (SUML, t);
+
+  % ITAE Criterion
+  itae = dt * (t_y.' * abs (y(:, 1)));
+
+  % Sensitivity
+  S = inv (1 + L);
+  Ms = norm (S, inf);
+
+  % Objective Function
+  J = mu_1 * itae  +  mu_2 * (max (y(:, 2)) - 1)  +  mu_3 * Ms;
+
+end  % function
+
+% ===================================================================================
+

Deleted: trunk/octave-forge/main/control/inst/optiPIDfunction.m
===================================================================
--- trunk/octave-forge/main/control/inst/optiPIDfunction.m	2010-09-05 06:42:21 UTC (rev 7659)
+++ trunk/octave-forge/main/control/inst/optiPIDfunction.m	2010-09-05 07:00:41 UTC (rev 7660)
@@ -1,50 +0,0 @@
-function J = optiPIDfunction (C_par)
-
-% Objective Function
-% written by Lukas Reichlin
-% See "Analysis and Synthesis of SISO Control Systems"
-% by Lino Guzzella for further details
-
-global P t dt mu_1 mu_2 mu_3
-
-% Function Argument -> Controller Parameters
-kp = C_par(1);
-Ti = C_par(2);
-Td = C_par(3);
-tau = Td / 10;
-
-% PID Controller with Roll-Off
-numC = kp * [Ti * Td,  Ti,  1];
-denC = conv ([Ti, 0], [tau^2,  2 * tau,  1]);
-C = tf (numC, denC);
-
-% Open Loop
-L = P * C;
-
-% Sum Block: e = r - y
-SUM = ss ([1, -1]);  % Matlab converts to SS (and back) for MIMO TF connections
-
-% Group Sum Block and Open Loop
-SUML = append (SUM, L);
-
-% Build System Interconnections
-CM = [3, 1;   % Controller Input with Sum Block Output 
-      2, 2];  % Sum Block Negative Input with Plant Output
-
-inputs = [1];      % Input 1: reference r(t)
-outputs = [1, 2];  % Output 1: error e(t), Output 2: output y(t)
-
-SUML = connect (SUML, CM, inputs, outputs);
-
-% Simulation
-[y, t_y] = step (SUML, t);
-
-% ITAE Criterion
-itae = dt * (t_y.' * abs (y(:, 1)));
-
-% Sensitivity
-S = inv (1 + L);
-Ms = norm (S, inf);
-
-% Objective Function
-J = mu_1 * itae  +  mu_2 * (max (y(:, 2)) - 1)  +  mu_3 * Ms;


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