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Update check for repository connection parameter in constructors
author Daniele Nicolodi <nicolodi@science.unitn.it>
date Mon, 05 Dec 2011 16:20:06 +0100
parents f0afece42f48
children
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1 <!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"
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2 "http://www.w3.org/TR/1999/REC-html401-19991224/loose.dtd">
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3
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4 <html lang="en">
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5 <head>
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6 <meta name="generator" content=
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7 "HTML Tidy for Mac OS X (vers 1st December 2004), see www.w3.org">
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8 <meta http-equiv="Content-Type" content=
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9 "text/html; charset=us-ascii">
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10
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11 <title>Assembling systems (LTPDA Toolbox)</title>
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12 <link rel="stylesheet" href="docstyle.css" type="text/css">
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13 <meta name="generator" content="DocBook XSL Stylesheets V1.52.2">
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14 <meta name="description" content=
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15 "Presents an overview of the features, system requirements, and starting the toolbox.">
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16 </head>
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17
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18 <body>
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19 <a name="top_of_page" id="top_of_page"></a>
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20
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21 <p style="font-size:1px;">&nbsp;</p>
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22
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23 <table class="nav" summary="Navigation aid" border="0" width=
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24 "100%" cellpadding="0" cellspacing="0">
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25 <tr>
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26 <td valign="baseline"><b>LTPDA Toolbox</b></td><td><a href="../helptoc.html">contents</a></td>
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27
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28 <td valign="baseline" align="right"><a href=
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29 "ssm_modify.html"><img src="b_prev.gif" border="0" align=
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30 "bottom" alt="Modifying systems"></a>&nbsp;&nbsp;&nbsp;<a href=
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31 "ssm_simulation.html"><img src="b_next.gif" border="0" align=
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32 "bottom" alt="Simulations"></a></td>
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33 </tr>
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34 </table>
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35
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36 <h1 class="title"><a name="f3-12899" id="f3-12899"></a>Assembling systems</h1>
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37 <hr>
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38
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39 <p>
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40 <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
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41 <HTML>
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42 <HEAD>
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43 <META HTTP-EQUIV="CONTENT-TYPE" CONTENT="text/html; charset=windows-1252">
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44 <TITLE></TITLE>
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45 <META NAME="GENERATOR" CONTENT="OpenOffice.org 3.1 (Win32)">
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Daniele Nicolodi <nicolodi@science.unitn.it>
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46 <META NAME="CREATED" CONTENT="0;0">
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47 <META NAME="CHANGEDBY" CONTENT="Adrien G">
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48 <META NAME="CHANGED" CONTENT="20090827;17255200">
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49 </HEAD>
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50 <BODY LANG="de-DE" DIR="LTR">
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Daniele Nicolodi <nicolodi@science.unitn.it>
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51 <P>A collection of ssm arrays can be assembled into one ssm using the
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Daniele Nicolodi <nicolodi@science.unitn.it>
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52 assemble function.</P>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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53 <H2>Managing inputs/outputs when assembling</H2>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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54 <P>The order of the systems does not modify the output of .
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Daniele Nicolodi <nicolodi@science.unitn.it>
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55 The function assemble work by matching inputs and outputs of the same
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Daniele Nicolodi <nicolodi@science.unitn.it>
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56 name. Of course, they must have the same dimensionality, same
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Daniele Nicolodi <nicolodi@science.unitn.it>
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57 time-step. However, the check for units is not implemented yet.</P>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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58 <P>In terms of time-step it is important to assemble all continuously
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Daniele Nicolodi <nicolodi@science.unitn.it>
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59 linked models together when the system is continuous, and discretize
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Daniele Nicolodi <nicolodi@science.unitn.it>
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60 it later on. Time discrete models (typically digital systems, and the
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Daniele Nicolodi <nicolodi@science.unitn.it>
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61 dynamical branch from the actuator input to the sensor output) should
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Daniele Nicolodi <nicolodi@science.unitn.it>
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62 be assembled together when they are time-discrete. The discretization
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Daniele Nicolodi <nicolodi@science.unitn.it>
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63 includes a zero hold which models correctly the A/D filter behavior.</P>
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64 <P>Moreover, a system can be assembled in multiple steps. In this
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Daniele Nicolodi <nicolodi@science.unitn.it>
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65 case there is a risk of &ldquo;closing a loop&rdquo; multiple times.
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66 To avoid this, the method &ldquo;assemble&rdquo; suppresses the
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67 inputs once they are assembled. May the user need the input for a
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Daniele Nicolodi <nicolodi@science.unitn.it>
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68 simulation later on, he must duplicate it using the function
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Daniele Nicolodi <nicolodi@science.unitn.it>
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69 &ldquo;inputDuplicate&rdquo;. Built-in models should also have
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Daniele Nicolodi <nicolodi@science.unitn.it>
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70 built-in duplicated inputs to insert signals.</P>
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71 <H2>Example using an existing built-in models</H2>
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72 <DIV CLASS="fragment"><PRE STYLE="margin-bottom: 0.5cm">&gt;&gt; <FONT COLOR="#000000"><FONT FACE="Courier New, monospace">sys = ssm(plist(</FONT></FONT><FONT COLOR="#a020f0"><FONT FACE="Courier New, monospace"><FONT SIZE=2>'built-in'</FONT></FONT></FONT><FONT COLOR="#000000"><FONT FACE="Courier New, monospace"><FONT SIZE=2>, </FONT></FONT></FONT><FONT COLOR="#a020f0"><FONT FACE="Courier New, monospace">'standard_system_params'</FONT></FONT><FONT COLOR="#000000"><FONT FACE="Courier New, monospace">, </FONT></FONT><FONT COLOR="#a020f0"><FONT FACE="Courier New, monospace">'setnames'</FONT></FONT><FONT COLOR="#000000"><FONT FACE="Courier New, monospace">, {</FONT></FONT><FONT COLOR="#a020f0"><FONT FACE="Courier New, monospace"><FONT SIZE=2>'W'</FONT></FONT></FONT><FONT COLOR="#000000"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}, </FONT></FONT></FONT><FONT COLOR="#a020f0"><FONT FACE="Courier New, monospace"><FONT SIZE=2>'setvalues'</FONT></FONT></FONT><FONT COLOR="#000000"><FONT FACE="Courier New, monospace"><FONT SIZE=2>, 0.2*i ));</FONT></FONT></FONT></PRE></DIV><P>
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73 Trying sys.isStable with the first and the third system shows a
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74 different result, the negative stiffness making the latter unstable.
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75 The system can be made time discrete using the function
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76 &ldquo;modifTimeStep&rdquo;.
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77 The input is then duplicated to be used for a controller feedback.</P>
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78 <DIV CLASS="fragment"><PRE>&gt;&gt; sys = ssm(plist(<FONT COLOR="#a020f0">'built-in'</FONT>, <FONT COLOR="#a020f0">'standard_system_params'</FONT>, <FONT COLOR="#a020f0">'setnames'</FONT>, {<FONT COLOR="#a020f0">'W'</FONT> <FONT COLOR="#a020f0">'C'</FONT>}, <FONT COLOR="#a020f0">'setvalues'</FONT>, [-0.2 -0.5]));
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79 &gt;&gt; sys.modifTimeStep(0.01);
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80 &gt;&gt; sys.duplicateInput(<FONT COLOR="#a020f0">'U'</FONT>,<FONT COLOR="#a020f0">'Negative Bias'</FONT>)
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81 ------ ssm/1 -------
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82 amats: { [2x2] } [1x1]
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83 mmats: { [2x2] } [1x1]
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84 bmats: { [2x1] [2x2] [2x1] } [1x3]
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85 cmats: { [1x2] } [1x1]
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Daniele Nicolodi <nicolodi@science.unitn.it>
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86 dmats: { [] [1x2] [] } [1x3]
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Daniele Nicolodi <nicolodi@science.unitn.it>
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87 timestep: 0.01
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Daniele Nicolodi <nicolodi@science.unitn.it>
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88 inputs: [1x3 ssmblock]
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89 1 : U | Fu [kg m s^(-2)]
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90 2 : N | Fn [kg m s^(-2)], On [m]
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91 3 : Negative Bias | Fu [kg m s^(-2)]
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92 states: [1x1 ssmblock]
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93 1 : standard test system | x [m], xdot [m s^(-1)]
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94 outputs: [1x1 ssmblock]
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95 1 : Y | y [m]
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96 params: (empty-plist) [1x1 plist]
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97 version: $Id: ssm_assemble_content.html,v 1.4 2009/08/28 15:11:53 adrien Exp $--&gt;$Id: ssm_assemble_content.html,v 1.4 2009/08/28 15:11:53 adrien Exp $
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98 Ninputs: 3
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99 inputsizes: [1 2 1]
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100 Noutputs: 1
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101 outputsizes: 1
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102 Nstates: 1
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103 statesizes: 2
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104 Nparams: 0
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105 isnumerical: true
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106 hist: ssm.hist [1x1 history]
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107 procinfo: (empty-plist) [1x1 plist]
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108 plotinfo: (empty-plist) [1x1 plist]
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109 name: standard_system_params
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110 description: standard spring-mass-dashpot test system
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111 mdlfile:
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112 UUID: 284b0ae3-947d-430a-802e-d9c3738ebb14
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113 --------------------
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114 M: running isStable
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115 ans =
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Daniele Nicolodi <nicolodi@science.unitn.it>
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116 2.05114794494015
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117 warning, system named &quot;standard_system_params&quot; is not stable
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118 ans =
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119 0</PRE></DIV><P>
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120 Then a controller can be created to make the system stable.</P>
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121 <DIV CLASS="fragment"><PRE>&gt;&gt; <FONT COLOR="#000000"><FONT FACE="Courier New, monospace"><FONT SIZE=2>controller = ssm(plist( </FONT></FONT></FONT><FONT COLOR="#0000ff"><FONT FACE="Courier New, monospace"><FONT SIZE=2>...</FONT></FONT></FONT>
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122 <FONT COLOR="#000000"> </FONT><FONT COLOR="#a020f0">'amats'</FONT><FONT COLOR="#000000">,cell(0,0), </FONT><FONT COLOR="#a020f0">'bmats'</FONT><FONT COLOR="#000000">,cell(0,1), </FONT><FONT COLOR="#a020f0">'cmats'</FONT><FONT COLOR="#000000">,cell(1,0), </FONT><FONT COLOR="#a020f0">'dmats'</FONT><FONT COLOR="#000000">,{-1}, </FONT><FONT COLOR="#0000ff">...</FONT>
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123 <FONT COLOR="#000000"> </FONT><FONT COLOR="#a020f0">'timestep'</FONT><FONT COLOR="#000000">,0.01, </FONT><FONT COLOR="#a020f0">'name'</FONT><FONT COLOR="#000000">,</FONT><FONT COLOR="#a020f0">'controller'</FONT><FONT COLOR="#000000">, </FONT><FONT COLOR="#a020f0">'params'</FONT><FONT COLOR="#000000">,plist, </FONT><FONT COLOR="#0000ff">...</FONT>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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124 <FONT COLOR="#000000"> </FONT><FONT COLOR="#a020f0">'statenames'</FONT><FONT COLOR="#000000">,{}, </FONT><FONT COLOR="#a020f0">'inputnames'</FONT><FONT COLOR="#000000">,{</FONT><FONT COLOR="#a020f0">'Y'</FONT><FONT COLOR="#000000">}, </FONT><FONT COLOR="#a020f0">'outputnames'</FONT><FONT COLOR="#000000">,{</FONT><FONT COLOR="#a020f0">'U'</FONT><FONT COLOR="#000000">} ));</FONT>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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125 &gt;&gt; sysCL = assemble(sys, controller);
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126 &gt;&gt; sysCL.isStable
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127
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128 ------ ssm/1 -------
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129 amats: { [2x2] } [1x1]
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130 mmats: { [2x2] } [1x1]
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Daniele Nicolodi <nicolodi@science.unitn.it>
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131 bmats: { [2x2] [2x1] } [1x2]
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Daniele Nicolodi <nicolodi@science.unitn.it>
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132 cmats: { [1x2]
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Daniele Nicolodi <nicolodi@science.unitn.it>
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133 [1x2] } [2x1]
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Daniele Nicolodi <nicolodi@science.unitn.it>
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134 dmats: { [1x2] []
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Daniele Nicolodi <nicolodi@science.unitn.it>
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135 [1x2] [] } [2x2]
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Daniele Nicolodi <nicolodi@science.unitn.it>
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136 timestep: 0.01
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Daniele Nicolodi <nicolodi@science.unitn.it>
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137 inputs: [1x2 ssmblock]
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Daniele Nicolodi <nicolodi@science.unitn.it>
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138 1 : N | Fn [kg m s^(-2)], On [m]
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Daniele Nicolodi <nicolodi@science.unitn.it>
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139 2 : Negative Bias | Fu [kg m s^(-2)]
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Daniele Nicolodi <nicolodi@science.unitn.it>
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140 states: [1x1 ssmblock]
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Daniele Nicolodi <nicolodi@science.unitn.it>
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141 1 : standard test system | x [m], xdot [m s^(-1)]
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Daniele Nicolodi <nicolodi@science.unitn.it>
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142 outputs: [1x2 ssmblock]
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Daniele Nicolodi <nicolodi@science.unitn.it>
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143 1 : Y | y [m]
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Daniele Nicolodi <nicolodi@science.unitn.it>
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144 2 : U | U &gt; 1 []
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Daniele Nicolodi <nicolodi@science.unitn.it>
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145 params: (empty-plist) [1x1 plist]
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Daniele Nicolodi <nicolodi@science.unitn.it>
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146 version: $Id: ssm_assemble_content.html,v 1.4 2009/08/28 15:11:53 adrien Exp $
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Daniele Nicolodi <nicolodi@science.unitn.it>
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147 Ninputs: 2
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Daniele Nicolodi <nicolodi@science.unitn.it>
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148 inputsizes: [2 1]
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Daniele Nicolodi <nicolodi@science.unitn.it>
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149 Noutputs: 2
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Daniele Nicolodi <nicolodi@science.unitn.it>
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150 outputsizes: [1 1]
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Daniele Nicolodi <nicolodi@science.unitn.it>
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151 Nstates: 1
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Daniele Nicolodi <nicolodi@science.unitn.it>
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152 statesizes: 2
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Daniele Nicolodi <nicolodi@science.unitn.it>
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153 Nparams: 0
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Daniele Nicolodi <nicolodi@science.unitn.it>
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154 isnumerical: true
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Daniele Nicolodi <nicolodi@science.unitn.it>
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155 hist: ssm.hist [1x1 history]
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Daniele Nicolodi <nicolodi@science.unitn.it>
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156 procinfo: (empty-plist) [1x1 plist]
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Daniele Nicolodi <nicolodi@science.unitn.it>
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157 plotinfo: (empty-plist) [1x1 plist]
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Daniele Nicolodi <nicolodi@science.unitn.it>
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158 name: assembled( standard_system_params + controller))
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Daniele Nicolodi <nicolodi@science.unitn.it>
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159 description:
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Daniele Nicolodi <nicolodi@science.unitn.it>
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160 mdlfile:
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Daniele Nicolodi <nicolodi@science.unitn.it>
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161 UUID: c6f7397e-add7-4f4c-8eb0-fd0a4841e3cf
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Daniele Nicolodi <nicolodi@science.unitn.it>
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162 --------------------
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Daniele Nicolodi <nicolodi@science.unitn.it>
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163 M: running isStable
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Daniele Nicolodi <nicolodi@science.unitn.it>
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164 System named &quot;assembled( standard_system_params + controller))&quot; is stable
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Daniele Nicolodi <nicolodi@science.unitn.it>
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165 ans =
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Daniele Nicolodi <nicolodi@science.unitn.it>
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166 1</PRE></DIV><P>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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167 We can then use the system to produce a simulation.</P>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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168 <P><BR><BR>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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169 </P>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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170 </BODY>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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171 </HTML>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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172 </p>
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173
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Daniele Nicolodi <nicolodi@science.unitn.it>
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174 <br>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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175 <br>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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176 <table class="nav" summary="Navigation aid" border="0" width=
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Daniele Nicolodi <nicolodi@science.unitn.it>
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177 "100%" cellpadding="0" cellspacing="0">
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Daniele Nicolodi <nicolodi@science.unitn.it>
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178 <tr valign="top">
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Daniele Nicolodi <nicolodi@science.unitn.it>
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179 <td align="left" width="20"><a href="ssm_modify.html"><img src=
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Daniele Nicolodi <nicolodi@science.unitn.it>
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180 "b_prev.gif" border="0" align="bottom" alt=
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Daniele Nicolodi <nicolodi@science.unitn.it>
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181 "Modifying systems"></a>&nbsp;</td>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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182
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Daniele Nicolodi <nicolodi@science.unitn.it>
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183 <td align="left">Modifying systems</td>
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184
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Daniele Nicolodi <nicolodi@science.unitn.it>
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185 <td>&nbsp;</td>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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186
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Daniele Nicolodi <nicolodi@science.unitn.it>
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187 <td align="right">Simulations</td>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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188
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Daniele Nicolodi <nicolodi@science.unitn.it>
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189 <td align="right" width="20"><a href=
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Daniele Nicolodi <nicolodi@science.unitn.it>
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190 "ssm_simulation.html"><img src="b_next.gif" border="0" align=
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Daniele Nicolodi <nicolodi@science.unitn.it>
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191 "bottom" alt="Simulations"></a></td>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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192 </tr>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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193 </table><br>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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194
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Daniele Nicolodi <nicolodi@science.unitn.it>
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195 <p class="copy">&copy;LTP Team</p>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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196 </body>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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197 </html>