Mercurial > hg > ltpda

annotate m-toolbox/test/test_ssm_parametersDiff.m @ 26:ce4df2e95a55 database-connection-manager

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Remove LTPDARepositoryManager initialization
author Daniele Nicolodi <nicolodi@science.unitn.it>
date Mon, 05 Dec 2011 16:20:06 +0100
parents f0afece42f48
children
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Daniele Nicolodi <nicolodi@science.unitn.it>
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1 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Daniele Nicolodi <nicolodi@science.unitn.it>
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2 % Test ssm/parameterDiff
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Daniele Nicolodi <nicolodi@science.unitn.it>
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3 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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4 % Test with an harmonic hoscillator
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Daniele Nicolodi <nicolodi@science.unitn.it>
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5 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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6 % L Ferraioli 11-10-2010
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7 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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8 % $Id: test_ssm_parametersDiff.m,v 1.4 2010/12/02 17:55:01 adrien Exp $
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Daniele Nicolodi <nicolodi@science.unitn.it>
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9 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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10 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Daniele Nicolodi <nicolodi@science.unitn.it>
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11 close all
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Daniele Nicolodi <nicolodi@science.unitn.it>
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12 clc
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Daniele Nicolodi <nicolodi@science.unitn.it>
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13 clear
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Daniele Nicolodi <nicolodi@science.unitn.it>
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14 %% set parameters
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15
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Daniele Nicolodi <nicolodi@science.unitn.it>
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16 m = 2; % kg
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Daniele Nicolodi <nicolodi@science.unitn.it>
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17 k = 0.1; % kg s^-2
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Daniele Nicolodi <nicolodi@science.unitn.it>
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18 damp = 0.05; % kg s^-1
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Daniele Nicolodi <nicolodi@science.unitn.it>
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19 fs = 1;
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Daniele Nicolodi <nicolodi@science.unitn.it>
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20 freq = logspace(-2.5,log10(fs/2-0.0001),300);
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21
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Daniele Nicolodi <nicolodi@science.unitn.it>
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22 %% get the system ssm and smodel
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23
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Daniele Nicolodi <nicolodi@science.unitn.it>
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24 sys = ssm(plist('built-in', 'HARMONIC_OSC_1D', 'SYMBOLIC PARAMS',{'M', 'K', 'VBETA'}));
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Daniele Nicolodi <nicolodi@science.unitn.it>
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25 sys.setParameters('names', {'M', 'K', 'VBETA'}, 'values', [m,k,damp] );
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26
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Daniele Nicolodi <nicolodi@science.unitn.it>
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27 smod = smodel('1 ./ (M.*((2.*i.*pi.*f).^2) + VBETA.*(2.*i.*pi.*f) + K)');
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Daniele Nicolodi <nicolodi@science.unitn.it>
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28 % smod = smodel('1 ./ (M.*((i.*f).^2) + VBETA.*(i.*f) + K)');
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Daniele Nicolodi <nicolodi@science.unitn.it>
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29 smod.setParams({'M', 'K', 'VBETA'},{m,k,damp});
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Daniele Nicolodi <nicolodi@science.unitn.it>
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30 smod.setXvar('f');
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Daniele Nicolodi <nicolodi@science.unitn.it>
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31 smod.setXvals(freq);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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32 smod.setYunits('kg^-1 s^-2');
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33
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34
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Daniele Nicolodi <nicolodi@science.unitn.it>
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35 %% get derivatives
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36
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Daniele Nicolodi <nicolodi@science.unitn.it>
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37 lsys = parameterDiff(sys,plist('names',{'M', 'K', 'VBETA'},'values',1e-8*[m,k,damp]));
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Daniele Nicolodi <nicolodi@science.unitn.it>
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38 lsys.modifyTimeStep(plist('newtimestep',1/fs));
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39
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Daniele Nicolodi <nicolodi@science.unitn.it>
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40 dsmod_M = diff(smod,plist('var','M'));
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Daniele Nicolodi <nicolodi@science.unitn.it>
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41 dsmod_K = diff(smod,plist('var','K'));
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Daniele Nicolodi <nicolodi@science.unitn.it>
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42 dsmod_VBETA = diff(smod,plist('var','VBETA'));
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Daniele Nicolodi <nicolodi@science.unitn.it>
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43
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Daniele Nicolodi <nicolodi@science.unitn.it>
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44 %% compare frequency response
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Daniele Nicolodi <nicolodi@science.unitn.it>
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45 pl = plist('inputs',{'COMMAND.force'},...
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Daniele Nicolodi <nicolodi@science.unitn.it>
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46 'outputs',{'HARMONIC_OSC_1D.position'},...
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Daniele Nicolodi <nicolodi@science.unitn.it>
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47 'f',freq);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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48 sys_none = bode(keepParameters(sys),pl);
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49 smod_none = eval(smod);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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50 iplot(sys_none,smod_none)
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51
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Daniele Nicolodi <nicolodi@science.unitn.it>
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52 pl = plist('inputs',{'COMMAND.force'},...
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Daniele Nicolodi <nicolodi@science.unitn.it>
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53 'outputs',{'HARMONIC_OSC_1D_DIFF_M.position'},...
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Daniele Nicolodi <nicolodi@science.unitn.it>
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54 'f',freq);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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55 sys_M = bode(lsys,pl);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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56 smod_M = eval(dsmod_M);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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57 iplot(sys_M,smod_M)
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58
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59
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60 pl = plist('inputs',{'COMMAND.force'},...
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61 'outputs',{'HARMONIC_OSC_1D_DIFF_K.position'},...
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Daniele Nicolodi <nicolodi@science.unitn.it>
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62 'f',freq);
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63 sys_K = bode(lsys,pl);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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64 smod_K = eval(dsmod_K);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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65 iplot(sys_K,smod_K)
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Daniele Nicolodi <nicolodi@science.unitn.it>
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66
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Daniele Nicolodi <nicolodi@science.unitn.it>
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67 pl = plist('inputs',{'COMMAND.force'},...
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Daniele Nicolodi <nicolodi@science.unitn.it>
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68 'outputs',{'HARMONIC_OSC_1D_DIFF_VBETA.position'},...
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Daniele Nicolodi <nicolodi@science.unitn.it>
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69 'f',freq);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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70 sys_VBETA = bode(lsys,pl);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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71 smod_VBETA = eval(dsmod_VBETA);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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72 iplot(sys_VBETA,smod_VBETA)