+
−% SMD A statespace model of the Spring-Mass-Damper system
+
−%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
−%
+
−% DESCRIPTION: A statespace model of the Spring-Mass-Damper
+
−%
+
−% CALL:
+
−%           HARMONIC_OSC_1D = ssm(plist('built-in','SMD'))
+
−%
+
−%
+
−% OUTPUTS:
+
−%           - SMD is an SSM object
+
−%
+
−%
+
−% REFERENCES:
+
−%
+
−%
+
−%
+
−% INFO:
+
−%   <a href="matlab:utils.models.displayModelOverview('ssm_model_SMD')">Model Information</a>
+
−%
+
−%
+
−% REFERENCES:
+
−%
+
−%
+
−% VERSION:     $Id: ssm_model_SMD.m,v 1.2 2011/04/29 09:48:34 marc1 Exp $
+
−%
+
−% HISTORY:
+
−%
+
−%
+
−%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
−
+
−
+
−function varargout = ssm_model_SMD(varargin)
+
−  
+
−  % Process inputs
+
−  [info, pl, constructorInfo, fcn] = utils.models.processModelInputs(varargin(:), mfilename, @getModelDescription, @getModelDocumentation, @getVersion, @versionTable);
+
−  if ~isempty(info)
+
−    varargout{1} = info;
+
−    return;
+
−  end
+
−  
+
−  % Build the object
+
−  out = fcn(pl);
+
−  
+
−  % Set the method version string in the minfo object
+
−  if ~isempty(constructorInfo)
+
−    % If this is a user-call via a constructor, then we add history
+
−    out = addHistoryStep(out, constructorInfo, pl);
+
−  end
+
−  
+
−  if nargout > 0
+
−    varargout{1} = out;
+
−    varargout{2} = pl;
+
−  else
+
−    error('!!! Invalid number of output')
+
−  end
+
−end
+
−
+
−
+
−%--------------------------------------------------------------------------
+
−% AUTHORS EDIT THIS PART
+
−%--------------------------------------------------------------------------
+
−
+
−function desc = getModelDescription
+
−  desc = 'A built-in model that constructs a statespace model for the SMD.';
+
−end
+
−
+
−function doc = getModelDocumentation
+
−  doc = sprintf([...
+
−    '<br>It constructs a simple spring mass damper test system.<br>\n'...
+
−    ]);
+
−end
+
−
+
−% default version is always the first one
+
−function vt = versionTable()
+
−  
+
−  vt = {...
+
−    'Standard', @versionStandard, ...
+
−    };
+
−  
+
−end
+
−
+
−% This is the standard SMD model
+
−%
+
−function varargout = versionStandard(varargin)
+
−  
+
−  if nargin == 1 && ischar(varargin{1})
+
−    switch varargin{1}
+
−      case 'plist'
+
−        
+
−        % The plist for this version of this model
+
−        pl = plist();
+
−        
+
−        pl = combine(pl, ssm.getDefaultPlist('from built-in model'));
+
−        
+
−        % set output
+
−        varargout{1} = pl;
+
−        
+
−      case 'description'
+
−        varargout{1} = sprintf([...
+
−          'This is the standard model for the SMD.'
+
−          ]);
+
−      case 'info'
+
−        varargout{1} = [];
+
−      otherwise
+
−        error('unknown inputs');
+
−    end
+
−    return;
+
−  end
+
−  
+
−  % build model
+
−  pl = varargin{1};
+
−  %% parameters array
+
−  paramNames  = {'SMD_W' 'SMD_C' 'SMD_S1' 'SMD_S2' 'SMD_B' 'SMD_D1'};
+
−  paramValues = [0.2 0.5 0 0 1 0];
+
−  paramUnits = unit('s^-1', 's^-1', '', 's', '', 's^2');
+
−  paramDescriptions = {'Oscilator eigen-frequency' 'Oscilator damping factor'...
+
−    'Gain sensing coefficient'  'Gain differential sensing coefficient' ...
+
−    'Actuator gain' 'Actuation cross sensing coefficient'};
+
−
+
−
+
−  
+
−  % If the user didn't give a 'param names' key to set parameter values,
+
−  % perhaps they gave individual parameter names
+
−  pl = ssm.modelHelper_processInputPlist(pl, ssm_model_SMD('plist','Standard'));
+
−  
+
−  % processing parameters and declaring variables depending on user needs
+
−  [sys.params, sys.numparams] = ssm.modelHelper_declareParameters(pl, paramNames, paramValues, paramDescriptions, paramUnits);
+
−  
+
−  % here computation of the system's matrices
+
−  sys.amats    = {[0 1 ; -SMD_W*SMD_W -2*SMD_C*SMD_W]};
+
−  sys.cmats    = {[1+SMD_S1 SMD_S2]};
+
−  sys.bmats    = {[0;SMD_B] [0 0; 1 0]};
+
−  sys.dmats    = {SMD_D1 [0 1]};
+
−  
+
−  sys.timestep = 0;
+
−  
+
−  sys.name = 'SRPINGMASSDAMPER';
+
−  sys.description = 'standard spring-mass-damper test system';
+
−  
+
−  inputnames    = {'CMD' 'DIST_SMD'};
+
−  inputdescription = {'force noise' 'observation noise'};
+
−  inputvarnames = {{'F'} {'F' 'S'}};
+
−  inputvarunits = {unit('kg m s^-2') [unit('kg m s^-2') unit('m')]};
+
−  inputvardescription = [];
+
−  
+
−  ssnames    = {'SMD'};
+
−  ssdescription = {'TM position and speed'};
+
−  ssvarnames = {{'x' 'xdot'}};
+
−  ssvarunits={[unit('m') unit('m s^-1')]};
+
−  ssvardescription = [];
+
−  
+
−  outputnames    = {'SMD'};
+
−  outputdescription = {'observed position'};
+
−  outputvarnames ={{'OBS'}};
+
−  outputvarunits={unit('m')};
+
−  outputvardescription = [];
+
−  
+
−  %% Build input plist
+
−  sys.inputs = ssmblock.makeBlocksWithData(inputnames, inputdescription, inputvarnames, inputvarunits, inputvardescription);
+
−  sys.outputs = ssmblock.makeBlocksWithData(outputnames, outputdescription, outputvarnames, outputvarunits, outputvardescription);
+
−  sys.states =  ssmblock.makeBlocksWithData(ssnames, ssdescription, ssvarnames, ssvarunits, ssvardescription);
+
−  
+
−  sys = ssm(sys);
+
−  
+
−  varargout{1} = sys;
+
−  
+
−end
+
−
+
−
+
−%--------------------------------------------------------------------------
+
−% AUTHORS SHOULD NOT NEED TO EDIT BELOW HERE
+
−%--------------------------------------------------------------------------
+
−
+
−
+
−%--------------------------------------------------------------------------
+
−% Get Version
+
−%--------------------------------------------------------------------------
+
−function v = getVersion
+
−  
+
−  v = '$Id: ssm_model_SMD.m,v 1.2 2011/04/29 09:48:34 marc1 Exp $';
+
−  
+
−end