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## -*- texinfo -*-
## @deftypefn{Function File} {@var{sys} =} BMWengine ()
## @deftypefnx{Function File} {@var{sys} =} BMWengine (@var{"scaled"})
## @deftypefnx{Function File} {@var{sys} =} BMWengine (@var{"unscaled"})
## Model of the BMW 4-cylinder engine at ETH Zurich's control laboratory.
## @example
## @group
## OPERATING POINT
## Drosselklappenstellung alpha_DK = 10.3 Grad
## Saugrohrdruck p_s = 0.48 bar
## Motordrehzahl n = 860 U/min
## Lambda-Messwert lambda = 1.000
## Relativer Wandfilminhalt nu = 1
## @end group
## @end example
## @example
## @group
## INPUTS
## U_1 Sollsignal Drosselklappenstellung [Grad]
## U_2 Relative Einspritzmenge [-]
## U_3 Zuendzeitpunkt [Grad KW]
## M_L Lastdrehmoment [Nm]
## @end group
## @end example
## @example
## @group
## STATES
## X_1 Drosselklappenstellung [Grad]
## X_2 Saugrohrdruck [bar]
## X_3 Motordrehzahl [U/min]
## X_4 Messwert Lamba-Sonde [-]
## X_5 Relativer Wandfilminhalt [-]
## @end group
## @end example
## @example
## @group
## OUTPUTS
## Y_1 Motordrehzahl [U/min]
## Y_2 Messwert Lambda-Sonde [-]
## @end group
## @end example
## @example
## @group
## SCALING
## U_1N, X_1N 1 Grad
## U_2N, X_4N, X_5N, Y_2N 0.05
## U_3N 1.6 Grad KW
## X_2N 0.05 bar
## X_3N, Y_1N 200 U/min
## @end group
## @end example
## @end deftypefn
## Author: Lukas Reichlin <lukas.reichlin@gmail.com>
## Created: January 2010
## Version: 0.1.1
## TODO: translate German terminology
function sys = BMWengine (flg = "scaled")
if (nargin > 1)
print_usage ();
endif
switch (tolower (flg))
case "unscaled" ## Linearisiertes Modell, nicht skaliert
Apu = [ -40.0000 0 0 0 0
0.1683 -2.9471 -0.0016 0 0
26.6088 920.3932 -0.1756 0 259.1700
-0.5852 14.1941 0.0061 -5.7000 -5.7000
0.6600 -1.1732 -0.0052 0 -15.0000 ];
Bpu = [ 40.0000 0 0
0 0 0
0 181.4190 1.5646
0 -3.9900 0
0 4.5000 0 ];
Bdpu = [ 0
0
-15.9000
0
0 ];
Cpu = [ 0 0 1 0 0
0 0 0 1 0 ];
sys = ss (Apu, [Bpu, Bdpu], Cpu);
case "scaled" ## Skaliertes Zustandsraummodell
Ap = [ -40.0000 0 0 0 0
3.3659 -2.9471 -6.5157 0 0
0.1330 0.2301 -0.1756 0 0.0648
-11.7043 14.1941 24.3930 -5.7000 -5.7000
13.2003 -1.1732 -20.9844 0 -15.0000 ];
Bp = [ 40.0000 0 0
0 0 0
0 0.0454 0.0125
0 -3.9900 0
0 4.5000 0 ];
Bdp = [ 0
0
-1.5900
0
0 ];
Cp = [ 0 0 1 0 0
0 0 0 1 0 ];
sys = ss (Ap, [Bp, Bdp], Cp, [], "scaled", true);
otherwise
print_usage ();
endswitch
endfunction
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