1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
|
//Copyright INRIA
Eps=1.e-3
deff('xcd=f(t,xc,xd,iflag)',...
['if iflag==0 then '
' xcd=fc(t,xc,e(t)-hd(t,xd));'
'else '
' xcd=fd(xd,hc(t,xc));'
'end']);
A=[-10,2,3;4,-10,6;7,8,-10];B=[1;1;1];C=[1,1,1];
Ad=[1/2,1;0,1/20];Bd=[1;1];Cd=[1,1];
deff('st=e(t)','st=sin(3*t)')
deff('xdot=fc(t,x,u)','xdot=A*x+B*u')
deff('y=hc(t,x)','y=C*x')
deff('xp=fd(x,y)','xp=Ad*x + Bd*y')
deff('u=hd(t,x)','u=Cd*x')
h=0.1;t0=0;t=0:0.1:2;
x0c=[0;0;0];x0d=[0;0];nd=2;
xcd=odedc([x0c;x0d],nd,h,t0,t,f);
if norm(xcd-odedc([x0c;x0d],nd,h,t0,t,'fcd'),1) > Eps then pause,end
//(see default directory)
if norm(xcd-odedc([x0c;x0d],nd,h,t0,t,'fcd1'),1) > Eps then pause,end
deff('xcd=phis(t,xc,xd,iflag)',...
['if iflag==0 then '
' xcd=A*xc+B*xd;'
'else '
' xcd=1-xd;'
'end']);
t=0:0.1:30;
xcd=odedc([x0c;0],1,1,t0,t,phis);
//link('phis.o','phis')
xcd2=odedc([x0c;0],1,1,t0,t,'phis');
if norm(xcd-xcd2,1) > Eps then pause,end
deff('xd=ff(t,x)','xd=A*x+B*u')
u=1/2;xn=ode(x0c,t0,t,ff);
//plot2d([t',t',t',t'],[(xcd(1,:))',(xcd(2,:))',(xcd(3,:))',(xcd(4,:))'])
deff('xcd=phit(t,xc,xd,iflag)',...
['if iflag==0 then '
' xcd=[A*xc(1:3,:)+B*xc(4);xd];'
'else '
' xcd=-xd;'
'end']);
xcdt=odedc([x0c;1;1],1,1,t0,t,phit);
//link('phit.o','phit')
xcdt2=odedc([x0c;1;1],1,1,t0,t,'phit');
if norm(xcdt-xcdt2,1) > Eps then pause,end
//plot2d([t',t',t',t'],[(xcdt(1,:))',(xcdt(2,:))',(xcdt(3,:))',(xcdt(4,:))'])
xcdt3=odedc('adams',[x0c;1;1],1,1,t0,t,'phit');
if norm(xcdt3-xcdt2,1) > Eps then pause,end
xcdt4=odedc('fix',[x0c;1;1],1,1,t0,t,'phit');
if norm(xcdt4-xcdt2,1) > Eps then pause,end
xcdt5=odedc('stiff',[x0c;1;1],1,1,t0,t,'phit');
if norm(xcdt5-xcdt2,1) > Eps then pause,end
|
