defines a simple 2nd order stable system with a control and a noise input ONLY THE CONSTRUCTOR SHOULD CALL THIS PRIVATE FUNCTION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DESCRIPTION: model_standard_system_noparams defines a simple 2nd order stable system with a control and a noise input CALL: [sys, VERSION] =model_standard_system_noparams ***** There are no parameters ***** VERSION: $Id: $ HISTORY: 01-04-2008 M Weyrich 23-04-2008 A Grynagier %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0001 function [sys, VERSION] = model_ST_readout 0002 % defines a simple 2nd order stable system with a control and a noise input 0003 % ONLY THE CONSTRUCTOR SHOULD CALL THIS PRIVATE FUNCTION 0004 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0005 % 0006 % DESCRIPTION: model_standard_system_noparams defines a simple 2nd order 0007 % stable system with a control and a noise input 0008 % 0009 % CALL: [sys, VERSION] =model_standard_system_noparams 0010 % 0011 % ***** There are no parameters ***** 0012 % 0013 % VERSION: $Id: $ 0014 % 0015 % HISTORY: 01-04-2008 M Weyrich 0016 % 23-04-2008 A Grynagier 0017 % 0018 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0019 VERSION ='$Id:$'; 0020 utils.helper.msg(utils.const.msg.MNAME, ['running ', mfilename]); 0021 0022 %% creating ssm 0023 sys = ssm ; 0024 0025 % parameters in subsystem 0026 sys.paramnames = { }; 0027 sys.paramvalues = [ ]; 0028 sys.paramsigmas = [ ]; 0029 0030 %% declaring symbolic parameters 0031 for i_params=1:length(sys.paramnames) 0032 cmd = [sys.paramnames{i_params}, '=sym(''', sys.paramnames{i_params},''');']; 0033 eval(cmd); 0034 end 0035 0036 0037 %%%%%%%%%%%%%%%%%%%%%%%%%% START BUILDING PARAMETRIC SUBSYTEM %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0038 % ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 0039 0040 0041 % SC_att TM1_pos+att_TM2 0042 D_LTP = [ eye(3) zeros(3,12) ]; % ST readout 0043 0044 % Noise_ST_ro(3) 0045 D_Noise_ST_ro = [ eye(3) ]; 0046 0047 0048 %%%%%%%%%%%%%%%%%%%%%%%%%% END BUILDING PARAMETRIC SUBSYTEM %%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0049 % +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 0050 0051 sys.name = 'ST_readout'; 0052 0053 sys.amats = cell(0,0); 0054 sys.bmats = cell(0,2); 0055 sys.cmats = cell(1,0); 0056 sys.dmats = {D_LTP D_Noise_ST_ro }; 0057 sys.timestep = 0; 0058 0059 sys.inputnames = {'SC_TM_attitude' 'Dist_ST_readout' }; 0060 sys.inputvarnames = {... 0061 {'thetaB' 'etaB' 'phiB'... 0062 'rx1_H1' 'ry1_H1' 'rz1_H1' 'theta1' 'eta1' 'phi1' ... 0063 'rx2_H2' 'ry2_H2' 'rz2_H2' 'theta2' 'eta2' 'phi2' }... 0064 {'Dist_thetaB_ST_ro' 'Dist_etaB_ST_ro' 'Dist_phiB_ST_ro'}... 0065 }; 0066 0067 sys.outputnames = {'ST_readout'}; 0068 sys.outputvarnames = {{'thetaB_ST' 'etaB_ST' 'phiB_ST'}}; 0069 end 0070 0071