0001 function [sys, VERSION] = model_TMActuation
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
0013
0014
0015
0016
0017
0018
0019 VERSION = '$Id:$';
0020 utils.helper.msg(utils.const.msg.MNAME, ['running ', mfilename]);
0021
0022
0023 sys = ssm ;
0024
0025
0026 sys.paramnames = { };
0027 sys.paramvalues = [];
0028 sys.paramsigmas = [];
0029
0030
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
0038
0039
0040 D_DFACS = [ zeros(12,6) eye(12) ];
0041
0042
0043 D_Noise_TMActuation = [ eye(12) ];
0044
0045
0046
0047
0048
0049
0050 sys.name = 'TMActuation';
0051
0052 sys.amats = cell(0,0);
0053 sys.bmats = cell(0,2);
0054 sys.cmats = cell(1,0);
0055 sys.dmats = {D_DFACS D_Noise_TMActuation};
0056 sys.timestep = 0;
0057
0058 sys.inputnames = {'DFACS_command' 'Dist_F_TMAct' };
0059 sys.inputvarnames = {...
0060 {'fx_mps_c' 'fy_mps_c' 'fz_mps_c' 'tx_mps_c' 'ty_mps_c' 'tz_mps_c'...
0061 'fx1_TMAct_c' 'fy1_TMAct_c' 'fz1_TMAct_c' 'tx1_TMAct_c' 'ty1_TMAct_c' 'tz1_TMAct_c'...
0062 'fx2_TMAct_c' 'fy2_TMAct_c' 'fz2_TMAct_c' 'tx2_TMAct_c' 'ty2_TMAct_c' 'tz2_TMAct_c'}...
0063 {'Dist_fx1_TMAct' 'Dist_fy1_TMAct' 'Dist_fz1_TMAct' 'Dist_tx1_TMAct' 'Dist_ty1_TMAct' 'Dist_tz1_TMAct'...
0064 'Dist_fx2_TMAct' 'Dist_fy2_TMAct' 'Dist_fz2_TMAct' 'Dist_tx2_TMAct' 'Dist_ty2_TMAct' 'Dist_tz2_TMAct'}...
0065 };
0066
0067 sys.outputnames = {'F_TMAct'};
0068 sys.outputvarnames = ...
0069 {{'fx1_TMAct' 'fy1_TMAct' 'fz1_TMAct' 'tx1_TMAct' 'ty1_TMAct' 'tz1_TMAct'...
0070 'fx2_TMAct' 'fy2_TMAct' 'fz2_TMAct' 'tx2_TMAct' 'ty2_TMAct' 'tz2_TMAct'}};
0071
0072 end