Home > classes > @ssm > model_delay_IS_readout.m

model_delay_IS_readout

PURPOSE ^

defines a delay block for inertial sensor readout, discrete

SYNOPSIS ^

function [sys, VERSION] = model_delay_IS_readout

DESCRIPTION ^

 defines a delay block for inertial sensor readout, discrete  
 ONLY THE CONSTRUCTOR SHOULD CALL THIS PRIVATE FUNCTION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

 DESCRIPTION: delay block, discrete

 CALL: [sys, VERSION] = model_delay_IS_readout
                         
 

 VERSION: $Id: $

 HISTORY: 15-05-2008 M Weyrich
 
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function [sys, VERSION] = model_delay_IS_readout
0002 % defines a delay block for inertial sensor readout, discrete
0003 % ONLY THE CONSTRUCTOR SHOULD CALL THIS PRIVATE FUNCTION
0004 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0005 %
0006 % DESCRIPTION: delay block, discrete
0007 %
0008 % CALL: [sys, VERSION] = model_delay_IS_readout
0009 %
0010 %
0011 %
0012 % VERSION: $Id: $
0013 %
0014 % HISTORY: 15-05-2008 M Weyrich
0015 %
0016 %
0017 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0018 VERSION ='$Id:$';
0019 utils.helper.msg(utils.const.msg.MNAME, ['running ', mfilename]);
0020 
0021 %% creating ssm
0022 sys = ssm ;  
0023 
0024 % parameters in subsystem
0025 sys.paramnames = {'p_tau'};           
0026 sys.paramvalues = [0];                    
0027 sys.paramsigmas = [0];
0028  
0029 %% declaring symbolic parameters
0030 for i_params=1:length(sys.paramnames)
0031    cmd = [sys.paramnames{i_params}, '=sym(''', sys.paramnames{i_params},''');'];
0032    eval(cmd);
0033 end
0034 
0035 %%%%%%%%%%%%%%%%%%%%%%%%%% START BUILDING PARAMETRIC SUBSYTEM %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0036 %  ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
0037 
0038 A1 = [ 0 1 0 0  ;...
0039        0 0 1 0  ; ...
0040        0 0 0 1  ; ...
0041        0 0 0 0 ];
0042 B1 = [0; 0; 0; 1];
0043 C1 = [0.15+p_tau 0.85-p_tau 0 0];
0044 D1 = 0;
0045 
0046 A = blkdiag(A1,A1,A1,A1,A1,A1, A1,A1,A1,A1,A1,A1);
0047 B = blkdiag(B1,B1,B1,B1,B1,B1, B1,B1,B1,B1,B1,B1);
0048 C = blkdiag(C1,C1,C1,C1,C1,C1, C1,C1,C1,C1,C1,C1);
0049 D = blkdiag(D1,D1,D1,D1,D1,D1, D1,D1,D1,D1,D1,D1);
0050 
0051 
0052 %%%%%%%%%%%%%%%%%%%%%%%%%% END BUILDING PARAMETRIC SUBSYTEM %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0053 %  +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
0054 
0055 sys.name = 'Delay Inertial Sensor Readout';
0056 
0057 sys.amats    = {A};
0058 sys.bmats    = {B};
0059 sys.cmats    = {C};
0060 sys.dmats    = {D};
0061 sys.timestep = 0.1;
0062 
0063 sys.ssnames    = {'Delay Inertial Sensor Readout'};
0064 
0065 sys.inputnames    = {'IS_readout' };
0066 sys.inputvarnames = {...
0067     {'rx1_H1_IS' 'ry1_H1_IS' 'rz1_H1_IS' 'theta1_IS' 'eta1_IS' 'phi1_IS' ...
0068      'rx2_H2_IS' 'ry2_H2_IS' 'rz2_H2_IS' 'theta2_IS' 'eta2_IS' 'phi2_IS' }...
0069      };
0070 
0071 sys.outputnames    = {'IS_readout_delayed'};
0072 sys.outputvarnames = {...
0073     {'rx1_H1_IS_delayed' 'ry1_H1_IS_delayed' 'rz1_H1_IS_delayed' 'theta1_IS_delayed' 'eta1_IS_delayed' 'phi1_IS_delayed' ...
0074     'rx2_H2_IS_delayed' 'ry2_H2_IS_delayed' 'rz2_H2_IS_delayed' 'theta2_IS_delayed' 'eta2_IS_delayed' 'phi2_IS_delayed'} ...
0075     }; 
0076 
0077 end

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