0001 function [sys, VERSION] = model_delay_IS_readout
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0018 VERSION ='$Id:$';
0019 utils.helper.msg(utils.const.msg.MNAME, ['running ', mfilename]);
0020
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0022 sys = ssm ;
0023
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0025 sys.paramnames = {'p_tau'};
0026 sys.paramvalues = [0];
0027 sys.paramsigmas = [0];
0028
0029
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
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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
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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