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ssm_model_delay

PURPOSE ^

SSM_MODEL_DELAY defines a delay block, discrete

SYNOPSIS ^

function sys = ssm_model_delay(sys)

DESCRIPTION ^

 SSM_MODEL_DELAY defines a delay block, discrete

 VERSION: $Id:$

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 % SSM_MODEL_DELAY defines a delay block, discrete
0002 %
0003 % VERSION: $Id:$
0004 %
0005 function sys = ssm_model_delay(sys)
0006 
0007   % parameters in subsystem
0008   sys.paramnames ={'Tau'};
0009   sys.paramvalues = [0];
0010   sys.paramsigmas = [0.05];
0011 
0012   %% declaring symbolic parameters
0013   for i_params=1:length(sys.paramnames)
0014     cmd = [sys.paramnames{i_params}, '=sym(''', sys.paramnames{i_params},''');'];
0015     eval(cmd);
0016   end
0017 
0018   %%%%%%%%%%%%%%%%%%%%%%%%%% START BUILDING PARAMETRIC SUBSYTEM %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0019 
0020   Ts = 0.1;
0021   Tt = 0.3;
0022 
0023   A1 = [...
0024     0 1 0 0 0 ;...
0025     0 0 1 0 0 ; ...
0026     0 0 0 1 0 ; ...
0027     0 0 0 0 1 ; ...
0028     0 0 0 0 0];
0029   B1 = [0; 0; 0; 0; 1];
0030   C1 = [Tau 1-Tau 0 0 0];
0031   D1 = 0;
0032   A = blkdiag(A1,A1,A1,A1,A1,A1,A1,A1,A1,A1,A1,A1,A1,A1,A1,A1,A1,A1);
0033   B = blkdiag(B1,B1,B1,B1,B1,B1,B1,B1,B1,B1,B1,B1,B1,B1,B1,B1,B1,B1);
0034   C = blkdiag(C1,C1,C1,C1,C1,C1,C1,C1,C1,C1,C1,C1,C1,C1,C1,C1,C1,C1);
0035   D = blkdiag(D1,D1,D1,D1,D1,D1,D1,D1,D1,D1,D1,D1,D1,D1,D1,D1,D1,D1);
0036 
0037   %%%%%%%%%%%%%%%%%%%%%%%%%% END BUILDING PARAMETRIC SUBSYTEM %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0038 
0039   sys.name = 'Delay';
0040 
0041   sys.amats    = {A};
0042   sys.bmats    = {B};
0043   sys.cmats    = {C};
0044   sys.dmats    = {D};
0045   sys.timestep = 0.1;
0046 
0047   sys.ssnames    = {'Delay'};
0048 
0049   sys.inputnames    = {'DFACS_command' };
0050   sys.inputvarnames = {'fx_mps_c' 'fy_mps_c' 'fz_mps_c' 'tx_mps_c' 'ty_mps_c' 'tz_mps_c' ...
0051     'fx1_TMAct_c' 'fy1_TMAct_c' 'fz1_TMAct_c' 'tx1_TMAct_c' 'ty1_TMAct_c' 'tz1_TMAct_c' ...
0052     'fx2_TMAct_c' 'fy2_TMAct_c' 'fz2_TMAct_c' 'tx2_TMAct_c' 'ty2_TMAct_c' 'tz2_TMAct_c'};
0053 
0054   sys.outputnames    = {...
0055     'fx_mps_c_delayed' 'fy_mps_c_delayed' 'fz_mps_c_delayed' 'tx_mps_c_delayed' 'ty_mps_c_delayed' 'tz_mps_c_delayed' ...
0056     'fx1_TMAct_c_delayed' 'fy1_TMAct_c_delayed' 'fz1_TMAct_c_delayed' 'tx1_TMAct_c_delayed' 'ty1_TMAct_c_delayed' 'tz1_TMAct_c_delayed' ...
0057     'fx2_TMAct_c_delayed' 'fy2_TMAct_c_delayed' 'fz2_TMAct_c_delayed' 'tx2_TMAct_c_delayed' 'ty2_TMAct_c_delayed' 'tz2_TMAct_c_delayed' ...
0058     };
0059   sys.outputvarnames = {'DFACS_command_delayed'};
0060 
0061 end

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