0001 function [sys, VERSION] = model_DFACS_2_Science_Mode_1_M3
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0018 VERSION = '$Id:$';
0019 utils.helper.msg(utils.const.msg.MNAME, ['running ', mfilename]);
0020
0021
0022 sys = ssm ;
0023
0024
0025 sys.paramnames ={};
0026 sys.paramvalues = [];
0027 sys.paramsigmas = [];
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
0035
0036
0037
0038 load Full_discrete_controler_2_Science_Mode_1_M3 ;
0039
0040 A = A_control;
0041
0042 B_ST = B_control(:,1:3);
0043 B_IS = B_control(:,4:15);
0044 B_Ifo = B_control(:,16:21);
0045 B_bias = -B_control;
0046
0047 C = C_control;
0048
0049 D_ST = D_control(:,1:3);
0050 D_IS = D_control(:,4:15);
0051 D_Ifo = D_control(:,16:21);
0052 D_bias = -D_control;
0053
0054
0055
0056
0057 sys.name = 'DFACS_2_Science_Mode_1_M3';
0058
0059 sys.amats = {A};
0060 sys.bmats = {B_ST B_IS B_Ifo B_bias};
0061 sys.cmats = {C };
0062 sys.dmats = {D_ST D_IS D_Ifo D_bias};
0063
0064 sys.timestep = 0.1;
0065
0066 sys.ssnames = {'DFACS_2_Science_Mode_1_M3'};
0067
0068 sys.inputnames = {'ST_readout_delayed' 'IS_readout_delayed' 'Ifo_readout_delayed' 'bias'};
0069 sys.inputvarnames = {{'thetaB_ST_delayed' 'etaB_ST_delayed' 'phiB_ST_delayed'} ...
0070 {'rx1_H1_IS_delayed' 'ry1_H1_IS_delayed' 'rz1_H1_IS_delayed' 'theta1_IS_delayed' 'eta1_IS_delayed' 'phi1_IS_delayed' ...
0071 'rx2_H2_IS_delayed' 'ry2_H2_IS_delayed' 'rz2_H2_IS_delayed' 'theta2_IS_delayed' 'eta2_IS_delayed' 'phi2_IS_delayed'} ...
0072 {'rx1_H1_Ifo_delayed' 'eta1_Ifo_delayed' 'phi1_Ifo_delayed' 'dx_Ifo_delayed' 'eta2_Ifo_delayed' 'phi2_Ifo_delayed'}...
0073 {'thetaB_ST_bias' 'etaB_ST_bias' 'phiB_ST_bias' ...
0074 'rx1_H1_IS_bias' 'ry1_H1_IS_bias' 'rz1_H1_IS_bias' 'theta1_IS_bias' 'eta1_IS_bias' 'phi1_IS_bias' ...
0075 'rx2_H2_IS_bias' 'ry2_H2_IS_bias' 'rz2_H2_IS_bias' 'theta2_IS_bias' 'eta2_IS_bias' 'phi2_IS_bias'...
0076 'rx1_H1_Ifo_bias' 'eta1_Ifo_bias' 'phi1_Ifo_bias' 'dx_Ifo_bias' 'eta2_Ifo_bias' 'phi2_Ifo_bias'}};
0077
0078
0079 sys.outputnames = {'DFACS_command'};
0080 sys.outputvarnames = {...
0081 {'fx_mps_c' 'fy_mps_c' 'fz_mps_c' 'tx_mps_c' 'ty_mps_c' 'tz_mps_c' ...
0082 'fx1_TMAct_c' 'fy1_TMAct_c' 'fz1_TMAct_c' 'tx1_TMAct_c' 'ty1_TMAct_c' 'tz1_TMAct_c' ...
0083 'fx2_TMAct_c' 'fy2_TMAct_c' 'fz2_TMAct_c' 'tx2_TMAct_c' 'ty2_TMAct_c' 'tz2_TMAct_c'} ...
0084 };
0085
0086
0087 end
0088