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0018 function [sys, VERSION] = model_delay
0019
0020 VERSION ='$Id:$';
0021 utils.helper.msg(utils.const.msg.MNAME, ['running ', mfilename]);
0022
0023
0024 sys = ssm ;
0025
0026
0027 sys.paramnames ={'Tau'};
0028 sys.paramvalues = [0];
0029 sys.paramsigmas = [0.05];
0030
0031
0032 for i_params=1:length(sys.paramnames)
0033 cmd = [sys.paramnames{i_params}, '=sym(''', sys.paramnames{i_params},''');'];
0034 eval(cmd);
0035 end
0036
0037
0038
0039 Ts = 0.1;
0040 Tt = 0.315;
0041
0042
0043 A1 = [...
0044 0 1 0 0 0 ;...
0045 0 0 1 0 0 ; ...
0046 0 0 0 1 0 ; ...
0047 0 0 0 0 1 ; ...
0048 0 0 0 0 0];
0049 B1 = [0; 0; 0; 0; 1];
0050 C1 = [0.15+Tau 0.85-Tau 0 0 0];
0051 D1 = 0;
0052 A = blkdiag(A1,A1,A1,A1,A1,A1,A1,A1,A1,A1,A1,A1,A1,A1,A1,A1,A1,A1);
0053 B = blkdiag(B1,B1,B1,B1,B1,B1,B1,B1,B1,B1,B1,B1,B1,B1,B1,B1,B1,B1);
0054 C = blkdiag(C1,C1,C1,C1,C1,C1,C1,C1,C1,C1,C1,C1,C1,C1,C1,C1,C1,C1);
0055 D = blkdiag(D1,D1,D1,D1,D1,D1,D1,D1,D1,D1,D1,D1,D1,D1,D1,D1,D1,D1);
0056
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0059
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0061 sys.ssisused = false;
0062 sys.outputisused = false;
0063 sys.name = 'Delay';
0064
0065 sys.amats = {A};
0066 sys.bmats = {B};
0067 sys.cmats = {C};
0068 sys.dmats = {D};
0069 sys.ssini =
0070 sys.timestep = 0.1;
0071
0072 sys.ssnames = {'Delay'};
0073 sys.ssisused = true;
0074
0075 sys.inputnames = {'DFACS_command' };
0076 sys.inputvarnames = {'fx_mps_c' 'fy_mps_c' 'fz_mps_c' 'tx_mps_c' 'ty_mps_c' 'tz_mps_c' ...
0077 'fx1_TMAct_c' 'fy1_TMAct_c' 'fz1_TMAct_c' 'tx1_TMAct_c' 'ty1_TMAct_c' 'tz1_TMAct_c' ...
0078 'fx2_TMAct_c' 'fy2_TMAct_c' 'fz2_TMAct_c' 'tx2_TMAct_c' 'ty2_TMAct_c' 'tz2_TMAct_c'};
0079 sys.inputisused = true;
0080
0081 sys.outputnames = {...
0082 'fx_mps_c_delayed' 'fy_mps_c_delayed' 'fz_mps_c_delayed' 'tx_mps_c_delayed' 'ty_mps_c_delayed' 'tz_mps_c_delayed' ...
0083 'fx1_TMAct_c_delayed' 'fy1_TMAct_c_delayed' 'fz1_TMAct_c_delayed' 'tx1_TMAct_c_delayed' 'ty1_TMAct_c_delayed' 'tz1_TMAct_c_delayed' ...
0084 'fx2_TMAct_c_delayed' 'fy2_TMAct_c_delayed' 'fz2_TMAct_c_delayed' 'tx2_TMAct_c_delayed' 'ty2_TMAct_c_delayed' 'tz2_TMAct_c_delayed' ...
0085 };
0086 sys.outputvarnames = {'DFACS_command_delayed'};
0087 sys.outputisused = true;
0088
0089 end
0090