01 /*
02 * $Id: Motor2ObserverSampledDataRKFSimulation.java,v 1.3 2008/02/02 03:06:25 koga Exp $
03 *
04 * Copyright (C) 2004 Koga Laboratory. All rights reserved.
05 *
06 */
07 package matxbook.chap21;
08
09 import java.io.IOException;
10
11 import org.mklab.nfc.matrix.DoubleMatrix;
12 import org.mklab.nfc.matrix.Matrix;
13 import org.mklab.nfc.ode.DifferentialEquationSolver;
14 import org.mklab.nfc.ode.RungeKuttaFehlberg;
15 import org.mklab.nfc.ode.SolverStopException;
16 import org.mklab.nfc.util.Pause;
17 import org.mklab.tool.control.system.SystemSolver;
18 import org.mklab.tool.graph.gnuplot.Canvas;
19 import org.mklab.tool.graph.gnuplot.Gnuplot;
20
21
22 /**
23 * @author koga
24 * @version $Revision: 1.3 $, 2004/04/23
25 */
26 public class Motor2ObserverSampledDataRKFSimulation {
27
28 /**
29 * メインメソッド
30 *
31 * @param args コマンドライン引数
32 * @throws InterruptedException 強制終了された場合
33 * @throws IOException キーボードから入力できない場合
34 * @throws SolverStopException ソルバーが停止された場合
35 */
36 @SuppressWarnings("nls")
37 public static void main(String[] args) throws InterruptedException, IOException, SolverStopException {
38 Motor2DiscreteObserver system = new Motor2DiscreteObserver();
39 Matrix xc0 = new DoubleMatrix(new double[] {1, 0}).transpose();
40 Matrix xd0 = new DoubleMatrix(new double[] {0}).transpose();
41 system.setContinuousInitialState(xc0);
42 system.setDiscreteInitialState(xd0);
43 system.setSamplingInterval(0.5);
44
45 DifferentialEquationSolver solver = new RungeKuttaFehlberg();
46 solver.setTimeStep(0.1);
47 solver.setSaveAtSamplingPoint(true);
48 new SystemSolver(solver).solve(system, 0, 10);
49 DoubleMatrix tt = solver.getTimeSeries();
50 DoubleMatrix xc = solver.getContinuousStateSeries();
51 DoubleMatrix xd = solver.getDiscreteStateSeries();
52 // Matrix uy = ans[3];
53
54 Gnuplot gnuplot = new Gnuplot();
55 Canvas canvas = gnuplot.createCanvas();
56 canvas.setHolding(true);
57 canvas.plot(tt, xc, new String[] {"x1", "x2"});
58 canvas.plot(tt, xd, new String[] {"xd"});
59 // canvas.plot(tt, uy, new String[] {"u", "y"});
60 canvas.setHolding(false);
61 Pause.pause();
62 gnuplot.close();
63 }
64 }
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