Minimum_Effort_Control/example2.m at master · sadda/Minimum_Effort_Control · GitHub

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% Example of usage. See the GitHub readme for more comments.
%
% https://github.com/sadda/Minimum_Effort_Control

clear all;
close all;

addpath("src")

%% Settings

plot_figure = true;
kappas = linspace(0.4, 0.01, 40);

%% Input: Clarke's transform A

phi5 = 2/5*pi;
A_orig = 2/5*[1, cos(phi5), cos(2*phi5), cos(-2*phi5), cos(-phi5); ...
    0, sin(phi5), sin(2*phi5), sin(-2*phi5), sin(-phi5); ...
    1, cos(2*phi5), cos(-phi5), cos(phi5), cos(-2*phi5); ...
    0, sin(2*phi5), sin(-phi5), sin(phi5), sin(-2*phi5)];

A = A_orig([1 2],:);
B = [A_orig([3 4],:); -A_orig([3 4],:)];

%% Input: Required voltage y

ts = 0:100e-6:0.06;
omega = 2*pi*50;
Um = 230*sqrt(2);

n_y = size(A,1) + size(B,1);
n_x = size(A,2);
n_t = length(ts);
n_k = length(kappas);

ys = zeros(n_y, n_t, n_k);
for i = 1:length(kappas)
    for k = 1:n_t
        wt = omega*ts(k);

        ys(1,k,i) = Um*cos(wt);
        ys(2,k,i) = Um*sin(wt);
        ys(3,k,i) = abs(kappas(i)*Um*cos(3*wt));
        ys(4,k,i) = abs(kappas(i)*Um*sin(3*wt));
        ys(5,k,i) = ys(3,k,i);
        ys(6,k,i) = ys(4,k,i);
    end
end

%% Output: Precompute offline part

pars = Pars(A, B);
solver = Solver(pars);

%% Output: Get a solution for every time

xs = zeros(n_x, n_t, n_k);
for i = 1:length(kappas)
    for k = 1:n_t
        xs(:,k,i) = solver.min_effort(ys(:,k,i));
    end
end

%% Plot the results

if plot_figure
    for i = 1:length(kappas)
        y_lim = [-400 400];
        h = plot_figures(ts, xs(:,:,i), A, B, Um, y_lim, kappas(i));

        filename = 'figures/kappa.gif';
        frame = getframe(h);
        im = frame2im(frame);
        [imind,cm] = rgb2ind(im,256);

        if i == 1
            imwrite(imind,cm,filename,'gif','Loopcount',inf);
        else
            imwrite(imind,cm,filename,'gif','WriteMode','append','DelayTime',0.1);
        end
    end
end