diff --git a/ExtraLTH/ATlibrary_2012a.mdl b/ExtraLTH/ATlibrary_2012a.mdl
deleted file mode 100644
index 189a5c675ffacaf51a794f64b853ad1897e40853..0000000000000000000000000000000000000000
--- a/ExtraLTH/ATlibrary_2012a.mdl
+++ /dev/null
@@ -1,7501 +0,0 @@
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- Block {
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- Line {
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- Branch {
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- Branch {
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- Branch {
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- Branch {
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- Branch {
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- Line {
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- Line {
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- Line {
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- Points [10, 0; 0, 55]
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- Position [100, 365, 190, 460]
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- Block {
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- ZOrder -2
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- Block {
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- Position [150, 112, 210, 143]
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- Block {
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- Block {
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- Position [150, 452, 210, 483]
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- Block {
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- Position [150, 187, 210, 218]
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- EnableBusSupport off
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- Block {
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- Position [150, 287, 210, 318]
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- Block {
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- Position [150, 552, 210, 583]
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- Block {
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- Position [455, 112, 515, 143]
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- Block {
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- Position [460, 372, 520, 403]
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- EnableBusSupport off
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- Block {
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- ZOrder -11
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- Block {
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- Position [95, 380, 115, 400]
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- ZOrder -13
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- Block {
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- Block {
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- ZOrder -15
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- Block {
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- ZOrder -16
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- Block {
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- Position [315, 123, 320, 167]
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- Block {
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- Position [315, 383, 320, 427]
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- ShowName off
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- Block {
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- Ports [0, 1]
- Position [110, 30, 170, 60]
- ZOrder -19
- FunctionName "realtimer"
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- EnableBusSupport off
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- Block {
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- Position [225, 29, 255, 61]
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- Floating off
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- Block {
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- Block {
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- ZOrder -22
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- Block {
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- ZOrder -23
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- Block {
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- Position [240, 285, 260, 305]
- ZOrder -24
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- Block {
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- Position [235, 450, 255, 470]
- ZOrder -25
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- Block {
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- Position [240, 550, 260, 570]
- ZOrder -26
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- Block {
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- Ports [1, 1]
- Position [345, 130, 405, 160]
- ZOrder -27
- MATLABFcn "flowCtrl1"
- SampleTime "0.01"
- }
- Block {
- BlockType MATLABFcn
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- Position [350, 390, 410, 420]
- ZOrder -28
- MATLABFcn "flowCtrl2"
- SampleTime "0.01"
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- Block {
- BlockType Outport
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- SID "582:29"
- Position [385, 203, 415, 217]
- ZOrder -29
- IconDisplay "Port number"
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- Block {
- BlockType Outport
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- Position [385, 468, 415, 482]
- ZOrder -30
- Port "2"
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- Block {
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- ZOrder -31
- Port "3"
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- Block {
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- SID "582:32"
- Position [390, 568, 420, 582]
- ZOrder -32
- Port "4"
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- Line {
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- DstBlock "AnalogOut 0"
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- Line {
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- Line {
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- Line {
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- Line {
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- Branch {
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- Branch {
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- Branch {
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- Branch {
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- DstBlock "AnalogIn 4"
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- DstPort 1
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- Line {
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- DstPort 1
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- Line {
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- }
- Line {
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- Line {
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- Points [10, 0]
- Branch {
- Points [0, 80]
- Branch {
- Points [0, 100]
- DstBlock "AnalogIn 5"
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- Branch {
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- DstPort 1
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- Branch {
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- Line {
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- Line {
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- Line {
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- Points [30, 0]
- DstBlock "AnalogOut 0"
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- Line {
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- Line {
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- Line {
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- Points [30, 0]
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- Line {
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- Line {
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- Line {
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- DstPort 1
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- Line {
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- DstPort 1
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- Line {
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- DstBlock "y2"
- DstPort 1
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- Line {
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- SrcPort 1
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- DstPort 1
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- }
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- Position [190, 193, 220, 207]
- ZOrder -1
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- Block {
- BlockType Inport
- Name "OutPump"
- SID "637:35"
- Position [190, 293, 220, 307]
- ZOrder -1
- Port "2"
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- Block {
- BlockType Inport
- Name "Heater"
- SID "637:36"
- Position [160, 533, 190, 547]
- ZOrder -1
- Port "3"
- IconDisplay "Port number"
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- Block {
- BlockType Inport
- Name "Mixer"
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- Position [160, 618, 190, 632]
- ZOrder -1
- Port "4"
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "Cooler"
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- Position [155, 688, 185, 702]
- ZOrder -1
- Port "5"
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- }
- Block {
- BlockType S-Function
- Name "AnalogIn 1"
- SID "637:86"
- Ports [1, 2]
- Position [180, 772, 240, 803]
- ZOrder -6
- FunctionName "analogin"
- Parameters "h [30]"
- EnableBusSupport off
- }
- Block {
- BlockType S-Function
- Name "AnalogIn 2"
- SID "637:89"
- Ports [1, 2]
- Position [180, 827, 240, 858]
- ZOrder -6
- FunctionName "analogin"
- Parameters "h [37]"
- EnableBusSupport off
- }
- Block {
- BlockType S-Function
- Name "AnalogIn 7"
- SID "637:46"
- Ports [1, 2]
- Position [195, 357, 255, 388]
- ZOrder -6
- FunctionName "analogin"
- Parameters "h [31]"
- EnableBusSupport off
- }
- Block {
- BlockType S-Function
- Name "AnalogOut1"
- SID "637:48"
- Ports [2, 1]
- Position [265, 177, 325, 208]
- ZOrder -9
- FunctionName "analogout"
- Parameters "h [32]"
- EnableBusSupport off
- }
- Block {
- BlockType S-Function
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- Ports [2, 1]
- Position [265, 267, 325, 298]
- ZOrder -9
- FunctionName "analogout"
- Parameters "h [33]"
- EnableBusSupport off
- }
- Block {
- BlockType S-Function
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- SID "637:77"
- Ports [2, 1]
- Position [240, 517, 300, 548]
- ZOrder -9
- FunctionName "analogout"
- Parameters "h [30]"
- EnableBusSupport off
- }
- Block {
- BlockType S-Function
- Name "AnalogOut4"
- SID "637:80"
- Ports [2, 1]
- Position [240, 602, 300, 633]
- ZOrder -9
- FunctionName "analogout"
- Parameters "h [34]"
- EnableBusSupport off
- }
- Block {
- BlockType S-Function
- Name "AnalogOut5"
- SID "637:83"
- Ports [2, 1]
- Position [240, 672, 300, 703]
- ZOrder -9
- FunctionName "analogout"
- Parameters "h [31]"
- EnableBusSupport off
- }
- Block {
- BlockType Ground
- Name "LevelControlLoop"
- SID "637:49"
- Position [110, 175, 130, 195]
- ZOrder -11
- }
- Block {
- BlockType S-Function
- Name "S-Function2"
- SID "637:19"
- Ports [0, 1]
- Position [110, 30, 170, 60]
- ZOrder -19
- FunctionName "realtimer"
- Parameters "h"
- EnableBusSupport off
- }
- Block {
- BlockType Scope
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- Ports [1]
- Position [225, 29, 255, 61]
- ZOrder -20
- Floating off
- Location [48, 426, 372, 665]
- Open off
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- List {
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- axes1 "%<SignalLabel>"
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- List {
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- FigureColor "[0.5 0.5 0.5]"
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- LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
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- MarkerStyles "none|none|none|none|none|none"
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- ShowLegends off
- YMin "2.77556e-17"
- YMax "0.45"
- DataFormat "StructureWithTime"
- SampleTime "0"
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- Block {
- BlockType Ground
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- SID "637:78"
- Position [85, 515, 105, 535]
- ZOrder -11
- }
- Block {
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- Points [85, 0; 0, -124]
- DstBlock "relay_exp\n"
- DstPort 3
- }
- }
- Branch {
- Points [0, -90]
- DstBlock "Mux"
- DstPort 3
- }
- }
- Branch {
- Points [0, 360]
- DstBlock "Constraint"
- DstPort 1
- }
- }
- Line {
- SrcBlock "relay_exp\n"
- SrcPort 3
- DstBlock "Scope1"
- DstPort 1
- }
- Line {
- SrcBlock "relay_exp\n"
- SrcPort 1
- DstBlock "Logger"
- DstPort 1
- }
- Line {
- SrcBlock "Constraint"
- SrcPort 1
- DstBlock "Stop Simulation"
- DstPort 1
- }
- }
- }
- }
-}
-# Finite State Machines
-#
-# Stateflow Version 7.6 (R2011b) dated Jan 25 2012, 13:50:40
-#
-#
-
-
-Stateflow {
- machine {
- id 1
- name "ATlibrary_2012a"
- created "26-Apr-2017 11:16:05"
- isLibrary 0
- firstTarget 79
- sfVersion 76014001.00040001
- }
- chart {
- id 2
- name "NOMAD/relay_exp\n"
- windowPosition [404.686 -55 429 739.2]
- viewLimits [0 319.2 0 430.6]
- screen [1 1 1280 1024 1.25]
- treeNode [0 3 0 0]
- firstTransition 5
- firstJunction 4
- viewObj 2
- machine 1
- ssIdHighWaterMark 21
- decomposition CLUSTER_CHART
- type EML_CHART
- firstData 6
- chartFileNumber 1
- disableImplicitCasting 1
- eml {
- name "relay_function"
- }
- }
- state {
- id 3
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 2
- treeNode [2 0 0 0]
- superState SUBCHART
- subviewer 2
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function [result, u] = relay_function(relay_par, e, u0, run_exp)\n\n%%%%%%%%%% Definitions and de"
- "fault values %%%%%%%%%%%%%%\ny=-e;\n% Relay parameters, values from workspace.\npersistent d1 d2 u_on u_off h\ng"
- "amma = relay_par(1);\nt_sample = relay_par(2);\nbigYup = relay_par(3);\nrelayMaxDev = relay_par(4);\ndef_h = rel"
- "ay_par(5);\nnoiseMeasureTime = relay_par(6);\n\npersistent yref uref\nif isempty(d2)\n h=def_h;\n % These "
- "values are re-assigned later in the program so they won't be\n % used. But they are assigned in an if-stateme"
- "nt so the program doesn't\n % understand that they will always be assigned before they are used.\n d1 = ga"
- "mma;\n d2 = 1;\n u_on = d1;\n u_off = -d2;\n uref = u0;\n yref = 0;\nend\n\npersistent u_old sta"
- "rtup Ksign\nif isempty(u_old)\n u_old = uref;\n Ksign = 1; % Will be re-assigned during the startup phase\n"
- "end\n\npersistent sample\nif isempty(sample)\n sample = 0;\nend\n\n\n%%%%%%%%% Startup params %%%%%%%%%%%\np"
- "ersistent a b c tff exp_t yh yl measureNoise first\nif isempty(startup)\n tff = 1/t_sample; % Usually 5 but t"
- "o not make the startup phase a too large part of the id data in the ETFA paper we decreased it! Want the ramp-up"
- " to be a certain time, according to Tore about 3-5s \n b = 40;\n c = relayMaxDev/(b-1);\n a = uref-c;\n"
- " measureNoise = 1;\n startup = 0;\n yh = 0;\n yl = 0;\n first = true;\nend\n%%%%%%%%%%%%%%%%%%%%%"
- "%%%%%%%%%%%%%%%%%%%%%%%%%\n\nif run_exp == 0\n u = 0;\n result = [0 0 0];\n return\nend\n\n\n%%%%%%%%%%"
- "%%% Program running %%%%%%%%%%%%%%%%%\n\nsample = sample+1;\nif sample > 1\nend\n\n% %%%%%%%%% Startup %%%%%%%%%"
- "%%%\n if measureNoise == 1\n if first \n uref = u0;\n yref = y;\n first = false;\n "
- " yh = yref;\n yl = yref;\n end\n u = uref;\n if sample < noiseMeasureTime/t_sample\n yh "
- "= max(yh,y);\n yl = min(yl,y);\n else\n noise = (yh-yl)/2;\n yref = (yh+yl)/2;\n "
- "h = max(2*noise, def_h);\n measureNoise = 0;\n startup = 1;\n end\n elseif startup == 1\n ex"
- "p_t = sample-noiseMeasureTime/t_sample;\n a = uref-c;\n u = (a+c*b^(exp_t/tff));\n if abs(u) > "
- "relayMaxDev+uref\n u = (relayMaxDev+uref);\n end\n if exp_t > 1\n ydev = y-y"
- "ref; \n if abs(ydev) > h % reached outside hysteresis, stop and decide Ksign\n Ksign ="
- " ydev/abs(ydev)\n if bigYup == 1\n %d1 = min(relayMaxDev, gamma*abs(u-uref));\n"
- " d1 = min(relayMaxDev, abs(u-uref)); %could be a problem to have the large/small this way but"
- " prefer it. \n d2 = d1/gamma;\n else\n %d2 = min(relayMaxDe"
- "v, gamma*abs(u-uref));\n d2 = min(relayMaxDev, abs(u-uref));\n d1 = d2/gam"
- "ma;\n end\n startup = 0;\n u_on = uref+Ksign*d1;\n u"
- "_off = uref-Ksign*d2;\n if Ksign > 0\n u = u_off;\n else\n "
- " u = u_on;\n end\n elseif exp_t > tff\n u = uref+relayMax"
- "Dev;\n end\n end\n else\n %%%%%% Update amplitudes %%%%%%%\n u_on = uref+Ksign*d1;\n "
- "u_off = uref-Ksign*d2;\n %%%%%% Calculate new u %%%%%%%%%\n if y <= yref-h\n u = u_on;\n elseif "
- "y < yref+h && y > yref-h\n u = u_old;\n else u = u_off;\n end\n end\n%%%% store data %%%%%%\nu_old "
- "= u;\nresult = [yref, uref, h];\n\n\n\n\n\n\n"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- junction {
- id 4
- position [23.5747 49.5747 7]
- chart 2
- linkNode [2 0 0]
- subviewer 2
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- }
- transition {
- id 5
- labelString "{eML_blk_kernel();}"
- labelPosition [32.125 19.875 100.8 18.448]
- fontSize 12
- src {
- intersection [0 0 1 0 23.5747 14.625 0 0]
- }
- dst {
- id 4
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 2
- linkNode [2 0 0]
- dataLimits [23.575 23.575 14.625 34.575]
- subviewer 2
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- }
- data {
- id 6
- ssIdNumber 19
- name "result"
- linkNode [2 0 7]
- scope OUTPUT_DATA
- machine 1
- props {
- array {
- size "-1"
- }
- type {
- method SF_INHERITED_TYPE
- primitive SF_DOUBLE_TYPE
- isSigned 1
- wordLength "16"
- }
- complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_NO
- }
- dataType "Inherit: Same as Simulink"
- }
- data {
- id 7
- ssIdNumber 18
- name "relay_par"
- linkNode [2 6 8]
- scope INPUT_DATA
- machine 1
- props {
- array {
- size "-1"
- }
- type {
- method SF_INHERITED_TYPE
- primitive SF_DOUBLE_TYPE
- isSigned 1
- wordLength "16"
- }
- complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_INHERITED
- }
- dataType "Inherit: Same as Simulink"
- }
- data {
- id 8
- ssIdNumber 8
- name "u"
- linkNode [2 7 9]
- scope OUTPUT_DATA
- machine 1
- props {
- array {
- size "-1"
- }
- type {
- method SF_INHERITED_TYPE
- primitive SF_DOUBLE_TYPE
- isSigned 1
- wordLength "16"
- }
- complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_NO
- }
- dataType "Inherit: Same as Simulink"
- }
- data {
- id 9
- ssIdNumber 5
- name "e"
- linkNode [2 8 10]
- scope INPUT_DATA
- machine 1
- props {
- array {
- size "-1"
- }
- type {
- method SF_INHERITED_TYPE
- primitive SF_DOUBLE_TYPE
- }
- complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_NO
- }
- dataType "Inherit: Same as Simulink"
- }
- data {
- id 10
- ssIdNumber 21
- name "u0"
- linkNode [2 9 11]
- scope INPUT_DATA
- machine 1
- props {
- array {
- size "-1"
- }
- type {
- method SF_INHERITED_TYPE
- primitive SF_DOUBLE_TYPE
- isSigned 1
- wordLength "16"
- }
- complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_INHERITED
- }
- dataType "Inherit: Same as Simulink"
- }
- data {
- id 11
- ssIdNumber 20
- name "run_exp"
- linkNode [2 10 0]
- scope INPUT_DATA
- machine 1
- props {
- array {
- size "-1"
- }
- type {
- method SF_INHERITED_TYPE
- primitive SF_DOUBLE_TYPE
- isSigned 1
- wordLength "16"
- }
- complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_INHERITED
- }
- dataType "Inherit: Same as Simulink"
- }
- instance {
- id 12
- name "NOMAD/relay_exp\n"
- machine 1
- chart 2
- }
- chart {
- id 13
- name "tau_tuner/Constraint"
- windowPosition [492.889 250.2 211 434]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 1280 1024 1.25]
- treeNode [0 14 0 0]
- firstTransition 16
- firstJunction 15
- viewObj 13
- machine 1
- ssIdHighWaterMark 7
- decomposition CLUSTER_CHART
- type EML_CHART
- firstData 17
- chartFileNumber 5
- disableImplicitCasting 1
- eml {
- name "Constraint"
- }
- }
- state {
- id 14
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 13
- treeNode [13 0 0 0]
- superState SUBCHART
- subviewer 13
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "%function stop = Constraint(tstop, time, done)\nfunction stop = Constraint(time, done)\n%#codegen"
- "\npersistent tstopp\nif isempty(tstopp)\n tstopp = 10000;\nend\nif done == 1\n tstopp = time;\nend\nif tim"
- "e > tstopp; %+params.timeAfterExp;\n stop = 1;\nelse\n stop = 0;\nend"
- editorLayout "100 M4x1[10 5 700 500]"
- }
- }
- junction {
- id 15
- position [23.5747 49.5747 7]
- chart 13
- linkNode [13 0 0]
- subviewer 13
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- }
- transition {
- id 16
- labelString "{eML_blk_kernel();}"
- labelPosition [32.125 19.875 102.544 14.964]
- fontSize 12
- src {
- intersection [0 0 1 0 23.5747 14.625 0 0]
- }
- dst {
- id 15
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 13
- linkNode [13 0 0]
- dataLimits [23.575 23.575 14.625 34.575]
- subviewer 13
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- }
- data {
- id 17
- ssIdNumber 5
- name "stop"
- linkNode [13 0 18]
- scope OUTPUT_DATA
- machine 1
- props {
- array {
- size "-1"
- }
- type {
- method SF_INHERITED_TYPE
- primitive SF_DOUBLE_TYPE
- }
- complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_NO
- }
- dataType "Inherit: Same as Simulink"
- }
- data {
- id 18
- ssIdNumber 6
- name "time"
- linkNode [13 17 19]
- scope INPUT_DATA
- machine 1
- props {
- array {
- size "-1"
- }
- type {
- method SF_INHERITED_TYPE
- primitive SF_DOUBLE_TYPE
- isSigned 1
- wordLength "16"
- }
- complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_INHERITED
- }
- dataType "Inherit: Same as Simulink"
- }
- data {
- id 19
- ssIdNumber 7
- name "done"
- linkNode [13 18 0]
- scope INPUT_DATA
- machine 1
- props {
- array {
- size "-1"
- }
- type {
- method SF_INHERITED_TYPE
- primitive SF_DOUBLE_TYPE
- isSigned 1
- wordLength "16"
- }
- complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_INHERITED
- }
- dataType "Inherit: Same as Simulink"
- }
- instance {
- id 20
- name "tau_tuner/Constraint"
- machine 1
- chart 13
- }
- chart {
- id 21
- name "tau_tuner/relay_exp\n"
- windowPosition [535.556 -55 429 739.2]
- viewLimits [0 319.2 0 430.6]
- screen [1 1 1280 1024 1.25]
- treeNode [0 22 0 0]
- firstTransition 24
- firstJunction 23
- viewObj 21
- machine 1
- ssIdHighWaterMark 17
- decomposition CLUSTER_CHART
- type EML_CHART
- firstData 25
- updateMethod DISCRETE
- sampleTime "simopt.h"
- chartFileNumber 6
- disableImplicitCasting 1
- eml {
- name "relay_exp"
- }
- }
- state {
- id 22
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 21
- treeNode [21 0 0 0]
- superState SUBCHART
- subviewer 21
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function [result, u, PID_param, done]= relay_exp(relay_par, e,t, u_ref, run_exp)\n\n\n%%%%%%%%%% "
- "Definitions and default values %%%%%%%%%%%%%%\ny = -e;\n% Relay parameters, values from workspace.\npersistent d"
- "1 d2 u_on u_off h\nepsilon = relay_par(1);\ngamma = relay_par(2); \nt_sample = relay_par(3);\nlow_limit_f = rela"
- "y_par(4);\nupp_limit_f = relay_par(5);\nbigYup = relay_par(6);\nrelayMaxDev = relay_par(7);\ndef_h = relay_par(8"
- ");\nnoiseMeasureTime = relay_par(9);\nfixAmp = relay_par(10);\n\npersistent yref uref resultvec\nif isempty(d2)\n"
- " h=def_h;\n % These values are assigned to their values later in the code, but in an if-statement\n % s"
- "o the program doesn't understand that they will always be assigned. \n d1 = gamma;\n d2 = 1;\n u_on = "
- "d1;\n u_off = -d2;\n uref = 0;\n yref = y;\n resultvec = zeros(22,1);\nend\n\n% Creating arrays for "
- "data logging\nmaxlength = 1000000;\npersistent uvec yvec tvec \nif isempty(uvec)\n uvec = zeros(1,maxlength);"
- "\n yvec = zeros(1,maxlength);\n tvec = zeros(1,maxlength);\nend\n\npersistent sample\nif isempty(sample)\n"
- " sample = 0;\nend\n\npersistent startup Ksign startup_switch amp_changed\nif isempty(Ksign)\n Ksign = 1; %"
- " Is found and assigned during the startup phase\n startup_switch = 0; \n amp_changed = 0;\nend\n\npersiste"
- "nt param \nif isempty(param)\n param = [1, 10, 0]; % Should be an input somehow if an existing PID controller"
- " is used first\nend\nPID_param = param; % Not allowed to have a persistent variable as output so had to do like "
- "this\ndone = 0;\nfinished = false;\n\n% To handle switches\npersistent switching_times switch_index last_switch_"
- "sample\nif isempty(switching_times)\n switching_times = zeros(1,100); % Larger than necessary\n switch_ind"
- "ex = 1;\n last_switch_sample = 1;\nend\n\n%%%%%%%%% Startup params %%%%%%%%%%%\npersistent a b c ttf exp_t y"
- "h yl measureNoise first\nif isempty(startup)\n uvec(1) = uref;\n yvec(1) = yref;\n tvec(1) = 0;\n tt"
- "f = 5/t_sample; % Want to run the exponential growth for a certain time, not a number of samples. According to T"
- "ore about 3-5s \n b = 40;\n c = relayMaxDev/(b-1);\n a = uvec(1)-c;\n measureNoise = 1;\n startup"
- " = 0;\n yh = 0;\n yl = 0;\n first = true;\nend\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n\nresu"
- "lt = resultvec;\nif run_exp == 0\n done = 0;\n u = 0;\n PID_param = param;\n return\nend\nif fixAmp "
- "== 1\n d1 = upp_limit_f;\n d2 = low_limit_f;\nend\n%%%%%%%%%%%%% Program running %%%%%%%%%%%%%%%%%\nsample ="
- " sample+1;\nif sample > 1\n yvec(sample-1) = y; % store inputs\n tvec(sample) = t;\nend\n\n%%%%%%%%% Startup %"
- "%%%%%%%%%%%\nif measureNoise == 1\n if first \n uref = u_ref;\n yref = y;\n first = fals"
- "e;\n yh = yref;\n yl = yref;\n end\n u = uref;\n if sample < noiseMeasureTime/t_sample\n "
- " yh = max(yh,y);\n yl = min(yl,y);\n else\n resultvec(13) = yh;\n resultvec(14) = "
- "yl;\n noise = (yh-yl)/2;\n yref = (yh+yl)/2;\n resultvec(15) = yref;\n resultvec(16)"
- " = uref;\n h = max(2*noise, def_h);\n resultvec(12) = h;\n measureNoise = 0;\n start"
- "up = 1;\n end\nelseif startup == 1\n exp_t = sample-noiseMeasureTime/t_sample; % this should be zero the f"
- "irst sample\n a = uref-c;\n u = a+c*b^(exp_t/ttf);\n if u > relayMaxDev+uref\n u = r"
- "elayMaxDev+uref;\n end\n if exp_t > 1\n ydev = y-yref; \n if abs(ydev) > h %"
- " when reached outside hysteresis, stop and decide Ksign\n Ksign = ydev/abs(ydev)\n "
- " if bigYup == 1\n d1 = min(relayMaxDev, gamma*abs(u-uref));\n d2 = d1/gamm"
- "a;\n else\n d2 = min(relayMaxDev, gamma*abs(u-uref));\n d1 "
- "= d2/gamma;\n end\n startup = 0;\n startup_switch = 1; % To not imm"
- "ediately change the new amplitude.\n elseif exp_t > ttf\n u = uref+relayMaxDev;\n "
- " end\n end\nelseif done == 0\n %%%%%% Update amplitudes %%%%%%%\n u_on = uref+Ksign*d1;\n "
- "u_off = uref-Ksign*d2;\n %%%%%% Calculate new u %%%%%%%%%\n u = rel_func(y,uvec(sample-1),u_on, u_off,yref"
- ",h);\nelse \n u = 0; % If the experiment aren't running no control signal should be calculated here\n % Th"
- "is script shouldn't be running in those cases but somehow it seems\n % to do.\nend\n%%%% store data %%%%%%\nu"
- "vec(sample) = u;\n\n%%%%%%% At switching points %%%%%%%\nif sample>1 && (uvec(sample)-uref)*(uvec(sample-1)-uref"
- ") < 0\n switching_times(switch_index) = tvec(sample);\n low_limit = low_limit_f*h;\n upp_limit = upp_li"
- "mit_f*h;\n ratio = check_amplitudes(yvec(last_switch_sample:sample-1)-yref, upp_limit, low_limit, gamma);\n "
- " if fixAmp == 1\n ratio = 1;\n end\n if amp_changed == 1 % To not change two consecutive half peri"
- "ods...\n ratio = 1;\n amp_changed = 0;\n end\n if (ratio > 1.01 || ratio < 0.99) && startup_"
- "switch ~= 1 \n if max(d1,d2)*ratio > relayMaxDev\n if max(d1,d2) == relayMaxDev\n "
- " ratio_forced = 1\n %ratio = 1;\n else\n ratio = relayMaxDev/max(d1,d"
- "2);\n d1 = d1*ratio;\n d2 = d2*ratio;\n switch_index = 0; % to rese"
- "t convergence checks if changed amplitude.\n amp_changed = 1;\n end\n \n "
- " else\n d1 = d1*ratio;\n d2 = d2*ratio;\n switch_index = 0; % To reset conve"
- "rgence checks if changed amplitude.\n amp_changed = 1;\n end\n if uvec(sample) == u_on\n "
- " u = uref+Ksign*d1;\n elseif uvec(sample) == u_off\n u = uref-Ksign*d2;\n else\n "
- " error = 1\n end\n uvec(sample) = u;\n end\n startup_switch = 0;\n if switch_index"
- " > 3\n tp = switching_times(switch_index)-switching_times(switch_index-2);\n tp_old = switching_ti"
- "mes(switch_index-1)-switching_times(switch_index-3);\n resultvec(19) = tp;\n resultvec(20) = tp_ol"
- "d;\n if abs(tp-tp_old)<tp_old*epsilon\n finished = true;\n tstop = tvec(sample);\n "
- " resultvec(17) = tstop;\n end\n end\n last_switch_sample = sample;\n switch_index = sw"
- "itch_index+1;\nend\n\n\n% Checks if converged, in that case collect info and call a method that\n% calculates a "
- "model and PI/PID parameters\nif finished == true\n tsim = tvec(1:sample);\n usim = uvec(1:sample)-uref;\n "
- " ysim = yvec(1:sample)-yref;\n u1 = usim(1:end-1);\n u2 = usim(2:end);\n switches = find("
- "u1.*u2<0);\n yp = ysim(switches(end-2):switches(end));\n up = usim(switches(end-2):switches(end));"
- "\n tp = tsim(switches(end-2):switches(end));\n y_int = trapz(tp,yp);\n u_int = trapz(tp,up)"
- ";\n resultvec(21) = y_int;\n resultvec(22) = u_int;\n [ton toff] = calc_ton_toff(usim, switchin"
- "g_times(1:switch_index-1), u_on-uref);\n resultvec(8) = ton;\n resultvec(9) = toff;\n %%%%% Calulating "
- "tau %%%%%\n rho = max(ton, toff)/min(ton, toff);\n tau = min(1, max((gamma-rho)/((gamma-1)*(0.35*rho+0.65)"
- "),0)) %Min&max if something strange would occur.\n resultvec(1) = tau;\n \n if tau > 0.1 % this condition"
- " needs to be considered more closely\n [K,T,L] = calc_FOTD_params(u_int,y_int,d1,d2,h,ton,toff,tau);\n "
- " if tau > 0.6\n [Kc, Ti, Td] = calc_AMIGO_PI(K,T,L);\n else\n [Kc, Ti, Td] = cal"
- "c_AMIGO_PID(K,T,L);\n end\n resultvec(2) = K;\n resultvec(3) = T;\n resultvec(4) = L"
- ";\n resultvec(5) = Kc;\n resultvec(6) = Ti;\n resultvec(7) = Td;\n else\n [kv, L]"
- " = calc_integrating_params(y_int, u_on-uref, u_off-uref, ton, toff, h);\n %[Kc, Ti, Td] = calc_AMIGO_int_"
- "PI(kv, L);\n [Kc, Ti, Td] = calc_AMIGO_int_PID(kv, L); % Which one do I want?\n resultvec(2) = kv;"
- "\n resultvec(3) = -1;\n resultvec(4) = L;\n resultvec(5) = Kc;\n resultvec(6) = Ti;\n"
- " resultvec(7) = Td;\n end\n done = 1;\n param = [Kc, Ti, Td];\n resultvec(10) = d1;\n resu"
- "ltvec(11) = d2;\n resultvec(18) = done;\n resultvec\nend\nend\n\n\n% ---------------------------------\n f"
- "unction ratio = check_amplitudes(y, upper_limit, lower_limit, gamma)\n % Is checked at every switching po"
- "int and sends in y = y_vec-yref\n % for the entire half period. No point to check at other time\n "
- "% instances!\n ratio1 = max(abs(y))/upper_limit; % Top value deviates too much if > 1\n ratio2 = m"
- "ax(abs(y))/lower_limit; % Top value too close to hysteresis limit if < 1.\n \n if ratio1 > 1\n "
- " ratio = (upper_limit+lower_limit*gamma)/(2*max(abs(y))); \n elseif ratio2 < 1\n ratio = ("
- "lower_limit+upper_limit/gamma)/(2*max(abs(y)));\n else\n ratio =1;\n end\n end\n%---"
- "------------------------------------\n\nfunction u = rel_func(y,uold,uon,uoff,yref,h)\n if y <= yref-h\n u ="
- " uon;\n elseif y < yref+h && y > yref-h\n u = uold;\n else u = uoff;\n end\nend\n\n% ---------------------"
- "-----------\nfunction [ton, toff] = calc_ton_toff(u, switching_times, u_on)\n\nif u(end-1) == u_on\n ton = sw"
- "itching_times(end)-switching_times(end-1);\n toff = switching_times(end-1)-switching_times(end-2);\nelse\n "
- " toff = switching_times(end)-switching_times(end-1);\n ton = switching_times(end-1)-switching_times(end-2);\n"
- "end\nend\n\n% ---------------------------------------------------\n\nfunction [kstart tstart lstart] = calc_FOTD"
- "_params(u_int,y_int,d1,d2,h, ton, toff, tau)\nkstart=y_int/u_int;\nLdivT = tau/(1-tau);\n% Equations from commit"
- " 2015-02-10\nu_int\ny_int\nd1\nd2\nh\nton\ntoff\ntau\ntstart1 = ton/log((h/abs(kstart)-d2+exp(LdivT)*(d1+d2))/(d"
- "1-h/abs(kstart)));\ntstart2 = toff/log((h/abs(kstart)-d1+exp(LdivT)*(d1+d2))/(d2-h/abs(kstart)));\ntstart = (tst"
- "art1+tstart2)/2;\nlstart = tstart*LdivT;\nend\n\n% --------------------------------------------\n\nfunction [K, "
- "Ti, Td] = calc_AMIGO_PI(Kp,T,L)\nK = 0.15/Kp+(0.35-L*T/(L+T)^2)*T/(Kp*L);\nTi = 0.35*L+13*L*T^2/(T^2+12*L*T+7*L^"
- "2);\nTd = 0;\nend\n\nfunction [K, Ti, Td] = calc_AMIGO_PID(Kp,T,L)\nK = (0.2*L+0.45*T)/(Kp*L);\nTi = (0.4*L+0.8*"
- "T)/(L+0.1*T)*L;\nTd = 0.5*L*T/(0.3*L+T);\nend\n\n% --------------------------------------------\nfunction [kv, L"
- "] = calc_integrating_params(y_int, uon, uoff, ton, toff, h)\n%Equations from commit 2015-02-10\ny_int\nuon\nuoff"
- "\nton\ntoff\nh\n\nkv = 2*y_int/(ton*toff*(uon+uoff))+2*h/(uon*ton);\nL = (uon*ton-2*h/kv)/(uon-uoff);\nif L < 0\n"
- " L = 1e-3;\nend\nend\n\n% -------------------------------------------\nfunction [K, Ti, Td] = calc_AMIGO_int_"
- "PI(Kv, L)\nK = 0.35/(Kv*L);\nTi = 13.4*L;\nTd = 0;\nend\n\nfunction [K, Ti, Td] = calc_AMIGO_int_PID(Kv, L)\nK ="
- " 0.45/(Kv*L);\nTi = 8*L;\nTd = 0.5*L;\nend"
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- script "function [result, u, done]= relay_exp(relay_par, e,t, u_ref, run_exp)\n\n\n%%%%%%%%%% Definitions"
- " and default values %%%%%%%%%%%%%%\ny = -e;\n% Relay parameters, values from workspace.\npersistent d1 d2 u_on u"
- "_off h\ngamma = relay_par(11); % index 2 is gamma, 11 is gamma2 \nt_sample = relay_par(3);\nbigYup = relay_par(6"
- ");\nrelayMaxDev = relay_par(7);\ndef_h = relay_par(8);\nnoiseMeasureTime = relay_par(9);\nmaxSwitches = relay_pa"
- "r(12);\nystep = relay_par(13);\nustep = relay_par(14);\n\npersistent yref uref\nif isempty(d2)\n h=def_h; % t"
- "hese values will be re-assigned later and never used.\n d1 = gamma;\n d2 = 1;\n u_on = d1;\n u_off "
- "= -d2;\n uref = 0;\n yref = 0;\nend\n\npersistent u_old resultvec\nif isempty(u_old)\n u_old = uref;\n "
- " resultvec = zeros(23,1);\nend\n\npersistent sample\nif isempty(sample)\n sample = 0;\nend\n\npersistent st"
- "artup Ksign\nif isempty(Ksign)\n Ksign = 1; % Is re-assigned during at the startup phase\nend\n\npersistent p"
- "aram done_per\nif isempty(param)\n param = [1.1, 16, 0]; % Quadtank minfas (should be an input somehow if exi"
- "sting PID parameters are used to bring it to its working point)\n done_per = 0;\nend\nPID_param = param;\ndon"
- "e = done_per;\n\n% To handle switches\npersistent switching_times switch_index \nif isempty(switching_times)\n "
- " switching_times = zeros(1,20); % Shouldn't need to be so large\n switch_index = 1;\nend\n\n%%%%%%%%% Startu"
- "p params %%%%%%%%%%%\npersistent a b c tff exp_t yh yl measureNoise first\nif isempty(startup)\n tff = 5/t_s"
- "ample; % According to Tore about 3-5s is appropriate for the startup growth \n b = 40;\n c = relayMaxDev/("
- "b-1);\n a = uref-c;\n measureNoise = 1;\n startup = 0;\n yh = 0;\n yl = 0;\n first = true;\nen"
- "d\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n\nresult = resultvec;\nif run_exp == 0\n u = 0;\n PID_"
- "param = param;\n return\nend\n\n%%%%%%%%%%%%% Program running %%%%%%%%%%%%%%%%%\nsample = sample+1;\n\n%%%%%%"
- "%%% Startup %%%%%%%%%%%%\nif measureNoise == 1\n if first \n uref = u_ref;\n yref = y;\n "
- " first = false;\n yh = yref;\n yl = yref;\n end\n u = uref;\n if sample < noiseMeasureTim"
- "e/t_sample\n yh = max(yh,y);\n yl = min(yl,y);\n else\n noise = (yh-yl)/2;\n yref"
- " = (yh+yl)/2;\n %yref = y; % Could test the latest value instead of average?\n resultvec(15) = yre"
- "f;\n resultvec(16) = uref;\n h = max(2*noise, def_h);\n measureNoise = 0;\n startup "
- "= 1;\n resultvec(23) = t;\n end\nelseif startup == 1\n exp_t = sample-noiseMeasureTime/t_sample;\n "
- " a = uref-c;\n u = a+c*b^(exp_t/tff);\n if u > relayMaxDev+uref\n u = relayMaxDev+ure"
- "f;\n end\n if exp_t > 1\n ydev = y-yref; \n if abs(ydev) > h % outside hyste"
- "resis, stop startup and decide Ksign\n Ksign = ydev/abs(ydev);\n if bigYup == 1\n "
- " d1 = min(relayMaxDev, gamma*abs(u-uref));\n d2 = d1/gamma;\n "
- " else\n d2 = min(relayMaxDev, gamma*abs(u-uref));\n d1 = d2/gamma;\n "
- " end\n startup = 0;\n elseif exp_t > tff\n u = uref+relayMaxD"
- "ev;\n end\n end\nelseif run_exp == 1\n %%%%%% Update amplitudes %%%%%%%\n u_on = uref+Ks"
- "ign*d1;\n u_off = uref-Ksign*d2;\n %%%%%% Calculate new u %%%%%%%%%\n u = rel_func(y,u_old,u_on, u_off,"
- "yref,h);\nelse \n u = 0; %Shouldn't be needed?\nend\n\n%%%%%%% At switching points %%%%%%%\nif sample>1 && (u"
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- " switch_index = switch_index+1;\nend\n%%%% store data %%%%%%\nu_old = u;\nend\n\nfunction u = rel_func(y,uold"
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