diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..dad38ec527fe3c13371df8625460fd062bdf6aee
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+Autotuners/slprj*
diff --git a/Autotuners/autotuner_tito_2012a.mdl b/Autotuners/autotuner_tito_2012a.mdl
new file mode 100644
index 0000000000000000000000000000000000000000..4163f067d7ee7fa600e8c001cda5060cf6ba8131
--- /dev/null
+++ b/Autotuners/autotuner_tito_2012a.mdl
@@ -0,0 +1,3964 @@
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+ Location [559, 332, 1164, 511]
+ Open on
+ NumInputPorts "1"
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ List {
+ ListType ScopeGraphics
+ FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
+ AxesColor "[0 0 0]"
+ AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
+ LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
+ LineStyles "-|-|-|-|-|-"
+ LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
+ MarkerStyles "none|none|none|none|none|none"
+ }
+ ShowLegends off
+ YMin "0"
+ YMax "10"
+ SaveName "ScopeData2"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
+ }
+ Block {
+ BlockType Scope
+ Name "y1"
+ SID "1033"
+ Ports [1]
+ Position [840, 174, 870, 206]
+ ZOrder 148
+ Floating off
+ Location [6, 95, 594, 284]
+ Open off
+ NumInputPorts "1"
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ List {
+ ListType ScopeGraphics
+ FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
+ AxesColor "[0 0 0]"
+ AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
+ LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
+ LineStyles "-|-|-|-|-|-"
+ LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
+ MarkerStyles "none|none|none|none|none|none"
+ }
+ ShowLegends off
+ YMin "0"
+ YMax "10"
+ SaveName "ScopeData3"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
+ }
+ Block {
+ BlockType Scope
+ Name "y2"
+ SID "1034"
+ Ports [1]
+ Position [840, 304, 870, 336]
+ ZOrder 148
+ Floating off
+ Location [558, 93, 1154, 313]
+ Open on
+ NumInputPorts "1"
+ ZoomMode "yonly"
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ List {
+ ListType ScopeGraphics
+ FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
+ AxesColor "[0 0 0]"
+ AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
+ LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
+ LineStyles "-|-|-|-|-|-"
+ LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
+ MarkerStyles "none|none|none|none|none|none"
+ }
+ ShowLegends off
+ YMin "0"
+ YMax "10"
+ SaveName "ScopeData5"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
+ }
+ Line {
+ SrcBlock "multi-NOMAD"
+ SrcPort 1
+ Points [0, -10; 20, 0]
+ Branch {
+ Points [0, -40; 380, 0]
+ Branch {
+ Points [0, 15]
+ DstBlock "Logger"
+ DstPort 1
+ }
+ Branch {
+ Points [0, -70]
+ DstBlock "u1"
+ DstPort 1
+ }
+ }
+ Branch {
+ Points [30, 0; 0, -5]
+ DstBlock "WoodBerry"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "multi-NOMAD"
+ SrcPort 2
+ Points [0, 15; 25, 0]
+ Branch {
+ Points [0, 40; 400, 0]
+ Branch {
+ Points [0, -20]
+ DstBlock "Logger"
+ DstPort 3
+ }
+ Branch {
+ Points [0, 160]
+ DstBlock "u2"
+ DstPort 1
+ }
+ }
+ Branch {
+ Points [65, 0]
+ DstBlock "WoodBerry"
+ DstPort 2
+ }
+ }
+ Line {
+ SrcBlock "WoodBerry"
+ SrcPort 1
+ Points [70, 0; 0, -10]
+ Branch {
+ Points [20, 0; 0, 35; 135, 0]
+ Branch {
+ DstBlock "Logger"
+ DstPort 2
+ }
+ Branch {
+ Points [0, 15]
+ DstBlock "y1"
+ DstPort 1
+ }
+ }
+ Branch {
+ Points [0, -50; -440, 0]
+ DstBlock "Sum"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "WoodBerry"
+ SrcPort 2
+ Points [60, 0; 0, 80; 25, 0]
+ Branch {
+ Points [75, 0]
+ Branch {
+ DstBlock "Logger"
+ DstPort 4
+ }
+ Branch {
+ Points [0, 55]
+ DstBlock "y2"
+ DstPort 1
+ }
+ }
+ Branch {
+ Points [-5, 0; 0, 90; -445, 0; 0, -130]
+ DstBlock "Sum1"
+ DstPort 2
+ }
+ }
+ Line {
+ SrcBlock "Step"
+ SrcPort 1
+ Points [20, 0; 0, 45]
+ DstBlock "Sum"
+ DstPort 2
+ }
+ Line {
+ SrcBlock "Step1"
+ SrcPort 1
+ Points [30, 0]
+ DstBlock "Sum1"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Sum"
+ SrcPort 1
+ DstBlock "multi-NOMAD"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Sum1"
+ SrcPort 1
+ Points [25, 0]
+ DstBlock "multi-NOMAD"
+ DstPort 2
+ }
+ }
+}
+# Finite State Machines
+#
+# Stateflow Version 7.6 (R2011b) dated Jan 25 2012, 13:50:40
+#
+#
+
+
+Stateflow {
+ machine {
+ id 1
+ name "autotuner_tito_2012a"
+ created "01-Jul-2013 12:16:13"
+ isLibrary 0
+ firstTarget 46
+ sfVersion 76014001.00040001
+ }
+ chart {
+ id 2
+ name "multi-NOMAD/Autotuner1/Constraint"
+ windowPosition [331.86 295.2 211 434]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 2944 1280 1.25]
+ treeNode [0 3 0 0]
+ firstTransition 5
+ firstJunction 4
+ viewObj 2
+ machine 1
+ ssIdHighWaterMark 9
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ firstData 6
+ chartFileNumber 7
+ disableImplicitCasting 1
+ eml {
+ name "Constraint"
+ }
+ }
+ 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 stop = Constraint(tstop, time, done)\nfunction stop = Constraint(time, all_done, timeAf"
+ "terExp)\n%#codegen\npersistent tstopp first\nif isempty(tstopp)\n tstopp = 10000;\n first = true;\nend\nif"
+ " all_done == 1 && first \n tstopp = time;\n first = false;\nend\nif time > tstopp+timeAfterExp;\n stop "
+ "= 1;\nelse\n stop = 0;\nend"
+ 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 19.875 102.544 14.964]
+ 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 5
+ name "stop"
+ linkNode [2 0 7]
+ 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 7
+ ssIdNumber 6
+ name "time"
+ 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 7
+ name "all_done"
+ linkNode [2 7 9]
+ 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 9
+ ssIdNumber 9
+ name "timeAfterExp"
+ linkNode [2 8 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 10
+ name "multi-NOMAD/Autotuner1/Constraint"
+ machine 1
+ chart 2
+ }
+ chart {
+ id 11
+ name "multi-NOMAD/Autotuner1/relay_exp\n"
+ windowPosition [359.686 -10 429 739.2]
+ viewLimits [0 319.2 0 430.6]
+ screen [1 1 2944 1280 1.25]
+ treeNode [0 12 0 0]
+ firstTransition 14
+ firstJunction 13
+ viewObj 11
+ machine 1
+ ssIdHighWaterMark 17
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ firstData 15
+ chartFileNumber 8
+ disableImplicitCasting 1
+ eml {
+ name "relay_exp"
+ }
+ }
+ state {
+ id 12
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 11
+ treeNode [11 0 0 0]
+ superState SUBCHART
+ subviewer 11
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ 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"
+ "-uref)*(u_old-uref) < 0\n switching_times(switch_index) = t;\n if switch_index > 2\n tp = switching"
+ "_times(switch_index)-switching_times(switch_index-2);\n resultvec(19) = tp;\n end\n if switch_index"
+ " == 3 % Step in yref/uref after two switches\n yref = yref+ystep*h;\n uref = uref+(d1+d2)/2*Ksign*"
+ "ustep;\n end\n if switch_index > maxSwitches\n done_per = 1;\n resultvec(17) = t;\n end\n"
+ " switch_index = switch_index+1;\nend\n%%%% store data %%%%%%\nu_old = u;\nend\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\n\n\n\n\n\n"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ junction {
+ id 13
+ position [23.5747 49.5747 7]
+ chart 11
+ linkNode [11 0 0]
+ subviewer 11
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ }
+ transition {
+ id 14
+ 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 13
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 11
+ linkNode [11 0 0]
+ dataLimits [23.575 23.575 14.625 34.575]
+ subviewer 11
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ }
+ data {
+ id 15
+ ssIdNumber 16
+ name "result"
+ linkNode [11 0 16]
+ 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 16
+ ssIdNumber 8
+ name "u"
+ linkNode [11 15 17]
+ 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 17
+ ssIdNumber 14
+ name "relay_par"
+ linkNode [11 16 18]
+ 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 18
+ ssIdNumber 5
+ name "e"
+ linkNode [11 17 19]
+ 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 19
+ ssIdNumber 9
+ name "t"
+ linkNode [11 18 20]
+ 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 20
+ ssIdNumber 15
+ name "u_ref"
+ linkNode [11 19 21]
+ 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 21
+ ssIdNumber 11
+ name "run_exp"
+ linkNode [11 20 22]
+ 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 22
+ ssIdNumber 4
+ name "done"
+ linkNode [11 21 0]
+ 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"
+ }
+ instance {
+ id 23
+ name "multi-NOMAD/Autotuner1/relay_exp\n"
+ machine 1
+ chart 11
+ }
+ chart {
+ id 24
+ name "multi-NOMAD/Autotuner2/Constraint"
+ windowPosition [331.86 295.2 211 434]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 2944 1280 1.25]
+ treeNode [0 25 0 0]
+ firstTransition 27
+ firstJunction 26
+ viewObj 24
+ machine 1
+ toolbarMode LIBRARY_TOOLBAR
+ ssIdHighWaterMark 9
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ firstData 28
+ chartFileNumber 9
+ disableImplicitCasting 1
+ eml {
+ name "Constraint"
+ }
+ }
+ state {
+ id 25
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 24
+ treeNode [24 0 0 0]
+ superState SUBCHART
+ subviewer 24
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "%function stop = Constraint(tstop, time, done)\nfunction stop = Constraint(time, all_done, timeAf"
+ "terExp)\n%#codegen\npersistent tstopp first\nif isempty(tstopp)\n tstopp = 10000;\n first = true;\nend\nif"
+ " all_done == 1 && first \n tstopp = time;\n first = false;\nend\nif time > tstopp+timeAfterExp;\n stop "
+ "= 1;\nelse\n stop = 0;\nend"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ junction {
+ id 26
+ position [23.5747 49.5747 7]
+ chart 24
+ linkNode [24 0 0]
+ subviewer 24
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ }
+ transition {
+ id 27
+ 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 26
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 24
+ linkNode [24 0 0]
+ dataLimits [23.575 23.575 14.625 34.575]
+ subviewer 24
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ }
+ data {
+ id 28
+ ssIdNumber 5
+ name "stop"
+ linkNode [24 0 29]
+ 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 29
+ ssIdNumber 6
+ name "time"
+ linkNode [24 28 30]
+ 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 30
+ ssIdNumber 7
+ name "all_done"
+ linkNode [24 29 31]
+ 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 31
+ ssIdNumber 9
+ name "timeAfterExp"
+ linkNode [24 30 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 32
+ name "multi-NOMAD/Autotuner2/Constraint"
+ machine 1
+ chart 24
+ }
+ chart {
+ id 33
+ name "multi-NOMAD/Autotuner2/relay_exp\n"
+ windowPosition [359.686 -10 429 739.2]
+ viewLimits [0 319.2 0 430.6]
+ screen [1 1 2944 1280 1.25]
+ treeNode [0 34 0 0]
+ firstTransition 36
+ firstJunction 35
+ viewObj 33
+ machine 1
+ ssIdHighWaterMark 17
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ firstData 37
+ chartFileNumber 10
+ disableImplicitCasting 1
+ eml {
+ name "relay_exp"
+ }
+ }
+ state {
+ id 34
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 33
+ treeNode [33 0 0 0]
+ superState SUBCHART
+ subviewer 33
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ 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(2); % 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_par"
+ "(12);\nystep = relay_par(13);\nustep = relay_par(14);\n\npersistent yref uref\nif isempty(d2)\n h=def_h; % th"
+ "ese 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 "
+ "param done_per\nif isempty(param)\n param = [1.1, 16, 0]; % Quadtank minfas (should be an input somehow if ex"
+ "isting PID parameters are used to bring it to its working point)\n done_per = 0;\nend\nPID_param = param;\ndo"
+ "ne = done_per;\n\n% To handle switches\npersistent switching_times switch_index \nif isempty(switching_times)\n "
+ " switching_times = zeros(1,20);\n switch_index = 1;\nend\n\n%%%%%%%%% Startup params %%%%%%%%%%%\npersiste"
+ "nt a b c tff exp_t yh yl measureNoise first\nif isempty(startup)\n tff = 5/t_sample; % According to Tore abou"
+ "t 3-5s is appropriate for the startup growth \n b = 40;\n c = relayMaxDev/(b-1);\n a = uref-c;\n mea"
+ "sureNoise = 1;\n startup = 0;\n yh = 0;\n yl = 0;\n first = true;\nend\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 me"
+ "asureNoise == 1\n if first \n uref = u_ref;\n yref = y;\n first = false;\n yh = y"
+ "ref;\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 %yref = "
+ "y; % Could test the latest value instead of average?\n resultvec(15) = yref;\n resultvec(16) = ure"
+ "f;\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+uref;\n end\n if exp"
+ "_t > 1\n ydev = y-yref; \n if abs(ydev) > h % outside hysteresis, stop startup and decide "
+ "Ksign\n Ksign = ydev/abs(ydev);\n if bigYup == 1\n d1 = min(rel"
+ "ayMaxDev, 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+relayMaxDev;\n end\n e"
+ "nd\nelseif run_exp == 1\n %%%%%% Update amplitudes %%%%%%%\n u_on = uref+Ksign*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; % S"
+ "houldn't be needed?\nend\n\n%%%%%%% At switching points %%%%%%%\nif sample>1 && (u-uref)*(u_old-uref) < 0\n s"
+ "witching_times(switch_index) = t;\n if switch_index > 2\n tp = switching_times(switch_index)-switching"
+ "_times(switch_index-2);\n resultvec(19) = tp;\n end\n if switch_index == 3 % Step in yref/uref afte"
+ "r two switches\n yref = yref+ystep*h;\n uref = uref+(d1+d2)/2*Ksign*ustep;\n end\n if switch"
+ "_index > maxSwitches\n done_per = 1;\n resultvec(17) = t;\n end\n switch_index = switch_inde"
+ "x+1;\nend\n%%%% store data %%%%%%\nu_old = u;\nend\n\nfunction u = rel_func(y,uold,uon,uoff,yref,h)\n if y <= y"
+ "ref-h\n u = uon;\n elseif y < yref+h && y > yref-h\n u = uold;\n else u = uoff;\n end\nend\n\n\n\n\n\n\n"
+ "\n"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ junction {
+ id 35
+ position [23.5747 49.5747 7]
+ chart 33
+ linkNode [33 0 0]
+ subviewer 33
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ }
+ transition {
+ id 36
+ 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 35
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 33
+ linkNode [33 0 0]
+ dataLimits [23.575 23.575 14.625 34.575]
+ subviewer 33
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ }
+ data {
+ id 37
+ ssIdNumber 16
+ name "result"
+ linkNode [33 0 38]
+ 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 38
+ ssIdNumber 8
+ name "u"
+ linkNode [33 37 39]
+ 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 39
+ ssIdNumber 14
+ name "relay_par"
+ linkNode [33 38 40]
+ 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 40
+ ssIdNumber 5
+ name "e"
+ linkNode [33 39 41]
+ 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 41
+ ssIdNumber 9
+ name "t"
+ linkNode [33 40 42]
+ 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 42
+ ssIdNumber 15
+ name "u_ref"
+ linkNode [33 41 43]
+ 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 43
+ ssIdNumber 11
+ name "run_exp"
+ linkNode [33 42 44]
+ 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 44
+ ssIdNumber 4
+ name "done"
+ linkNode [33 43 0]
+ 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"
+ }
+ instance {
+ id 45
+ name "multi-NOMAD/Autotuner2/relay_exp\n"
+ machine 1
+ chart 33
+ }
+ target {
+ id 46
+ name "sfun"
+ description "Default Simulink S-Function Target."
+ machine 1
+ linkNode [1 0 0]
+ }
+}
diff --git a/Autotuners/controlled_process_siso_2012a.mdl b/Autotuners/controlled_process_siso_2012a.mdl
new file mode 100644
index 0000000000000000000000000000000000000000..68b938ebc068696f5edb7b09e96259dd944bf0bd
--- /dev/null
+++ b/Autotuners/controlled_process_siso_2012a.mdl
@@ -0,0 +1,1084 @@
+Model {
+ Name "controlled_process_siso_2012a"
+ Version 7.9
+ MdlSubVersion 0
+ GraphicalInterface {
+ NumRootInports 0
+ NumRootOutports 0
+ ParameterArgumentNames ""
+ ComputedModelVersion "1.649"
+ NumModelReferences 0
+ NumTestPointedSignals 0
+ }
+ SavedCharacterEncoding "UTF-8"
+ SaveDefaultBlockParams on
+ ScopeRefreshTime 0.035000
+ OverrideScopeRefreshTime off
+ DisableAllScopes off
+ DataTypeOverride "UseLocalSettings"
+ DataTypeOverrideAppliesTo "AllNumericTypes"
+ MinMaxOverflowLogging "UseLocalSettings"
+ MinMaxOverflowArchiveMode "Overwrite"
+ FPTRunName "Run 1"
+ MaxMDLFileLineLength 120
+ Created "Sun Jun 12 02:17:00 2005"
+ Creator "josefinb"
+ UpdateHistory "UpdateHistoryNever"
+ ModifiedByFormat "%<Auto>"
+ LastModifiedBy "josefinb"
+ ModifiedDateFormat "%<Auto>"
+ LastModifiedDate "Fri Dec 08 12:47:22 2017"
+ RTWModifiedTimeStamp 434637984
+ ModelVersionFormat "1.%<AutoIncrement:649>"
+ ConfigurationManager "none"
+ SampleTimeColors off
+ SampleTimeAnnotations off
+ LibraryLinkDisplay "none"
+ WideLines off
+ ShowLineDimensions on
+ ShowPortDataTypes off
+ ShowDesignRanges off
+ ShowLoopsOnError on
+ IgnoreBidirectionalLines off
+ ShowStorageClass off
+ ShowTestPointIcons on
+ ShowSignalResolutionIcons on
+ ShowViewerIcons on
+ SortedOrder off
+ ExecutionContextIcon on
+ ShowLinearizationAnnotations on
+ BlockNameDataTip off
+ BlockParametersDataTip on
+ BlockDescriptionStringDataTip off
+ ToolBar on
+ StatusBar on
+ BrowserShowLibraryLinks off
+ BrowserLookUnderMasks off
+ SimulationMode "normal"
+ LinearizationMsg "none"
+ Profile off
+ ParamWorkspaceSource "MATLABWorkspace"
+ AccelSystemTargetFile "accel.tlc"
+ AccelTemplateMakefile "accel_default_tmf"
+ AccelMakeCommand "make_rtw"
+ TryForcingSFcnDF off
+ RecordCoverage off
+ CovPath "/"
+ CovSaveName "covdata"
+ CovMetricSettings "dw"
+ CovNameIncrementing off
+ CovHtmlReporting on
+ CovForceBlockReductionOff on
+ covSaveCumulativeToWorkspaceVar on
+ CovSaveSingleToWorkspaceVar on
+ CovCumulativeVarName "covCumulativeData"
+ CovCumulativeReport off
+ CovReportOnPause on
+ CovModelRefEnable "Off"
+ CovExternalEMLEnable off
+ ExtModeBatchMode off
+ ExtModeEnableFloating on
+ ExtModeTrigType "manual"
+ ExtModeTrigMode "oneshot"
+ ExtModeTrigPort "1"
+ ExtModeTrigElement "any"
+ ExtModeTrigDuration 1000
+ ExtModeTrigDurationFloating "auto"
+ ExtModeTrigHoldOff 0
+ ExtModeTrigDelay 0
+ ExtModeTrigDirection "rising"
+ ExtModeTrigLevel 0
+ ExtModeArchiveMode "off"
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+ ExtModeAddSuffixToVar off
+ ExtModeWriteAllDataToWs off
+ ExtModeArmWhenConnect off
+ ExtModeSkipDownloadWhenConnect off
+ ExtModeLogAll on
+ ExtModeAutoUpdateStatusClock on
+ BufferReuse on
+ ShowModelReferenceBlockVersion off
+ ShowModelReferenceBlockIO off
+ Array {
+ Type "Handle"
+ Dimension 1
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+ Version "1.12.0"
+ Array {
+ Type "Handle"
+ Dimension 8
+ Simulink.SolverCC {
+ $ObjectID 2
+ Version "1.12.0"
+ StartTime "0.0"
+ StopTime "simopt.Tf"
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+ FixedStep "simopt.h"
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+ MaxNumMinSteps "-1"
+ MaxOrder 5
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+ ConsecutiveZCsStepRelTol "10*128*eps"
+ MaxConsecutiveZCs "1000"
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+ NumberNewtonIterations 1
+ MaxStep "auto"
+ MinStep "auto"
+ MaxConsecutiveMinStep "1"
+ RelTol "1e-3"
+ SolverMode "Auto"
+ EnableConcurrentExecution off
+ ConcurrentTasks off
+ Solver "ode3"
+ SolverName "ode3"
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+ AlgebraicLoopSolver "TrustRegion"
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+ PositivePriorityOrder off
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+ InsertRTBMode "Whenever possible"
+ }
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+ StateSaveName "xout"
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+ GenerateTraceReport off
+ GenerateTraceReportSl off
+ GenerateTraceReportSf off
+ GenerateTraceReportEml off
+ GenerateCodeInfo off
+ GenerateWebview off
+ GenerateCodeMetricsReport off
+ GenerateCodeReplacementReport off
+ RTWCompilerOptimization "Off"
+ CheckMdlBeforeBuild "Off"
+ CustomRebuildMode "OnUpdate"
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+ SupportContinuousTime on
+ SupportNonInlinedSFcns on
+ SupportVariableSizeSignals off
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+ ParenthesesLevel "Nominal"
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+ CPPClassGenCompliant off
+ AutosarCompliant off
+ GRTInterface on
+ UseMalloc off
+ ExtMode off
+ ExtModeStaticAlloc off
+ ExtModeTesting off
+ ExtModeStaticAllocSize 1000000
+ ExtModeTransport 0
+ ExtModeMexFile "ext_comm"
+ ExtModeIntrfLevel "Level1"
+ RTWCAPISignals off
+ RTWCAPIParams off
+ RTWCAPIStates off
+ RTWCAPIRootIO off
+ GenerateASAP2 off
+ }
+ PropName "Components"
+ }
+ }
+ PropName "Components"
+ }
+ Name "Configuration"
+ CurrentDlgPage "Solver"
+ ConfigPrmDlgPosition [ 295, 27, 1148, 709 ]
+ }
+ PropName "ConfigurationSets"
+ }
+ Simulink.ConfigSet {
+ $PropName "ActiveConfigurationSet"
+ $ObjectID 1
+ }
+ ExplicitPartitioning off
+ BlockDefaults {
+ ForegroundColor "black"
+ BackgroundColor "white"
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+ ShowName on
+ BlockRotation 0
+ BlockMirror off
+ }
+ AnnotationDefaults {
+ HorizontalAlignment "center"
+ VerticalAlignment "middle"
+ ForegroundColor "black"
+ BackgroundColor "white"
+ DropShadow off
+ FontName "Helvetica"
+ FontSize 10
+ FontWeight "normal"
+ FontAngle "normal"
+ UseDisplayTextAsClickCallback off
+ }
+ LineDefaults {
+ FontName "Helvetica"
+ FontSize 9
+ FontWeight "normal"
+ FontAngle "normal"
+ }
+ BlockParameterDefaults {
+ Block {
+ BlockType Inport
+ Port "1"
+ OutputFunctionCall off
+ OutMin "[]"
+ OutMax "[]"
+ OutDataTypeStr "Inherit: auto"
+ LockScale off
+ BusOutputAsStruct off
+ PortDimensions "-1"
+ VarSizeSig "Inherit"
+ SampleTime "-1"
+ SignalType "auto"
+ SamplingMode "auto"
+ LatchByDelayingOutsideSignal off
+ LatchInputForFeedbackSignals off
+ Interpolate on
+ }
+ Block {
+ BlockType Mux
+ Inputs "4"
+ DisplayOption "none"
+ UseBusObject off
+ BusObject "BusObject"
+ NonVirtualBus off
+ }
+ Block {
+ BlockType Outport
+ Port "1"
+ OutMin "[]"
+ OutMax "[]"
+ OutDataTypeStr "Inherit: auto"
+ LockScale off
+ BusOutputAsStruct off
+ PortDimensions "-1"
+ VarSizeSig "Inherit"
+ SampleTime "-1"
+ SignalType "auto"
+ SamplingMode "auto"
+ SourceOfInitialOutputValue "Dialog"
+ OutputWhenDisabled "held"
+ InitialOutput "[]"
+ }
+ Block {
+ BlockType Scope
+ ModelBased off
+ TickLabels "OneTimeTick"
+ ZoomMode "on"
+ Grid "on"
+ TimeRange "auto"
+ YMin "-5"
+ YMax "5"
+ SaveToWorkspace off
+ SaveName "ScopeData"
+ DataFormat "Array"
+ LimitDataPoints on
+ MaxDataPoints "5000"
+ Decimation "1"
+ SampleInput off
+ SampleTime "-1"
+ }
+ Block {
+ BlockType Step
+ Time "1"
+ Before "0"
+ After "1"
+ SampleTime "-1"
+ VectorParams1D on
+ ZeroCross on
+ }
+ Block {
+ BlockType SubSystem
+ ShowPortLabels "FromPortIcon"
+ Permissions "ReadWrite"
+ PermitHierarchicalResolution "All"
+ TreatAsAtomicUnit off
+ CheckFcnCallInpInsideContextMsg off
+ SystemSampleTime "-1"
+ RTWFcnNameOpts "Auto"
+ RTWFileNameOpts "Auto"
+ RTWMemSecFuncInitTerm "Inherit from model"
+ RTWMemSecFuncExecute "Inherit from model"
+ RTWMemSecDataConstants "Inherit from model"
+ RTWMemSecDataInternal "Inherit from model"
+ RTWMemSecDataParameters "Inherit from model"
+ SimViewingDevice off
+ DataTypeOverride "UseLocalSettings"
+ DataTypeOverrideAppliesTo "AllNumericTypes"
+ MinMaxOverflowLogging "UseLocalSettings"
+ SFBlockType "NONE"
+ Variant off
+ GeneratePreprocessorConditionals off
+ }
+ Block {
+ BlockType Sum
+ IconShape "rectangular"
+ Inputs "++"
+ CollapseMode "All dimensions"
+ CollapseDim "1"
+ InputSameDT on
+ AccumDataTypeStr "Inherit: Inherit via internal rule"
+ OutMin "[]"
+ OutMax "[]"
+ OutDataTypeStr "Inherit: Same as first input"
+ LockScale off
+ RndMeth "Floor"
+ SaturateOnIntegerOverflow on
+ SampleTime "-1"
+ }
+ Block {
+ BlockType ToWorkspace
+ VariableName "simulink_output"
+ MaxDataPoints "1000"
+ Decimation "1"
+ SampleTime "0"
+ SaveFormat "Array"
+ FixptAsFi off
+ NumInputs "1"
+ }
+ Block {
+ BlockType TransferFcn
+ Numerator "[1]"
+ Denominator "[1 2 1]"
+ AbsoluteTolerance "auto"
+ ContinuousStateAttributes "''"
+ Realization "auto"
+ }
+ Block {
+ BlockType TransportDelay
+ DelayTime "1"
+ InitialOutput "0"
+ BufferSize "1024"
+ FixedBuffer off
+ TransDelayFeedthrough off
+ PadeOrder "0"
+ }
+ }
+ System {
+ Name "controlled_process_siso_2012a"
+ Location [116, 283, 1138, 718]
+ Open on
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ ReportName "simulink-default.rpt"
+ SIDHighWatermark "1095"
+ Block {
+ BlockType Scope
+ Name "Control"
+ SID "544"
+ Ports [1]
+ Position [725, 29, 755, 61]
+ ZOrder 147
+ Floating off
+ Location [6, 494, 874, 894]
+ Open on
+ NumInputPorts "1"
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ List {
+ ListType ScopeGraphics
+ FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
+ AxesColor "[0 0 0]"
+ AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
+ LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
+ LineStyles "-|-|-|-|-|-"
+ LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
+ MarkerStyles "none|none|none|none|none|none"
+ }
+ ShowLegends off
+ YMin "0"
+ SaveName "ScopeData1"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
+ }
+ Block {
+ BlockType SubSystem
+ Name "Logger"
+ SID "76"
+ Ports [2]
+ Position [730, 90, 755, 210]
+ ZOrder 91
+ MinAlgLoopOccurrences off
+ PropExecContextOutsideSubsystem off
+ RTWSystemCode "Auto"
+ FunctionWithSeparateData off
+ Opaque off
+ RequestExecContextInheritance off
+ MaskHideContents off
+ System {
+ Name "Logger"
+ Location [199, -27, 1241, 852]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ Block {
+ BlockType Inport
+ Name "u1"
+ SID "77"
+ Position [20, 23, 50, 37]
+ ZOrder 88
+ IconDisplay "Port number"
+ SampleTime "simopt.h"
+ }
+ Block {
+ BlockType Inport
+ Name "y1"
+ SID "79"
+ Position [20, 58, 50, 72]
+ ZOrder 90
+ Port "2"
+ IconDisplay "Port number"
+ SampleTime "simopt.h"
+ }
+ Block {
+ BlockType ToWorkspace
+ Name "Logger"
+ SID "69"
+ Ports [1]
+ Position [140, 75, 200, 105]
+ ZOrder 87
+ VariableName "simout"
+ MaxDataPoints "inf"
+ SampleTime "simopt.h"
+ SaveFormat "Structure With Time"
+ }
+ Block {
+ BlockType Mux
+ Name "Mux"
+ SID "68"
+ Ports [2, 1]
+ Position [75, 12, 80, 168]
+ ZOrder 86
+ ShowName off
+ Inputs "2"
+ DisplayOption "bar"
+ }
+ Line {
+ SrcBlock "Mux"
+ SrcPort 1
+ DstBlock "Logger"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "u1"
+ SrcPort 1
+ Points [5, 0]
+ DstBlock "Mux"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "y1"
+ SrcPort 1
+ Points [3, 0; 0, 65]
+ DstBlock "Mux"
+ DstPort 2
+ }
+ }
+ }
+ Block {
+ BlockType Scope
+ Name "Output"
+ SID "1033"
+ Ports [1]
+ Position [725, 244, 755, 276]
+ ZOrder 148
+ Floating off
+ Location [1, 93, 868, 483]
+ Open on
+ NumInputPorts "1"
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ List {
+ ListType ScopeGraphics
+ FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
+ AxesColor "[0 0 0]"
+ AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
+ LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
+ LineStyles "-|-|-|-|-|-"
+ LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
+ MarkerStyles "none|none|none|none|none|none"
+ }
+ ShowLegends off
+ YMin "0"
+ YMax "10"
+ SaveName "ScopeData3"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
+ }
+ Block {
+ BlockType Reference
+ Name "PID Controller\nwith filter"
+ SID "1084"
+ Ports [1, 1]
+ Position [130, 127, 225, 163]
+ ZOrder -1
+ LibraryVersion "1.108"
+ SourceBlock "cstblocks/LTI System"
+ SourceType "LTI Block"
+ sys "FC"
+ IC "[]"
+ }
+ Block {
+ BlockType SubSystem
+ Name "SOTD_example"
+ SID "1091"
+ Ports [1, 1]
+ Position [350, 116, 430, 194]
+ ZOrder 141
+ BackgroundColor "gray"
+ MinAlgLoopOccurrences off
+ PropExecContextOutsideSubsystem off
+ RTWSystemCode "Auto"
+ FunctionWithSeparateData off
+ Opaque off
+ RequestExecContextInheritance off
+ MaskHideContents off
+ System {
+ Name "SOTD_example"
+ Location [702, 184, 1771, 1063]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "A4"
+ PaperUnits "centimeters"
+ TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "125"
+ Block {
+ BlockType Inport
+ Name "u"
+ SID "1092"
+ Position [20, 73, 50, 87]
+ ZOrder 106
+ IconDisplay "Port number"
+ SampleTime "simopt.h"
+ }
+ Block {
+ BlockType TransferFcn
+ Name "Transfer Fcn"
+ SID "1093"
+ Position [175, 62, 235, 98]
+ ZOrder 110
+ Denominator "[1 4 6 4 1]"
+ }
+ Block {
+ BlockType Outport
+ Name "y"
+ SID "1094"
+ Position [310, 73, 340, 87]
+ ZOrder 105
+ IconDisplay "Port number"
+ SampleTime "simopt.h"
+ }
+ Line {
+ SrcBlock "u"
+ SrcPort 1
+ DstBlock "Transfer Fcn"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Transfer Fcn"
+ SrcPort 1
+ DstBlock "y"
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType Step
+ Name "Step"
+ SID "4"
+ Position [15, 130, 45, 160]
+ ZOrder -4
+ Time "100"
+ Before "2"
+ After "4"
+ SampleTime "simopt.h"
+ }
+ Block {
+ BlockType Sum
+ Name "Sum"
+ SID "5"
+ Ports [2, 1]
+ Position [80, 130, 110, 160]
+ ZOrder -5
+ ShowName off
+ IconShape "round"
+ Inputs "|+-"
+ }
+ Block {
+ BlockType TransportDelay
+ Name "Transport\nDelay"
+ SID "1085"
+ Ports [1, 1]
+ Position [285, 140, 315, 170]
+ ZOrder -10
+ DelayTime "0"
+ }
+ Line {
+ SrcBlock "Step"
+ SrcPort 1
+ DstBlock "Sum"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "PID Controller\nwith filter"
+ SrcPort 1
+ Points [20, 0]
+ Branch {
+ Points [-2, -35; 2, 0]
+ Branch {
+ Points [0, -65]
+ DstBlock "Control"
+ DstPort 1
+ }
+ Branch {
+ Points [465, 0]
+ DstBlock "Logger"
+ DstPort 1
+ }
+ }
+ Branch {
+ Points [0, 10]
+ DstBlock "Transport\nDelay"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "Sum"
+ SrcPort 1
+ DstBlock "PID Controller\nwith filter"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "SOTD_example"
+ SrcPort 1
+ Points [50, 0; 0, 20; 95, 0]
+ Branch {
+ Points [115, 0]
+ Branch {
+ Points [20, 0]
+ DstBlock "Logger"
+ DstPort 2
+ }
+ Branch {
+ Points [0, 85]
+ DstBlock "Output"
+ DstPort 1
+ }
+ }
+ Branch {
+ Points [0, 55; -485, 0]
+ DstBlock "Sum"
+ DstPort 2
+ }
+ }
+ Line {
+ SrcBlock "Transport\nDelay"
+ SrcPort 1
+ DstBlock "SOTD_example"
+ DstPort 1
+ }
+ }
+}
+# Finite State Machines
+#
+# Stateflow Version 7.6 (R2011b) dated Jan 25 2012, 13:50:40
+#
+#
+
+
+Stateflow {
+ machine {
+ id 1
+ name "controlled_process_siso_2012a"
+ created "01-Jul-2013 12:16:13"
+ isLibrary 0
+ firstTarget 2
+ sfVersion 76014001.00040001
+ }
+ target {
+ id 2
+ name "sfun"
+ description "Default Simulink S-Function Target."
+ machine 1
+ linkNode [1 0 0]
+ }
+}
diff --git a/Autotuners/tmpdata/controllers.mat b/Autotuners/tmpdata/controllers.mat
new file mode 100644
index 0000000000000000000000000000000000000000..f40fe5981ba9e7db97805c03ce5594e9949dd0e1
Binary files /dev/null and b/Autotuners/tmpdata/controllers.mat differ
diff --git a/Autotuners/tmpdata/id_models.mat b/Autotuners/tmpdata/id_models.mat
new file mode 100644
index 0000000000000000000000000000000000000000..bd8f3986d14928760bd8ced8d5e3ce77e0f8188f
Binary files /dev/null and b/Autotuners/tmpdata/id_models.mat differ
diff --git a/Autotuners/tmpdata/params.mat b/Autotuners/tmpdata/params.mat
new file mode 100644
index 0000000000000000000000000000000000000000..9e718ea7e6f51bd0687dcd7598f4708c8b71e883
Binary files /dev/null and b/Autotuners/tmpdata/params.mat differ
diff --git a/Autotuners/tmpdata/sim_data.mat b/Autotuners/tmpdata/sim_data.mat
new file mode 100644
index 0000000000000000000000000000000000000000..b2e96c50ff2c5372e5f4ebb77a6b660c99670abc
Binary files /dev/null and b/Autotuners/tmpdata/sim_data.mat differ
diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..6255b6cb1dd7c99c705268a9259289f5b03dcd15
--- /dev/null
+++ b/README.md
@@ -0,0 +1,12 @@
+
+Matlab code and Simulink blocks for the Tau-tuner, NOMAD and Multi-NOMAD autotuner described further in the PhD Thesis "Automatic Controller Tuning using Relay-based Model Identification" by Josefin Berner 2017.
+
+All the used simulink blocks are in the AT-library folder. Apart from the three Autotuner versions the library also contains simulink blocks for a simple second order simulation example as well as a block for the two-input two-output model Wood-Berry distillation column.
+
+To run the experiments open the setup_script.m and choose the version you want to run. Remember to put in the wanted autotuner block and process model in the simulink file autotuner_siso_2012a.mdl if you are running a SISO experiment.
+
+If the NOMAD or multi-NOMAD is used it will be using cvx, so make sure it is setup in your matlab session by writing > setup_cvx followed by > cvx_setup before starting your experiment.
+
+All the needed parameters are set in the script setParams.m. Look it through to see if the values on times, nominal control signals etc. are appropriate for your experiments.
+
+The files are compatible with Matlab2012a. If you want to use another matlab version they may need to be converted somehow.
diff --git a/Scripts/SISO/Joe.m b/Scripts/SISO/Joe.m
new file mode 100644
index 0000000000000000000000000000000000000000..8c838e53529abbb82a460d591b0f96b59957221d
--- /dev/null
+++ b/Scripts/SISO/Joe.m
@@ -0,0 +1,71 @@
+function [J,J1,J2,ym,ym_p]=Joe(p,n,h,u,y)
+% Evaluates output error cost (J), its sensitivity Jacobian (Jp) and
+% (approximate) Hessian (Jpp) based on the model structure (m<=n):
+%
+% b1*s^(m-1) + b2*s^(m-2) + ... + bm
+% ---------------------------------- * e^(-L*s).
+% s^n + a1*s^(n-1) + ... + an
+%
+% p - parameter row vector [b a L v x0]
+% n - system order
+% h - sampling period
+% u - process input (contribution from relay)
+% y - plant output (measurement sequence)
+
+% handle arguments
+m=numel(p)-2*n-2;
+a=p(m+1:m+n);
+b=[zeros(1,n-m) p(1:m)];
+L=p(m+n+1);
+v=p(m+n+2);
+%v = 0*v; % if not active
+x0=p(m+n+3:end).';
+%x0=0*x0; % if not active
+
+% augmented system for y and sensitivities wrt b a L
+A=[-a;eye(n-1,n)];
+A=blkdiag(A,A);
+A(n+1,1:n)=b;
+B=[1;zeros(2*n-1,1)];
+C=[b;zeros(m,n-m) eye(m)];
+C=blkdiag(C,-eye(n));
+[q,r]=deconv(-[b 0],[1 a]);
+C=[C; r(2:end) zeros(1,n)];
+D=[zeros(m+n+1,1);q];
+H=c2d(ss(A,B,C,D),h,'zoh');
+
+% sampled model matrices
+E=H.a(1:n,1:n);
+F=H.b(1:n);
+
+% % add disturbance and delay to input
+%u=u+v;
+k=round(L/h);
+u=[zeros(k,1);u(1:end-k)];
+u = u+v; %Hmm v ska väl inte vara delayed? så u = u+v borde ligga här efter nollorna?
+
+% ym and sensitivites wrt b a L
+yH=lsim(H,u,[],[x0;zeros(n,1)]);
+ym=yH(:,1);
+ym=ym-b*x0; % borde inte även b*simopt.xv tas bort här om det ska vara identiskt med simuleringen?
+ym_b=yH(:,2:2+m-1);
+ym_b=ym_b-repmat(x0(end-m+1:end).',numel(ym),1); % Okej är för att grad b ju även har x0-termer
+ym_aL=yH(:,2+m:end);
+
+% % sensitivity wrt v
+G=ss(E,F,b,0,h);
+ym_v=lsim(G,0*u+1,[],x0*0);
+ym_v = 0*ym_v; % if not active
+
+% sensitivity wrt x0
+G0=ss(E.',F*0,eye(n),-b.',h);
+ym_x0=lsim(G0,0*u+1,[],b.');
+%ym_x0 = 0*ym_x0; % If not active
+
+% compute Jacobian and Hessian
+ym_p=[ym_b ym_aL ym_v ym_x0];
+%ym_p=[ym_b ym_aL ym_x0];
+e=ym-y;
+J=h/2*e'*e;
+J1=h*(e'*ym_p).';
+J2=h*ym_p'*ym_p;
diff --git a/Scripts/SISO/circplot.m b/Scripts/SISO/circplot.m
new file mode 100644
index 0000000000000000000000000000000000000000..e0a42cc12d87f4fab1ae715b4e54573a3dc154c0
--- /dev/null
+++ b/Scripts/SISO/circplot.m
@@ -0,0 +1,4 @@
+function circplot(c, r, color)
+% Plots circles with centres in c = [x, y] and radii r
+w = linspace(0,2*pi,100);
+plot(c(1) +r*cos(w), c(2) + r*sin(w),color)
\ No newline at end of file
diff --git a/Scripts/SISO/cvxpid.m b/Scripts/SISO/cvxpid.m
new file mode 100644
index 0000000000000000000000000000000000000000..547bb2556620f765c8cb0aab09ebb047cb10ecc4
--- /dev/null
+++ b/Scripts/SISO/cvxpid.m
@@ -0,0 +1,73 @@
+function p=cvxpid(P0,r,w,Ms,Mt,p)
+% [kp,ki,kd]=cvxpid(P0,r,w,Ms,Mt,F)
+% minimizes load step IE <=> maximizes ki for
+%
+% C(s)=kp+ki/s+kd
+%
+% p - parameter vector p=[kp ki kd]
+% w - frequency grid
+% P0 - frequency response of nominal plant over w
+% r - uncertainty radii over w
+% Ms - upper bound of sensitivity. Scalar or frequency-wise over w
+% Mt - upper bound of complementary sensitivity. Defined as Ms
+%
+% All vectors are columns, unless otherwise stated.
+
+% setup
+cvx_clear;
+verbose=true;
+
+% constraint represented as circles with centra and radii:
+cs=-1; % Ms center
+rs=1./Ms; % Ms radius
+ct=-Mt.^2./(Mt.^2-1); % Mt center
+rt=Mt./(Mt.^2-1); % Mt radius
+
+% frequency responses and removal of unwanted control law terms
+C1=[1+0*w 1./(1i*w) 1i*w];
+C=C1*p;
+
+% print on screen
+if verbose
+ formatSpec=...
+ '|%2u| %2.2f | %1.1f | %1.4f | %2.0f |\n';
+ fprintf('\n|it| Ms | kp | ki | kd |\n')
+ fprintf('|--|----------|---------|--------|-------|\n')
+end
+
+% optimization
+prev_obj=-inf;
+for n=1:10
+ L_=P0.*C;
+ cvx_begin quiet
+ variable p(3)
+ maximize (p(2)) % maximize ki
+ subject to
+ C=C1*p;
+ L=P0.*C;
+
+ if Ms<inf
+ real(conj((L_-cs)./abs(L_-cs)).*(L-cs))>=rs+r.*abs(C); % Ms
+ end
+ if Mt<inf
+ real(conj((L_-ct)./abs(L_-ct)).*(L-ct))>=rt+r.*abs(C); % Mt
+ end
+ cvx_end
+
+ if ~strcmp(cvx_status,'Solved')
+ error(['PID design failed. Cvx returned status: ' cvx_status])
+ end
+
+ % print iteration result
+ if verbose
+ Msn=max(abs(1./((1+L)-r.*abs(C))));
+ fprintf(formatSpec,n,Msn,p(1),p(2),p(3))
+ end
+
+ % Stopping criterion
+ if abs(p(2)-prev_obj)<1e-3*prev_obj
+ break;
+ end
+ prev_obj=p(2);
+end
+p=p(:);
\ No newline at end of file
diff --git a/Scripts/SISO/getPhat.m b/Scripts/SISO/getPhat.m
new file mode 100644
index 0000000000000000000000000000000000000000..891b6e33e51e5067a8dda24722a744caffc23b89
--- /dev/null
+++ b/Scripts/SISO/getPhat.m
@@ -0,0 +1,192 @@
+% Yields models from asymmetric relay experiment.
+% All signals a sampled at a period h, passed as argument.
+function [models,idTime,simdata]=getPhat(params, simopt, simdata, result)
+%load('params.mat','params')
+h = params.h;
+
+%% experiment
+
+% main experiment
+% [u,y,t]=runSim(simopt,params);
+% % filtered input
+
+% simdata.u = u;
+% simdata.y = y;
+% simdata.t = t;
+first_index = find(simdata.t > params.expStartTime, 1);
+u = simdata.u(first_index:end)-result(2);
+t = simdata.t(first_index:end);
+y = simdata.y(first_index:end)-result(1);
+uf=lsim(simopt.F,u,t);
+%% identification
+tic
+
+% find switch instances
+sw_ind = find(diff(u));
+st=t(sw_ind); % switch times
+dt=diff(st(end-2:end)); % switch durations
+gamma = params.asym;
+rho_est=max(0,min(gamma,max(dt)/min(dt))); % to ensure the equation's working
+tau_est = (gamma-rho_est)/((gamma-1)*(0.35*rho_est+0.65));
+kp_est = sum(y(sw_ind(end-2):end))/sum(u(sw_ind(end-2):end));
+Lmax=min(dt);
+
+
+% FOTD: b/(s+a)*exp(-s*L)
+rpts = 40; % Number of random points for initialization used 30
+L0 = Lmax*rand(rpts,1);
+amean=tau_est./(L0*(1-tau_est));
+a0 = amean+0.1*amean.*randn(rpts,1);
+%bmean= kp_est*amean; %since kp seems a bit unreliable atm
+%b0=kp_est*a0;
+b0 = amean+0.1.*amean.*randn(rpts,1);
+starts = [b0';a0';L0'];
+
+FOTD=getModel(0,0,0,0,0);
+
+J = FOTD.J;
+for idx = 1:rpts
+ m = getModel(b0(idx),a0(idx),L0(idx),0,0);
+ if m.J < FOTD.J
+ idx
+ starts(:,idx)
+ FOTD = m;
+ end
+end
+
+% SOTD: b1/(s^2+a1*s+a2)*exp(-s*L)
+Tar = 1/FOTD.a+FOTD.L;
+tau = FOTD.L/Tar;
+
+a=(exp(1)-1)/(1-tau)/Tar;
+L=max(Tar-2/a,0);
+L=min(L,Lmax);
+if FOTD.a>0
+ b=FOTD.b*a^2/FOTD.a;
+ x1=[0 FOTD.b/b*FOTD.x0]; % FIXME: initialize based on FOTD.x0?
+ x2 = [0 0];
+else
+ b=0;
+ x1 = [0 FOTD.x0];
+ x2 = [0 0];
+end
+a=[2*a a^2];
+v=FOTD.v;
+%sotdstart = [b a L]
+
+try
+ SOTD1=getModel(b,a,L,v,x1);
+ SOTD2=getModel(b,a,L,v,x2);
+ % added as a test
+ SOTD3=getModel(0,[0,0],0,v,x2);
+ % end of test
+ if SOTD1.J < SOTD2.J
+ SOTD = SOTD1;
+ else
+ SOTD = SOTD2;
+ end
+% Testing!
+ if SOTD3.J < SOTD.J
+ zero_best = 1
+ SOTD = SOTD3;
+ end
+% End testing
+catch
+ SOTD.J=inf;
+ warning('no SOTD')
+ FOTD.a
+ FOTD.b
+ FOTD.P
+ pause
+end
+
+idTime=toc;
+
+% find best model (Akaike: log(cost)+ 2*p/N) or (BIC: log(cost)+log(N)*p/N)
+N = length(u);
+[~,type]=min([log(FOTD.J)+2*3/N log(SOTD.J)+2*4/N]); %Akaike
+%[~,type]=min([log(FOTD.J)+log(N)*3/N log(SOTD.J)+log(N)*4/N]); %BIC
+models.type=type(1);
+switch models.type
+ case 1
+ best=FOTD;
+ case 2
+ best=SOTD;
+end
+% organize output
+models.FOTD=FOTD;
+models.SOTD=SOTD;
+models.best=best;
+
+% plot
+draw=true;
+if draw
+ % time plot
+ figure(1)
+ stairs(t,uf,'color',.6*[1 1 1],'linewidth',2)
+ hold on
+ stairs(t,y,'color',[.6 1 .6],'linewidth',2)
+ stairs(t,best.ym,'b','linewidth',2)
+ stairs(t,FOTD.ym,'r','linewidth',1)
+ ylims=1.2*[min(uf) max(uf)];
+ xlim([0 t(end)])
+ ylim(ylims)
+ leg=legend('$u$: relay output','$y$: measurement',...
+ '$y_m$: best model output', '$y_m$: fotd output');
+ set(leg,'Location','northoutside','Interpreter','latex','FontSize',12)
+ hold off
+ drawnow
+end
+
+% nested function calling the optimization routine(s)
+ function model=getModel(b0,a0,L0,v0,x0)
+ n=numel(a0);
+ m=numel(b0);
+ p0=[b0 a0 L0 v0 x0]; % initial parameter row vector
+ lb=[-inf(1,m) zeros(1,n) 0 -inf(1,n+1)]; % lower bound on p
+ ub=[inf(1,n+m) Lmax inf(1,n+1)]; % upper bound on p
+ % First run, trust-region algorithm
+ opts=optimset('Algorithm','trust-region-reflective',...
+ 'GradObj','on','Hessian','user-supplied','Display','off');
+ [p,J,~,~,~,Jp,Jpp]=fmincon(@(p)Joe(p,n,h,uf,y),p0,[],[],[],[],...
+ lb,ub,[],opts);
+ % model output
+ [~,~,~,ym]=Joe(p,n,h,uf,y);
+ model.ym=ym;
+ % Second run, sqp algorithm
+ opts=optimset('Algorithm','sqp',...
+ 'GradObj','on','Display','off');
+ [p2,J2,~,~,~,Jp,Jpp]=fmincon(@(p)Joe(p,n,h,uf,y),p0,[],[],[],[],...
+ lb,ub,[],opts);
+ if J2 < J
+ % model output
+ p = p2;
+ [~,~,~,ym]=Joe(p,n,h,uf,y);
+ model.ym=ym;
+ end
+ % identified parameters
+ model.b=p(1:m);
+ model.a=p(m+1:m+n);
+ model.L=p(m+n+1);
+ model.v=p(m+n+2);
+ model.x0=p(m+n+3:end);
+
+ % construct model corresponding to x0
+ A=[-model.a;eye(n-1,n)];
+ B=[1;zeros(n-1,1)];
+ C=[zeros(1,n-m) model.b];
+ D=0;
+ model.P0=ss(A,B,C,D);
+
+ % transfer function model
+ model.P=tf(model.P0);
+ model.P.inputdelay=model.L;
+
+ % optimization related
+ model.J=J;
+ model.Jp=Jp;
+ model.Jp;
+ model.Jpp=Jpp;
+ model.samples=numel(u); % Covariance matrix: 2*J/numel(u)*inv(Jpp)
+ end
+end
\ No newline at end of file
diff --git a/Scripts/TITO/Joe2_etfa.m b/Scripts/TITO/Joe2_etfa.m
new file mode 100644
index 0000000000000000000000000000000000000000..a99cbe075270870582154938f853e169d043760b
--- /dev/null
+++ b/Scripts/TITO/Joe2_etfa.m
@@ -0,0 +1,40 @@
+function [J,J1,J2,ym,ym1,ym2,ym_p]=Joe2_etfa(p,n1,n2,h,u1,u2,y,Lfix)
+% Evaluates output error cost (J), its sensitivity Jacobian (Jp) and
+% (approximate) Hessian (Jpp) based on the model structure (m<=n):
+%
+% b11*s^(m-1) + b12*s^(m-2) + ... + b1m
+% ---------------------------------- * e^(-L1*s)
+% s^n + a11*s^(n-1) + ... + a1n
+%
+% +
+%
+% b21*s^(m-1) + b22*s^(m-2) + ... + b2m
+% ---------------------------------- * e^(-L2*s)
+% s^n + a21*s^(n-1) + ... + a2n
+%
+% p - parameter row vector [p1 p2] = [b1 a1 L1 x0_1 b2 a2 L2 x0_2]
+% n - system order
+% h - sampling period
+% u1 - input to process parametrized by p1
+% u2 - input to process parametrized by p2
+
+% parameter vectors of individual processes
+if 2*n1+2*n2+4 == numel(p)
+else
+ warning('Wrong dimensions in p-vector')
+end
+p1 = p(1:2*n1+2);
+p2 = p(2*n1+3:end);
+% p1=p(1:numel(p)/2);
+% p2=p(numel(p)/2+1:end);
+
+% compute ym and ym_p
+[~,~,~,ym1,ym1_p]=Joe_etfa(p1,n1,h,u1,0,Lfix); % Behöver inte y
+[~,~,~,ym2,ym2_p]=Joe_etfa(p2,n2,h,u2,0,Lfix);
+ym=ym1+ym2;
+
+ym_p=[ym1_p ym2_p];
+e=ym-y;
+J=h/2*e'*e;
+J1=h*(e'*ym_p).';
+J2=h*ym_p'*ym_p;
\ No newline at end of file
diff --git a/Scripts/TITO/Joe_etfa.m b/Scripts/TITO/Joe_etfa.m
new file mode 100644
index 0000000000000000000000000000000000000000..3af7ec8015563a752aa8d0390eb3c69b25619e17
--- /dev/null
+++ b/Scripts/TITO/Joe_etfa.m
@@ -0,0 +1,89 @@
+function [J,J1,J2,ym,ym_p]=Joe_etfa(p,n,h,u,y,Lfix)
+% Evaluates output error cost (J), its sensitivity Jacobian (Jp) and
+% (approximate) Hessian (Jpp) based on the model structure (m<=n):
+%
+% b1*s^(m-1) + b2*s^(m-2) + ... + bm
+% ---------------------------------- * e^(-L*s).
+% s^n + a1*s^(n-1) + ... + an
+%
+% p - parameter row vector [b a L x0]
+% n - system order
+% h - sampling period
+% u - process input (contribution from relay)
+% y - plant output (measurement sequence)
+
+% handle arguments
+m=numel(p)-2*n-1;
+a=p(m+1:m+n);
+b=[zeros(1,n-m) p(1:m)];
+L=p(m+n+1);
+v=0; % Don't use it anymore!
+x0=p(m+n+2:end).';
+%x0=0*x0; % if not active
+
+% augmented system for y and sensitivities wrt b a L
+A=[-a;eye(n-1,n)];
+A=blkdiag(A,A);
+A(n+1,1:n)=b;
+B=[1;zeros(2*n-1,1)];
+C=[b;zeros(m,n-m) eye(m)];
+C=blkdiag(C,-eye(n));
+[q,r]=deconv(-[b 0],[1 a]);
+C=[C; r(2:end) zeros(1,n)];
+D=[zeros(m+n+1,1);q];
+H=c2d(ss(A,B,C,D),h,'zoh');
+
+% sampled model matrices
+E=H.a(1:n,1:n);
+F=H.b(1:n);
+
+% % add disturbance and delay to input
+%u=u+v;
+k=round(L/h);
+if k > length(u)
+ k
+ length(u)
+ warning('something fishy')
+end
+try
+ u=[zeros(k,1);u(1:end-k)];
+catch
+ k
+ size(u)
+ %u
+end
+%u = u+v; %Hmm v ska väl inte vara delayed? så u = u+v borde ligga här efter nollorna?
+
+% ym and sensitivites wrt b a L
+yH=lsim(H,u,[],[x0;zeros(n,1)]);
+ym=yH(:,1);
+ym=ym-b*x0; % borde inte även b*simopt.xv tas bort här om det ska vara identiskt med simuleringen?
+ym_b=yH(:,2:2+m-1);
+ym_b=ym_b-repmat(x0(end-m+1:end).',numel(ym),1); % Okej är för att grad b ju även har x0-termer
+%ym_aL=yH(:,2+m:end);
+if Lfix == 1
+ ym_aL=[yH(:,2+m:end-1),zeros(size(ym))];
+else
+ ym_aL=yH(:,2+m:end);
+end
+
+
+% % sensitivity wrt v
+G=ss(E,F,b,0,h);
+ym_v=lsim(G,0*u+1,[],x0*0);
+ym_v = 0*ym_v; % if not active
+
+% sensitivity wrt x0
+G0=ss(E.',F*0,eye(n),-b.',h);
+ym_x0=lsim(G0,0*u+1,[],b.');
+%ym_x0 = 0*ym_x0; % If not active
+
+% compute Jacobian and Hessian
+ym_p=[ym_b ym_aL ym_x0];
+
+
+
+e=ym-y;
+J=h/2*e'*e;
+J1=h*(e'*ym_p).';
+J2=h*ym_p'*ym_p;
diff --git a/Scripts/TITO/PIDdesign.m b/Scripts/TITO/PIDdesign.m
new file mode 100644
index 0000000000000000000000000000000000000000..e62710601c786c0e15b894b99b485b8520dbd1e3
--- /dev/null
+++ b/Scripts/TITO/PIDdesign.m
@@ -0,0 +1,59 @@
+function [Kp, Ki, Kd, tau] = PIDdesign(P)
+
+%% Controller Design
+
+% Design of MIMO-PID controller for the minimum-phase quadtank.
+
+% Check if CVX is installed
+if ~exist('cvx_version')
+ error('Error: CVX is not installed.')
+end
+
+% Check if Control System toolbox is installed.
+if ~license('test','control_toolbox')
+ warning('Warning: Control System Toolbox is not installed.')
+end
+
+N = 300; % Nbr of frequency points
+omega = logspace(-3,3,N); % Frequency sampling points
+
+% tau = 0.1; %0.3 % Derivative filter time-constant
+kk = 5; % Factor times bandwidth for filter time constant breakpoint
+
+for ii = 1:2
+ for jj = 1:2
+ [~,~,~,Wpm(ii,jj)] = margin(P(ii,jj)); % Finding cross-over freqs
+ end
+end
+tau = 1/(kk*max(max(Wpm))); % Filter time constant
+epsilon = 1e-2; % Initial controller parameter
+
+s = tf('s');
+F = 1/(1+s*tau+(s*tau)^2/2);
+
+%%%%%%%%%%%%%%% Temporary plot %%%%%%%%%%%%%%%%
+%figure(15);set(gcf,'position',[1250 650 550 440])
+%opts = bodeoptions('cstprefs');
+%opts.YLim = {[0.01,10];[-360,15];[0.01,10];[-360,15]};
+%bodeplot(P,'k',F,'r',opts);hold on
+P = P*F; % Filtered version of the plant
+%bodeplot(P,'b-.',opts); hold off
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Process definition:
+[Pfreq,~] = freqresp(P,omega); % Restructure to cell format
+for ind = 1:length(omega)
+ P_cell{ind}=(Pfreq(:,:,ind));
+end
+P0 = dcgain(P)
+
+% Robustness constraints
+Smax = 1.4;
+Tmax = 1.4;
+Qmax = 30; % Not used anymore
+
+
+% Run optimization
+max_iter = 25;
+
+[Kp, Ki, Kd] = mimopiddesign(P_cell, P0, omega, Smax, Tmax, Qmax, epsilon, tau, max_iter);
+end
\ No newline at end of file
diff --git a/Scripts/TITO/WoodBerry.mat b/Scripts/TITO/WoodBerry.mat
new file mode 100644
index 0000000000000000000000000000000000000000..415ad6f560074c0924a7414baecdad7cd1165530
Binary files /dev/null and b/Scripts/TITO/WoodBerry.mat differ
diff --git a/Scripts/TITO/design_controllers.m b/Scripts/TITO/design_controllers.m
new file mode 100644
index 0000000000000000000000000000000000000000..6e3ab2453569ed67f69a71cb1885ecba320c5bb5
--- /dev/null
+++ b/Scripts/TITO/design_controllers.m
@@ -0,0 +1,15 @@
+clear all;
+load tmpdata/id_models.mat
+%load Gtrue.mat
+
+s = tf('s');
+% % [C.Kp, C.Ki, C.Kd, C.tau] = PIDdesign(Gtrue);
+%F = 1/(1+s*C.tau+(s*C.tau)^2/2);
+%C.tf =F*(C.Kp + 1/s*C.Ki+ s*C.Kd);
+
+[C_hat.Kp, C_hat.Ki, C_hat.Kd, C_hat.tau] = PIDdesign(Ghat);
+F_hat = 1/(1+s*C_hat.tau+(s*C_hat.tau)^2/2);
+C_hat.tf = F_hat*(C_hat.Kp + 1/s*C_hat.Ki+ s*C_hat.Kd);
+
+%save('tmpdata/controllers.mat','C','C_hat')
+save('tmpdata/controllers.mat','C_hat')
\ No newline at end of file
diff --git a/Scripts/TITO/getModels.m b/Scripts/TITO/getModels.m
new file mode 100644
index 0000000000000000000000000000000000000000..9e1e726ecd3eb2e11f96da0a98dd7e39cb8a2f22
--- /dev/null
+++ b/Scripts/TITO/getModels.m
@@ -0,0 +1,10 @@
+clear all
+close all
+clc
+addpath ../identification
+addpath ../experiment
+
+%% experiment and identification
+%models = getPhat('tune_model.mdl');
+%models = getPhat('tune_quadtank.mdl');
+models = getPhat('tune_ystep.mdl');
\ No newline at end of file
diff --git a/Scripts/TITO/identify_etfa.m b/Scripts/TITO/identify_etfa.m
new file mode 100644
index 0000000000000000000000000000000000000000..fba95342cd06c1b1dff49487052b620ae29b53b9
--- /dev/null
+++ b/Scripts/TITO/identify_etfa.m
@@ -0,0 +1,183 @@
+%% identification
+
+ function finalModel = identify_etfa (t,u1,u2,y,Lmax)
+tic
+ % FOTD: b/(s+a)*exp(-s*L)
+ gpoints = 5; % Had 50
+ t_sample=t(end)-t(end-1);
+ Lvec = rand(2,gpoints)*Lmax;
+ Lfix = 0; % Brukade vara 1 men tror inte jag vill ha dem fixa längre?
+
+ %%%%%% Finding decent FOTD models from random points %%%%%%%
+ best1 = getModel(0,0,0,u1,y,Lfix);
+ best2 = getModel(0,0,0,u2,y,Lfix);
+ for idx = 1:gpoints
+ FOTD1 = getModel(0,0,Lvec(1,idx),u1,y, 1); % trying Lfix on these
+ FOTD2 = getModel(0,0,Lvec(2,idx),u2,y, 1);
+ if FOTD1.J < best1.J
+ best1 = FOTD1;
+ end
+ if FOTD2.J < best2.J
+ best2 = FOTD2;
+ end
+ end
+ FOTD.best1 = best1;
+ FOTD.best2 = best2;
+
+ % Looking to see if SOTD models are better
+ [b1,a1,L1,x01] = SOTD_start(best1.p(1),best1.p(2),best1.p(3),best1.p(4),Lmax);
+ SOTD1 = getModel(b1,a1,L1,u1,y,Lfix);
+ if log(SOTD1.J) + 2*4/length(u1) < log(best1.J)+2*3/length(u1) % Akaike IC
+ best1 = SOTD1
+ end
+ [b1,a1,L1,x01] = SOTD_start(best2.p(1),best2.p(2),best2.p(3),best2.p(4),Lmax);
+ SOTD2 = getModel(b1,a1,L1,u2,y,Lfix);
+ if log(SOTD2.J)+2*4/length(u2) < log(best2.J)+2*3/length(u2) % Akaike IC
+ best2 = SOTD2
+ end
+
+ % And the alternative FOTD models from the leftovers.
+ best1_alt = getModel(0,0,0,u1,y-best2.ym,Lfix);
+ best2_alt = getModel(0,0,0,u2,y-best1.ym,Lfix);
+ for idx = 1:gpoints
+ FOTD1_alt = getModel(0,0,Lvec(1,idx),u1,y-best2.ym,1); % Lfix on these
+ FOTD2_alt = getModel(0,0,Lvec(2,idx),u2,y-best1.ym,1);
+ if FOTD1_alt.J < best1_alt.J
+ best1_alt = FOTD1_alt;
+ end
+ if FOTD2_alt.J < best2_alt.J
+ best2_alt = FOTD2_alt;
+ end
+ end
+ FOTD.alt_best1 = best1_alt;
+ FOTD.alt_best2 = best2_alt;
+ % SOTD for alternative
+ [b1,a1,L1,x01] = SOTD_start(best1_alt.p(1),best1_alt.p(2),best1_alt.p(3),best1_alt.p(4),Lmax);
+ SOTD1_alt = getModel(b1,a1,L1,u1,y-best2.ym,Lfix);
+ if log(SOTD1_alt.J)+2*4/length(u1) < log(best1_alt.J)+2*3/length(u1) % Akaike IC
+ best1_alt = SOTD1_alt
+ end
+ [b1,a1,L1,x01] = SOTD_start(best2_alt.p(1),best2_alt.p(2),best2_alt.p(3),best2_alt.p(4),Lmax);
+ SOTD2_alt = getModel(b1,a1,L1,u2,y-best1.ym,Lfix);
+ if log(SOTD2_alt.J)+2*4/length(u1) < log(best2_alt.J)+2*3/length(u2) % Akaike IC
+ best2_alt = SOTD2_alt
+ end
+
+ %%%%%%%%%% Start combining the models %%%%%%%%%%%%%%
+ % First try with only using the best and no random points.
+ % Use the same model orders as the best models have
+ m1 = best1;
+ m2 = best2_alt;
+ m3 = best1_alt;
+ m4 = best2;
+ m5 = FOTD.best1;
+ m6 = FOTD.best2;
+ m7 = FOTD.alt_best1;
+ m8 = FOTD.alt_best2;
+ %%%%%%%%%%%% Från gamla sättet %%%%%%%%%%%%%%
+ model_1 = getModel2(m1.p(1), m1.p(2:1+m1.n), m1.p(m1.n+2),0,0,0,u1,u2,y,Lfix); %best + FOTD
+ model_2 = getModel2(0,0,0,m4.p(1),m4.p(2:1+m4.n),m4.p(m4.n+2),u1,u2,y,Lfix); %FOTD + best
+ model_3 = getModel2(m1.p(1)/2, m1.p(2:1+m1.n), m1.p(m1.n+2),m4.p(1)/2,m4.p(2:1+m4.n),m4.p(m4.n+2),u1,u2,y,Lfix);
+ model_4 = getModel2(m1.p(1), m1.p(2:1+m1.n), m1.p(m1.n+2),m2.p(1),m2.p(2:m2.n+1),m2.p(m2.n+2),u1,u2,y,Lfix);
+ model_5 = getModel2(m3.p(1), m3.p(2:m3.n+1), m3.p(m3.n+2),m4.p(1),m4.p(2:m4.n+1),m4.p(m4.n+2),u1,u2,y,Lfix);
+ % FOTD only versions
+ model_6 = getModel2(m5.p(1), m5.p(2:1+m5.n), m5.p(m5.n+2),0,0,0,u1,u2,y,Lfix);
+ model_7 = getModel2(0,0,0,m6.p(1),m6.p(2:1+m6.n),m6.p(m6.n+2),u1,u2,y,Lfix);
+ model_8 = getModel2(m5.p(1)/2, m5.p(2:1+m5.n), m5.p(m5.n+2),m6.p(1)/2,m6.p(2:1+m6.n),m6.p(m6.n+2),u1,u2,y,Lfix);
+ model_9 = getModel2(m5.p(1), m5.p(2:1+m5.n), m5.p(m5.n+2),m8.p(1),m8.p(2:m8.n+1),m8.p(m8.n+2),u1,u2,y,Lfix);
+ model_10 = getModel2(m7.p(1), m7.p(2:m7.n+1), m7.p(m7.n+2),m6.p(1),m6.p(2:m6.n+1),m6.p(m6.n+2),u1,u2,y,Lfix);
+ % Get the one with smallest AIC cost.
+ models = [model_1,model_2,model_3,model_4, model_5, model_6, model_7, model_8, model_9, model_10];
+ for ind = 1:length(models)
+ mm = models(ind);
+ AIC(ind) = log(mm.J)+2*(mm.n1+2+mm.n2+2)/length(mm.ym);
+ end
+ [~,ind] = min(AIC);
+ best_model_index = ind
+ finalModel.best = models(ind)
+ %%%%%%%%%%%%%
+
+ toc
+
+ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%5
+ function [b1,a1,L1,x01] = SOTD_start(b,a,L,x0,Lmax)
+ Tar = 1/a+L;
+ tau = L/Tar;
+ a1=(exp(1)-1)/(1-tau)/Tar;
+ L1=max(Tar-2/a1,0);
+ L1=min(L1,Lmax);
+
+ if a>0
+ b1=b*a1^2/a;
+ x01=[0 b/b1*x0]; % FIXME: initialize based on FOTD.x0?
+ else
+ b1=0;
+ x01 = [0 x0];
+ end
+ a1=[2*a1 a1^2];
+ end
+
+
+
+ function model = getModel(b,a,L,u,y, Lfix)
+ n=numel(a);
+ m=numel(b);
+ p0=[b a L zeros(1,n)]; % initial parameter row vector
+ lb = [-inf(1,m) -inf(1,n) 0 -inf(1,n)]; % Removed lower bounds on a.
+ ub=[inf(1,n+m) Lmax inf(1,n)]; % upper bound on p
+ opts=optimset('Algorithm','trust-region-reflective',...
+ 'GradObj','on','Hessian','user-supplied','Display','off');
+ [p,J,~,~,~,Jp,Jpp]=fmincon(@(p)Joe_etfa(p,n,t_sample,u,y,Lfix),p0,[],[],[],[],...
+ lb,ub,[],opts);
+
+ % model output
+ [J,~,~,ym,~]=Joe_etfa(p,n,t_sample,u,y, Lfix); %Bytt ut h mot t_sample
+ model.J = J;
+ model.ym=ym;
+ model.p = p;
+ model.n = n;
+ end
+
+ % no longer assumes order of process models is the same
+ function model = getModel2(b1,a1,L1,b2,a2,L2,u1,u2,y,Lfix)
+ n1=numel(a1);
+ n2=numel(a2);
+ m_1=numel(b1);
+ m_2=numel(b2);
+ p1 = [b1 a1 L1 zeros(1,n1)];
+ p2 = [b2 a2 L2 zeros(1,n2)];
+ p0=[p1 p2]; % initial parameter row vector
+ lb=[-inf(1,m_1) zeros(1,n1) 0 -inf(1,n1) -inf(1,m_2) zeros(1,n2) 0 -inf(1,n2)];
+ ub=[inf(1,n1+m_1) Lmax inf(1,n1) inf(1,n2+m_2) Lmax inf(1,n2)]; % upper bound on p
+ opts=optimset('Algorithm','trust-region-reflective',...
+ 'GradObj','on','Hessian','user-supplied','Display','off');
+ [p,J,~,~,~,Jp,Jpp]=fmincon(@(p)Joe2_etfa(p,n1,n2,t_sample,u1,u2,y,Lfix),p0,[],[],[],[],...
+ lb,ub,[],opts);
+ % Second run, sqp algorithm
+ opts=optimset('Algorithm','sqp',...
+ 'GradObj','on','Display','off');
+ [p_2,J2,~,~,~,Jp,Jpp]=fmincon(@(p)Joe2_etfa(p,n1,n2,t_sample,u1,u2,y,Lfix),p0,[],[],[],[],...
+ lb,ub,[],opts);
+ if J2 < J
+ p = p_2;
+ end
+
+ % model output
+ [J,~,~,ym,~,~,~]=Joe2_etfa(p,n1,n2,t_sample,u1,u2,y,Lfix);
+ model.ym=ym;
+ model.p = p;
+ model.p1 = p(1:2*n1+m_1+1);
+ model.p2 = p(2*n1+m_1+2:end);
+ model.J = J;
+ model.n1 = n1;
+ model.n2 = n2;
+ model.b1 = model.p1(1);
+ model.b2 = model.p2(1);
+ model.a1 = model.p1(2:n1+1);
+ model.a2 = model.p2(2:n2+1);
+ model.L1 = model.p1(n1+2);
+ model.L2 = model.p2(n2+2);
+ end
+
+
+ end
\ No newline at end of file
diff --git a/Scripts/TITO/identify_models.m b/Scripts/TITO/identify_models.m
new file mode 100644
index 0000000000000000000000000000000000000000..a69af473486dcf337e088981c7a523199a1de804
--- /dev/null
+++ b/Scripts/TITO/identify_models.m
@@ -0,0 +1,21 @@
+%clear all
+%load tmpdata/sim_data.mat
+
+% Testar med tp/2 som Lmax...
+Lmax = max(result1(19),result2(19))/2;
+finalModel1 = identify_etfa(simdata.t_exp, simdata.u1_exp,simdata.u2_exp, simdata.y1_exp,Lmax);
+new_model = 'yes'
+finalModel2 = identify_etfa(simdata.t_exp,simdata.u1_exp, simdata.u2_exp,simdata.y2_exp,Lmax);
+
+m1 = finalModel1.best;
+m2 = finalModel2.best;
+
+G11hat = tf(m1.b1,[1,m1.a1]); G11hat.InputDelay = m1.L1;
+G12hat = tf(m1.b2,[1,m1.a2]); G12hat.InputDelay = m1.L2;
+G21hat = tf(m2.b1,[1,m2.a1]); G21hat.InputDelay = m2.L1;
+G22hat = tf(m2.b2,[1,m2.a2]); G22hat.InputDelay = m2.L2;
+Ghat = [G11hat G12hat; G21hat G22hat]
+
+
+save('tmpdata/id_models.mat','Ghat','finalModel1','finalModel2')
+save('tmpdata/sim_data.mat','simdata')
diff --git a/Scripts/TITO/mimopiddesign.m b/Scripts/TITO/mimopiddesign.m
new file mode 100644
index 0000000000000000000000000000000000000000..e685cf0da04829243a14ab0d8a027459bb724a31
--- /dev/null
+++ b/Scripts/TITO/mimopiddesign.m
@@ -0,0 +1,96 @@
+function [Kp, Ki, Kd] = mimopiddesign(P, P0, omega, Smax, Tmax, Qmax, epsilon, tau, max_iter)
+% MIMO PID Tuning via Iterated LMI Restriction
+%
+% [Kp,Ki,Kd] = mimopiddesign(P,P0,omega,Smax,Tmax,Qmax,epsilon,tau,max_iter,verbose)
+%
+% Computes a multiple-input multple-output (MIMO) PID controller on the form
+%
+% PID(s) = Kp + 1/s*Ki + s/(1+tau*s)*Kd
+%
+% for the plant described its frequency response P and DC-gain P0. The
+% controller will guaranetee that the maximum singular values of the
+% closed-loop transfer functions S, T, Q and R are less than or equal to
+% the specified maximal values given by Smax, Tmax, Qmax and Rmax.
+%
+% P - cell array with frequency response.
+% P0 - dc gain of the plant.
+% Smax - constraint on the maximum singular value of S = inv(I + P*C).
+% Tmax - constraint on the maximum singular value of T = P*C*S.
+% Qmax - constraint on the maximum singular value of Q = C*S.
+% epsilon - initial controller integral-gain constant
+% tau - derivative filter time constant.
+% max_iter - maximum number of optimization iterations.
+
+cvx_quiet(true);
+
+N = length(omega); % Nbr of frequency points
+[p, m] = size(P0); % Nbr of system inputs and outputs
+
+I = eye(p);
+
+% Controller:
+s = 1i*omega;
+Cprop = ones(1,N); % Proportional part
+Cint = 1./s; % Integral part
+%Cder = s./(1 + tau*s); % Derivative part
+Cder = s; % Derivative part without filter
+
+% Initialization of controller variables
+Kp = zeros(m, p);
+Ki = epsilon*pinv(P0);
+Kd = zeros(m, p);
+
+% Initialization of C and Z
+for k = 1:N
+ C{k}= Cprop(k)*Kp + Cint(k)*Ki + Cder(k)*Kd; % PID-controller
+ Z{k} = I + P{k}*C{k};
+end
+
+% Printing:
+formatSpec = '|%2u| %2.3f | %2.3f | %2.3f | %2.2e |\n';
+fprintf('\n|it| ||S|| | ||T|| | ||Q|| | obj. |\n')
+fprintf('|--|---------|---------|---------|------------|\n')
+
+% Optimization routine
+prev_obj = 0; % Initialize prev_obj
+for iter = 1:max_iter
+ Ztilde = Z;
+ Ztilde0 = P0*Ki;
+ %% Create and solve the convex problem:
+ cvx_begin SDP
+ variables s Kp(m,p) Ki(m,p) Kd(m,p);
+ maximize( s )
+ subject to
+ % Constraint associated with objective function:
+ Z0 = P0*Ki;
+ Z0'*Ztilde0 + Ztilde0'*Z0 - Ztilde0'*Ztilde0 >= s*I;
+ % Robustness contraints:
+ for k = 1:N
+ C{k} = Cprop(k)*Kp + Cint(k)*Ki + Cder(k)*Kd;
+ Z{k} = I + P{k}*C{k};
+ % Constraints on S:
+ Z{k}'*Ztilde{k} + Ztilde{k}'*Z{k} - Ztilde{k}'*Ztilde{k} >= 1/Smax^2*I;
+ % Constraint on T:
+ [Z{k}'*Ztilde{k} + Ztilde{k}'*Z{k} - Ztilde{k}'*Ztilde{k} 1/Tmax*(P{k}*C{k})'
+ 1/Tmax*(P{k}*C{k}) I] >= 0;
+ % Constraint on Q:
+% [Z{k}'*Ztilde{k} + Ztilde{k}'*Z{k} - Ztilde{k}'*Ztilde{k} 1/Qmax*C{k}'
+% 1/Qmax*C{k} I] >= 0;
+ end
+ cvx_end
+
+ for k = 1:N % Calculate the singular values
+ sing_S(k) = norm(I/Z{k});
+ sing_T(k) = norm((P{k}*C{k})/Z{k});
+ sing_Q(k) = norm(C{k}/Z{k});
+ end
+ % Print result:
+ fprintf(formatSpec, iter, max(sing_S), max(sing_T), max(sing_Q), sqrt(s)) % Print result
+ % Stopping criterion
+ if (sqrt(s)-prev_obj) < 1e-3*prev_obj
+ break;
+ end
+ prev_obj = sqrt(s);
+end
+
+end
\ No newline at end of file
diff --git a/Scripts/TITO/plot_controller_performance.m b/Scripts/TITO/plot_controller_performance.m
new file mode 100644
index 0000000000000000000000000000000000000000..824d2d883457f0a68312f83c3ebbfff54994b960
--- /dev/null
+++ b/Scripts/TITO/plot_controller_performance.m
@@ -0,0 +1,54 @@
+clear all
+%load figs/qt_sim_results/all_run_quadtank
+load Gtrue
+P = Gtrue;
+load tmpdata/controllers.mat
+C = C.tf;
+C_hat = C_hat.tf;
+
+% set point changes
+figure(10); set(gcf,'position',[50 650 550 440])
+step(inv(eye(2)+P*C)*P*C,'k')
+hold on
+step(inv(eye(2)+P*C_hat)*P*C_hat,'r')
+hold off
+title('T')
+
+% % set point changes
+% figure(16); set(gcf,'position',[50 650 550 440])
+% step(inv(eye(2)+C*P)*C*P,'k')
+% hold on
+% step(inv(eye(2)+C_hat*P)*C_hat*P,'r')
+% hold off
+% title('T*')
+
+% load disturbances
+figure(11); set(gcf,'position',[650 650 550 440])
+step(inv(eye(2)+P*C)*P,'k')
+hold on
+step(inv(eye(2)+P*C_hat)*P,'r')
+hold off
+title('SP')
+
+% noise response
+figure(12); set(gcf,'position',[50 80 550 440])
+step(inv(eye(2)+P*C),'k')
+hold on
+step(inv(eye(2)+P*C_hat),'r')
+hold off
+title('S')
+
+%
+figure(13); set(gcf,'position',[650 80 550 440])
+step(inv(eye(2)+P*C)*C,'k')
+hold on
+step(inv(eye(2)+P*C_hat)*C_hat,'r')
+hold off
+title('SC')
+
+
+figure(14); set(gcf,'position',[1250 80 550 440])
+bode(C,'k')
+hold on
+bode(C_hat,'r')
+hold off
\ No newline at end of file
diff --git a/Scripts/TITO/plot_models.m b/Scripts/TITO/plot_models.m
new file mode 100644
index 0000000000000000000000000000000000000000..9774ab3ab2c4c9b9273dabf5ae5d7b4af8fdbded
--- /dev/null
+++ b/Scripts/TITO/plot_models.m
@@ -0,0 +1,45 @@
+clear all;
+load tmpdata/sim_data.mat
+load tmpdata/id_models.mat
+%load Gtrue
+if exist('Gtrue','var') == 0
+ Gtrue = tf(0);
+end
+
+t = simdata.t_exp;
+u1 = simdata.u1_exp;
+u2 = simdata.u2_exp;
+y1 = simdata.y1_exp;
+y2 = simdata.y2_exp;
+
+%Removing points and plotting
+[tr11,ur1] = removePoints(t,u1);
+[tr21,yr1] = removePoints(t,y1);
+[tr31,ym1] = removePoints(t,finalModel1.best.ym);
+
+[tr12,ur2] = removePoints(t,u2);
+[tr22,yr2] = removePoints(t,y2);
+[tr32,ym2] = removePoints(t,finalModel2.best.ym);
+
+figure(1);
+subplot(211)
+plot(tr11,ur1,'b')
+hold on
+plot(tr21,yr1,'r')
+plot(tr31,ym1,'k','LineWidth',1) % normalized to y0
+hold off
+legend('u_1','y_1','y_{m1}')
+
+subplot(212)
+plot(tr12,ur2,'b')
+hold on
+plot(tr22,yr2,'r')
+plot(tr32,ym2,'k','LineWidth',1) %normalized to y0
+hold off
+legend('u_2','y_2','y_{m2}')
+
+figure(2)
+bodeplot(Ghat,'r',Gtrue,'k'); set(gcf,'position',[1250 80 550 440])
+opts = bodeoptions('cstprefs');
+opts.YLim = {[0.01,25];[-270,15];[0.01,25];[-270,15]};
+bodeplot(Ghat,'r',Gtrue,'k',opts)
diff --git a/Scripts/TITO/removePoints.m b/Scripts/TITO/removePoints.m
new file mode 100644
index 0000000000000000000000000000000000000000..70f531a401b30abc61c2f5c483d02200e251bbc7
--- /dev/null
+++ b/Scripts/TITO/removePoints.m
@@ -0,0 +1,46 @@
+function [xvec,yvec] = removePoints(xvec,yvec,str)
+% Removing all equal y-points except for the endpoints. Optional 3rd argument to display
+% the results by 'check plot', 'check nbr' or 'check all'.
+showPlot = 0;
+showNbr = 0;
+if nargin > 2
+ if strcmp(str,'check plot')
+ showPlot = 1;
+ hej = 27
+ elseif strcmp(str,'check all')
+ showPlot = 1;
+ showNbr = 1;
+ elseif strcmp(str,'check nbr')
+ showNbr = 1;
+ else
+ warning(strcat('argument "',str,'" not known'))
+ end
+end
+if length(xvec) ~= length(yvec)
+ error('Vectors must have the same length!')
+end
+x = xvec; y = yvec;
+XpointsToRemove = [];
+
+y1 = yvec(1:end-2);
+y2 = yvec(2:end-1);
+y3 = yvec(3:end);
+YpointsToRemove1 = find(y1-y2==0)+1;
+YpointsToRemove2 = find(y2-y3==0)+1;
+YpointsToRemove = intersect(YpointsToRemove1,YpointsToRemove2);
+
+pointsToRemove = union(XpointsToRemove,YpointsToRemove);
+xvec(pointsToRemove) = [];
+yvec(pointsToRemove) = [];
+if showNbr == 1
+ nbrOfRemoved = length(pointsToRemove)
+end
+if showPlot == 1
+ figure()
+ plot(x,y)
+ hold on
+ plot(xvec,yvec,'r')
+ hold off
+ legend('original','reduced')
+end
+end
\ No newline at end of file
diff --git a/Scripts/TITO/simulate_experiment.m b/Scripts/TITO/simulate_experiment.m
new file mode 100644
index 0000000000000000000000000000000000000000..342d5e44238eb0dcfca9872b1b41e1dc2fa5c28c
--- /dev/null
+++ b/Scripts/TITO/simulate_experiment.m
@@ -0,0 +1,35 @@
+%clear all
+%[simdata.u1,simdata.y1,simdata.t, simdata.u2, simdata.y2, result]=runSim(simopt,params);
+
+% make current workspace available to the simulator
+options = simset('SrcWorkspace','current');
+warning('off','Simulink:blocks:TDelayDirectThroughAutoSet')
+sim('autotuner_tito_2012a',[],options)
+warning('on','Simulink:blocks:TDelayDirectThroughAutoSet')
+
+% extract signals
+simdata.t=simout.time;
+data=simout.signals.values;
+simdata.u1=data(:,1);
+simdata.y1=data(:,2);
+simdata.u2=data(:,3);
+simdata.y2=data(:,4);
+result = result.signals.values;
+
+
+%load sim_params.mat
+
+result1 = result(1:23);
+result2 = result(24:end);
+
+% To not do the estimation on the noise measuring interval
+t_exp_start = result2(23);
+exp_start = find(simdata.t > t_exp_start); % Temporary, should be larger than uref or something
+exp_stop = find(simdata.t > max(result1(17),result2(17)));
+simdata.t_exp = simdata.t(exp_start:exp_stop);
+simdata.u1_exp = simdata.u1(exp_start:exp_stop)-result1(16); % removes setpoint offsets
+simdata.u2_exp = simdata.u2(exp_start:exp_stop)-result2(16);
+simdata.y1_exp = simdata.y1(exp_start:exp_stop)-result1(15);
+simdata.y2_exp = simdata.y2(exp_start:exp_stop)-result2(15);
+
+save('tmpdata/sim_data.mat','simdata','result1','result2','params')
diff --git a/Scripts/TITO/slprj/_jitprj/jitEngineAccessInfo.mat b/Scripts/TITO/slprj/_jitprj/jitEngineAccessInfo.mat
new file mode 100644
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