Started furuta implementation

src/LabProcesses.jl

@@ -17,6 +17,7 @@ include("interface.jl")
 include("interface_documentation.jl")
 include("interface_implementations/ballandbeam.jl")
 include("interface_implementations/eth_helicopter.jl")
+include("interface_implementations/furuta.jl")
 
 include("reference_generators.jl")
 include("controllers.jl")

src/interface_implementations/define_furuta_system.jl

+using ControlSystems
+
+"""
+    Furuta pendulum model
+"""
+function define_furuta_system()
+    l=0.413;
+    M=0.01;
+    Jp=0.0009;
+    r=0.235;
+    J=0.05;
+    m=0.02;
+    g=9.81;
+    x0=[0.1; 0; 0; 0];
+    phidot_lin=0;
+
+
+    alfa=Jp+M*l^2;
+    beta=J+M*r^2+m*r^2;
+    gamma=M*r*l;
+    epsilon=l*g*(M+m/2);
+
+    Afc=[0 1 0 0;
+         (beta*epsilon+alfa*beta*phidot_lin^2)/(alfa*beta-gamma^2) 0 0 0;
+         0 0 0 1;
+         -(gamma*epsilon+alfa*gamma*phidot_lin^2)/(alfa*beta-gamma^2) 0 0 0];
+    Bfc=[0 -gamma/(alfa*beta-gamma^2)*g 0 alfa/(alfa*beta-gamma^2)*g]';
+    Cfc=zeros(4,4);
+    for i = 1:4
+        Cfc[i,i] = 1;
+    end
+    Dfc=zeros(4,1);
+    ss(Afc,Bfc,Cfc,Dfc)
+end

src/interface_implementations/furuta.jl

+# Interface implementation Furuta Pendulum ====================================================
+
+export Furuta, FurutaSimulator, AbstractFuruta
+
+# @with_kw allows specification of default values for fields. If none is given, this value must be supplied by the user. replaces many constructors that would otherwise only supply default values.
+# Call constructor like Furuta(bias=1.0) if you want a non-default value for bias
+
+#    Furuta(;kwargs...)
+#Physical Furuta process
+
+#Arguments (fields)
+#- `h::Float64 = 0.01`
+#- `bias::Float64 = 0.0`
+#- `stream::LabStream = ComediStream()`
+#- `measure::AnalogInput10V = AnalogInput10V(0)`
+#- `control::AnalogOutput10V = AnalogOutput10V(1)`
+
+struct Furuta <: PhysicalProcess
+    h::Float64
+    bias::Float64
+    stream::LabStream
+    measure::AnalogInput10V
+    control::AnalogOutput10V
+end
+function Furuta(;
+    h::Float64               = 0.01,
+    bias::Float64            = 0.,
+    stream::LabStream        = ComediStream(),
+    measure::AnalogInput10V  = AnalogInput10V(0),
+    control::AnalogOutput10V = AnalogOutput10V(1))
+    p = Furuta(Float64(h),Float64(bias),stream,measure,control)
+    init_devices!(p.stream, p.measure, p.control)
+    p
+end
+
+include("define_furuta_system.jl")
+const furuta_system = define_furuta_system()
+
+struct FurutaSimulator <: SimulatedProcess
+    h::Float64
+    s::SysFilter
+    FurutaSimulator(;h::Real = 0.01, bias=0) = new(Float64(h), SysFilter(furuta_system, h))
+end
+#FurutaSimulator() = FurutaSimulator()
+
+const AbstractFuruta              = Union{Furuta, FurutaSimulator}
+num_outputs(p::AbstractFuruta)             = 1
+num_inputs(p::AbstractFuruta)             = 1
+outputrange(p::AbstractFuruta)             = [(-10,10)]
+inputrange(p::AbstractFuruta)             = [(-10,10)]
+isstable(p::AbstractFuruta)    = false
+isasstable(p::AbstractFuruta)  = false
+sampletime(p::AbstractFuruta)  = p.h
+bias(p::AbstractFuruta)        = p.bias
+
+function control(p::AbstractFuruta, u::AbstractArray)
+    length(u) == 1 || error("Process $(typeof(p)) only accepts one control signal, tried to send u=$u.")
+    control(p,u[1])
+end
+
+control(p::AbstractFuruta, u::Number) = send(p.control,u)
+control(p::FurutaSimulator, u::Number)             = p.s(u)
+
+
+measure(p::Furuta)                         = read(p.measure)
+measure(p::FurutaSimulator)                = p.s.sys.C*p.s.state
+
+initialize(p::Furuta)                    = nothing
+finalize(p::Furuta)             = foreach(close, p.stream.devices)
+initialize(p::FurutaSimulator)           = nothing
+finalize(p::FurutaSimulator)             = nothing