Initialization of the algebraic states. Initialize algebraic states on
different time points. The matrix M can contain multiple rows for
different initializations of the algebraic states. Note that these are
only initializations, the optimization routine is not forced to use these
values exactly. If values should be fixed, use "ocp.subjectTo".
Usage:
>> algo.initializeAlgebraicStates(M)
Parameters:
M m x (n_z + 1) Matrix with initial values
where m = number of different initializations on different times
n_z = number of algebraic states
the first column represents the time points
the second column represents the first state
the thirth column represents the second state
...
A warning will be shown when the number of columns is not equal to the
number of algebraic states + 1 (the time);
Example:
Example 1: Initialize initial (on t=0) values of 2 algebraic states.
Initial values are: z1(0) = 5 and z2(0) = 2.5. In this case the matrix
M will have one row, the first element is '0' (the time), the second
and thirth element are 5 and 2.5 (note that the sequence should be the
same as how the algebraic states are defined)
>> AlgebraicState z1 z2;
>> M = [0 5 2.5];
>> algo.initializeAlgebraicStates(M);
Example 2: Initialize on t=0 and t=1 (for example we know what these
values will be due to other calculations). Initial values are:
z1(0) = 5, z2(0) = 2.5 and z1(1) = 5.5, z2(1) = -1
>> AlgebraicState z1 z2;
>> M = [0 5 2.5
1 5.5 -1];
>> algo.initializeAlgebraicStates(M);
Example 3: Although we have two algebraic states, we only want to
initialize the first: z1(0) = 5. In this case the matrix should only
contain one extra column next to the time reference. Note that a
warning will be displayed to indicate a possible problem. Ignore this
warning.
>> AlgebraicState z1 z2;
>> M = [0 5];
>> algo.initializeAlgebraicStates(M);
Example 4: We only want to initialize the second state: z2(0) = 2.5.
In this case you should reverse the order how the algebraic states are
defined!
>> AlgebraicState z2 z1;
>> M = [0 2.5];
>> algo.initializeAlgebraicStates(M);
Licence:
This file is part of ACADO Toolkit - (http://www.acadotoolkit.org/)
ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven.
Developed within the Optimization in Engineering Center (OPTEC) under
supervision of Moritz Diehl. All rights reserved.
ACADO Toolkit is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 3 of the License, or (at your option) any later version.
ACADO Toolkit is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with ACADO Toolkit; if not, write to the Free Software
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
Author: David Ariens
Date: 20100001 function initializeAlgebraicStates(obj, varargin) 0002 %Initialization of the algebraic states. Initialize algebraic states on 0003 % different time points. The matrix M can contain multiple rows for 0004 % different initializations of the algebraic states. Note that these are 0005 % only initializations, the optimization routine is not forced to use these 0006 % values exactly. If values should be fixed, use "ocp.subjectTo". 0007 % 0008 % Usage: 0009 % >> algo.initializeAlgebraicStates(M) 0010 % 0011 % Parameters: 0012 % M m x (n_z + 1) Matrix with initial values 0013 % where m = number of different initializations on different times 0014 % n_z = number of algebraic states 0015 % the first column represents the time points 0016 % the second column represents the first state 0017 % the thirth column represents the second state 0018 % ... 0019 % 0020 % A warning will be shown when the number of columns is not equal to the 0021 % number of algebraic states + 1 (the time); 0022 % 0023 % Example: 0024 % Example 1: Initialize initial (on t=0) values of 2 algebraic states. 0025 % Initial values are: z1(0) = 5 and z2(0) = 2.5. In this case the matrix 0026 % M will have one row, the first element is '0' (the time), the second 0027 % and thirth element are 5 and 2.5 (note that the sequence should be the 0028 % same as how the algebraic states are defined) 0029 % >> AlgebraicState z1 z2; 0030 % >> M = [0 5 2.5]; 0031 % >> algo.initializeAlgebraicStates(M); 0032 % 0033 % Example 2: Initialize on t=0 and t=1 (for example we know what these 0034 % values will be due to other calculations). Initial values are: 0035 % z1(0) = 5, z2(0) = 2.5 and z1(1) = 5.5, z2(1) = -1 0036 % >> AlgebraicState z1 z2; 0037 % >> M = [0 5 2.5 0038 % 1 5.5 -1]; 0039 % >> algo.initializeAlgebraicStates(M); 0040 % 0041 % Example 3: Although we have two algebraic states, we only want to 0042 % initialize the first: z1(0) = 5. In this case the matrix should only 0043 % contain one extra column next to the time reference. Note that a 0044 % warning will be displayed to indicate a possible problem. Ignore this 0045 % warning. 0046 % >> AlgebraicState z1 z2; 0047 % >> M = [0 5]; 0048 % >> algo.initializeAlgebraicStates(M); 0049 % 0050 % Example 4: We only want to initialize the second state: z2(0) = 2.5. 0051 % In this case you should reverse the order how the algebraic states are 0052 % defined! 0053 % >> AlgebraicState z2 z1; 0054 % >> M = [0 2.5]; 0055 % >> algo.initializeAlgebraicStates(M); 0056 % 0057 % 0058 % Licence: 0059 % This file is part of ACADO Toolkit - (http://www.acadotoolkit.org/) 0060 % 0061 % ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization. 0062 % Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven. 0063 % Developed within the Optimization in Engineering Center (OPTEC) under 0064 % supervision of Moritz Diehl. All rights reserved. 0065 % 0066 % ACADO Toolkit is free software; you can redistribute it and/or 0067 % modify it under the terms of the GNU Lesser General Public 0068 % License as published by the Free Software Foundation; either 0069 % version 3 of the License, or (at your option) any later version. 0070 % 0071 % ACADO Toolkit is distributed in the hope that it will be useful, 0072 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0073 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 0074 % Lesser General Public License for more details. 0075 % 0076 % You should have received a copy of the GNU Lesser General Public 0077 % License along with ACADO Toolkit; if not, write to the Free Software 0078 % Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 0079 % 0080 % Author: David Ariens 0081 % Date: 2010 0082 % 0083 0084 global ACADO_; 0085 0086 if (length(varargin) == 1) 0087 0088 [m n] = size(varargin{1}); 0089 if (length(ACADO_.helper.z) == n) 0090 warning('ACADO:initialize', 'Possible problem in initializeAlgebraicStates. You have %d algebraic states and the number of columns in the initialisation matrix is also %d. This is probably not correct since the first column should contain a time reference. This matrix should thus have %d columns. See also <a href="matlab: help acado.OptimizationAlgorithm.initializeAlgebraicStates">help acado.OptimizationAlgorithm.initializeAlgebraicStates</a>', length(ACADO_.helper.z), n, length(ACADO_.helper.z)+1); 0091 elseif (length(ACADO_.helper.z) ~= (n-1)) 0092 warning('ACADO:initialize', 'Possible problem in initializeAlgebraicStates. You have %d algebraic states and the number of columns in the initialisation matrix is %d. First column should be a time reference, the next columns should be initialisations for all algebraic states. This matrix should thus have %d columns. See also <a href="matlab: help acado.OptimizationAlgorithm.initializeAlgebraicStates">help acado.OptimizationAlgorithm.initializeAlgebraicStates</a>', length(ACADO_.helper.z), n, length(ACADO_.helper.z)+1); 0093 end 0094 0095 obj.initalgstates = acado.Matrix(varargin{1}); 0096 0097 else %error 0098 0099 error('ERROR: Invalid initializeAlgebraicStates call. <a href="matlab: help acado.OptimizationAlgorithm.initializeAlgebraicStates">help acado.OptimizationAlgorithm.initializeAlgebraicStates</a>'); 0100 0101 end 0102 0103 0104 end