setProcessDisturbance

Sets a disturbance to a process, read from a matrix

  Usage:
    >> ocp.setProcessDisturbance(d)

  Parameters:
    d       disturbance matrix    (n x m  MATRIX)
         where n = number of time steps
               m = (number of disturbances) - 1
         the first column represents the time points
         the second column represents the first disturbance
         [the thirth column represents the second disturbance]

  Example:
    >> Disturbance R;
    >> Disturbance W;
    >> disturbance = [
         0.0       0.00   0.00
         0.5       0.00   1.00 
         1.0       0.00   1.50
         1.5       1.00   0.00
        ];
       % TIME       R      W
    >>
    >> process = acado.Process();
    >> process.setProcessDisturbance(disturbance);

  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: 2010

0001 function setProcessDisturbance(obj, varargin)
0002 %Sets a disturbance to a process, read from a matrix
0003 %
0004 %  Usage:
0005 %    >> ocp.setProcessDisturbance(d)
0006 %
0007 %  Parameters:
0008 %    d       disturbance matrix    (n x m  MATRIX)
0009 %         where n = number of time steps
0010 %               m = (number of disturbances) - 1
0011 %         the first column represents the time points
0012 %         the second column represents the first disturbance
0013 %         [the thirth column represents the second disturbance]
0014 %
0015 %  Example:
0016 %    >> Disturbance R;
0017 %    >> Disturbance W;
0018 %    >> disturbance = [
0019 %         0.0       0.00   0.00
0020 %         0.5       0.00   1.00
0021 %         1.0       0.00   1.50
0022 %         1.5       1.00   0.00
0023 %        ];
0024 %       % TIME       R      W
0025 %    >>
0026 %    >> process = acado.Process();
0027 %    >> process.setProcessDisturbance(disturbance);
0028 %
0029 %  Licence:
0030 %    This file is part of ACADO Toolkit  - (http://www.acadotoolkit.org/)
0031 %
0032 %    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
0033 %    Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven.
0034 %    Developed within the Optimization in Engineering Center (OPTEC) under
0035 %    supervision of Moritz Diehl. All rights reserved.
0036 %
0037 %    ACADO Toolkit is free software; you can redistribute it and/or
0038 %    modify it under the terms of the GNU Lesser General Public
0039 %    License as published by the Free Software Foundation; either
0040 %    version 3 of the License, or (at your option) any later version.
0041 %
0042 %    ACADO Toolkit is distributed in the hope that it will be useful,
0043 %    but WITHOUT ANY WARRANTY; without even the implied warranty of
0044 %    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
0045 %    Lesser General Public License for more details.
0046 %
0047 %    You should have received a copy of the GNU Lesser General Public
0048 %    License along with ACADO Toolkit; if not, write to the Free Software
0049 %    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
0050 %
0051 %    Author: David Ariens
0052 %    Date: 2010
0053 %
0054 
0055 
0056  %http://www.mathworks.com/access/helpdesk/help/techdoc/ref/dlmwrite.html
0057 
0058 if (length(varargin) == 1) 
0059     
0060     obj.disturbance = acado.Matrix(varargin{1});
0061     
0062 else %error
0063    error('ERROR: Invalid setProcessDisturbance call. <a href="matlab: help acado.Process.setProcessDisturbance">help acado.Process.setProcessDisturbance</a>'); 
0064 end
0065 
0066 
0067 end