Gitlab Runner Update from orc-aux-files/master:Add slides for 17_1

ORC/exercise-files/Exercise_material_SoSe_2021/code/E_17_1/Designs/Design1.m

+function [filters,K,hinf]=Design1(G1,G2)
+% Design Wk
+Wk=4.6;
+
+% Design Ws
+lg1=12;
+hg1=2;
+wb1=0.02;
+order1=1;
+Ws=get_shaping_filter(lg1,hg1,wb1,order1);
+
+% Design Vd
+lg2=23;
+hg2=12;
+wb2=1;
+order2=2;
+Vd=1*get_shaping_filter(lg2,hg2,wb2,order2);
+
+% Design Vr
+Vr=0.95;
+%% Convert to state space
+Ws=ss(Ws);
+Wk=ss(Wk);
+Vd=ss(Vd);
+Vr=ss(Vr);
+
+filters=struct;
+filters.Ws=Ws;
+filters.Wk=Wk;
+filters.Vd=Vd;
+filters.Vr=Vr;
+
+%% Plot combined shaping filters
+
+figure()
+subplot(221);   sigma(inv(Ws*Vr),'r-'); title('inv(Ws*Vr)')
+subplot(222);   sigma(inv(Ws*Vd),'r-'); title('inv(Ws*Vd)')
+subplot(223);   sigma(inv(Wk*Vr),'r-'); title('inv(Wk*Vr)')
+subplot(224);   sigma(inv(Wk*Vd),'r-'); title('inv(Wk*Vd)')
+%% Construct generalized plant with  Gd and prefilters
+
+
+%
+% r --->| Vr |---------------------+
+%                                  |
+% d --->|0.5*Vd |--+              |
+%                   |              |
+%      +----------- | ------------ | ------->| Wk |-------> zk
+%      |            |              |
+%      |    ____    v    ____      v   e
+% u --+--->| G1 |-->O-->| G2 |---->O-----+-->| Ws |-------> zs
+%           ----         ----  y  -      |
+%                                        +----------------> e
+
+systemnames = 'G1 G2 Ws Wk Vr Vd';
+inputvar    = '[r(1); d(1); u(1)]';
+input_to_Vr = '[r]';
+input_to_Vd = '[d]';
+input_to_G1 = '[u]';
+input_to_G2 = '[G1 + 0.5*Vd]';
+input_to_Wk = '[u]';
+input_to_Ws = '[Vr-G2]';
+outputvar   = '[Wk; Ws; Vr-G2]';
+% cleanupsysic = 'yes';
+
+GSYS = sysic;
+%% Design the controller
+
+[K, CL, hinf] = hinfsyn(GSYS, 1, 1);    % 1 measured output, 1 controller input
+end
\ No newline at end of file

ORC/exercise-files/Exercise_material_SoSe_2021/code/E_17_1/Designs/Design10.m

+function [filters,K,hinf]=Design10(G1,G2)
+% Design Wk
+Wk=1;
+
+%Design Ws
+% lg1=50;
+% hg1=1;
+% wb1=10;
+% order1=1;
+% Ws=get_shaping_filter(lg1,hg1,wb1,order1);
+Ws=1;
+
+% Design Vd
+Vd=get_shaping_filter(1e3,1e-10,1,1);
+
+
+% Design Vr
+Vr=get_shaping_filter(1e3,1e-10,1,1);
+%Vr=1;
+%% Convert to state space
+Ws=ss(Ws);
+Wk=ss(Wk);
+Vd=ss(Vd);
+Vr=ss(Vr);
+
+filters=struct;
+filters.Ws=Ws;
+filters.Wk=Wk;
+filters.Vd=Vd;
+filters.Vr=Vr;
+
+%% Plot combined shaping filters
+
+figure()
+subplot(221);   sigma(inv(Ws*Vr),'r-'); title('inv(Ws*Vr)')
+subplot(222);   sigma(inv(Ws*Vd),'r-'); title('inv(Ws*Vd)')
+subplot(223);   sigma(inv(Wk*Vr),'r-'); title('inv(Wk*Vr)')
+subplot(224);   sigma(inv(Wk*Vd),'r-'); title('inv(Wk*Vd)')
+%% Construct generalized plant with  Gd and prefilters
+
+
+%
+% r --->| Vr |---------------------+
+%                                  |
+% d --->|0.5*Vd |--+              |
+%                   |              |
+%      +----------- | ------------ | ------->| Wk |-------> zk
+%      |            |              |
+%      |    ____    v    ____      v   e
+% u --+--->| G1 |-->O-->| G2 |---->O-----+-->| Ws |-------> zs
+%           ----         ----  y  -      |
+%                                        +----------------> e
+
+systemnames = 'G1 G2 Ws Wk Vr Vd';
+inputvar    = '[r(1); d(1); u(1)]';
+input_to_Vr = '[r]';
+input_to_Vd = '[d]';
+input_to_G1 = '[u]';
+input_to_G2 = '[G1 + 0.5*Vd]';
+input_to_Wk = '[u]';
+input_to_Ws = '[Vr-G2]';
+outputvar   = '[Wk; Ws; Vr-G2]';
+% cleanupsysic = 'yes';
+
+GSYS = sysic;
+%% Design the controller
+
+[K, CL, hinf] = hinfsyn(GSYS, 1, 1);    % 1 measured output, 1 controller input
+end
\ No newline at end of file

ORC/exercise-files/Exercise_material_SoSe_2021/code/E_17_1/Designs/Design101.m

+function [filters,K,hinf]=Design101(G1,G2)
+% Design Wk
+Wk=0.13;
+
+% Design Ws
+% lg1=12;
+% hg1=30;
+% wb1=100;
+% order1=1;
+% Ws=get_shaping_filter(lg1,hg1,wb1,order1);
+Ws=1;
+
+% Design Vd
+Vd=get_shaping_filter(1,1e-6,0.0006,1);
+
+% Design Vr
+Vr=get_shaping_filter(1,1e-6,0.00001,1);
+%% Convert to state space
+Ws=ss(Ws);
+Wk=ss(Wk);
+Vd=ss(Vd);
+Vr=ss(Vr);
+
+filters=struct;
+filters.Ws=Ws;
+filters.Wk=Wk;
+filters.Vd=Vd;
+filters.Vr=Vr;
+
+%% Plot combined shaping filters
+
+figure()
+subplot(221);   sigma(inv(Ws*Vr),'r-'); title('inv(Ws*Vr)')
+subplot(222);   sigma(inv(Ws*Vd),'r-'); title('inv(Ws*Vd)')
+subplot(223);   sigma(inv(Wk*Vr),'r-'); title('inv(Wk*Vr)')
+subplot(224);   sigma(inv(Wk*Vd),'r-'); title('inv(Wk*Vd)')
+%% Construct generalized plant with  Gd and prefilters
+
+
+%
+% r --->| Vr |---------------------+
+%                                  |
+% d --->|0.5*Vd |--+              |
+%                   |              |
+%      +----------- | ------------ | ------->| Wk |-------> zk
+%      |            |              |
+%      |    ____    v    ____      v   e
+% u --+--->| G1 |-->O-->| G2 |---->O-----+-->| Ws |-------> zs
+%           ----         ----  y  -      |
+%                                        +----------------> e
+
+systemnames = 'G1 G2 Ws Wk Vr Vd';
+inputvar    = '[r(1); d(1); u(1)]';
+input_to_Vr = '[r]';
+input_to_Vd = '[d]';
+input_to_G1 = '[u]';
+input_to_G2 = '[G1 + 0.5*Vd]';
+input_to_Wk = '[u]';
+input_to_Ws = '[Vr-G2]';
+outputvar   = '[Wk; Ws; Vr-G2]';
+% cleanupsysic = 'yes';
+
+GSYS = sysic;
+%% Design the controller
+
+[K, CL, hinf] = hinfsyn(GSYS, 1, 1);    % 1 measured output, 1 controller input
+end
\ No newline at end of file

ORC/exercise-files/Exercise_material_SoSe_2021/code/E_17_1/Designs/Design102.m

+function [filters,K,hinf]=Design102(G1,G2)
+% Design Wk
+Wk=0.23;
+
+% Design Ws
+% lg1=12;
+% hg1=30;
+% wb1=100;
+% order1=1;
+% Ws=get_shaping_filter(lg1,hg1,wb1,order1);
+Ws=1;
+
+% Design Vd
+Vd=get_shaping_filter(1,1e-6,0.006,1);
+
+% Design Vr
+Vr=get_shaping_filter(1,1e-6,0.00001,1);
+%% Convert to state space
+Ws=ss(Ws);
+Wk=ss(Wk);
+Vd=ss(Vd);
+Vr=ss(Vr);
+
+filters=struct;
+filters.Ws=Ws;
+filters.Wk=Wk;
+filters.Vd=Vd;
+filters.Vr=Vr;
+
+%% Plot combined shaping filters
+
+figure()
+subplot(221);   sigma(inv(Ws*Vr),'r-'); title('inv(Ws*Vr)')
+subplot(222);   sigma(inv(Ws*Vd),'r-'); title('inv(Ws*Vd)')
+subplot(223);   sigma(inv(Wk*Vr),'r-'); title('inv(Wk*Vr)')
+subplot(224);   sigma(inv(Wk*Vd),'r-'); title('inv(Wk*Vd)')
+%% Construct generalized plant with  Gd and prefilters
+
+
+%
+% r --->| Vr |---------------------+
+%                                  |
+% d --->|0.5*Vd |--+              |
+%                   |              |
+%      +----------- | ------------ | ------->| Wk |-------> zk
+%      |            |              |
+%      |    ____    v    ____      v   e
+% u --+--->| G1 |-->O-->| G2 |---->O-----+-->| Ws |-------> zs
+%           ----         ----  y  -      |
+%                                        +----------------> e
+
+systemnames = 'G1 G2 Ws Wk Vr Vd';
+inputvar    = '[r(1); d(1); u(1)]';
+input_to_Vr = '[r]';
+input_to_Vd = '[d]';
+input_to_G1 = '[u]';
+input_to_G2 = '[G1 + 0.5*Vd]';
+input_to_Wk = '[u]';
+input_to_Ws = '[Vr-G2]';
+outputvar   = '[Wk; Ws; Vr-G2]';
+% cleanupsysic = 'yes';
+
+GSYS = sysic;
+%% Design the controller
+
+[K, CL, hinf] = hinfsyn(GSYS, 1, 1);    % 1 measured output, 1 controller input
+end
\ No newline at end of file

ORC/exercise-files/Exercise_material_SoSe_2021/code/E_17_1/Designs/Design2.m

+function [filters,K,hinf]=Design2(G1,G2)
+% Design Wk
+Wk=3.6;
+
+% Design Ws
+lg1=12;
+hg1=2;
+wb1=0.02;
+order1=1;
+Ws=get_shaping_filter(lg1,hg1,wb1,order1);
+
+% Design Vd
+lg2=40;
+hg2=12;
+wb2=3;
+order2=2;
+Vd=1*get_shaping_filter(lg2,hg2,wb2,order2);
+
+% Design Vr
+Vr=0.95;
+%% Convert to state space
+Ws=ss(Ws);
+Wk=ss(Wk);
+Vd=ss(Vd);
+Vr=ss(Vr);
+
+filters=struct;
+filters.Ws=Ws;
+filters.Wk=Wk;
+filters.Vd=Vd;
+filters.Vr=Vr;
+
+%% Plot combined shaping filters
+
+figure()
+subplot(221);   sigma(inv(Ws*Vr),'r-'); title('inv(Ws*Vr)')
+subplot(222);   sigma(inv(Ws*Vd),'r-'); title('inv(Ws*Vd)')
+subplot(223);   sigma(inv(Wk*Vr),'r-'); title('inv(Wk*Vr)')
+subplot(224);   sigma(inv(Wk*Vd),'r-'); title('inv(Wk*Vd)')
+%% Construct generalized plant with  Gd and prefilters
+
+
+%
+% r --->| Vr |---------------------+
+%                                  |
+% d --->|0.5*Vd |--+              |
+%                   |              |
+%      +----------- | ------------ | ------->| Wk |-------> zk
+%      |            |              |
+%      |    ____    v    ____      v   e
+% u --+--->| G1 |-->O-->| G2 |---->O-----+-->| Ws |-------> zs
+%           ----         ----  y  -      |
+%                                        +----------------> e
+
+systemnames = 'G1 G2 Ws Wk Vr Vd';
+inputvar    = '[r(1); d(1); u(1)]';
+input_to_Vr = '[r]';
+input_to_Vd = '[d]';
+input_to_G1 = '[u]';
+input_to_G2 = '[G1 + 0.5*Vd]';
+input_to_Wk = '[u]';
+input_to_Ws = '[Vr-G2]';
+outputvar   = '[Wk; Ws; Vr-G2]';
+% cleanupsysic = 'yes';
+
+GSYS = sysic;
+%% Design the controller
+
+[K, CL, hinf] = hinfsyn(GSYS, 1, 1);    % 1 measured output, 1 controller input
+end
\ No newline at end of file

ORC/exercise-files/Exercise_material_SoSe_2021/code/E_17_1/Designs/Design201.m

+function [filters,K,hinf]=Design201(G1,G2)
+% Design Wk
+Wk=100*get_shaping_filter(1e6,1e-6,1e5,1);
+
+% Design Ws
+% lg1=12;
+% hg1=30;
+% wb1=100;
+% order1=1;
+% Ws=get_shaping_filter(lg1,hg1,wb1,order1);
+Ws=1;
+
+% Design Vd
+Vd=get_shaping_filter(1,1e-6,0.0006,1);
+
+% Design Vr
+Vr=get_shaping_filter(1,1e-6,0.00001,1);
+%% Convert to state space
+Ws=ss(Ws);
+Wk=ss(Wk);
+Vd=ss(Vd);
+Vr=ss(Vr);
+
+filters=struct;
+filters.Ws=Ws;
+filters.Wk=Wk;
+filters.Vd=Vd;
+filters.Vr=Vr;
+
+%% Plot combined shaping filters
+
+figure()
+subplot(221);   sigma(inv(Ws*Vr),'r-'); title('inv(Ws*Vr)')
+subplot(222);   sigma(inv(Ws*Vd),'r-'); title('inv(Ws*Vd)')
+subplot(223);   sigma(inv(Wk*Vr),'r-'); title('inv(Wk*Vr)')
+subplot(224);   sigma(inv(Wk*Vd),'r-'); title('inv(Wk*Vd)')
+%% Construct generalized plant with  Gd and prefilters
+
+
+%
+% r --->| Vr |---------------------+
+%                                  |
+% d --->|0.5*Vd |--+              |
+%                   |              |
+%      +----------- | ------------ | ------->| Wk |-------> zk
+%      |            |              |
+%      |    ____    v    ____      v   e
+% u --+--->| G1 |-->O-->| G2 |---->O-----+-->| Ws |-------> zs
+%           ----         ----  y  -      |
+%                                        +----------------> e
+
+systemnames = 'G1 G2 Ws Wk Vr Vd';
+inputvar    = '[r(1); d(1); u(1)]';
+input_to_Vr = '[r]';
+input_to_Vd = '[d]';
+input_to_G1 = '[u]';
+input_to_G2 = '[G1 + 0.5*Vd]';
+input_to_Wk = '[u]';
+input_to_Ws = '[Vr-G2]';
+outputvar   = '[Wk; Ws; Vr-G2]';
+% cleanupsysic = 'yes';
+
+GSYS = sysic;
+%% Design the controller
+
+[K, CL, hinf] = hinfsyn(GSYS, 1, 1);    % 1 measured output, 1 controller input
+end
\ No newline at end of file

ORC/exercise-files/Exercise_material_SoSe_2021/code/E_17_1/Designs/Design3.m

+function [filters,K,hinf]=Design3(G1,G2)
+% Design Wk
+Wk=1.1;
+
+% Design Ws
+lg1=12;
+hg1=20;
+wb1=0.00000001;
+order1=1;
+Ws=get_shaping_filter(lg1,hg1,wb1,order1);
+
+% Design Vd
+Vd=get_shaping_filter(1,1e-6,0.001,1);
+
+% Design Vr
+Vr=get_shaping_filter(1,1e-6,0.00001,1);
+%% Convert to state space
+Ws=ss(Ws);
+Wk=ss(Wk);
+Vd=ss(Vd);
+Vr=ss(Vr);
+
+filters=struct;
+filters.Ws=Ws;
+filters.Wk=Wk;
+filters.Vd=Vd;
+filters.Vr=Vr;
+
+%% Plot combined shaping filters
+
+figure()
+subplot(221);   sigma(inv(Ws*Vr),'r-'); title('inv(Ws*Vr)')
+subplot(222);   sigma(inv(Ws*Vd),'r-'); title('inv(Ws*Vd)')
+subplot(223);   sigma(inv(Wk*Vr),'r-'); title('inv(Wk*Vr)')
+subplot(224);   sigma(inv(Wk*Vd),'r-'); title('inv(Wk*Vd)')
+%% Construct generalized plant with  Gd and prefilters
+
+
+%
+% r --->| Vr |---------------------+
+%                                  |
+% d --->|0.5*Vd |--+              |
+%                   |              |
+%      +----------- | ------------ | ------->| Wk |-------> zk
+%      |            |              |
+%      |    ____    v    ____      v   e
+% u --+--->| G1 |-->O-->| G2 |---->O-----+-->| Ws |-------> zs
+%           ----         ----  y  -      |
+%                                        +----------------> e
+
+systemnames = 'G1 G2 Ws Wk Vr Vd';
+inputvar    = '[r(1); d(1); u(1)]';
+input_to_Vr = '[r]';
+input_to_Vd = '[d]';
+input_to_G1 = '[u]';
+input_to_G2 = '[G1 + 0.5*Vd]';
+input_to_Wk = '[u]';
+input_to_Ws = '[Vr-G2]';
+outputvar   = '[Wk; Ws; Vr-G2]';
+% cleanupsysic = 'yes';
+
+GSYS = sysic;
+%% Design the controller
+
+[K, CL, hinf] = hinfsyn(GSYS, 1, 1);    % 1 measured output, 1 controller input
+end
\ No newline at end of file

ORC/exercise-files/Exercise_material_SoSe_2021/code/E_17_1/Designs/Design301.m

+function [filters,K,hinf]=Design301(G1,G2)
+% Design Wk
+Wk=0.08;
+
+% Design Ws
+% lg1=12;
+% hg1=30;
+% wb1=100;
+% order1=1;
+% Ws=get_shaping_filter(lg1,hg1,wb1,order1);
+Ws=1;
+
+% Design Vd
+Vd=get_shaping_filter(1,1e-6,0.0008,1);
+
+% Design Vr
+Vr=get_shaping_filter(1,1e-6,0.0000001,1);
+%% Convert to state space
+Ws=ss(Ws);
+Wk=ss(Wk);
+Vd=ss(Vd);
+Vr=ss(Vr);
+
+filters=struct;
+filters.Ws=Ws;
+filters.Wk=Wk;
+filters.Vd=Vd;
+filters.Vr=Vr;
+
+%% Plot combined shaping filters
+
+figure()
+subplot(221);   sigma(inv(Ws*Vr),'r-'); title('inv(Ws*Vr)')
+subplot(222);   sigma(inv(Ws*Vd),'r-'); title('inv(Ws*Vd)')
+subplot(223);   sigma(inv(Wk*Vr),'r-'); title('inv(Wk*Vr)')
+subplot(224);   sigma(inv(Wk*Vd),'r-'); title('inv(Wk*Vd)')
+%% Construct generalized plant with  Gd and prefilters
+
+
+%
+% r --->| Vr |---------------------+
+%                                  |
+% d --->|0.5*Vd |--+              |
+%                   |              |
+%      +----------- | ------------ | ------->| Wk |-------> zk
+%      |            |              |
+%      |    ____    v    ____      v   e
+% u --+--->| G1 |-->O-->| G2 |---->O-----+-->| Ws |-------> zs
+%           ----         ----  y  -      |
+%                                        +----------------> e
+
+systemnames = 'G1 G2 Ws Wk Vr Vd';
+inputvar    = '[r(1); d(1); u(1)]';
+input_to_Vr = '[r]';
+input_to_Vd = '[d]';
+input_to_G1 = '[u]';
+input_to_G2 = '[G1 + 0.5*Vd]';
+input_to_Wk = '[u]';
+input_to_Ws = '[Vr-G2]';
+outputvar   = '[Wk; Ws; Vr-G2]';
+% cleanupsysic = 'yes';
+
+GSYS = sysic;
+%% Design the controller
+
+[K, CL, hinf] = hinfsyn(GSYS, 1, 1);    % 1 measured output, 1 controller input
+end
\ No newline at end of file

ORC/exercise-files/Exercise_material_SoSe_2021/code/E_17_1/Designs/Design4.m

+function [filters,K,hinf]=Design4(G1,G2)
+% Design Wk
+Wk=0.1;
+
+% Design Ws
+% lg1=12;
+% hg1=30;
+% wb1=100;
+% order1=1;
+% Ws=get_shaping_filter(lg1,hg1,wb1,order1);
+Ws=1;
+
+% Design Vd
+Vd=get_shaping_filter(1,1e-6,0.0006,1);
+
+% Design Vr
+Vr=get_shaping_filter(1,1e-6,0.00001,1);