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toolbox/@datadriven/getController.m
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getController.m
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function [KLPV, KLPVff] = getController(SYS)
% datadriven.getController(system)
%
% Author: Philippe Schuchert
% Philippe.schuchert@epfl.ch
% EPFL
% June 2021
%
% Evaluates the controller specified in system. If LPV, evaluates the
% scheduled controller at the different operating points.
nMod = length(SYS.model);
Ts =SYS.controller.Ts;
KLPV = tf(1,1,Ts);
if isfield(SYS.controller,'theta')
% LPV controller
for ii = 1 : nMod
Q = SYS.controller.theta(SYS.model(:,:,ii));
Q = Q(:);
KLPV(:,:,ii) = tf(conv((SYS.controller.num*Q)',SYS.controller.Fx),conv((SYS.controller.den*Q)',SYS.controller.Fy),SYS.controller.Ts);
if numel(Q)==1
% Now parameter dependency, only output 1st controller
break
end
end
try
% Set sampling grid if possible
KLPV.SamplingGrid = SYS.model.SamplingGrid;
catch
end
else
% No scheduling function, -> theta must be equal to 1
KLPV = tf(conv((SYS.controller.num(:))',SYS.controller.Fx),conv((SYS.controller.den(:))',SYS.controller.Fy),SYS.controller.Ts);
end
if nargout == 2
try % Was FF set?
KLPVff = tf([]);
if isfield(SYS.controller_ff,'theta')
% LPV controller
for ii = 1 : nMod
Q = SYS.controller_ff.theta(SYS.model(:,:,ii));
Q = Q(:);
KLPVff(:,:,ii) = tf(conv((SYS.controller_ff.num*Q)',SYS.controller_ff.Fx),conv((SYS.controller_ff.den*Q)',SYS.controller_ff.Fy),SYS.controller_ff.Ts);
if numel(Q)==1
% No position dependency
break
end
end
try
% Set sampling grid if possible
KLPVff.SamplingGrid = SYS.model.SamplingGrid;
catch
end
else
% No scheduling function, -> theta must be equal to 1
KLPVff = tf(conv((SYS.controller_ff.num(:))',SYS.controller_ff.Fx),conv((SYS.controller_ff.den(:))',SYS.controller_ff.Fy),SYS.controller_ff.Ts);
end
catch
warning('Feedforward not solved?')
KLPVff = tf([]);
end
end
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