Matlab_HybridSimulatorPackage/pendulumTest.m at master · rowoflo/Matlab_HybridSimulatorPackage · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
%% pendulumTest.m
% The "pendulumTest" script is used to test the
% "simulate.pendulum" system class.
%
% NOTES:
%
% NECESSARY FILES AND/OR PACKAGES:
%   +simulate, +simulate, @pendulum
%
% SEE ALSO: TODO: Add see alsos
%    relatedFunction1 | relatedFunction2
%
% AUTHOR:
%    Rowland O'Flaherty
%
% VERSION:
%   Created 23-OCT-2011
%-------------------------------------------------------------------------------

%% Clear
ccc

%% Load


%% Initialize
duration = 10;

% System parameters
x0 = [pi+.1;0];

% Create System
S = simulate.pendulum(x0);
timeInterval = [S.time, S.time + duration];
initialState = S.state;

%% Set up graphics
S.graphicsFlag = true;
S.plotStateFlag = true;
S.plotInputFlag = true;
S.plotOutputFlag = true;
S.plotInstantaneousCostFlag = true;
S.plotCumulativeCostFlag = true;
S.plotSketchFlag = true;
S.plotPhaseFlag = true;

S.stateFigureProperties = {'Position', [1   420   480   387]};
S.inputFigureProperties = {'Position', [481   420   480   387]};
S.outputFigureProperties = {'Position', [961   420   480   387]};
S.instantaneousCostFigureProperties = {'Position', [961   212   480   184]};
S.cumulativeCostFigureProperties = {'Position', [961   -17   480   183]};
S.sketchFigureProperties = {'Position', [1   -17   480   387]};
S.phaseFigureProperties = {'Position', [481   -17   480   387]};

S.stateAxisProperties = {...
    'XLim',timeInterval,...
    'XGrid','on','YGrid','on'};
S.inputAxisProperties = {...
    'XLim',timeInterval,...
    'XGrid','on','YGrid','on'};
S.outputAxisProperties = {...
    'XLim',timeInterval,...
    'XGrid','on','YGrid','on'};
S.instantaneousCostAxisProperties = {...
    'XLim',timeInterval,...
    'XGrid','on','YGrid','on'};
S.cumulativeCostAxisProperties = {...
    'XLim',timeInterval,...
    'XGrid','on','YGrid','on'};
S.sketchAxisProperties = {...
     'XGrid','on','YGrid','on'};
S.phaseAxisProperties = {...
    'XLim',10*[-1,1],...
    'YLim',10*[-1,1],...
    'DataAspectRatio',[1 1 1],...
    'XGrid','on','YGrid','on'};


%% Simulate
[timeTapeC,stateTape,timeTapeD,inputTape,outputTape,instantaneousCostTape,cumulativeCostTape,flowTimeTape,jumpCountTape,stopFlag] = ...
    S.simulate(timeInterval,initialState);