Items tagged with control

I am unable to solve the attached optimal control problem,please any one who many help  me in guideing .tnx

restart:
unprotect('gamma');

L:=b[1]*c(t)+b[2]*i(t)+w[1]*(u[1])^2/2+w[2]*(u[2])^2/2+w[3]*(u[3])^2/2;
1 2 1 2 1 2
b[1] c(t) + b[2] i(t) + - w[1] u[1] + - w[2] u[2] + - w[3] u[3]
2 2 2
H:=L+lambda[1](t)*((1-p*Psi)*tau+phi* v + delta *r-lambda*(1-u[3])*s-u[1]*varphi*s -mu*s ) +lambda[2](t)*(p*Psi*tau + u[1]*vartheta*s -gamma*lambda* (1-u[3])*v-(mu+phi)*v ) +lambda[3](t)*( (1-u[3])*rho*lambda* (s +gamma*v)+(1-q)* u[2]*eta*i -(mu +beta +chi)*c ) +lambda[4](t)* ((1-rho)*(1-u[3])*lambda*( s +gamma*v) +chi*c - u[2]*eta*i - (mu +alpha )*i) +lambda[5](t)*( beta*c + u[2]*q*eta*i -(mu +delta)*r);
1 2 1 2 1 2
b[1] c(t) + b[2] i(t) + - w[1] u[1] + - w[2] u[2] + - w[3] u[3] + lambda[1](t
2 2 2

) ((1 - p Psi) tau + phi v + delta r - lambda (1 - u[3]) s - u[1] varphi s

- mu s) + lambda[2](t) (p Psi tau + u[1] vartheta s

- gamma lambda (1 - u[3]) v - (mu + phi) v) + lambda[3](t) ((1 - u[3]) rho

lambda (s + gamma v) + (1 - q) u[2] eta i - (mu + beta + chi) c) + lambda[4](t

) ((1 - rho) (1 - u[3]) lambda (s + gamma v) + chi c - u[2] eta i

- (mu + alpha) i) + lambda[5](t) (beta c + u[2] q eta i - (mu + delta) r)
du1:=diff(H,u[1]);

w[1] u[1] - lambda[1](t) varphi s + lambda[2](t) vartheta s
du2:=diff(H,u[2]);du3:=diff(H,u[3]);
w[2] u[2] + lambda[3](t) (1 - q) eta i - lambda[4](t) eta i

+ lambda[5](t) q eta i
w[3] u[3] + lambda[1](t) lambda s + lambda[2](t) gamma lambda v

- lambda[3](t) rho lambda (s + gamma v)

- lambda[4](t) (1 - rho) lambda (s + gamma v)

ddu1 := -A[1] u[1] + psi[1](t) beta x[1] x[3] - psi[2](t) beta x[1] x[3]

ddu2 := -A[2] u[2] - psi[3](t) k x[2]
sol_u1 := solve(du1, u[1]);
s(t) (lambda[1](t) varphi - lambda[2](t) vartheta)
--------------------------------------------------
w[1]
sol_u2 := solve(du2, u[2]);sol_u3 := solve(du3, u[3]);
eta i (-lambda[3](t) + lambda[3](t) q + lambda[4](t) - lambda[5](t) q)
----------------------------------------------------------------------
w[2]
1
---- (lambda (-lambda[1](t) s - lambda[2](t) gamma v + lambda[3](t) rho s
w[3]

+ lambda[3](t) rho gamma v + lambda[4](t) s + lambda[4](t) gamma v

- lambda[4](t) rho s - lambda[4](t) rho gamma v))
Dx2:=subs(u[1]= s*(lambda[1](t)*varphi-lambda[2](t)*vartheta)/w[1] ,u[2]= eta*i*(-lambda[3](t)+lambda[3](t)*q+lambda[4](t)-lambda[5](t)*q)/w[2], u[3]=-lambda*(lambda[1](t)*s+lambda[2](t)*gamma*v-lambda[3](t)*rho*s-lambda[3](t)*rho*gamma*v-lambda[4](t)*s-lambda[4](t)*gamma*v+lambda[4](t)*rho*s+lambda[4](t)*rho*gamma*v)/w[3] ,H );
2 2
s (lambda[1](t) varphi - lambda[2](t) vartheta)
b[1] c(t) + b[2] i(t) + -------------------------------------------------
2 w[1]

2 2 2
eta i (-lambda[3](t) + lambda[3](t) q + lambda[4](t) - lambda[5](t) q)
+ ------------------------------------------------------------------------- +
2 w[2]

1 / 2
------ \lambda (lambda[1](t) s + lambda[2](t) gamma v - lambda[3](t) rho s
2 w[3]

- lambda[3](t) rho gamma v - lambda[4](t) s - lambda[4](t) gamma v

/
\ |
+ lambda[4](t) rho s + lambda[4](t) rho gamma v)^2/ + lambda[1](t) |(1
\

/ 1
- p Psi) tau + phi v + delta r - lambda |1 + ---- (lambda (lambda[1](t) s
\ w[3]

+ lambda[2](t) gamma v - lambda[3](t) rho s - lambda[3](t) rho gamma v

- lambda[4](t) s - lambda[4](t) gamma v + lambda[4](t) rho s

\
+ lambda[4](t) rho gamma v))| s
/

2 \
s (lambda[1](t) varphi - lambda[2](t) vartheta) varphi |
- ------------------------------------------------------- - mu s| +
w[1] /

/
|
lambda[2](t) |p Psi tau
\

2
s (lambda[1](t) varphi - lambda[2](t) vartheta) vartheta /
+ --------------------------------------------------------- - gamma lambda |1 +
w[1] \

1
---- (lambda (lambda[1](t) s + lambda[2](t) gamma v - lambda[3](t) rho s
w[3]

- lambda[3](t) rho gamma v - lambda[4](t) s - lambda[4](t) gamma v

\
\ |
+ lambda[4](t) rho s + lambda[4](t) rho gamma v))| v - (mu + phi) v| +
/ /

// 1
lambda[3](t) ||1 + ---- (lambda (lambda[1](t) s + lambda[2](t) gamma v
\\ w[3]

- lambda[3](t) rho s - lambda[3](t) rho gamma v - lambda[4](t) s

\
- lambda[4](t) gamma v + lambda[4](t) rho s + lambda[4](t) rho gamma v))|
/

1 / 2 2
rho lambda (s + gamma v) + ---- \(1 - q) eta i (-lambda[3](t)
w[2]

\ \
+ lambda[3](t) q + lambda[4](t) - lambda[5](t) q)/ - (mu + beta + chi) c| +
/

/
| / 1
lambda[4](t) |(1 - rho) |1 + ---- (lambda (lambda[1](t) s
\ \ w[3]

+ lambda[2](t) gamma v - lambda[3](t) rho s - lambda[3](t) rho gamma v

- lambda[4](t) s - lambda[4](t) gamma v + lambda[4](t) rho s

\
+ lambda[4](t) rho gamma v))| lambda (s + gamma v) + chi c
/

2 2
eta i (-lambda[3](t) + lambda[3](t) q + lambda[4](t) - lambda[5](t) q)
- ------------------------------------------------------------------------
w[2]

\ /
| |
- (mu + alpha) i| + lambda[5](t) |beta c
/ \

+

2 2
eta i (-lambda[3](t) + lambda[3](t) q + lambda[4](t) - lambda[5](t) q) q
--------------------------------------------------------------------------
w[2]

\
|
- (mu + delta) r|
/
ode1:=diff(lambda[1](t),t)=-diff(H,s);ode2:=diff(lambda[2](t),t)=-diff(H,v);ode3:=diff(psi[3](t),t)=-diff(H,c);ode4:=diff(lambda[4](t),t)=-diff(H,i);ode5:=diff(lambda[5](t),t)=-diff(H,r);
d
--- lambda[1](t) = -lambda[1](t) (-lambda (1 - u[3]) - u[1] varphi - mu)
dt

- lambda[2](t) u[1] vartheta - lambda[3](t) (1 - u[3]) rho lambda

- lambda[4](t) (1 - rho) (1 - u[3]) lambda
d
--- lambda[2](t) = -lambda[1](t) phi
dt

- lambda[2](t) (-gamma lambda (1 - u[3]) - mu - phi)

- lambda[3](t) (1 - u[3]) rho lambda gamma

- lambda[4](t) (1 - rho) (1 - u[3]) lambda gamma
d
--- psi[3](t) = -lambda[3](t) (-mu - beta - chi) - lambda[4](t) chi
dt

- lambda[5](t) beta
d
--- lambda[4](t) = -lambda[3](t) (1 - q) u[2] eta
dt

- lambda[4](t) (-u[2] eta - mu - alpha) - lambda[5](t) u[2] q eta
d
--- lambda[5](t) = -lambda[1](t) delta - lambda[5](t) (-mu - delta)
dt
restart:
#Digits:=10:


unprotect('gamma');
lambda:=0.51:
mu:=0.002:
beta:=0.0115:
delta:=0.003:
alpha:=0.33:
chi:=0.00274:
k:=6.24:
gamma:=0.4:
rho:=0.338:;tau=1000:;Psi:=0.1:;p:=0.6:;phi:=0.001:;eta:=0.001124:q:=0.6:varphi:=0.9:;vatheta:=0.9:
b[1]:=2:;b[2]:=3:;w[1]:=4:;w[2]:=5:;w[3]:=6:
#u[1]:=s(t)*(lambda[1](t)*varphi-lambda[2](t)*vartheta)/w[1]:
#u[2]:=eta*i*(-lambda[3](t)+lambda[3](t)*q+lambda[4](t)-lambda[5](t)*q)/w[2]:;u[3]:=lambda*(-lambda[1](t)*s-lambda[2](t)*gamma*v+lambda[3](t)*rho*s+lambda[3](t)*rho*gamma*v+lambda[4](t)*s+lambda[4](t)*gamma*v-lambda[4](t)*rho*s-lambda[4](t)*rho*gamma*v)/w[3]:
ics := s(0)=8200, v(0)=2800,c(0)=1100,i(0)=1500,r(0)=200,lambda[1](20)=0,lambda[2](20)=0,lambda[3](20)=0,lambda[4](20)=0,lambda[5](20)=0:
ode1:=diff(s(t),t)=(1-p*Psi)*tau+phi* v(t) + delta *r(t)-lambda*(1-u[3])*s(t)-u[1]*varphi*s(t) -mu*s(t),
diff(v(t), t) =p*Psi*tau + u[1]*vartheta*s(t) -gamma*lambda* (1-u[3])*v(t)-(mu+phi)*v(t) ,
diff(c(t), t) =(1-u[3])*rho*lambda* (s(t) +gamma*v(t))+(1-q)* u[2]*eta*i(t) -(mu +beta +chi)*c(t),
diff(i(t), t) =(1-rho)*(1-u[3])*lambda*( s(t) +gamma*v(t)) +chi*c(t) - u[2]*eta*i(t) - (mu +alpha )*i(t),
diff(r(t), t) = beta*c(t) + u[2]*q*eta*i(t) -(mu +delta)*r(t),
diff(lambda[1](t), t) = -lambda[1](t)*(-lambda*(1-u[3])-u[1]*varphi-mu)-lambda[2](t)*u[1]*vartheta-lambda[3](t)*(1-u[3])*rho*lambda-lambda[4](t)*(1-rho)*(1-u[3])*lambda,diff(lambda[2](t),t)=-lambda[1](t)*phi-lambda[2](t)*(-gamma*lambda*(1-u[3])-mu-phi)-lambda[3](t)*(1-u[3])*rho*lambda*gamma-lambda[4](t)*(1-rho)*(1-u[3])*lambda*gamma,diff(lambda[3](t),t)=-lambda[3](t)*(-mu-beta-chi)-lambda[4](t)*chi-lambda[5](t)*beta,diff(lambda[4](t),t)=-lambda[3](t)*(1-q)*u[2]*eta-lambda[4](t)*(-u[2]*eta-mu-alpha)-lambda[5](t)*u[2]*q*eta,diff(lambda[5](t),t)=-lambda[1](t)*delta-lambda[5](t)*(-mu-delta);
d
--- s(t) = (1 - p Psi) tau + phi v(t) + delta r(t) - lambda (1 - u[3]) s(t)
dt

d
- u[1] varphi s(t) - mu s(t), --- v(t) = p Psi tau + u[1] vartheta s(t)
dt

d
- gamma lambda (1 - u[3]) v(t) - (mu + phi) v(t), --- c(t) = (1 - u[3]) rho lambda
dt

(s(t) + gamma v(t)) + (1 - q) u[2] eta - (mu + beta + chi) c(t), 0 = (1

- rho) (1 - u[3]) lambda (s(t) + gamma v(t)) + chi c(t) - u[2] eta - mu

d d
- alpha, --- r(t) = beta c(t) + u[2] q eta - (mu + delta) r(t), ---
dt dt

lambda[1](t) = -lambda[1](t) (-lambda (1 - u[3]) - u[1] varphi - mu)

- lambda[2](t) u[1] vartheta - lambda[3](t) (1 - u[3]) rho lambda

d
- lambda[4](t) (1 - rho) (1 - u[3]) lambda, --- lambda[2](t) =
dt
-lambda[1](t) phi - lambda[2](t) (-gamma lambda (1 - u[3]) - mu - phi)

- lambda[3](t) (1 - u[3]) rho lambda gamma

d
- lambda[4](t) (1 - rho) (1 - u[3]) lambda gamma, --- lambda[3](t) =
dt
d
-lambda[3](t) (-mu - beta - chi) - lambda[4](t) chi - lambda[5](t) beta, ---
dt

lambda[4](t) = -lambda[3](t) (1 - q) u[2] eta

- lambda[4](t) (-u[2] eta - mu - alpha) - lambda[5](t) u[2] q eta,

d
--- lambda[5](t) = -lambda[1](t) delta - lambda[5](t) (-mu - delta)
dt

sol := dsolve({c(0) = 0, i(0) = 0, r(0) = .1, s(0) = 0, v(0) = 0, diff(c(t), t) = (1-u[3])*rho*lambda*(s(t)+gamma*v(t))+(1-q)*u[2]*eta*i(t)-(mu+beta+chi)*c(t), diff(i(t), t) = (1-rho)*(1-u[3])*lambda*(s(t)+gamma*v(t))+chi*c(t)-u[2]*eta*i(t)-(mu+alpha)*i(t), diff(r(t), t) = beta*c(t)+u[2]*q*eta*i(t)-(mu+delta)*r(t), diff(s(t), t) = (1-p*Psi)*tau+phi*v(t)+delta*r(t)-lambda*(1-u[3])*s(t)-u[1]*varphi*s(t)-mu*s(t), diff(v(t), t) = p*Psi*tau+u[1]*vartheta*s(t)-gamma*lambda*(1-u[3])*v(t)-(mu+phi)*v(t), diff(lambda[1](t), t) = -lambda[1](t)*(-lambda*(1-u[3])-u[1]*varphi-mu)-lambda[2](t)*u[1]*vartheta-lambda[3](t)*(1-u[3])*rho*lambda-lambda[4](t)*(1-rho)*(1-u[3])*lambda, diff(lambda[2](t), t) = -lambda[1](t)*phi-lambda[2](t)*(-gamma*lambda*(1-u[3])-mu-phi)-lambda[3](t)*(1-u[3])*rho*lambda*gamma-lambda[4](t)*(1-rho)*(1-u[3])*lambda*gamma, diff(lambda[3](t), t) = -lambda[3](t)*(-mu-beta-chi)-lambda[4](t)*chi-lambda[5](t)*beta, diff(lambda[4](t), t) = -lambda[3](t)*(1-q)*u[2]*eta-lambda[4](t)*(-u[2]*eta-mu-alpha)-lambda[5](t)*u[2]*q*eta, diff(lambda[5](t), t) = -lambda[1](t)*delta-lambda[5](t)*(-mu-delta), lambda[1](20) = 0, lambda[2](20) = 0, lambda[3](20) = 0, lambda[4](20) = 0, lambda[5](20) = 0}, type = numeric);
Error, (in dsolve/numeric/process_input) invalid specification of initial conditions, got 1 = 0

sol:=dsolve([ode1,ics],numeric, method = bvp[midrich],maxmesh=500);

Error, (in dsolve/numeric/process_input) system must be entered as a set/list of expressions/equations

dsolve[':-interactive']({});
Error, `:=` unexpected
sol:=dsolve([ode1,ics],numeric, method = bvp[midrich],maxmesh=500);
Error, (in dsolve/numeric/process_input) system must be entered as a set/list of expressions/equations

eq1:=diff(s(t), t)=(1-p*Psi)*tau+phi* v(t) + delta *r(t)-lambda*(1-u[3])*s(t)-u[1]*varphi*s(t) -mu*s(t);
eq2:diff(v(t), t) =p*Psi*tau + u[1]*vartheta*s(t) -gamma*lambda* (1-u[3])*v(t)-(mu+phi)*v(t);
eq3:=diff(c(t), t) =(1-u[3])*rho*lambda* (s(t) +gamma*v(t))+(1-q)* u[2]*eta*i(t) -(mu +beta +chi)*c(t);
eq4:=diff(i(t), t) =(1-rho)*(1-u[3])*lambda*( s(t) +gamma*v(t)) +chi*c(t) - u[2]*eta*i(t) - (mu +alpha )*i(t);
eq5:=diff(r(t), t) = beta*c(t) + u[2]*q*eta*i(t) -(mu +delta)*r(t);

d
--- s(t) = (1 - p Psi) tau + phi v(t) + delta r(t) - lambda (1 - u[3]) s(t)
dt

- u[1] varphi s(t) - mu s(t)
d
--- v(t) = p Psi tau + u[1] vartheta s(t) - gamma lambda (1 - u[3]) v(t)
dt

- (mu + phi) v(t)
d
--- c(t) = (1 - u[3]) rho lambda (s(t) + gamma v(t)) + (1 - q) u[2] eta i(t)
dt

- (mu + beta + chi) c(t)
d
--- i(t) = (1 - rho) (1 - u[3]) lambda (s(t) + gamma v(t)) + chi c(t)
dt

- u[2] eta i(t) - (mu + alpha) i(t)
d
--- r(t) = beta c(t) + u[2] q eta i(t) - (mu + delta) r(t)
dt
eq6:=diff(Q(t),t)=b[1]*c(t)+b[2]*i(t)+w[1]*(u[1])^2/2+w[2]*(u[2])^2/2+w[3]*(u[3])^2/2;
d 1 2 1 2 1 2
--- Q(t) = b[1] c(t) + b[2] i(t) + - w[1] u[1] + - w[2] u[2] + - w[3] u[3]
dt 2 2 2
ics:=s(0)=8200, v(0)=2800,c(0)=1100,i(0)=1500,r(0)=200,Q(0)=6700;
s(0) = 8200, v(0) = 2800, c(0) = 1100, i(0) = 1500, r(0) = 200, Q(0) = 6700
sol0:=dsolve({eq1,eq2,eq3,eq4,eq5,eq6,ics},type=numeric,stiff=true,'parameters'=[u[1],u[2],u[3]],abserr=1e-15,relerr=1e-12,maxfun=0,range=0..50):
Error, (in dsolve/numeric/process_input) system must be entered as a set/list of expressions/equations
with(plots):
Q0:=6700;
6700
obj:=proc(u)
global sol0,Q0;
local ob1;
try
sol0('parameters'=[u[1],u[2],u[3]]):
ob1:=subs(sol0(20.),Q(t)):
catch :
ob1:=0;
end try;
#ob1:=subs(sol0(20.),Q(t));
if ob1>Q0 then Q0:=ob1;print(Q0,u);end;
ob1;
end proc;
proc(u) ... end;
obj([1,1,1]);
0
obj([3,2.5],4);
0
u0:=Vector(3,[0.,0.,0.],datatype=float[8]);
Vector[column](%id = 85973880)

Q0:=0;
Q0 := 0
with(Optimization);
[ImportMPS, Interactive, LPSolve, LSSolve, Maximize, Minimize, NLPSolve,

QPSolve]
sol2:=NLPSolve(3,obj,initialpoint=u0,method=nonlinearsimplex,maximize,evaluationlimit=100):
sol0('parameters'=[3.18125786060723, 2.36800986932868]);
sol0(parameters = [3.18125786060723, 2.36800986932868])
for i from 1 to 3 do odeplot(sol0,[t,x[i](t)],0..20,thickness=3,axes=boxed);od;
Error, (in plots/odeplot) input is not a valid dsolve/numeric solution

 

How I can simulate control speed of car with sensor of speed, noise, feedback on maplesim?thanks

Hello guys, i have some problems.

 

i have system

\dot{x} = Ax + Bu


s=b*u = 

now, we have X' = (A+S)X,  i need numeric/analytical solution and found Vector(X)

I have some problems with syntax maple.

Sorry for my bad english.

 

ricatti.mw

 

I want to know the mistakes i have made in the documents attached to get the expected results every time.

NULL

Case 1: control = works fine now.

M1 := K__1*A*(Matrix(2, 2, {(1, 1) = 1, (1, 2) = -1, (2, 1) = -1, (2, 2) = 1}))/l__1 = Matrix(2, 2, {(1, 1) = 0.30e-2, (1, 2) = -0.30e-2, (2, 1) = -0.30e-2, (2, 2) = 0.30e-2})

NULL

NULL

Case 2: control = prints answer in next line.M1 := K__1*A*(Matrix(2, 2, {(1, 1) = 1, (1, 2) = -1, (2, 1) = -1, (2, 2) = 1}))/l__1 = Matrix([[K__1*A/l__1, -K__1*A/l__1], [-K__1*A/l__1, K__1*A/l__1]]) = Matrix(2, 2, {(1, 1) = 0.300000000000000e-2, (1, 2) = -0.300000000000000e-2, (2, 1) = -0.300000000000000e-2, (2, 2) = 0.300000000000000e-2})

NULL

control = prints expression and answer in the next line.

case 3

M1 := K__1*A*(Matrix(2, 2, {(1, 1) = 1, (1, 2) = -1, (2, 1) = -1, (2, 2) = 1}))/l__1 = Matrix([[K__1*A/l__1, -K__1*A/l__1], [-K__1*A/l__1, K__1*A/l__1]]) = Matrix(2, 2, {(1, 1) = 0.300000000000000e-2, (1, 2) = -0.300000000000000e-2, (2, 1) = -0.300000000000000e-2, (2, 2) = 0.300000000000000e-2})

NULL

Numeric formating does not function in case2 and cae 3. I dont know shat hv i done for these things to occur. But what should i do?

NULL

 

Download onlineResultandNumeric_format_doesnot_work_in_some_casesWhy.mwonlineResultandNumeric_format_doesnot_work_in_some_casesWhy.mw

Ramakrishnan V

rukmini_ramki@hotmail.com

Please I need someone to help out with how to solve the below ODE numerically using finite difference method with the necessary maple code:

 

█( S〗_h〗^' (t)=Λ_h-αβ_m I_v S_h-μ_h S_h+πI_m,  

〖I_m〗^' (t)=αβ_m I_v S_h-(σ_m+π+μ_h ) I_m

〖 S〗_v〗^' (t)=Λ_v-αβ_v I_m S_v-μ_v S_v

〖I_v〗^' (t)=αβ_v I_m S_v-μ_v I_v )

The initial conditions can be assumed. Suppose i want to include controls, how do I solve the problem and equally plot the graph.

 

Thank you.

ADENIYI MICHAEL

 

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Maple WWW Net is a part of Maple WWW technology that brings integration with MapleNet. Now you can access the power of Maple core directly from your worksheets in the internet. Maple WWW Net allows you to develop Maple worksheets enriched by live computations and interactive controls.

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Hey Guys

I'm designing some stuff for controll theory

There I met following problem:

I want calculate the matrix A which is the product of X and G.

A is 6x6 matrix and all values in the diagonal  are ones, the rest is undefined and should be calculated

X is 6x6 diagonal matrix with the values X1...X6

and G is also 6x6 and have all these values.

 

now I'm stuck 'cause I haven't used Maple frequently (only some simple stuff up to now, nothing with matrices)

I'd really appreciate it, if someone can tell how to tackle this problem

Cheers

Recently I started to learn to use maplesim. I wanted to set up a feedback system which is used to control the speed of DC motor. I don't know how to build it. Please give me some advice. I really appreciate your help.

im interested to know if there are developed MapleSim examples of water level control in a tank

Further tags : implicit form, Matlab codegen for GPOPS purposes

Hi there,

I would like to introduce my self and ask you for an advice. 

I have a four linked robot that i would really like to control by the meaning of the optimal control theory. The arm has 4 actuators (giving torques U) in corrispondence of 4 rotational joints. P parameters describe the system.

I got ht edynamic system with the Lagrangian method and now I have 4 2nd order...

Hello all,

I'll be straight-forward.

I have Maple 15+MapleSim 5. I don't have Control Design Toolbox. I want to embed a linearized system object as an msys file into MapleSim.

The Linearization template failed to create the file. I tried to use the codes in the template directly as code in Maple, but also failed. Seemingly because I don't have Control Design Toolbox in which the code need to load.

I have been googling around with no avail. I...

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Typically, plots on a Maple worksheet fill substantial portions of the printed page when they're printed out.  What I'd like to do is resize plots, prior to printing, such that they're smaller when printed.  I'd also like all plots on a worksheet to print out at the same size.  Note that simply highlighting a plot on the Maple worksheet and then pulling the corner to resize it, is not what I want to do:  I find it very difficult to anticipate the...

Hi,

I am trying to implement some numerical algorithm for an optimal control problem (still).

It involves double cycle. In the inner one two DE systems are solved sequentially and the result is used to update values of some objective function.

This part uses remeber option thanks to pagan  and is ok.

However, in the outer cycle I use the values of this objective function to obtain solution for yet another DE and update ICs for the inner cycle.

Well,

Basically I know that.

I just hoped there is some walkaround this problem.

It seems now there is not.

The problem I am trying to solve is how I can construct an iterative procedure where function is computed from numerical solution of the ODE system (done) and then this very function is used to recalculate the solution of this ODE system.

This is my attempt to impement some sort of  gradient projection method to the optimal...

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