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AugPltEval.m
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AugPltEval.m
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%% evaluate a generalized plant by plugging in theta value
% by Pan Zhao, March 31, 2014
% control input: 2;
% output: 4, 2 for error signal, 2 for control input;
% measured output: 2;
function Gaev = AugPltEval(Ga,Par)
%% Ga is augmented plant with symbol variable;
%% Ganv is augmented plant evaluated
if size(Par,1) == 1
Gaev.A = double(subs(Ga.A,Par));
Gaev.B1 = double(subs(Ga.B1,Par));
Gaev.B2 = double(subs(Ga.B2,Par));
Gaev.C1 = double(subs(Ga.C1,Par));
Gaev.D11 = double(subs(Ga.D11,Par));
Gaev.D12 = double(subs(Ga.D12,Par));
Gaev.C2 = double(subs(Ga.C2,Par));
Gaev.D21 = double(subs(Ga.D21,Par));
Gaev.D22 = double(subs(Ga.D22,Par));
elseif size(Par,1) == 2
theta1 = Par(1,1); theta2 = Par(2,1);
Gaev.A = double(subs(Ga.A));
Gaev.B1 = double(subs(Ga.B1));
Gaev.B2 = double(subs(Ga.B2));
Gaev.C1 = double(subs(Ga.C1));
Gaev.D11 = double(subs(Ga.D11));
Gaev.D12 = double(subs(Ga.D12));
Gaev.C2 = double(subs(Ga.C2));
Gaev.D21 = double(subs(Ga.D21));
Gaev.D22 = double(subs(Ga.D22));
elseif size(Par,1) == 3
theta1 = Par(1,1); theta2 = Par(2,1); theta3 = Par(3,1);
Gaev.A = double(subs(Ga.A));
Gaev.B1 = double(subs(Ga.B1));
Gaev.B2 = double(subs(Ga.B2));
Gaev.C1 = double(subs(Ga.C1));
Gaev.D11 = double(subs(Ga.D11));
Gaev.D12 = double(subs(Ga.D12));
Gaev.C2 = double(subs(Ga.C2));
Gaev.D21 = double(subs(Ga.D21));
Gaev.D22 = double(subs(Ga.D22));
end