void Observador::geraMatL(double b, double c) {
geraMatQL( b, c);
double **matTemp = Mat_Aloc(2,2);
matTemp = Mat_Mult(matQL, 2, 2, matWoInv, 2, 2);
matls = Mat_Mult(matTemp, 2, 2, matColSL, 2, 1);
}
double Observador::calculaObservador(double tensao, double y, double polo1[2], double polo2[2]) {
b = polo1[0]*2*(-1);
c = polo1[0]*polo2[0] + polo1[1]*polo2[1]*-1;
//qDebug() << "polos";
//qDebug() << polo1[0] << polo1[1];
//qDebug() << polo2[0] << polo2[1];
qDebug() << b << c;
if(b != bold || c != cold) {
// qDebug() << "#######################################!";
// qDebug() << "calculaObservador " << b << c;
geraMatL2(b,c);
//matL[0][0] = matls[0][0];
//matL[1][0] = matls[1][0];
qDebug() << "matQl";
qDebug() << matQL[0][0] << matQL[0][1];
qDebug() << matQL[1][0] << matQL[1][1];
qDebug() << "matL" << matL[0][0] << matL[1][0];
//qDebug() << "matls" << matls[0][0] << matls[1][0];
//qDebug() << "b c";
//qDebug() << b << c;
//qDebug() << bold << cold;
bold = b;
cold = c;
//bold = b;
//cold = c;
//qDebug() << bold << cold;
// exit(-1);
}
matXObs = Mat_Sum(Mat_Mult(matG,2,2,matXObs,2,1), \
Mat_MultEscalar(matL, 2, 1, y-yObs), \
Mat_MultEscalar(matH, 2, 1, tensao), \
2, 1);
double **temp = Mat_Aloc(1,1);
temp = Mat_Mult(matC,1,2, matXObs,2,1);
yObs = temp[0][0];
erro = y - yObs;
// qDebug() << "yObs " << yObs;
Mat_Free(1,1,temp);
return yObs;
}
int main () {
long double h = 0.2;
long double k = 0.04;
long double i;
long double t;
long double t_min = 0;
long double t_max = 0.4;
long double x_min = 0;
long double x_max = 4.0;
long double alpha = 4 / (LM_PI * LM_PI);
long double lambda = alpha * (k / (h * h));
int j = (x_max - x_min) / h;
int p = (t_max - t_min) / k;
int d;
long double xa = -lambda / 2.0;
long double xb = 1 + lambda;
long double xc = -xa;
long double xd = 1 - lambda;
matrix *A = NewMatrix (j, j);
matrix *B = NewMatrix (j, j);
matrix *w = NewMatrix (j, 1);
for (d = 1; d <= j; d++)
{
Mat_SetCell (A, d, d - 1, xa);
Mat_SetCell (A, d, d, xb);
Mat_SetCell (A, d, d + 1, xa);
Mat_SetCell (B, d, d - 1, xc);
Mat_SetCell (B, d, d, xd);
Mat_SetCell (B, d, d + 1, xc);
Mat_SetCell (w, d, 1, f ((d) * h));
}
printf ("A \n");
Mat_Print (A);
printf ("B \n");
Mat_Print (B);
matrix *Ai = Mat_FindInverse (A);
printf ("Ai \n");
Mat_Print (Ai);
matrix *Temp = Mat_Mult (Ai, B);
matrix *w1;
long double results[j + 1][p];
int q = 0;
int s;
int u;
for (t = k; t <= t_max; t += k)
{
for (s = 0; s <= j; s++)
results[s][q] = Mat_GetCell (w, s + 1, 1);
q++;
w1 = Mat_Mult (Temp, w);
Mat_Dispose (w);
w = w1;
}
for (s = 0; s <= j; s++)
results[s][q] = Mat_GetCell (w, s + 1, 1);
printf ("Estimated Answer:\n\n t ");
for (t = t_min; t <= t_max; t += k)
printf ("%8.5Lf ", t);
printf ("\n");
printf ("i\n");
for (s = 0; s < j; s++)
{
printf ("%8.5Lf ", (s + 1) * h);
for (u = 0; u <= p; u++)
{
printf ("%8.5Lf ", results[s][u]);
}
printf ("\n");
}
printf ("\nExact Answer:\n\n t ");
for (t = .4; t <= t_max; t += k)
printf ("%8.5Lf ", t);
printf ("\n");
printf ("i\n");
for (i = x_min + h; i < x_max; i += h)
{
printf ("%Lf ", i);
for (t = .4; t <= t_max; t += k)
{
printf ("%8.5Lf ",
powl (LM_E, -t) * sinl (LM_PI / 2.0 * i) +
powl (LM_E, -t / 4.0) *
sinl (LM_PI / 4.0 * i));
}
printf ("\n");
}
return 0;
}
