example.cpp

Obtains the output of a closed loop fuzzy system and its jacobian matrix.

Compile: g++ example.cpp ../src/membership.cpp ../src/rule.cpp ../src/system.cpp ../src/utilities.cpp ../src/derivatives.cpp -o example

Use: example plant.txt controller.txt x1 x2 ... xn ('n' is the order of the plant)

Test: ./example ../matlab_utilities/Plant.txt ../matlab_utilities/Controller.txt 0 0

Output:
Closed loop output:
0.0409887
0.340054

Closed loop Jacobian matrix:
-2.58935 1.98356
2.30224 -7.94545

#include <stdio.h>
#include <tnt/tnt.h>
#include <flt/system.hpp>
#include <flt/derivatives.hpp>

using namespace std;
using namespace TNT;
using namespace FLT;

int main(int argc, char **argv)
{ 
  if (argc < 4)
  {
    cout << "Error. Some input aguments are missing.\n\n";
    cout << "example plant.txt controller.txt x1 x2 ... xn\n";
    cout << "\t where 'n' is the order of the plant (number of outputs)" << endl;
    return 1;
  }
  
  char *plant = argv[1];
  System P = TXT2System(plant);
  size_t n = P.outputs();
  if (!n)
  {
    cout << "Error reading the plant file." << endl;
    return 1;
  }
  
  if (argc != 3+n)
  {
    cout << "Error. Some input aguments are missing.\n\n";
    cout << "example plant.txt controller.txt x1 x2 ... xn\n";
    cout << "\t where 'n' is the order of the plant (number of outputs)" << endl;
    return 1;
  }
  
  char *controller = argv[2];
  System C = TXT2System(controller);
  size_t m = C.outputs();
  if (!m)
  {
    cout << "Error reading the controller file." << endl;
    return 1;
  }
  
  if (P.inputs() != n+m)
  {
    cout << E_NoCoherent << endl;
    return 1;
  }
  
  Array1D<double> X(n);
  for (size_t i=0; i<n; i++)
    X[i] = atof(argv[i+3]);
  
  Array1D<double> dX = evaluate(&X[0], P, C);
  
  cout << "\nClosed loop output:\n";
  for (size_t i=0; i<n; i++)
    cout << dX[i] << "\n";
  
  Array2D<double> J = jacobian(P, C, &X[0]);
  cout << "\nClosed loop Jacobian matrix:\n";
  for (size_t i=0; i<n; i++)
  {
    for (size_t j=0; j<n; j++)
      cout << J[i][j] << "  ";
    cout << "\n";
  }
  cout << endl;
  
  return 0;
}