matlab_utilities/aproxjac.cpp

MEX file that calculates the aproximation to the Jacobian matrix of the closed loop fuzzy system usign finite differences.

MATLAB help:

% APROXJAC Calculates the closed loop Jacobian matrix usign finite differences.
%
%   J = aproxjac(X, Plant, Controller)
%
%   J = aproxjac(X, Plant, Controller, h)
%
% Arguments:
%
%   X -> State vector.
%
%   Plant -> Fuzzy model of the Plant.
%
%   Controlador -> Fuzzy model of the Controller.
%
%   h -> Increment. Default value is 0.001;
%
%   J -> Jacobian matrix of the closed loop fuzzy system.
%
%                                 (  df1          dfn  )
%    dx1                          | -----   ...  ----- |
%   ----- = f1(x)                 |  dx1          dxn  |
%    dt                           |                    |
%    ...                      J = |  ...    ...   ...  |
%    dxn                          |                    |
%   ----- = fn(x)                 |  dfn          dfn  |
%    dt                           | -----   ...  ----- |
%                                 (  dx1          dxn  )
%   x = [ x1 ; x2 ; ... ; xn]
%
%   Fuzzy_Model -> This fuzzy model could be a '.txt' file, a '.fis' file,
%                  or a 'FIS' variable from MATLAB Workspace.
%
% See also activation, antec2mat, aproxlinear, conseq2mat, fis2txt, fuz2mat,
%          fuzcomb, fuzeval, fuzjac, fuzlinear, fuzprint, mat2antec, mat2conseq,
%          mat2fuz, fuzsubsystem, txt2fis

Source code:

/*  Copyright (C) 2004-2011
  ANTONIO JAVIER BARRAGAN, antonio.barragan@diesia.uhu.es
  http://uhu.es/antonio.barragan

  Collaborators:
  JOSE MANUEL ANDUJAR, andujar@diesia.uhu.es
  MARIANO J. AZNAR, marianojose.aznar@alu.uhu.es

  DPTO. DE ING. ELECTRONICA, DE SISTEMAS INFORMATICOS Y AUTOMATICA
  ETSI, UNIVERSITY OF HUELVA (SPAIN)

  For more information, please contact with authors.
  
  This software is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.

  This software is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.

  You should have received a copy of the GNU General Public License
  along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#include "aux_matlab.hpp"
#include <flt/derivatives.hpp>

using namespace FLT;
using namespace TNT;

void mexFunction (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
  size_t i,q,n,model;
  double *X,*J,*d,h;
  System S[2];
  char Sist[MAX_FILE_NAME];
  char error[MAX_FILE_NAME];
  
  if(nrhs!=3 && nrhs!=4)
    ERRORMSG(E_NumberArgIn)
  if (nlhs>1)
    ERRORMSG(E_NumberArgOut)
  for (i=0;i<nrhs;i++)
    if (mxIsEmpty(prhs[i]) || mxIsNaN(*mxGetPr(prhs[i])))
      ERRORMSG(E_ArgNoValid)
  
  X = mxGetPr(prhs[0]);
  if (!X)
    ERRORMSG(E_NumberArgIn)
    
  n = mxGetM(prhs[0]);
  
  if (mxGetN(prhs[0])!=1)
    ERRORMSG(E_Column)
  
  for (model=1;model<3;model++)
  {
    if (readModel(prhs[model],S[model-1]))
    {
      sprintf(error,"%s %lu.\n",E_Model, model);
      ERRORMSG(error)
    }
  }
  
  if ((nrhs==3) && n!=S[0].outputs())
    ERRORMSG(E_PointCoherent)
    
  if ((nrhs==2) && n!=S[0].inputs())
    ERRORMSG(E_PointCoherent)
  
  Array2D<double> Jac(n,n);
  if (nrhs==4)
  {
    h = *mxGetPr(prhs[3]);
    if (h<=0)
      ERRORMSG(E_H_GE_0)
    Jac = jacobianAprox(S[0], S[1], X, h);
  }
  else
    Jac = jacobianAprox(S[0], S[1], X);
    
  if (!Jac.dim1())
    ERRORMSG(E_NoCoherent)
  
  plhs[0] = mxCreateDoubleMatrix(n,n,mxREAL);
  J = mxGetPr(plhs[0]);
  if (!J)
  {
    mxDestroyArray(plhs[0]);
    ERRORMSG(E_NumberArgOut)
  }
  
  for (i=0;i<n;i++)
  {
    for (q=0;q<n;q++)
    {
      *J = Jac[q][i];
      J++;
    }
  }
}