three_inputs_three_outputs.m

run(fullfile(fileparts(fileparts(fileparts(mfilename('fullpath')))), 'initDemo.m'));
clear; close all; clc;

%% Parameters
Ts = 0.2;
tf = 73;
N_model = 50;

mu = [4, 6, 10];
m = [0, 5, 8];
q = 1 * ones(1, length(mu));
r = 0.1 * ones(1, length(m));
psi = 0.3 * ones(1, length(mu));

noise_power = -inf;
dist_amp = 0;
dist_time = 50;
dist_duration = 1;
u_min = -inf;
u_max = inf;

x0 = [0.5; 0];
u0 = 0.1001;

% Iterative procedure parameters
beta = 0.1;        % Relaxation factor
Ni = 5;            % Max iteration count
TOL = 1e-3;        % Tolerance

%% Reference signal
span = 1;
bias = 0.5;
levels = bias * ones(1, 10) + span * [0, 0.6, 1.8, -0.3, -1.5, -0.6, 0, 2.4, -2.1, 0];
spans = 1 * [7, 7, 7, 7, 7, 7, 7, 7, 9, 7];
span_steps = round(spans ./ Ts);
ref_signal = [];
for i = 1:length(levels)
    ref_signal = [ref_signal; repmat(levels(i), span_steps(i), 1)];
end
N = tf / Ts;
Ref = [ref_signal; repmat(levels(end), max(0, N - length(ref_signal)), 1)];
Ref = Ref(1:N);

%% Run a single simulation using perturbation-based linearization
method = 'perturbation';
is_prrogrammed_ref = false;

results = simulate_closed_loop(method, Ts, tf, N_model, mu, m, q, r, psi, ...
                         noise_power, dist_amp, dist_time, dist_duration, ...
                         u_min, u_max, x0, u0, Ref, beta, Ni, TOL, is_prrogrammed_ref);

%% Plot results
plot_simulation_results(results.time, results.Y, Ref, ...
                        results.U, results.V, results.DU, ...
                        results.X, u_min, u_max, dist_time, dist_amp, tf, '3_input_3_output');