danielmartensson/mataveid

System identification toolbox for GNU Octave and MATLAB

mataveid's Issues

Semantic Versioning and Conventional Commits

I find these useful for tracking software projects. Consider using:

Semantic Versioning:
https://semver.org/

conventional commits:
https://www.conventionalcommits.org/en/v1.0.0/

First TODO

Ask question

Dear professor, It's generous of you to share this project . But I have a question that what is the specific value of input(u) in README.md, such as command lsim(G, u, t). I'm a beginner, it's a little diffcult for me to guess the value of u. Can you upload a more detailed version of 'Typical use' at your convenience or just tell me the value of u?

Use of Optimization Toolbox in Mataveid

https://github.com/DanielMartensson/Mataveid/blob/7b4630798bb019d8b0085f0f36d7e6cc697c839b/sourcecode/lsvm.m#L59

In MATLAB, quadprog is in the Optimization Toolbox. I would recommend adding some code that checks for the Optimization Toolbox before making this call.

Semantic Versioning and Conventional Commits

• Semantic Versioning
• Conventional Commits
  • git-conventional-commits tool

Relevant documentation:
https://github.com/jasonnicholson/regularizeNd/blob/main/.github/Developer%20Documentation.md

Github actions

https://github.com/services/actions-training

OCID Not MATLAB Compatible

Similar to #DanielMartensson/MataveControl#4, ocid.m is not MATLAB compatible.

Multiple variables can be defined without coma or semicolon and multiple equal signed in OCTAVE but this is not allowed in MATLAB.

Change from:

To:

I am working on a pull request to fix some these issues.

Some question

Thank you for your open source, but there are some problems in running the example code:ss function
help ss
ss - Create state-space model, convert to state-space model

This MATLAB function creates a state-space model object representing the
continuous-time state-space model
sys = ss(A,B,C,D)

another problem is missing raw data

rpca.m

MATLAB Style

https://github.com/jasonnicholson/Matlab-Style-Guidelines-Cheat-Sheet/blob/master/Matlab%20Style%20Guidelines%20Cheat%20Sheet.pdf

Git

• Fork client https://git-fork.com/
• Submodules
• recovering old files
• Git LFS for binaries https://git-lfs.com/

OCID inv and other issues with solving the linear system

MATLAB recommends not using inv for solving A*x=b. Here is the output from the MATLAB IDE:

https://github.com/DanielMartensson/Mataveid/blob/def69941082b43328c1638d196c338157c001997/sourcecode/ocid.m#L116

The matrix V'*V is formed twice. Using size information to form eye() part of the equation would be a better choice.

filtfilt.m

Convert TODO to Project

GitHub

Access to repos

• Protected branches
• Forking workflow

https://skills.github.com/

• GitHub pages
• GitHub Actions
• Publish packages
• Codespaces

Using Project Board for To Do and Milestones

https://github.com/users/DanielMartensson/projects/3

rpca example jpg missing

Please add bob.jpg to the repo so it can be used in an example.

Dimensions of w and e are incosistent

The dimensions of w and e are inconsistent.
https://github.com/DanielMartensson/Mataveid/blob/def69941082b43328c1638d196c338157c001997/sourcecode/cca.m#L143

Try running your cca example code. It will error out.

First Todo

First todo

A question about OKID in practice

Dear Professor,
Thanks for your sharing your codes. I have a problem when I use OKID in practice.

Here is the problem:
error: svd: cannot take SVD of matrix containing Inf or NaN values
error: called from
okid >eradcokid at line 200 column 11
okid at line 142 column 13
OKID_motor at line 24 column 11

The reason is the following function has no output.
Ybar = y_part*inv(V'V + regularizationeye(size(V'*V)))*V';

Here is the output on terminal
Ybar =
Columns 1 through 37:
NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN
Columns 38 through 74:
NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN
...
...
...

How should I fix this problem?
Thanks again.
Regards

filtfilt2 data is missing

When calling load v, v is not found. Please add the data to the repo.

Syntax error in hokalman

https://github.com/DanielMartensson/Mataveid/blob/7b4630798bb019d8b0085f0f36d7e6cc697c839b/old/source/hokalman.m#L75-L76

Replace endfunction with end.

Should there be a multiply sign between hankel(g) and (1:length(g)/2,1+k:length(g)/2+k)?

Mataveid with Octave

I have just tried to execute the RLS example under Octave 5.2.0. I get the following error:

Attribute "sampleTime" is not known in Octave transfer function object. When I code Gd.tsam = sampleTime in rls.m the next error occurs.
To me it seems like the code is not really usable with Octave although the first sentence in the description suggests so...

Sindy example not working in MATLAB

The Sindy example in MATLAB is not working.

I modified the code of the example only slightly so that some indexing issues don't stop MATLAB. Instead, we end up erroring out at line 159. See stack trace below. The code completes in Octave.

clc; clear; close all;


% Load CSV data
X = csvread('..\data\MotorRotation.csv'); % Can be found in the folder "data"
t = X(:, 1);
u = X(:, 2);
y = X(:, 3);
sampleTime = 0.02;

% Do filtering of y
y = filtfilt2(y', t', 0.1)';

% Sindy - Sparce identification Dynamics
activations = [1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]; % Enable or disable the candidate functions such as sin(u), x^2, sqrt(y) etc...
lambda = 0.05;
l = length(u);
h = floor(l/2);
s = ceil(l/2);
fx_up = sindy(u(1:h), y(1:h), activations, lambda, sampleTime); % We go up
fx_down = sindy(u(s:end), y(s:end), activations, lambda, sampleTime); % We go down

% Simulation up
x0 = y(1);
u_up = u(1:h);
u_up = u_up(1:100:end)';
stepTime = 1.2;
[x_up, t] = nlsim(fx_up, u_up, x0, stepTime, 'ode15s');

% Simulation down 
x0 = y(s);
u_down = u(s:end)
u_down = u_down(1:100:end)';
stepTime = 1.2;
[x_down, t] = nlsim(fx_down, u_down, x0, stepTime, 'ode15s');

% Compare 
figure
plot([x_up x_down])
hold on 
plot(y(1:100:end));
legend('Simulation', 'Measurement')
ylabel('Rotation')
xlabel('Time')
grid on