%----------------------------------------------------------------
%
%     IEEE ISIE'2003 - Final version.
%
%     Trailers Parameters.
%
%     Linked by one spring (trailers 1 and 3) and one damper
%     (trilers 2 and 3). Advantage: minimum phase.
%
%                               Rio de Janeiro, March 20, 2003.
%
%                            Author: Jose' Paulo V. S. da Cunha
%
%---------------------------------------------------------------

%
% Trailer parameters:
%

% Trailer mass (kg):

m1 = 1;

m2 = 2;

m3 = 0.5;

% Spring constant (N/m):

k31 = 1;

% Damper constant (Ns/m):

b23 = 1;

% Inertia matrix:

M = diag([m1 m2]);

% Precompensation matrix (nominal inertia matrix - kg):

Mnom = diag([1 2]);

% Nominal control matrices:

vu_nom = [ -1.3333333  -1 ;
           -0.3333333  -1 ];

Kp1nom  = [ 0.6666667    0.6666667 ;
            0.1666667    0.6666667 ];

% Matrix S:

S = [1 -1  0;
     0  1 -1];

% Mixer matrix:

W = S' * Mnom;

% State vector: xp = [l31 v3 v1 v2]'
%
% Initial state vector:

xp0 = [0 0 2 -2]';

% Initial model reference state vector:

vm0 = zeros(2,1);

% Plant state matrices:

Ap = [   0      1   -1    0;
      -k31/m3 -b23/m3  0  b23/m3;
       k31/m1    0    0    0;
         0   +b23/m2  0 -b23/m2];

Bp = [zeros(2,2) eye(2)]'*(M^-1)*S;

Cp = [zeros(2,2) eye(2)];

Dp = zeros(2,3);

% Reference model matrices:

Am = [ -2  0 ;
        0 -2 ];

Bm = eye(2);

Cm = eye(2);

Dm = zeros(2,2);

% Modulation functions coefficients:

c1 = 0;

c2 = 3.9;

c3 = 2.2;

c4 = 3.4;

c5 = 3.4;

gamma1 = 0.32;

delta = 0.1;

% Average filter time constant (s):

tau = 0.001;