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Plotting.m
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clc
clear all
close all
%Plotting
% Plot the Results
for i = 1:(Iterations+1)
fprintf('Total cost at iteration %d: %13.5f\n', [i, IterationCost(i)]);
end
a0 = x_cl(:,1);
Iter_index_X = 1;
for ix = size(x_cl,2): size(XX,2)
if XX(:,ix) == a0
% if mod(ix, Traillength) == 0
ix;
Iter_index_X = [Iter_index_X, ix];
end
end
Iter_index_X;
n = size(x_cl,1);
m = size(u_cl,1);
X0 = XX(1:n,1:size(x_cl,2));
X1 = XX(1:n,Iter_index_X(2):Iter_index_X(2+1)-1);
X2 = XX(1:n,Iter_index_X(3):Iter_index_X(3+1)-1);
X3 = XX(1:n,Iter_index_X(4):Iter_index_X(4+1)-1);
X4 = XX(1:n,Iter_index_X(5):Iter_index_X(5+1)-1);
X5 = XX(1:n,Iter_index_X(6):Iter_index_X(6+1)-1);
X6 = XX(1:n,Iter_index_X(7):Iter_index_X(7+1)-1);
X7 = XX(1:n,Iter_index_X(8):Iter_index_X(8+1)-1);
X8 = XX(1:n,Iter_index_X(9):Iter_index_X(9+1)-1);
X9 = XX(1:n,Iter_index_X(10):Iter_index_X(10+1)-1);
X10 = XX(1:n,Iter_index_X(11):end);
% figure;
%%
T = 0:size(X1(1,:),2)-1;
figure(1);
h1 = axes;
plot3(1:size(X0(1,:),2),(0)*ones(1,size(X0(1,:),2)),X0(1,:),'b--','LineWidth',2); hold on
plot3(T,(1)*ones(1,size(X1(1,:),2)),X1(1,:),'k-.','LineWidth',2); hold on
plot3(T,(2)*ones(1,size(X2(1,:),2)),X2(1,:),'--g','LineWidth',2); hold on
plot3(T,(3)*ones(1,size(X3(1,:),2)),X3(1,:),':m','LineWidth',2); hold on
plot3(T,(4)*ones(1,size(X4(1,:),2)),X4(1,:),'-.g','LineWidth',2); hold on
plot3(T,(5)*ones(1,size(X5(1,:),2)),X5(1,:),':y','LineWidth',2); hold on
plot3(T,(6)*ones(1,size(X6(1,:),2)),X6(1,:),'-.c','LineWidth',2); hold on
plot3(T,(7)*ones(1,size(X7(1,:),2)),X7(1,:),'--g','LineWidth',2); hold on
plot3(T,(8)*ones(1,size(X8(1,:),2)),X8(1,:),'-.m','LineWidth',2); hold on
plot3(T,(9)*ones(1,size(X9(1,:),2)),X9(1,:),'-.y','LineWidth',2); hold on
plot3(T,(10)*ones(1,size(X10(1,:),2)),X10(1,:),'-r','LineWidth',2); hold on
set(h1, 'Ydir', 'reverse')
yticks([0:Iterations])
% zlim([-40 40])
grid on
xlim([0 50]);
box on
xlabel('t (s)','FontSize',12)
ylabel('Batch (k)','FontSize',12)
zlabel('$\bf{\delta y_k ( t )}$','FontSize',14,'interpreter','latex')
hold off
%%
U0 = UU(1:m,1:size(u_cl,2));
U1 = UU(1:m,Traillength + 1:2*Traillength);
U2 = UU(1:m,2*Traillength + 1:3*Traillength);
U3 = UU(1:m,3*Traillength + 1:4*Traillength);
U4 = UU(1:m,4*Traillength + 1:5*Traillength);
U5 = UU(1:m,5*Traillength + 1:6*Traillength);
U6 = UU(1:m,6*Traillength + 1:7*Traillength);
U7 = UU(1:m,7*Traillength + 1:8*Traillength);
U8 = UU(1:m,8*Traillength + 1:9*Traillength);
U9 = UU(1:m,9*Traillength + 1:10*Traillength);
U10 = UU(1:m,10*Traillength + 1:end);
figure(2);
h1 = axes;
plot3(1:size(U0(1,:),2),(0)*ones(1,size(U0(1,:),2)),U0(1,:),'b--','LineWidth',2); hold on
plot3(1:size(U1(1,:),2),(1)*ones(1,size(U1(1,:),2)),U1(1,:),'k-.','LineWidth',2); hold on
plot3(1:size(U2(1,:),2),(2)*ones(1,size(U2(1,:),2)),U2(1,:),'--g','LineWidth',2); hold on
plot3(1:size(U3(1,:),2),(3)*ones(1,size(U3(1,:),2)),U3(1,:),':m','LineWidth',2); hold on
plot3(1:size(U4(1,:),2),(4)*ones(1,size(U4(1,:),2)),U4(1,:),'-.g','LineWidth',2); hold on
plot3(1:size(U5(1,:),2),(5)*ones(1,size(U5(1,:),2)),U5(1,:),':y','LineWidth',2); hold on
plot3(1:size(U6(1,:),2),(6)*ones(1,size(U6(1,:),2)),U6(1,:),'-.c','LineWidth',2); hold on
plot3(1:size(U7(1,:),2),(7)*ones(1,size(U7(1,:),2)),U7(1,:),'--g','LineWidth',2); hold on
plot3(1:size(U8(1,:),2),(8)*ones(1,size(U8(1,:),2)),U8(1,:),'-.m','LineWidth',2); hold on
plot3(1:size(U9(1,:),2),(9)*ones(1,size(U9(1,:),2)),U9(1,:),'-.y','LineWidth',2); hold on
plot3(1:size(U10(1,:),2),(10)*ones(1,size(U10(1,:),2)),U10(1,:),'-r','LineWidth',2); hold on
set(h1, 'Ydir', 'reverse')
yticks([0:Iterations])
grid on
xlim([0 50]);
box on
xlabel('t (s)','FontSize',12)
ylabel('Batch (k)','FontSize',12)
zlabel('$\bf{\delta u_k ( t )}$','FontSize',14,'interpreter','latex')
hold off
%% plot the real states;
Originalstate = x0(1:2,1);
Xi0 = get_OriginalData(X0,Originalstate);
Xi1 = get_OriginalData(X1,Originalstate);
Xi2 = get_OriginalData(X2,Originalstate);
Xi3 = get_OriginalData(X3,Originalstate);
Xi4 = get_OriginalData(X4,Originalstate);
Xi5 = get_OriginalData(X5,Originalstate);
Xi6 = get_OriginalData(X6,Originalstate);
Xi7 = get_OriginalData(X7,Originalstate);
Xi8 = get_OriginalData(X8,Originalstate);
Xi9 = get_OriginalData(X9,Originalstate);
Xi10 = get_OriginalData(X10,Originalstate);
Y_d = 0;
for j = 1:size(X1(1,:),2)-1
Y_d = [Y_d reference(j)];
end
figure(3);
plot(T,Y_d,'c',...
0:size(Xi0(1,:),2)-1,Xi0(1,:),'b-.',...
0:size(Xi1(1,:),2)-1,Xi1(1,:),'c:',...
0:size(Xi2(1,:),2)-1,Xi2(1,:),'--b',...
0:size(Xi3(1,:),2)-1,Xi3(1,:),'-.g',...
0:size(Xi4(1,:),2)-1,Xi4(1,:),':k',...
0:size(Xi5(1,:),2)-1,Xi5(1,:),'-.c',...
0:size(Xi6(1,:),2)-1,Xi6(1,:),'--g',...
0:size(Xi7(1,:),2)-1,Xi7(1,:),'-.m',...
0:size(Xi8(1,:),2)-1,Xi8(1,:),':y',...
0:size(Xi9(1,:),2)-1,Xi9(1,:),'-.b',...
0:size(Xi10(1,:),2)-1,Xi10(1,:),'-r','linewidth',1.5);
xlim([0 50]);
xlabel('t ( s )','FontSize',12);
ylabel('$\bf{y_k ( t )}$','FontSize',14,'interpreter','latex')
legend ('Reference','Initial points','The 1st iteration','The 2nd iteration','The 3rd iteration',...
'The 4th iteration','The 5th iteration','The 6th iteration','The 7th iteration',...
'The 8th iteration','The 9th iteration','The 10th iteration',...
'location','southeast');
hold off
%% plot the inputs
Ui0 = get_OriginalData(U0,0);
Ui1 = get_OriginalData(U1,0);
Ui2 = get_OriginalData(U2,0);
Ui3 = get_OriginalData(U3,0);
Ui4 = get_OriginalData(U4,0);
Ui5 = get_OriginalData(U5,0);
Ui6 = get_OriginalData(U6,0);
Ui7 = get_OriginalData(U7,0);
Ui8 = get_OriginalData(U8,0);
Ui9 = get_OriginalData(U9,0);
Ui10 = get_OriginalData(U10,0);
figure(4);
plot(0:size(Ui0(1,:),2)-1,Ui0(1,:),'b--',...
0:size(Ui1(1,:),2)-1,Ui1(1,:),'k-.',...
0:size(Ui2(1,:),2)-1,Ui2(1,:),'--g',...
0:size(Ui3(1,:),2)-1,Ui3(1,:),':m',...
0:size(Ui4(1,:),2)-1,Ui4(1,:),'-.y',...
0:size(Ui5(1,:),2)-1,Ui5(1,:),'-.c',...
0:size(Ui6(1,:),2)-1,Ui6(1,:),'--g',...
0:size(Ui7(1,:),2)-1,Ui7(1,:),'-.m',...
0:size(Ui8(1,:),2)-1,Ui8(1,:),':y',...
0:size(Ui9(1,:),2)-1,Ui9(1,:),'-.b',...
0:size(Ui10(1,:),2)-1,Ui10(1,:),'-r','linewidth',1.5);
xlabel('t ( s )','FontSize',12);
ylabel('$\bf{u_k ( t )}$','FontSize',14,'interpreter','latex')
legend ('Initial points','The 1st iteration','The 2nd iteration','The 3rd iteration',...
'The 4th iteration','The 5th iteration','The 6th iteration','The 7th iteration',...
'The 8th iteration','The 9th iteration','The 10th iteration',...
'location','southeast');
hold off