PresentationIsabelleLaureyns

1s theonlinelearningmechanismblock

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Unformatted text preview: of
the
exhaust
gases
(only
input
to
the
plant)
   v(t)
:
rocket
velocity
   y(t):
altitude
of
the
rocket
   g0

=
9.81
m/s2
   R
:
radius
of
the
earth
   ρ
a
:
Airdensity
   A
:
maximum
cross
sectional
area
of
the
rocket
   Cd:
drag
coefficient
for
the
rocket
   M
:
initial
mass
of
the
rocket
and
fuel
   m
:
exhaust
gases
mass
flow
rate
 Plant
   The
mathematical
model:
   The
reference
model
for
the
fuzzy
controller:
   Remark:
the
reference
model
is
discrete
 Fuzzy
inverse
model

   Discrete
controller
(T=0.1
s)
   The
online
learning
mechanism
block:
   ye(k)=
ym(k)‐y(k)


(velocity
error)
   yc(k)=ye(k)‐ye(k‐1)
   Next,
we
need
to
scale
our
inputs
to
the
interval
[‐1,
1]
   This
is
done
by
the
gains
gye,
gyc
   Look
up
t...
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