for k in range(i):
e1sum[i] = e1sum[i] + e1[k] * t_delta
e2sum[i] = e2sum[i] + e2[k] * t_delta
v1[i] = ki * e1sum[i] - 309.1 * x[0, i] - 44.9 * dx[0, i]
v2[i] = ki * e2sum[i] - 309.1 * x[1, i] - 44.9 * dx[1, i]
# calculate pf & qf
p[i] = pf(x[0, i], x[1, i], x[2, i], x[3, i], dx[0, i], dx[1, i], C)
q[i] = qf(x[0, i], x[1, i], x[2, i], x[3, i], dx[0, i], dx[1, i], w, L, C)
# calculate u1 & u2
L2H1 = l2h1(x[0, i], x[1, i], x[2, i], x[3, i], dx[0, i], dx[1, i], p[i],
q[i], w, L, C)
L2H2 = l2h2(x[0, i], x[1, i], x[2, i], x[3, i], dx[0, i], dx[1, i], p[i],
q[i], w, L, C)
M11 = m11(x[0, i], x[1, i], x[2, i], w, L, C)
M12 = m12(x[0, i], x[1, i], x[3, i], w, L, C)
M21 = m21(x[0, i], x[1, i], x[2, i], w, L, C)
M22 = m22(x[0, i], x[1, i], x[3, i], w, L, C)
detA = M11 * M22 - M12 * M21
u1[i] = (M22 * (v1[i] - L2H1) - M12 * (v2[i] - L2H2)) / detA
u2[i] = (-M21 * (v1[i] - L2H1) + M11 * (v2[i] - L2H2)) / detA
# updating state variable
dx_temp = nl(x[0, i], x[1, i], x[2, i], x[3, i], p[i], q[i], w, L, C,
u1[i], u2[i])
dx[2, i] = dx_temp[2]
dx[3, i] = dx_temp[3]
for j in range(4):
x[j, i + 1] = x[j, i] + dx_temp[j] * t_delta
dz_temp = ss(dx[0, i], dx[1, i], v1[i], v2[i])
for j in range(4):
z[j, i + 1] = z[j, i] + dz_temp[j] * t_delta
dz_temp[0] = dz_temp[0] + 0.0838 * (x[0, i + 1] - z[0, i + 1])
iae = iae + abs(e[0, i]) * t_delta
itae = itae + (i * abs(e[0, i])) ** t_delta
for k in range(i):
e_sum[0, i] = e_sum[0, i] + e[0, k] * t_delta
e_sum[1, i] = e_sum[1, i] + e[1, k] * t_delta
# calculate v1 dan v2
v[0, i] = ki * e_sum[0, i] - k1 * z[0, i] - k2 * z[1, i]
v[1, i] = ki * e_sum[1, i] - k1 * z[2, i] - k2 * z[3, i]
# calculate u1 & u2
pqf[0, i] = pf(z[0, i], z[2, i], x[2, i], x[3, i], z[1, i], z[3, i], C)
pqf[1, i] = qf(z[0, i], z[2, i], x[2, i], x[3, i], z[1, i], z[3, i], w, L, C)
L2H1 = l2h1(z[0, i], z[2, i], x[2, i], x[3, i], z[1, i], z[3, i], pqf[0, i], pqf[1, i], w, L, C)
L2H2 = l2h2(z[0, i], z[2, i], x[2, i], x[3, i], z[1, i], z[3, i], pqf[0, i], pqf[1, i], w, L, C)
M11 = m11(z[0, i], z[2, i], x[2, i], w, L, C)
M12 = m12(z[0, i], z[2, i], x[3, i], w, L, C)
M21 = m21(z[0, i], z[2, i], x[2, i], w, L, C)
M22 = m22(z[0, i], z[2, i], x[3, i], w, L, C)
detA = M11 * M22 - M12 * M21
u[0, i] = (M22 * (v[0, i] - L2H1) - M12 * (v[1, i] - L2H2)) / detA
u[1, i] = (-M21 * (v[0, i] - L2H1) + M11 * (v[1, i] - L2H2)) / detA
# inverter model
dx_temp = nl(x[0, i], x[1, i], x[2, i], x[3, i], pqf[0, i], pqf[1, i], w, L, C, u[0, i], u[1, i])
dx[0, i] = dx_temp[0]
dx[1, i] = dx_temp[1]
dx[2, i] = dx_temp[2]
dx[3, i] = dx_temp[3]
for j in range(4):
x[j, i + 1] = x[j, i] + dx_temp[j] * t_delta
# measurement
y[0, i + 1] = x[0, i + 1]
y[1, i + 1] = x[1, i + 1]