This subdirectory contains the code and results for the
adaptive simulations presented in ECE1649, Spring 1994.
The plant is defined in rhs1.c, and the root file is
adapt1.c.  The plant is P(s) = 1/s(s-1) (unstable). 
The adaptive controller has a total of 19 states, and 
is the "method I" discussed in class.  There are several
reference trajectories defined and commented out in adapt1.c.
The executable produces a file data1.m which is in
Matlab format.  You can read this into matlab, and then
use the m-file plotit.m to look at the various trajectories.
Every time you rerun the simulation, the file data1.m is
overwritten, so to save your data, rename the file.
The file param.h  contains parameters of the simulation,
including N=number of states (21), M=number of inputs (2
including u(t) and r(t)), and P = number of outputs (1).
The states are defined in rhs1.c; in particular, theta0 - theta3
are x[6]..x[9] and k1 is x[10].  The program adapt1 prompts
you for Tmax, a reporting interval, and the 21 initial 
conditions.  To reproduce simulations in class, answer Tmax=60,
report=10, and the first 6 i.c. are 0, the next 5, which are
the parameters, are 1, and the last 10 are 0.  Enjoy.
RESULTS:
run1 is for a step at t=5 seconds, 
run2 is for a sinusoid r(t) = sin(t), 
