trajectory: cardioid

set_initial_conditions.m

@@ -8,5 +8,7 @@ switch i
         q0 = [0; 0; pi/6];
     case 3
         q0 = [1; 0; 0];
+    case 4
+        q0 = [1; 0; -pi/6];
 end
 end

set_trajectory.m

@@ -41,6 +41,10 @@ switch i
     case 10
         xref = cos(0.5*s);
         yref = 0.5 * sin(s);
+    case 11
+        a = 0.5;
+        xref = 2*a*(1-cos(0.5*s))*sin(0.5*s);
+        yref = 2*a*(1-cos(0.5*s))*cos(0.5*s);
 end
 
 ref = [xref; yref];

tesiema.m

@@ -15,11 +15,13 @@ for i = 1:s_(2)
     TEST = convertStringsToChars(TESTS(i))
     
     sim_data = load(['tests/' TEST '/common.mat']);
+    
     sim_data.q0 = set_initial_conditions(sim_data.INITIAL_CONDITIONS);
     [ref dref] = set_trajectory(sim_data.TRAJECTORY);
     sim_data.ref = ref;
     sim_data.dref = dref;
 
+
     spmd (3)
         worker_index = spmdIndex;
         data = load(['tests/' TEST '/' num2str(spmdIndex) '.mat']);
@@ -33,7 +35,7 @@ for i = 1:s_(2)
         disp('Done')
     end
     
-    h = []
+    h = [];
     s1_ = size(worker_index);
     for n = 1:s1_(2)
         h_ = figure('Name', [TEST ' ' num2str(n)] );
@@ -78,6 +80,10 @@ function [t, q, ref_t, U, U_track, U_corr] = simulate_discr(sim_data)
     U_track = u_track';
     
     for n = 1:steps
+        sim_data.old_u_corr = u_corr;
+        sim_data.old_u_track = u_track;
+        sim_data.old_u = u_discr;
+
         tspan = [(n-1)*tc n*tc];
         z0 = q(end, :);