Studio di un algoritmo di consensus Newton-Raphson ... - Automatica
Studio di un algoritmo di consensus Newton-Raphson ... - Automatica
Studio di un algoritmo di consensus Newton-Raphson ... - Automatica
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Algorithm 10 Versione finale dell’<strong>algoritmo</strong> <strong>di</strong>stribuito <strong>di</strong><br />
t<strong>un</strong>ing del parametro ε<br />
<br />
<br />
1: δi(h−τi) = yi(h−τi)<br />
<br />
yi(h−τi−¯τi) <br />
zi(h−τi) − zi(h−τi−¯τi) <br />
<br />
yi(h−τi) <br />
2: δi(h) = − <br />
yi(h)<br />
zi(h)<br />
zi(h−τi)<br />
3: if δi(h−τ) > δi(h) then<br />
4: if εi è stato aumentato precedentemente then<br />
5: ¯εi = εi<br />
6: if εi < 0.5 then<br />
7: εi = 1.5εi<br />
8: else<br />
9: εi = εi +(1−εi)/2.5<br />
10: end if<br />
11: else<br />
12: ∆εi = |¯εi −εi|<br />
13: ¯εi = εi<br />
14: εi = εi +∆εi/2<br />
15: end if<br />
16: τi = τi/2<br />
17: if τi < 1 then<br />
18: τi = 1<br />
19: end if<br />
20: else<br />
21: if ε è stato aumentato precedentemente then<br />
22: ∆εi = |¯εi −εi|<br />
23: ¯εi = εi<br />
24: εi = εi +∆εi/2<br />
25: else<br />
26: εi = εi/2<br />
27: ¯εi = εi<br />
28: end if<br />
29: τi = τi ∗2<br />
30: if τi > τmax then ⊲ non superare il periodo massimo<br />
31: else<br />
32: τi = τmax<br />
33: end if<br />
34: end if<br />
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