Octave Forge

Revision: 8789
          http://octave.svn.sourceforge.net/octave/?rev=8789&view=rev
Author:   paramaniac
Date:     2011-10-19 16:38:34 +0000 (Wed, 19 Oct 2011)
Log Message:
-----------
control-devel: add code for fitfrd

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/makefile_ident.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/src/DG01MD.f
    trunk/octave-forge/extra/control-devel/src/MC01PD.f
    trunk/octave-forge/extra/control-devel/src/SB10YD.f
    trunk/octave-forge/extra/control-devel/src/SB10ZP.f
    trunk/octave-forge/extra/control-devel/src/TD03AY.f
    trunk/octave-forge/extra/control-devel/src/TD04AD.f

Modified: trunk/octave-forge/extra/control-devel/devel/makefile_ident.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/makefile_ident.m	2011-10-19 15:05:10 UTC (rev 8788)
+++ trunk/octave-forge/extra/control-devel/devel/makefile_ident.m	2011-10-19 16:38:34 UTC (rev 8789)
@@ -23,6 +23,12 @@
           MB01TD.f MA02AD.f MB04OD.f MB04OY.f MB02UD.f \
           MB03UD.f MB01SD.f
 
+## fit state-space model to frequency response data
+mkoctfile SB10YD.f DG01MD.f AB04MD.f SB10ZP.f AB07ND.f \
+          MC01PD.f TD04AD.f TD03AY.f TB01PD.f TB01XD.f \
+          AB07MD.f TB01UD.f TB01ID.f MB01PD.f MB03OY.f \
+          MB01QD.f
+
 system ("rm *.o");
 cd (homedir);
 

Added: trunk/octave-forge/extra/control-devel/src/DG01MD.f
===================================================================
--- trunk/octave-forge/extra/control-devel/src/DG01MD.f	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/src/DG01MD.f	2011-10-19 16:38:34 UTC (rev 8789)
@@ -0,0 +1,235 @@
+      SUBROUTINE DG01MD( INDI, N, XR, XI, INFO )
+C
+C     SLICOT RELEASE 5.0.
+C
+C     Copyright (c) 2002-2010 NICONET e.V.
+C
+C     This program is free software: you can redistribute it and/or
+C     modify it under the terms of the GNU General Public License as
+C     published by the Free Software Foundation, either version 2 of
+C     the License, or (at your option) any later version.
+C
+C     This program is distributed in the hope that it will be useful,
+C     but WITHOUT ANY WARRANTY; without even the implied warranty of
+C     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+C     GNU General Public License for more details.
+C
+C     You should have received a copy of the GNU General Public License
+C     along with this program.  If not, see
+C     <http://www.gnu.org/licenses/>.
+C
+C     PURPOSE
+C
+C     To compute the discrete Fourier transform, or inverse transform,
+C     of a complex signal.
+C
+C     ARGUMENTS
+C
+C     Mode Parameters
+C
+C     INDI    CHARACTER*1
+C             Indicates whether a Fourier transform or inverse Fourier
+C             transform is to be performed as follows:
+C             = 'D':  (Direct) Fourier transform;
+C             = 'I':  Inverse Fourier transform.
+C
+C     Input/Output Parameters
+C
+C     N       (input) INTEGER
+C             The number of complex samples.  N must be a power of 2.
+C             N >= 2.
+C
+C     XR      (input/output) DOUBLE PRECISION array, dimension (N)
+C             On entry, this array must contain the real part of either
+C             the complex signal z if INDI = 'D', or f(z) if INDI = 'I'.
+C             On exit, this array contains either the real part of the
+C             computed Fourier transform f(z) if INDI = 'D', or the
+C             inverse Fourier transform z of f(z) if INDI = 'I'.
+C
+C     XI      (input/output) DOUBLE PRECISION array, dimension (N)
+C             On entry, this array must contain the imaginary part of
+C             either z if INDI = 'D', or f(z) if INDI = 'I'.
+C             On exit, this array contains either the imaginary part of
+C             f(z) if INDI = 'D', or z if INDI = 'I'.
+C
+C     Error Indicator
+C
+C     INFO    INTEGER
+C             = 0:  successful exit;
+C             < 0:  if INFO = -i, the i-th argument had an illegal
+C                   value.
+C
+C     METHOD
+C
+C     If INDI = 'D', then the routine performs a discrete Fourier
+C     transform on the complex signal Z(i), i = 1,2,...,N. If the result
+C     is denoted by FZ(k), k = 1,2,...,N, then the relationship between
+C     Z and FZ is given by the formula:
+C
+C                     N            ((k-1)*(i-1))
+C            FZ(k) = SUM ( Z(i) * V              ),
+C                    i=1
+C                                     2
+C     where V = exp( -2*pi*j/N ) and j  = -1.
+C
+C     If INDI = 'I', then the routine performs an inverse discrete
+C     Fourier transform on the complex signal FZ(k), k = 1,2,...,N. If
+C     the result is denoted by Z(i), i = 1,2,...,N, then the
+C     relationship between Z and FZ is given by the formula:
+C
+C                    N             ((k-1)*(i-1))
+C            Z(i) = SUM ( FZ(k) * W              ),
+C                   k=1
+C
+C     where W = exp( 2*pi*j/N ).
+C
+C     Note that a discrete Fourier transform, followed by an inverse
+C     discrete Fourier transform, will result in a signal which is a
+C     factor N larger than the original input signal.
+C
+C     REFERENCES
+C
+C     [1] Rabiner, L.R. and Rader, C.M.
+C         Digital Signal Processing.
+C         IEEE Press, 1972.
+C
+C     NUMERICAL ASPECTS
+C
+C     The algorithm requires 0( N*log(N) ) operations.
+C
+C     CONTRIBUTOR
+C
+C     Release 3.0: V. Sima, Katholieke Univ. Leuven, Belgium, Feb. 1997.
+C     Supersedes Release 2.0 routine DG01AD by R. Dekeyser, State
+C     University of Gent, Belgium.
+C
+C     REVISIONS
+C
+C     -
+C
+C     KEYWORDS
+C
+C     Complex signals, digital signal processing, fast Fourier
+C     transform.
+C
+C     ******************************************************************
+C
+C     .. Parameters ..
+      DOUBLE PRECISION  ZERO, HALF, ONE, TWO, EIGHT
+      PARAMETER         ( ZERO = 0.0D0, HALF = 0.5D0, ONE = 1.0D0,
+     $                    TWO = 2.0D0, EIGHT = 8.0D0 )
+C     .. Scalar Arguments ..
+      CHARACTER         INDI
+      INTEGER           INFO, N
+C     .. Array Arguments ..
+      DOUBLE PRECISION  XI(*), XR(*)
+C     .. Local Scalars ..
+      LOGICAL           LINDI
+      INTEGER           I, J, K, L, M
+      DOUBLE PRECISION  PI2, TI, TR, WHELP, WI, WR, WSTPI, WSTPR
+C     .. External Functions ..
+      LOGICAL           LSAME
+      EXTERNAL          LSAME
+C     .. External Subroutines ..
+      EXTERNAL          XERBLA
+C     .. Intrinsic Functions ..
+      INTRINSIC         ATAN, DBLE, MOD, SIN
+C     .. Executable Statements ..
+C
+      INFO = 0
+      LINDI = LSAME( INDI, 'D' )
+C
+C     Test the input scalar arguments.
+C
+      IF( .NOT.LINDI .AND. .NOT.LSAME( INDI, 'I' ) ) THEN
+         INFO = -1
+      ELSE
+         J = 0
+         IF( N.GE.2 ) THEN
+            J = N
+C           WHILE ( MOD( J, 2 ).EQ.0 ) DO
+   10       CONTINUE
+            IF ( MOD( J, 2 ).EQ.0 ) THEN
+               J = J/2
+               GO TO 10
+            END IF
+C           END WHILE 10
+         END IF
+         IF ( J.NE.1 ) INFO = -2
+      END IF
+C
+      IF ( INFO.NE.0 ) THEN
+C
+C        Error return.
+C
+         CALL XERBLA( 'DG01MD', -INFO )
+         RETURN
+      END IF
+C
+C     Inplace shuffling of data.
+C
+      J = 1
+C
+      DO 30 I = 1, N
+         IF ( J.GT.I ) THEN
+            TR = XR(I)
+            TI = XI(I)
+            XR(I) = XR(J)
+            XI(I) = XI(J)
+            XR(J) = TR
+            XI(J) = TI
+         END IF
+         K = N/2
+C        REPEAT
+   20    IF ( J.GT.K ) THEN
+            J = J - K
+            K = K/2
+            IF ( K.GE.2 ) GO TO 20
+         END IF
+C        UNTIL ( K.LT.2 )
+         J = J + K
+   30 CONTINUE
+C
+C     Transform by decimation in time.
+C
+      PI2 = EIGHT*ATAN( ONE )
+      IF ( LINDI ) PI2 = -PI2
+C
+      I = 1
+C
+C     WHILE ( I.LT.N ) DO
+C
+   40 IF ( I.LT.N ) THEN
+         L = 2*I
+         WHELP = PI2/DBLE( L )
+         WSTPI = SIN( WHELP )
+         WHELP = SIN( HALF*WHELP )
+         WSTPR = -TWO*WHELP*WHELP
+         WR = ONE
+         WI = ZERO
+C
+         DO 60 J = 1, I
+C
+            DO 50 K = J, N, L
+               M = K + I
+               TR = WR*XR(M) - WI*XI(M)
+               TI = WR*XI(M) + WI*XR(M)
+               XR(M) = XR(K) - TR
+               XI(M) = XI(K) - TI
+               XR(K) = XR(K) + TR
+               XI(K) = XI(K) + TI
+   50       CONTINUE
+C
+            WHELP = WR
+            WR = WR + WR*WSTPR - WI*WSTPI
+            WI = WI + WHELP*WSTPI + WI*WSTPR
+   60    CONTINUE
+C
+         I = L
+         GO TO 40
+C        END WHILE 40
+      END IF
+C
+      RETURN
+C *** Last line of DG01MD ***
+      END


Property changes on: trunk/octave-forge/extra/control-devel/src/DG01MD.f
___________________________________________________________________
Added: svn:executable
   + *

Added: trunk/octave-forge/extra/control-devel/src/MC01PD.f
===================================================================
--- trunk/octave-forge/extra/control-devel/src/MC01PD.f	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/src/MC01PD.f	2011-10-19 16:38:34 UTC (rev 8789)
@@ -0,0 +1,159 @@
+      SUBROUTINE MC01PD( K, REZ, IMZ, P, DWORK, INFO )
+C
+C     SLICOT RELEASE 5.0.
+C
+C     Copyright (c) 2002-2010 NICONET e.V.
+C
+C     This program is free software: you can redistribute it and/or
+C     modify it under the terms of the GNU General Public License as
+C     published by the Free Software Foundation, either version 2 of
+C     the License, or (at your option) any later version.
+C
+C     This program is distributed in the hope that it will be useful,
+C     but WITHOUT ANY WARRANTY; without even the implied warranty of
+C     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+C     GNU General Public License for more details.
+C
+C     You should have received a copy of the GNU General Public License
+C     along with this program.  If not, see
+C     <http://www.gnu.org/licenses/>.
+C
+C     PURPOSE
+C
+C     To compute the coefficients of a real polynomial P(x) from its
+C     zeros.
+C
+C     ARGUMENTS
+C
+C     Input/Output Parameters
+C
+C     K       (input) INTEGER
+C             The number of zeros (and hence the degree) of P(x).
+C             K >= 0.
+C
+C     REZ     (input) DOUBLE PRECISION array, dimension (K)
+C     IMZ     (input) DOUBLE PRECISION array, dimension (K)
+C             The real and imaginary parts of the i-th zero of P(x)
+C             must be stored in REZ(i) and IMZ(i), respectively, where
+C             i = 1, 2, ..., K. The zeros may be supplied in any order,
+C             except that complex conjugate zeros must appear
+C             consecutively.
+C
+C     P       (output) DOUBLE PRECISION array, dimension (K+1)
+C             This array contains the coefficients of P(x) in increasing
+C             powers of x. If K = 0, then P(1) is set to one.
+C
+C     Workspace
+C
+C     DWORK   DOUBLE PRECISION array, dimension (K+1)
+C             If K = 0, this array is not referenced.
+C
+C     Error Indicator
+C
+C     INFO    INTEGER
+C             = 0:  successful exit;
+C             < 0:  if INFO = -i, the i-th argument had an illegal
+C                   value;
+C             > 0:  if INFO = i, (REZ(i),IMZ(i)) is a complex zero but
+C                   (REZ(i-1),IMZ(i-1)) is not its conjugate.
+C
+C     METHOD
+C
+C     The routine computes the coefficients of the real K-th degree
+C     polynomial P(x) as
+C
+C        P(x) = (x - r(1)) * (x - r(2)) * ... * (x - r(K))
+C
+C     where r(i) = (REZ(i),IMZ(i)).
+C
+C     Note that REZ(i) = REZ(j) and IMZ(i) = -IMZ(j) if r(i) and r(j)
+C     form a complex conjugate pair (where i <> j), and that IMZ(i) = 0
+C     if r(i) is real.
+C
+C     NUMERICAL ASPECTS
+C
+C     None.
+C
+C     CONTRIBUTOR
+C
+C     Release 3.0: V. Sima, Katholieke Univ. Leuven, Belgium, Mar. 1997.
+C     Supersedes Release 2.0 routine MC01DD by A.J. Geurts.
+C
+C     REVISIONS
+C
+C     V. Sima, May 2002.
+C
+C     KEYWORDS
+C
+C     Elementary polynomial operations, polynomial operations.
+C
+C     ******************************************************************
+C
+C     .. Parameters ..
+      DOUBLE PRECISION  ZERO, ONE
+      PARAMETER         ( ZERO = 0.0D0, ONE = 1.0D0 )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, K
+C     .. Array Arguments ..
+      DOUBLE PRECISION  DWORK(*), IMZ(*), P(*), REZ(*)
+C     .. Local Scalars ..
+      INTEGER           I
+      DOUBLE PRECISION  U, V
+C     .. External Subroutines ..
+      EXTERNAL          DAXPY, DCOPY, XERBLA
+C     .. Executable Statements ..
+C
+C     Test the input scalar arguments.
+C
+      IF( K.LT.0 ) THEN
+         INFO = -1
+C
+C        Error return.
+C
+         CALL XERBLA( 'MC01PD', -INFO )
+         RETURN
+      END IF
+C
+C     Quick return if possible.
+C
+      INFO = 0
+      P(1) = ONE
+      IF ( K.EQ.0 )
+     $   RETURN
+C
+      I = 1
+C     WHILE ( I <= K ) DO
+   20 IF ( I.LE.K ) THEN
+         U = REZ(I)
+         V = IMZ(I)
+         DWORK(1) = ZERO
+C
+         IF ( V.EQ.ZERO ) THEN
+            CALL DCOPY( I, P, 1, DWORK(2), 1 )
+            CALL DAXPY( I, -U, P, 1, DWORK, 1 )
+            I = I + 1
+C
+         ELSE
+            IF ( I.EQ.K ) THEN
+               INFO = K
+               RETURN
+            ELSE IF ( ( U.NE.REZ(I+1) ) .OR. ( V.NE.-IMZ(I+1) ) ) THEN
+               INFO = I + 1
+               RETURN
+            END IF
+C
+            DWORK(2) = ZERO
+            CALL DCOPY( I, P, 1, DWORK(3), 1 )
+            CALL DAXPY( I, -(U + U),  P, 1, DWORK(2), 1 )
+            CALL DAXPY( I, U**2+V**2, P, 1, DWORK, 1 )
+            I = I + 2
+         END IF
+C
+         CALL DCOPY( I, DWORK, 1, P, 1 )
+         GO TO 20
+      END IF
+C     END WHILE 20
+C
+      RETURN
+C *** Last line of MC01PD ***
+      END


Property changes on: trunk/octave-forge/extra/control-devel/src/MC01PD.f
___________________________________________________________________
Added: svn:executable
   + *

Added: trunk/octave-forge/extra/control-devel/src/SB10YD.f
===================================================================
--- trunk/octave-forge/extra/control-devel/src/SB10YD.f	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/src/SB10YD.f	2011-10-19 16:38:34 UTC (rev 8789)
@@ -0,0 +1,689 @@
+      SUBROUTINE SB10YD( DISCFL, FLAG, LENDAT, RFRDAT, IFRDAT, OMEGA, N,
+     $                   A, LDA, B, C, D, TOL, IWORK, DWORK, LDWORK,
+     $                   ZWORK, LZWORK, INFO )
+C
+C     SLICOT RELEASE 5.0.
+C
+C     Copyright (c) 2002-2010 NICONET e.V.
+C
+C     This program is free software: you can redistribute it and/or
+C     modify it under the terms of the GNU General Public License as
+C     published by the Free Software Foundation, either version 2 of
+C     the License, or (at your option) any later version.
+C
+C     This program is distributed in the hope that it will be useful,
+C     but WITHOUT ANY WARRANTY; without even the implied warranty of
+C     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+C     GNU General Public License for more details.
+C
+C     You should have received a copy of the GNU General Public License
+C     along with this program.  If not, see
+C     <http://www.gnu.org/licenses/>.
+C
+C     PURPOSE
+C
+C     To fit a supplied frequency response data with a stable, minimum
+C     phase SISO (single-input single-output) system represented by its
+C     matrices A, B, C, D. It handles both discrete- and continuous-time
+C     cases.
+C
+C     ARGUMENTS
+C
+C     Input/Output parameters
+C
+C     DISCFL  (input) INTEGER
+C             Indicates the type of the system, as follows:
+C             = 0: continuous-time system;
+C             = 1: discrete-time system.
+C
+C     FLAG    (input) INTEGER
+C             If FLAG = 0, then the system zeros and poles are not
+C             constrained.
+C             If FLAG = 1, then the system zeros and poles will have
+C             negative real parts in the continuous-time case, or moduli
+C             less than 1 in the discrete-time case. Consequently, FLAG
+C             must be equal to 1 in mu-synthesis routines.
+C
+C     LENDAT  (input) INTEGER
+C             The length of the vectors RFRDAT, IFRDAT and OMEGA.
+C             LENDAT >= 2.
+C
+C     RFRDAT  (input) DOUBLE PRECISION array, dimension (LENDAT)
+C             The real part of the frequency data to be fitted.
+C
+C     IFRDAT  (input) DOUBLE PRECISION array, dimension (LENDAT)
+C             The imaginary part of the frequency data to be fitted.
+C
+C     OMEGA   (input) DOUBLE PRECISION array, dimension (LENDAT)
+C             The frequencies corresponding to RFRDAT and IFRDAT.
+C             These values must be nonnegative and monotonically
+C             increasing. Additionally, for discrete-time systems
+C             they must be between 0 and PI.
+C
+C     N       (input/output) INTEGER
+C             On entry, the desired order of the system to be fitted.
+C             N <= LENDAT-1.
+C             On exit, the order of the obtained system. The value of N
+C             could only be modified if N > 0 and FLAG = 1.
+C
+C     A       (output) DOUBLE PRECISION array, dimension (LDA,N)
+C             The leading N-by-N part of this array contains the
+C             matrix A. If FLAG = 1, then A is in an upper Hessenberg
+C             form, and corresponds to a minimal realization.
+C
+C     LDA     INTEGER
+C             The leading dimension of the array A.  LDA >= MAX(1,N).
+C
+C     B       (output) DOUBLE PRECISION array, dimension (N)
+C             The computed vector B.
+C
+C     C       (output) DOUBLE PRECISION array, dimension (N)
+C             The computed vector C. If FLAG = 1, the first N-1 elements
+C             are zero (for the exit value of N).
+C
+C     D       (output) DOUBLE PRECISION array, dimension (1)
+C             The computed scalar D.
+C
+C     Tolerances
+C
+C     TOL     DOUBLE PRECISION
+C             The tolerance to be used for determining the effective
+C             rank of matrices. If the user sets TOL > 0, then the given
+C             value of TOL is used as a lower bound for the reciprocal
+C             condition number;  a (sub)matrix whose estimated condition
+C             number is less than 1/TOL is considered to be of full
+C             rank.  If the user sets TOL <= 0, then an implicitly
+C             computed, default tolerance, defined by TOLDEF = SIZE*EPS,
+C             is used instead, where SIZE is the product of the matrix
+C             dimensions, and EPS is the machine precision (see LAPACK
+C             Library routine DLAMCH).
+C
+C     Workspace
+C
+C     IWORK   INTEGER array, dimension max(2,2*N+1)
+C
+C     DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+C             On exit, if INFO = 0, DWORK(1) returns the optimal value
+C             of LDWORK and DWORK(2) contains the optimal value of
+C             LZWORK.
+C
+C     LDWORK  INTEGER
+C             The length of the array DWORK.
+C             LDWORK = max( 2, LW1, LW2, LW3, LW4 ), where
+C             LW1 = 2*LENDAT + 4*HNPTS;  HNPTS = 2048;
+C             LW2 =   LENDAT + 6*HNPTS;
+C             MN  = min( 2*LENDAT, 2*N+1 )
+C             LW3 = 2*LENDAT*(2*N+1) + max( 2*LENDAT, 2*N+1 ) +
+C                   max( MN + 6*N + 4, 2*MN + 1 ), if N > 0;
+C             LW3 = 4*LENDAT + 5                 , if N = 0;
+C             LW4 = max( N*N + 5*N, 6*N + 1 + min( 1,N ) ), if FLAG = 1;
+C             LW4 = 0,                                      if FLAG = 0.
+C             For optimum performance LDWORK should be larger.
+C
+C     ZWORK   COMPLEX*16 array, dimension (LZWORK)
+C
+C     LZWORK  INTEGER
+C             The length of the array ZWORK.
+C             LZWORK = LENDAT*(2*N+3), if N > 0;
+C             LZWORK = LENDAT,         if N = 0.
+C
+C     Error indicator
+C
+C     INFO    INTEGER
+C             = 0:  successful exit;
+C             < 0:  if INFO = -i, the i-th argument had an illegal
+C                   value;
+C             = 1:  if the discrete --> continuous transformation cannot
+C                   be made;
+C             = 2:  if the system poles cannot be found;
+C             = 3:  if the inverse system cannot be found, i.e., D is
+C                   (close to) zero;
+C             = 4:  if the system zeros cannot be found;
+C             = 5:  if the state-space representation of the new
+C                   transfer function T(s) cannot be found;
+C             = 6:  if the continuous --> discrete transformation cannot
+C                   be made.
+C
+C     METHOD
+C
+C     First, if the given frequency data are corresponding to a
+C     continuous-time system, they are changed to a discrete-time
+C     system using a bilinear transformation with a scaled alpha.
+C     Then, the magnitude is obtained from the supplied data.
+C     Then, the frequency data are linearly interpolated around
+C     the unit-disc.
+C     Then, Oppenheim and Schafer complex cepstrum method is applied
+C     to get frequency data corresponding to a stable, minimum-
+C     phase system. This is done in the following steps:
+C     - Obtain LOG (magnitude)
+C     - Obtain IFFT of the result (DG01MD SLICOT subroutine);
+C     - halve the data at 0;
+C     - Obtain FFT of the halved data (DG01MD SLICOT subroutine);
+C     - Obtain EXP of the result.
+C     Then, the new frequency data are interpolated back to the
+C     original frequency.
+C     Then, based on these newly obtained data, the system matrices
+C     A, B, C, D are constructed; the very identification is
+C     performed by Least Squares Method using DGELSY LAPACK subroutine.
+C     If needed, a discrete-to-continuous time transformation is
+C     applied on the system matrices by AB04MD SLICOT subroutine.
+C     Finally, if requested, the poles and zeros of the system are
+C     checked. If some of them have positive real parts in the
+C     continuous-time case (or are not inside the unit disk in the
+C     complex plane in the discrete-time case), they are exchanged with
+C     their negatives (or reciprocals, respectively), to preserve the
+C     frequency response, while getting a minimum phase and stable
+C     system. This is done by SB10ZP SLICOT subroutine.
+C
+C     REFERENCES
+C
+C     [1] Oppenheim, A.V. and Schafer, R.W.
+C         Discrete-Time Signal Processing.
+C         Prentice-Hall Signal Processing Series, 1989.
+C
+C     [2] Balas, G., Doyle, J., Glover, K., Packard, A., and Smith, R.
+C         Mu-analysis and Synthesis toolbox - User's Guide,
+C         The Mathworks Inc., Natick, MA, USA, 1998.
+C
+C     CONTRIBUTORS
+C
+C     Asparuh Markovski, Technical University of Sofia, July 2003.
+C
+C     REVISIONS
+C
+C     V. Sima, Research Institute for Informatics, Bucharest, Aug. 2003.
+C     A. Markovski, Technical University of Sofia, October 2003.
+C
+C     KEYWORDS
+C
+C     Bilinear transformation, frequency response, least-squares
+C     approximation, stability.
+C
+C     ******************************************************************
+C
+C     .. Parameters ..
+      COMPLEX*16         ZZERO, ZONE
+      PARAMETER          ( ZZERO = ( 0.0D+0, 0.0D+0 ),
+     $                     ZONE  = ( 1.0D+0, 0.0D+0 ) )
+      DOUBLE PRECISION   ZERO, ONE, TWO, FOUR, TEN
+      PARAMETER          ( ZERO = 0.0D+0, ONE = 1.0D+0, TWO = 2.0D+0,
+     $                     FOUR = 4.0D+0, TEN = 1.0D+1 )
+      INTEGER            HNPTS
+      PARAMETER          ( HNPTS = 2048 )
+C     ..
+C     .. Scalar Arguments ..
+      INTEGER            DISCFL, FLAG, INFO, LDA, LDWORK, LENDAT,
+     $                   LZWORK, N
+      DOUBLE PRECISION   TOL
+C     ..
+C     .. Array Arguments ..
+      INTEGER            IWORK(*)
+      DOUBLE PRECISION   A(LDA, *), B(*), C(*), D(*), DWORK(*),
+     $                   IFRDAT(*), OMEGA(*), RFRDAT(*)
+      COMPLEX*16         ZWORK(*)
+C     ..
+C     .. Local Scalars ..
+      INTEGER            CLWMAX, DLWMAX, I, II, INFO2, IP1, IP2, ISTART,
+     $                   ISTOP, IWA0, IWAB, IWBMAT, IWBP, IWBX, IWDME,
+     $                   IWDOMO, IWMAG, IWS, IWVAR, IWXI, IWXR, IWYMAG,
+     $                   K, LW1, LW2, LW3, LW4, MN, N1, N2, P, RANK
+      DOUBLE PRECISION   P1, P2, PI, PW, RAT, TOLB, TOLL
+      COMPLEX*16         XHAT(HNPTS/2)
+C     ..
+C     .. External Functions ..
+      DOUBLE PRECISION   DLAMCH, DLAPY2
+      EXTERNAL           DLAMCH, DLAPY2
+C     ..
+C     .. External Subroutines ..
+      EXTERNAL           AB04MD, DCOPY, DG01MD, DGELSY, DLASET, DSCAL,
+     $                   SB10ZP, XERBLA
+C     ..
+C     .. Intrinsic Functions ..
+      INTRINSIC          ACOS, ATAN, COS, DBLE, DCMPLX, DIMAG, EXP, LOG,
+     $                   MAX, MIN, SIN, SQRT
+C
+C     Test input parameters and workspace.
+C
+      PI = FOUR*ATAN( ONE )
+      PW = OMEGA(1)
+      N1 = N + 1
+      N2 = N + N1
+C
+      INFO = 0
+      IF( DISCFL.NE.0 .AND. DISCFL.NE.1 ) THEN
+         INFO = -1
+      ELSE IF( FLAG.NE.0 .AND. FLAG.NE.1 ) THEN
+         INFO = -2
+      ELSE IF ( LENDAT.LT.2 ) THEN
+         INFO = -3
+      ELSE IF ( PW.LT.ZERO ) THEN
+         INFO = -6
+      ELSE IF( N.GT.LENDAT - 1 ) THEN
+         INFO = -7
+      ELSE IF( LDA.LT.MAX( 1, N ) ) THEN
+         INFO = -9
+      ELSE
+C
+         DO 10 K = 2, LENDAT
+            IF ( OMEGA(K).LT.PW )
+     $         INFO = -6
+            PW = OMEGA(K)
+   10    CONTINUE
+C
+         IF ( DISCFL.EQ.1 .AND. OMEGA(LENDAT).GT.PI )
+     $      INFO = -6
+      END IF
+C
+      IF ( INFO.EQ.0 ) THEN
+C
+C        Workspace.
+C
+         LW1 = 2*LENDAT + 4*HNPTS
+         LW2 =   LENDAT + 6*HNPTS
+         MN  = MIN( 2*LENDAT, N2 )
+C
+         IF ( N.GT.0 ) THEN
+            LW3 = 2*LENDAT*N2 + MAX( 2*LENDAT, N2 ) +
+     $                          MAX( MN + 6*N + 4, 2*MN + 1 )
+         ELSE
+            LW3 = 4*LENDAT + 5
+         END IF
+C
+         IF ( FLAG.EQ.0 ) THEN
+            LW4 = 0
+         ELSE
+            LW4 = MAX( N*N + 5*N, 6*N + 1 + MIN ( 1, N ) )
+         END IF
+C
+         DLWMAX = MAX( 2, LW1, LW2, LW3, LW4 )
+C
+         IF ( N.GT.0 ) THEN
+            CLWMAX = LENDAT*( N2 + 2 )
+         ELSE
+            CLWMAX = LENDAT
+         END IF
+C
+         IF ( LDWORK.LT.DLWMAX ) THEN
+            INFO = -16
+         ELSE IF ( LZWORK.LT.CLWMAX ) THEN
+            INFO = -18
+         END IF
+      END IF
+C
+      IF ( INFO.NE.0 ) THEN
+C
+C        Error return.
+C
+         CALL XERBLA( 'SB10YD', -INFO )
+         RETURN
+      END IF
+C
+C     Set tolerances.
+C
+      TOLB = DLAMCH( 'Epsilon' )
+      TOLL = TOL
+      IF ( TOLL.LE.ZERO )
+     $   TOLL = FOUR*DBLE( LENDAT*N )*TOLB
+C
+C     @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
+C
+C     Workspace usage 1.
+C     Workspace:  need  2*LENDAT + 4*HNPTS.
+C
+      IWDOMO = 1
+      IWDME  = IWDOMO + LENDAT
+      IWYMAG = IWDME  + 2*HNPTS
+      IWMAG  = IWYMAG + 2*HNPTS
+C
+C     Bilinear transformation.
+C
+      IF ( DISCFL.EQ.0 ) THEN
+         PW = SQRT( OMEGA(1)*OMEGA(LENDAT) + SQRT( TOLB ) )
+C
+         DO 20 K = 1, LENDAT
+            DWORK(IWDME+K-1)  = ( OMEGA(K)/PW )**2
+            DWORK(IWDOMO+K-1) =
+     $         ACOS( ( ONE - DWORK(IWDME+K-1) )/
+     $               ( ONE + DWORK(IWDME+K-1) ) )
+   20    CONTINUE
+C
+      ELSE
+         CALL DCOPY( LENDAT, OMEGA, 1, DWORK(IWDOMO), 1 )
+      END IF
+C
+C     Linear interpolation.
+C
+      DO 30 K = 1, LENDAT
+         DWORK(IWMAG+K-1) = DLAPY2( RFRDAT(K), IFRDAT(K) )
+         DWORK(IWMAG+K-1) = ( ONE/LOG( TEN ) ) * LOG( DWORK(IWMAG+K-1) )
+   30 CONTINUE
+C
+      DO 40 K = 1, HNPTS
+         DWORK(IWDME+K-1)  = ( K - 1 )*PI/HNPTS
+         DWORK(IWYMAG+K-1) = ZERO
+C
+         IF ( DWORK(IWDME+K-1).LT.DWORK(IWDOMO) ) THEN
+            DWORK(IWYMAG+K-1) = DWORK(IWMAG)
+         ELSE IF ( DWORK(IWDME+K-1).GE.DWORK(IWDOMO+LENDAT-1) ) THEN
+            DWORK(IWYMAG+K-1) = DWORK(IWMAG+LENDAT-1)
+         END IF
+C
+   40 CONTINUE
+C
+      DO 60 I = 2, LENDAT
+         P1 = HNPTS*DWORK(IWDOMO+I-2)/PI + ONE
+C
+         IP1 = INT( P1 )
+         IF ( DBLE( IP1 ).NE.P1 )
+     $      IP1 = IP1 + 1
+C
+         P2 = HNPTS*DWORK(IWDOMO+I-1)/PI + ONE
+C
+         IP2 = INT( P2 )
+         IF ( DBLE( IP2 ).NE.P2 )
+     $      IP2 = IP2 + 1
+C
+         DO 50 P = IP1, IP2 - 1
+            RAT = DWORK(IWDME+P-1) - DWORK(IWDOMO+I-2)
+            RAT = RAT/( DWORK(IWDOMO+I-1) - DWORK(IWDOMO+I-2) )
+            DWORK(IWYMAG+P-1) = ( ONE - RAT )*DWORK(IWMAG+I-2) +
+     $                          RAT*DWORK(IWMAG+I-1)
+   50    CONTINUE
+C
+   60 CONTINUE
+C
+      DO 70 K = 1, HNPTS
+         DWORK(IWYMAG+K-1) = EXP( LOG( TEN )*DWORK(IWYMAG+K-1) )
+   70 CONTINUE
+C
+C     Duplicate data around disc.
+C
+      DO 80 K = 1, HNPTS
+         DWORK(IWDME+HNPTS+K-1)  = TWO*PI - DWORK(IWDME+HNPTS-K)
+         DWORK(IWYMAG+HNPTS+K-1) = DWORK(IWYMAG+HNPTS-K)
+   80 CONTINUE
+C
+C     Complex cepstrum to get min phase:
+C     LOG (Magnitude)
+C
+      DO 90 K = 1, 2*HNPTS
+         DWORK(IWYMAG+K-1) = TWO*LOG( DWORK(IWYMAG+K-1) )
+   90 CONTINUE
+C
+C     @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
+C
+C     Workspace usage 2.
+C     Workspace:  need  LENDAT + 6*HNPTS.
+C
+      IWXR = IWYMAG
+      IWXI = IWMAG
+C
+      DO 100 K = 1, 2*HNPTS
+         DWORK(IWXI+K-1) = ZERO
+  100 CONTINUE
+C
+C     IFFT
+C
+      CALL DG01MD( 'I', 2*HNPTS, DWORK(IWXR), DWORK(IWXI), INFO2 )
+C
+C     Rescale, because DG01MD doesn't do it.
+C
+      CALL DSCAL( HNPTS, ONE/( TWO*HNPTS ), DWORK(IWXR), 1 )
+      CALL DSCAL( HNPTS, ONE/( TWO*HNPTS ), DWORK(IWXI), 1 )
+C
+C     Halve the result at 0.
+C
+      DWORK(IWXR) = DWORK(IWXR)/TWO
+      DWORK(IWXI) = DWORK(IWXI)/TWO
+C
+C     FFT
+C
+      CALL DG01MD( 'D', HNPTS, DWORK(IWXR), DWORK(IWXI), INFO2 )
+C
+C     Get the EXP of the result.
+C
+      DO 110 K = 1, HNPTS/2
+         XHAT(K) = EXP( DWORK(IWXR+K-1) )*
+     $         DCMPLX ( COS( DWORK(IWXI+K-1)), SIN( DWORK(IWXI+K-1) ) )
+         DWORK(IWDME+K-1) = DWORK(IWDME+2*K-2)
+  110 CONTINUE
+C
+C     Interpolate back to original frequency data.
+C
+      ISTART = 1
+      ISTOP  = LENDAT
+C
+      DO 120 I = 1, LENDAT
+         ZWORK(I) = ZZERO
+         IF ( DWORK(IWDOMO+I-1).LE.DWORK(IWDME) ) THEN
+            ZWORK(I) = XHAT(1)
+            ISTART = I + 1
+         ELSE IF ( DWORK(IWDOMO+I-1).GE.DWORK(IWDME+HNPTS/2-1) )
+     $         THEN
+            ZWORK(I) = XHAT(HNPTS/2)
+            ISTOP = ISTOP - 1
+         END IF
+  120 CONTINUE
+C
+      DO 140 I = ISTART, ISTOP
+         II = HNPTS/2
+  130    CONTINUE
+            IF ( DWORK(IWDME+II-1).GE.DWORK(IWDOMO+I-1) )
+     $         P = II
+            II = II - 1
+         IF ( II.GT.0 )
+     $      GOTO 130
+         RAT = ( DWORK(IWDOMO+I-1) - DWORK(IWDME+P-2) )/
+     $         ( DWORK(IWDME+P-1)  - DWORK(IWDME+P-2) )
+         ZWORK(I) = RAT*XHAT(P) + ( ONE - RAT )*XHAT(P-1)
+  140 CONTINUE
+C
+C     CASE N > 0.
+C     This is the only allowed case in mu-synthesis subroutines.
+C
+      IF ( N.GT.0 ) THEN
+C
+C        Preparation for frequency identification.
+C
+C        @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
+C
+C        Complex workspace usage 1.
+C        Complex workspace:  need  2*LENDAT + LENDAT*(N+1).
+C
+         IWA0  = 1 + LENDAT
+         IWVAR = IWA0 + LENDAT*N1
+C
+         DO 150 K = 1, LENDAT
+            IF ( DISCFL.EQ.0 ) THEN
+               ZWORK(IWVAR+K-1) = DCMPLX( COS( DWORK(IWDOMO+K-1) ),
+     $                                    SIN( DWORK(IWDOMO+K-1) ) )
+            ELSE
+               ZWORK(IWVAR+K-1) = DCMPLX( COS( OMEGA(K) ),
+     $                                    SIN( OMEGA(K) ) )
+            END IF
+  150    CONTINUE
+C
+C        Array for DGELSY.
+C
+         DO 160 K = 1, N2
+            IWORK(K) = 0
+  160    CONTINUE
+C
+C        Constructing A0.
+C
+         DO 170 K = 1, LENDAT
+            ZWORK(IWA0+N*LENDAT+K-1) = ZONE
+  170    CONTINUE
+C
+         DO 190 I = 1, N
+            DO 180 K = 1, LENDAT
+               ZWORK(IWA0+(N-I)*LENDAT+K-1) =
+     $            ZWORK(IWA0+(N1-I)*LENDAT+K-1)*ZWORK(IWVAR+K-1)
+  180       CONTINUE
+  190    CONTINUE
+C
+C        @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
+C
+C        Complex workspace usage 2.
+C        Complex workspace:  need  2*LENDAT + LENDAT*(2*N+1).
+C
+         IWBP = IWVAR
+         IWAB = IWBP + LENDAT
+C
+C        Constructing BP.
+C
+         DO 200 K = 1, LENDAT
+            ZWORK(IWBP+K-1) = ZWORK(IWA0+K-1)*ZWORK(K)
+  200    CONTINUE
+C
+C        Constructing AB.
+C
+         DO 220 I = 1, N
+            DO 210 K = 1, LENDAT
+               ZWORK(IWAB+(I-1)*LENDAT+K-1) = -ZWORK(K)*
+     $             ZWORK(IWA0+I*LENDAT+K-1)
+  210       CONTINUE
+  220    CONTINUE
+C
+C        @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
+C
+C        Workspace usage 3.
+C        Workspace:  need  LW3 = 2*LENDAT*(2*N+1) + max(2*LENDAT,2*N+1).
+C
+         IWBX = 1 + 2*LENDAT*N2
+         IWS  = IWBX + MAX( 2*LENDAT, N2 )
+C
+C        Constructing AX.
+C
+         DO 240 I = 1, N1
+            DO 230 K = 1, LENDAT
+               DWORK(2*(I-1)*LENDAT+K) =
+     $            DBLE( ZWORK(IWA0+(I-1)*LENDAT+K-1) )
+               DWORK((2*I-1)*LENDAT+K) =
+     $            DIMAG( ZWORK(IWA0+(I-1)*LENDAT+K-1) )
+  230       CONTINUE
+  240    CONTINUE
+C
+         DO 260 I = 1, N
+            DO 250 K = 1, LENDAT
+               DWORK(2*N1*LENDAT+2*(I-1)*LENDAT+K) =
+     $            DBLE( ZWORK(IWAB+(I-1)*LENDAT+K-1) )
+               DWORK(2*N1*LENDAT+(2*I-1)*LENDAT+K) =
+     $            DIMAG( ZWORK(IWAB+(I-1)*LENDAT+K-1) )
+  250       CONTINUE
+  260    CONTINUE
+C
+C        Constructing BX.
+C
+         DO 270 K = 1, LENDAT
+            DWORK(IWBX+K-1) = DBLE( ZWORK(IWBP+K-1) )
+            DWORK(IWBX+LENDAT+K-1) = DIMAG( ZWORK(IWBP+K-1) )
+  270    CONTINUE
+C
+C        Estimating X.
+C        Workspace:  need    LW3 + max( MN+3*(2*N+1)+1, 2*MN+1 ),
+C                            where MN = min( 2*LENDAT, 2*N+1 );
+C                            prefer  larger.
+C
+         CALL DGELSY( 2*LENDAT, N2, 1, DWORK, 2*LENDAT, DWORK(IWBX),
+     $                MAX( 2*LENDAT, N2 ), IWORK, TOLL, RANK,
+     $                DWORK(IWS), LDWORK-IWS+1, INFO2 )
+         DLWMAX = MAX( DLWMAX, INT( DWORK(IWS) + IWS - 1 ) )
+C
+C        Constructing A matrix.
+C
+         DO 280 K = 1, N
+            A(K,1) = -DWORK(IWBX+N1+K-1)
+  280    CONTINUE
+C
+         IF ( N.GT.1 )
+     $      CALL DLASET( 'Full', N, N-1, ZERO, ONE, A(1,2), LDA )
+C
+C        Constructing B matrix.
+C
+         DO 290 K = 1, N
+            B(K) = DWORK(IWBX+N1+K-1)*DWORK(IWBX) - DWORK(IWBX+K)
+  290    CONTINUE
+C
+C        Constructing C matrix.
+C
+         C(1) = -ONE
+C
+         DO 300 K = 2, N
+            C(K) = ZERO
+  300    CONTINUE
+C
+C        Constructing D matrix.
+C
+         D(1) = DWORK(IWBX)
+C
+C        Transform to continuous-time case, if needed.
+C        Workspace:  need    max(1,N);
+C                            prefer  larger.
+C
+         IF ( DISCFL.EQ.0 ) THEN
+            CALL AB04MD( 'D', N, 1, 1, ONE, PW, A, LDA, B, LDA, C, 1,
+     $                   D, 1, IWORK, DWORK, LDWORK, INFO2 )
+            IF ( INFO2.NE.0 ) THEN
+               INFO = 1
+               RETURN
+            END IF
+            DLWMAX = MAX( DLWMAX, INT( DWORK(1) ) )
+         END IF
+C
+C        Make all the real parts of the poles and the zeros negative.
+C
+         IF ( FLAG.EQ.1 ) THEN
+C
+C           Workspace:  need    max(N*N + 5*N, 6*N + 1 + min(1,N));
+C                               prefer  larger.
+            CALL SB10ZP( DISCFL, N, A, LDA, B, C, D, IWORK, DWORK,
+     $                   LDWORK, INFO )
+            IF ( INFO.NE.0 )
+     $         RETURN
+            DLWMAX = MAX( DLWMAX, INT( DWORK(1) ) )
+         END IF
+C
+       ELSE
+C
+C        CASE N = 0.
+C
+C        @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
+C
+C        Workspace usage 4.
+C        Workspace:  need  4*LENDAT.
+C
+         IWBMAT = 1 + 2*LENDAT
+         IWS    = IWBMAT + 2*LENDAT
+C
+C        Constructing AMAT and BMAT.
+C
+         DO 310 K = 1, LENDAT
+            DWORK(K) = ONE
+            DWORK(K+LENDAT) = ZERO
+            DWORK(IWBMAT+K-1) = DBLE( ZWORK(K) )
+            DWORK(IWBMAT+LENDAT+K-1) = DIMAG( ZWORK(K) )
+  310    CONTINUE
+C
+C        Estimating D matrix.
+C        Workspace:  need    4*LENDAT + 5;
+C                            prefer  larger.
+C
+         IWORK(1) = 0
+         CALL DGELSY( 2*LENDAT, 1, 1, DWORK, 2*LENDAT, DWORK(IWBMAT),
+     $                2*LENDAT, IWORK, TOLL, RANK, DWORK(IWS),
+     $                LDWORK-IWS+1, INFO2 )
+         DLWMAX = MAX( DLWMAX, INT( DWORK(IWS) + IWS - 1 ) )
+C
+         D(1) = DWORK(IWBMAT)
+C
+      END IF
+C
+C     @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
+C
+      DWORK(1) = DLWMAX
+      DWORK(2) = CLWMAX
+      RETURN
+C
+C *** Last line of SB10YD ***
+      END


Property changes on: trunk/octave-forge/extra/control-devel/src/SB10YD.f
___________________________________________________________________
Added: svn:executable
   + *

Added: trunk/octave-forge/extra/control-devel/src/SB10ZP.f
===================================================================
--- trunk/octave-forge/extra/control-devel/src/SB10ZP.f	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/src/SB10ZP.f	2011-10-19 16:38:34 UTC (rev 8789)
@@ -0,0 +1,339 @@
+      SUBROUTINE SB10ZP( DISCFL, N, A, LDA, B, C, D, IWORK, DWORK,
+     $                   LDWORK, INFO )
+C
+C     SLICOT RELEASE 5.0.
+C
+C     Copyright (c) 2002-2010 NICONET e.V.
+C
+C     This program is free software: you can redistribute it and/or
+C     modify it under the terms of the GNU General Public License as
+C     published by the Free Software Foundation, either version 2 of
+C     the License, or (at your option) any later version.
+C
+C     This program is distributed in the hope that it will be useful,
+C     but WITHOUT ANY WARRANTY; without even the implied warranty of
+C     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+C     GNU General Public License for more details.
+C
+C     You should have received a copy of the GNU General Public License
+C     along with this program.  If not, see
+C     <http://www.gnu.org/licenses/>.
+C
+C     PURPOSE
+C
+C     To transform a SISO (single-input single-output) system [A,B;C,D]
+C     by mirroring its unstable poles and zeros in the boundary of the
+C     stability domain, thus preserving the frequency response of the
+C     system, but making it stable and minimum phase. Specifically, for
+C     a continuous-time system, the positive real parts of its poles
+C     and zeros are exchanged with their negatives. Discrete-time
+C     systems are first converted to continuous-time systems using a
+C     bilinear transformation, and finally converted back.
+C
+C     ARGUMENTS
+C
+C     Input/Output parameters
+C
+C     DISCFL  (input) INTEGER
+C             Indicates the type of the system, as follows:
+C             = 0: continuous-time system;
+C             = 1: discrete-time system.
+C
+C     N       (input/output) INTEGER
+C             On entry, the order of the original system.  N >= 0.
+C             On exit, the order of the transformed, minimal system.
+C
+C     A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+C             On entry, the leading N-by-N part of this array must
+C             contain the original system matrix A.
+C             On exit, the leading N-by-N part of this array contains
+C             the transformed matrix A, in an upper Hessenberg form.
+C
+C     LDA     INTEGER
+C             The leading dimension of the array A.  LDA >= MAX(1,N).
+C
+C     B       (input/output) DOUBLE PRECISION array, dimension (N)
+C             On entry, this array must contain the original system
+C             vector B.
+C             On exit, this array contains the transformed vector B.
+C
+C     C       (input/output) DOUBLE PRECISION array, dimension (N)
+C             On entry, this array must contain the original system
+C             vector C.
+C             On exit, this array contains the transformed vector C.
+C             The first N-1 elements are zero (for the exit value of N).
+C
+C     D       (input/output) DOUBLE PRECISION array, dimension (1)
+C             On entry, this array must contain the original system
+C             scalar D.
+C             On exit, this array contains the transformed scalar D.
+C
+C     Workspace
+C
+C     IWORK   INTEGER array, dimension max(2,N+1)
+C
+C     DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+C             On exit, if INFO = 0, DWORK(1) returns the optimal value
+C             of LDWORK.
+C
+C     LDWORK  INTEGER
+C             The length of the array DWORK.
+C             LDWORK >= max(N*N + 5*N, 6*N + 1 + min(1,N)).
+C             For optimum performance LDWORK should be larger.
+C
+C     Error indicator
+C
+C     INFO    INTEGER
+C             = 0:  successful exit;
+C             < 0:  if INFO = -i, the i-th argument had an illegal
+C                   value;
+C             = 1:  if the discrete --> continuous transformation cannot
+C                   be made;
+C             = 2:  if the system poles cannot be found;
+C             = 3:  if the inverse system cannot be found, i.e., D is
+C                   (close to) zero;
+C             = 4:  if the system zeros cannot be found;
+C             = 5:  if the state-space representation of the new
+C                   transfer function T(s) cannot be found;
+C             = 6:  if the continuous --> discrete transformation cannot
+C                   be made.
+C
+C     METHOD
+C
+C     First, if the system is discrete-time, it is transformed to
+C     continuous-time using alpha = beta = 1 in the bilinear
+C     transformation implemented in the SLICOT routine AB04MD.
+C     Then the eigenvalues of A, i.e., the system poles, are found.
+C     Then, the inverse of the original system is found and its poles,
+C     i.e., the system zeros, are evaluated.
+C     The obtained system poles Pi and zeros Zi are checked and if a
+C     positive real part is detected, it is exchanged by -Pi or -Zi.
+C     Then the polynomial coefficients of the transfer function
+C     T(s) = Q(s)/P(s) are found.
+C     The state-space representation of T(s) is then obtained.
+C     The system matrices B, C, D are scaled so that the transformed
+C     system has the same system gain as the original system.
+C     If the original system is discrete-time, then the result (which is
+C     continuous-time) is converted back to discrete-time.
+C
+C     CONTRIBUTORS
+C
+C     Asparuh Markovski, Technical University of Sofia, July 2003.
+C
+C     REVISIONS
+C
+C     V. Sima, Research Institute for Informatics, Bucharest, Aug. 2003.
+C
+C     KEYWORDS
+C
+C     Bilinear transformation, stability, state-space representation.
+C
+C     ******************************************************************
+C
+C     .. Parameters ..
+      DOUBLE PRECISION   ZERO, ONE
+      PARAMETER          ( ZERO = 0.0D+0, ONE = 1.0D+0 )
+C     ..
+C     .. Scalar Arguments ..
+      INTEGER            DISCFL, INFO, LDA, LDWORK, N
+C     ..
+C     .. Array Arguments ..
+      INTEGER            IWORK( * )
+      DOUBLE PRECISION   A( LDA, * ), B( * ), C( * ), D( * ), DWORK( * )
+C     ..
+C     .. Local Scalars ..
+      INTEGER            I, IDW1, IDW2, IDW3, IMP, IMZ, INFO2, IWA, IWP,
+     $                   IWPS, IWQ, IWQS, LDW1, MAXWRK, REP, REZ
+      DOUBLE PRECISION   RCOND, SCALB, SCALC, SCALD
+C     ..
+C     .. Local Arrays ..
+      INTEGER            INDEX(1)
+C     ..
+C     .. External Subroutines ..
+      EXTERNAL           AB04MD, AB07ND, DCOPY, DGEEV, DLACPY, DSCAL,
+     $                   MC01PD, TD04AD, XERBLA
+C     ..
+C     .. Intrinsic Functions ..
+      INTRINSIC          ABS, INT, MAX, MIN, SIGN, SQRT
+C
+C     Test input parameters and workspace.
+C
+      INFO = 0
+      IF ( DISCFL.NE.0 .AND. DISCFL.NE.1 ) THEN
+         INFO = -1
+      ELSE IF ( N.LT.0 ) THEN
+         INFO = -2
+      ELSE IF( LDA.LT.MAX( 1, N ) ) THEN
+         INFO = -4
+      ELSE IF ( LDWORK.LT.MAX( N*N + 5*N, 6*N + 1 + MIN( 1, N ) ) ) THEN
+         INFO = -10
+      END IF
+C
+      IF ( INFO.NE.0 ) THEN
+C
+C        Error return.
+C
+         CALL XERBLA( 'SB10ZP', -INFO )
+         RETURN
+      END IF
+C
+C     Quick return if possible.
+C
+      IF( N.EQ.0 ) THEN
+         DWORK(1) = ONE
+         RETURN
+      END IF
+C
+C     Workspace usage 1.
+C
+      REP  = 1
+      IMP  = REP + N
+      REZ  = IMP + N
+      IMZ  = REZ + N
+      IWA  = REZ
+      IDW1 = IWA + N*N
+      LDW1 = LDWORK - IDW1 + 1
+C
+C     1. Discrete --> continuous transformation if needed.
+C
+      IF ( DISCFL.EQ.1 ) THEN
+C
+C        Workspace:  need    max(1,N);
+C                            prefer  larger.
+C
+         CALL AB04MD( 'D', N, 1, 1, ONE, ONE, A, LDA, B, LDA, C, 1,
+     $                D, 1, IWORK, DWORK, LDWORK, INFO2 )
+         IF ( INFO2.NE.0 ) THEN
+            INFO = 1
+            RETURN
+         END IF
+         MAXWRK = INT( DWORK(1) )
+      ELSE
+         MAXWRK = 0
+      END IF
+C
+C     2. Determine the factors for restoring system gain.
+C
+      SCALD = D(1)
+      SCALC = SQRT( ABS( SCALD ) )
+      SCALB = SIGN( SCALC, SCALD )
+C
+C     3. Find the system poles, i.e., the eigenvalues of A.
+C        Workspace:  need    N*N + 2*N + 3*N;
+C                            prefer  larger.
+C
+      CALL DLACPY( 'Full', N, N, A, LDA, DWORK(IWA), N )
+C
+      CALL DGEEV( 'N', 'N', N, DWORK(IWA), N, DWORK(REP), DWORK(IMP),
+     $            DWORK(IDW1), 1, DWORK(IDW1), 1, DWORK(IDW1), LDW1,
+     $            INFO2 )
+      IF ( INFO2.NE.0 ) THEN
+         INFO = 2
+         RETURN
+      END IF
+      MAXWRK = MAX( MAXWRK, INT( DWORK(IDW1) + IDW1 - 1 ) )
+C
+C     4. Compute the inverse system [Ai, Bi; Ci, Di].
+C        Workspace:  need    N*N + 2*N + 4;
+C                            prefer  larger.
+C
+      CALL AB07ND( N, 1, A, LDA, B, LDA, C, 1, D, 1, RCOND, IWORK,
+     $             DWORK(IDW1), LDW1, INFO2 )
+      IF ( INFO2.NE.0 ) THEN
+         INFO = 3
+         RETURN
+      END IF
+      MAXWRK = MAX( MAXWRK, INT( DWORK(IDW1) + IDW1 - 1 ) )
+C
+C     5. Find the system zeros, i.e., the eigenvalues of Ai.
+C        Workspace:  need    4*N + 3*N;
+C                            prefer  larger.
+C
+      IDW1 = IMZ + N
+      LDW1 = LDWORK - IDW1 + 1
+C
+      CALL DGEEV( 'N', 'N', N, A, LDA, DWORK(REZ), DWORK(IMZ),
+     $            DWORK(IDW1), 1, DWORK(IDW1), 1, DWORK(IDW1), LDW1,
+     $            INFO2 )
+      IF ( INFO2.NE.0 ) THEN
+         INFO = 4
+         RETURN
+      END IF
+      MAXWRK = MAX( MAXWRK, INT( DWORK(IDW1) + IDW1 - 1 ) )
+C
+C     6. Exchange the zeros and the poles with positive real parts with
+C        their negatives.
+C
+      DO 10 I = 0, N - 1
+         IF ( DWORK(REP+I).GT.ZERO )
+     $      DWORK(REP+I) = -DWORK(REP+I)
+         IF ( DWORK(REZ+I).GT.ZERO )
+     $      DWORK(REZ+I) = -DWORK(REZ+I)
+   10 CONTINUE
+C
+C     Workspace usage 2.
+C
+      IWP  = IDW1
+      IDW2 = IWP + N + 1
+      IWPS = 1
+C
+C     7. Construct the nominator and the denominator
+C        of the system transfer function T( s ) = Q( s )/P( s ).
+C     8. Rearrange the coefficients in Q(s) and P(s) because
+C        MC01PD subroutine produces them in increasing powers of s.
+C        Workspace:  need    6*N + 2.
+C
+      CALL MC01PD( N, DWORK(REP), DWORK(IMP), DWORK(IWP), DWORK(IDW2),
+     $             INFO2 )
+      CALL DCOPY( N+1, DWORK(IWP), -1, DWORK(IWPS), 1 )
+C
+C     Workspace usage 3.
+C
+      IWQ  = IDW1
+      IWQS = IWPS + N + 1
+      IDW3 = IWQS + N + 1
+C
+      CALL MC01PD( N, DWORK(REZ), DWORK(IMZ), DWORK(IWQ), DWORK(IDW2),
+     $             INFO2 )
+      CALL DCOPY( N+1, DWORK(IWQ), -1, DWORK(IWQS), 1 )
+C
+C     9. Make the conversion T(s) --> [A, B; C, D].
+C        Workspace:  need    2*N + 2 + N + max(N,3);
+C                            prefer  larger.
+C
+      INDEX(1) = N
+      CALL TD04AD( 'R', 1, 1, INDEX, DWORK(IWPS), 1, DWORK(IWQS), 1, 1,
+     $             N, A, LDA, B, LDA, C, 1, D, 1, -ONE, IWORK,
+     $             DWORK(IDW3), LDWORK-IDW3+1, INFO2 )
+      IF ( INFO2.NE.0 ) THEN
+         INFO = 5
+         RETURN
+      END IF
+      MAXWRK = MAX( MAXWRK, INT( DWORK(IDW3) + IDW3 - 1 ) )
+C
+C    10. Scale the transformed system to the previous gain.
+C
+      IF ( N.GT.0 ) THEN
+         CALL DSCAL( N, SCALB, B, 1 )
+         C(N) = SCALC*C(N)
+      END IF
+C
+      D(1) = SCALD
+C
+C     11. Continuous --> discrete transformation if needed.
+C
+      IF ( DISCFL.EQ.1 ) THEN
+         CALL AB04MD( 'C', N, 1, 1, ONE, ONE, A, LDA, B, LDA, C, 1,
+     $                D, 1, IWORK, DWORK, LDWORK, INFO2 )
+
+         IF ( INFO2.NE.0 ) THEN
+            INFO = 6
+            RETURN
+         END IF
+      END IF
+C
+      DWORK(1) = MAXWRK
+      RETURN
+C
+C *** Last line of SB10ZP ***
+      END


Property changes on: trunk/octave-forge/extra/control-devel/src/SB10ZP.f
___________________________________________________________________
Added: svn:executable
   + *

Added: trunk/octave-forge/extra/control-devel/src/TD03AY.f
===================================================================
--- trunk/octave-forge/extra/control-devel/src/TD03AY.f	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/src/TD03AY.f	2011-10-19 16:38:34 UTC (rev 8789)
@@ -0,0 +1,171 @@
+      SUBROUTINE TD03AY( MWORK, PWORK, INDEX, DCOEFF, LDDCOE, UCOEFF,
+     $                   LDUCO1, LDUCO2, N, A, LDA, B, LDB, C, LDC, D,
+     $                   LDD, INFO )
+C
+C     SLICOT RELEASE 5.0.
+C
+C     Copyright (c) 2002-2010 NICONET e.V.
+C
+C     This program is free software: you can redistribute it and/or
+C     modify it under the terms of the GNU General Public License as
+C     published by the Free Software Foundation, either version 2 of
+C     the License, or (at your option) any later version.
+C
+C     This program is distributed in the hope that it will be useful,
+C     but WITHOUT ANY WARRANTY; without even the implied warranty of
+C     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+C     GNU General Public License for more details.
+C
+C     You should have received a copy of the GNU General Public License
+C     along with this program.  If not, see
+C     <http://www.gnu.org/licenses/>.
+C
+C     Calculates a state-space representation for a (PWORK x MWORK)
+C     transfer matrix given in the form of polynomial row vectors over
+C     common denominators (not necessarily lcd's).  Such a description
+C     is simply the polynomial matrix representation
+C
+C          T(s) = inv(D(s)) * U(s),
+C
+C     where D(s) is diagonal with (I,I)-th element D:I(s) of degree
+C     INDEX(I); applying Wolovich's Observable Structure Theorem to
+C     this left matrix fraction then yields an equivalent state-space
+C     representation in observable companion form, of order
+C     N = sum(INDEX(I)).  As D(s) is diagonal, the PWORK ordered
+C     'non-trivial' columns of C and A are very simply calculated, these
+C     submatrices being diagonal and (INDEX(I) x 1) - block diagonal,
+C     respectively: finding B and D is also somewhat simpler than for
+C     general P(s) as dealt with in TC04AD. Finally, the state-space
+C     representation obtained here is not necessarily controllable
+C     (as D(s) and U(s) are not necessarily relatively left prime), but
+C     it is theoretically completely observable: however, its
+C     observability matrix may be poorly conditioned, so it is safer
+C     not to assume observability either.
+C
+C     REVISIONS
+C
+C     May 13, 1998.
+C
+C     KEYWORDS
+C
+C     Coprime matrix fraction, elementary polynomial operations,
+C     polynomial matrix, state-space representation, transfer matrix.
+C
+C     ******************************************************************
+C
+      DOUBLE PRECISION  ZERO, ONE
+      PARAMETER         ( ZERO = 0.0D0, ONE = 1.0D0 )
+C     .. Scalar Arguments ..
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDDCOE, LDUCO1,
+     $                  LDUCO2, MWORK, N, PWORK
+C     .. Array Arguments ..
+      INTEGER           INDEX(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DCOEFF(LDDCOE,*), UCOEFF(LDUCO1,LDUCO2,*)
+C     .. Local Scalars ..
+      INTEGER           I, IA, IBIAS, INDCUR, JA, JMAX1, K
+      DOUBLE PRECISION  ABSDIA, ABSDMX, BIGNUM, DIAG, SMLNUM, UMAX1,
+     $                  TEMP
+C     .. External Functions ..
+      INTEGER           IDAMAX
+      DOUBLE PRECISION  DLAMCH
+      EXTERNAL          DLAMCH, IDAMAX
+C     .. External Subroutines ..
+      EXTERNAL          DAXPY, DCOPY, DLASET, DSCAL
+C     .. Intrinsic Functions ..
+      INTRINSIC         ABS
+C     .. Executable Statements ..
+C
+      INFO = 0
+C
+C     Initialize A and C to be zero, apart from 1's on the subdiagonal
+C     of A.
+C
+      CALL DLASET( 'Upper', N, N, ZERO, ZERO, A, LDA )
+      IF ( N.GT.1 ) CALL DLASET( 'Lower', N-1, N-1, ZERO, ONE, A(2,1),
+     $                           LDA )
+C
+      CALL DLASET( 'Full', PWORK, N, ZERO, ZERO, C, LDC )
+C
+C     Calculate B and D, as well as 'non-trivial' elements of A and C.
+C     Check if any leading coefficient of D(s) nearly zero: if so, exit.
+C     Caution is taken to avoid overflow.
+C
+      SMLNUM = DLAMCH( 'Safe minimum' ) / DLAMCH( 'Precision' )
+      BIGNUM = ONE / SMLNUM
+C
+      IBIAS = 2
+      JA = 0
+C
+      DO 20 I = 1, PWORK
+         ABSDIA = ABS( DCOEFF(I,1) )
+         JMAX1  = IDAMAX( MWORK, UCOEFF(I,1,1), LDUCO1 )
+         UMAX1  = ABS( UCOEFF(I,JMAX1,1) )
+         IF ( ( ABSDIA.LT.SMLNUM ) .OR.
+     $        ( ABSDIA.LT.ONE .AND. UMAX1.GT.ABSDIA*BIGNUM ) ) THEN
+C
+C           Error return.
+C
+            INFO = I
+            RETURN
+         END IF
+         DIAG   = ONE/DCOEFF(I,1)
+         INDCUR = INDEX(I)
+         IF ( INDCUR.NE.0 ) THEN
+            IBIAS = IBIAS + INDCUR
+            JA = JA + INDCUR
+            IF ( INDCUR.GE.1 ) THEN
+               JMAX1  = IDAMAX( INDCUR, DCOEFF(I,2), LDDCOE )
+               ABSDMX = ABS( DCOEFF(I,JMAX1) )
+               IF ( ABSDIA.GE.ONE ) THEN
+                  IF ( UMAX1.GT.ONE ) THEN
+                     IF ( ( ABSDMX/ABSDIA ).GT.( BIGNUM/UMAX1 ) ) THEN
+C
+C                       Error return.
+C
+                        INFO = I
+                        RETURN
+                     END IF
+                  END IF
+               ELSE
+                  IF ( UMAX1.GT.ONE ) THEN
+                     IF ( ABSDMX.GT.( BIGNUM*ABSDIA )/UMAX1 ) THEN
+C
+C                       Error return.
+C
+                        INFO = I
+                        RETURN
+                     END IF
+                  END IF
+               END IF
+            END IF
+C
+C           I-th 'non-trivial' sub-vector of A given from coefficients
+C           of D:I(s), while I-th row block of B given from this and
+C           row I of U(s).
+C
+            DO 10 K = 2, INDCUR + 1
+               IA = IBIAS - K
+               TEMP = -DIAG*DCOEFF(I,K)
+               A(IA,JA) = TEMP
+C
+               CALL DCOPY( MWORK, UCOEFF(I,1,K), LDUCO1, B(IA,1), LDB )
+               CALL DAXPY( MWORK, TEMP, UCOEFF(I,1,1), LDUCO1, B(IA,1),
+     $                     LDB )
+   10       CONTINUE
+C
+            IF ( JA.LT.N ) A(JA+1,JA) = ZERO
+C
+C           Finally, I-th 'non-trivial' entry of C and row of D obtained
+C           also.
+C
+            C(I,JA) = DIAG
+         END IF
+C
+         CALL DCOPY( MWORK, UCOEFF(I,1,1), LDUCO1, D(I,1), LDD )
+         CALL DSCAL( MWORK, DIAG, D(I,1), LDD )
+   20 CONTINUE
+C
+      RETURN
+C *** Last line of TD03AY ***
+      END


Property changes on: trunk/octave-forge/extra/control-devel/src/TD03AY.f
___________________________________________________________________
Added: svn:executable
   + *

Added: trunk/octave-forge/extra/control-devel/src/TD04AD.f
===================================================================
--- trunk/octave-forge/extra/control-devel/src/TD04AD.f	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/src/TD04AD.f	2011-10-19 16:38:34 UTC (rev 8789)
@@ -0,0 +1,425 @@
+      SUBROUTINE TD04AD( ROWCOL, M, P, INDEX, DCOEFF, LDDCOE, UCOEFF,
+     $                   LDUCO1, LDUCO2, NR, A, LDA, B, LDB, C, LDC, D,
+     $                   LDD, TOL, IWORK, DWORK, LDWORK, INFO )
+C
+C     SLICOT RELEASE 5.0.
+C
+C     Copyright (c) 2002-2010 NICONET e.V.
+C
+C     This program is free software: you can redistribute it and/or
+C     modify it under the terms of the GNU General Public License as
+C     published by the Free Software Foundation, either version 2 of
+C     the License, or (at your option) any later version.
+C
+C     This program is distributed in the hope that it will be useful,
+C     but WITHOUT ANY WARRANTY; without even the implied warranty of
+C     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+C     GNU General Public License for more details.
+C
+C     You should have received a copy of the GNU General Public License
+C     along with this program.  If not, see
+C     <http://www.gnu.org/licenses/>.
+C
+C     PURPOSE
+C
+C     To find a minimal state-space representation (A,B,C,D) for a
+C     proper transfer matrix T(s) given as either row or column
+C     polynomial vectors over denominator polynomials, possibly with
+C     uncancelled common terms.
+C
+C     ARGUMENTS
+C
+C     Mode Parameters
+C
+C     ROWCOL  CHARACTER*1
+C             Indicates whether the transfer matrix T(s) is given as
+C             rows or columns over common denominators as follows:
+C             = 'R':  T(s) is given as rows over common denominators;
+C             = 'C':  T(s) is given as columns over common denominators.
+C
+C     Input/Output Parameters
+C
+C     M       (input) INTEGER
+C             The number of system inputs.  M >= 0.
+C
+C     P       (input) INTEGER
+C             The number of system outputs.  P >= 0.
+C
+C     INDEX   (input) INTEGER array, dimension (porm), where porm = P,
+C             if ROWCOL = 'R', and porm = M, if ROWCOL = 'C'.
+C             This array must contain the degrees of the denominator
+C             polynomials in D(s).
+C
+C     DCOEFF  (input) DOUBLE PRECISION array, dimension (LDDCOE,kdcoef),
+C             where kdcoef = MAX(INDEX(I)) + 1.
+C             The leading porm-by-kdcoef part of this array must contain
+C             the coefficients of each denominator polynomial.
+C             DCOEFF(I,K) is the coefficient in s**(INDEX(I)-K+1) of the
+C             I-th denominator polynomial in D(s), where
+C             K = 1,2,...,kdcoef.
+C
+C     LDDCOE  INTEGER
+C             The leading dimension of array DCOEFF.
+C             LDDCOE >= MAX(1,P) if ROWCOL = 'R';
+C             LDDCOE >= MAX(1,M) if ROWCOL = 'C'.
+C
+C     UCOEFF  (input) DOUBLE PRECISION array, dimension
+C             (LDUCO1,LDUCO2,kdcoef)
+C             The leading P-by-M-by-kdcoef part of this array must
+C             contain the numerator matrix U(s); if ROWCOL = 'C', this
+C             array is modified internally but restored on exit, and the
+C             remainder of the leading MAX(M,P)-by-MAX(M,P)-by-kdcoef
+C             part is used as internal workspace.
+C             UCOEFF(I,J,K) is the coefficient in s**(INDEX(iorj)-K+1)
+C             of polynomial (I,J) of U(s), where K = 1,2,...,kdcoef;
+C             if ROWCOL = 'R' then iorj = I, otherwise iorj = J.
+C             Thus for ROWCOL = 'R', U(s) =
+C             diag(s**INDEX(I))*(UCOEFF(.,.,1)+UCOEFF(.,.,2)/s+...).
+C
+C     LDUCO1  INTEGER
+C             The leading dimension of array UCOEFF.
+C             LDUCO1 >= MAX(1,P)   if ROWCOL = 'R';
+C             LDUCO1 >= MAX(1,M,P) if ROWCOL = 'C'.
+C
+C     LDUCO2  INTEGER
+C             The second dimension of array UCOEFF.
+C             LDUCO2 >= MAX(1,M)   if ROWCOL = 'R';
+C             LDUCO2 >= MAX(1,M,P) if ROWCOL = 'C'.
+C
+C     NR      (output) INTEGER
+C             The order of the resulting minimal realization, i.e. the
+C             order of the state dynamics matrix A.
+C
+C     A       (output) DOUBLE PRECISION array, dimension (LDA,N),
+C                       porm
+C             where N = SUM INDEX(I).
+C                       I=1
+C             The leading NR-by-NR part of this array contains the upper
+C             block Hessenberg state dynamics matrix A of a minimal
+C             realization.
+C
+C     LDA     INTEGER
+C             The leading dimension of array A.  LDA >= MAX(1,N).
+C
+C     B       (output) DOUBLE PRECISION array, dimension (LDB,MAX(M,P))
+C             The leading NR-by-M part of this array contains the
+C             input/state matrix B of a minimal realization; the
+C             remainder of the leading N-by-MAX(M,P) part is used as
+C             internal workspace.
+C
+C     LDB     INTEGER
+C             The leading dimension of array B.  LDB >= MAX(1,N).
+C
+C     C       (output) DOUBLE PRECISION array, dimension (LDC,N)
+C             The leading P-by-NR part of this array contains the
+C             state/output matrix C of a minimal realization; the
+C             remainder of the leading MAX(M,P)-by-N part is used as
+C             internal workspace.
+C
+C     LDC     INTEGER
+C             The leading dimension of array C.  LDC >= MAX(1,M,P).
+C
+C     D       (output) DOUBLE PRECISION array, dimension (LDD,M),
+C             if ROWCOL = 'R', and (LDD,MAX(M,P)) if ROWCOL = 'C'.
+C             The leading P-by-M part of this array contains the direct
+C             transmission matrix D; if ROWCOL = 'C', the remainder of
+C             the leading MAX(M,P)-by-MAX(M,P) part is used as internal
+C             workspace.
+C
+C     LDD     INTEGER
+C             The leading dimension of array D.
+C             LDD >= MAX(1,P)   if ROWCOL = 'R';
+C             LDD >= MAX(1,M,P) if ROWCOL = 'C'.
+C
+C     Tolerances
+C
+C     TOL     DOUBLE PRECISION
+C             The tolerance to be used in rank determination when
+C             transforming (A, B, C). If the user sets TOL > 0, then
+C             the given value of TOL is used as a lower bound for the
+C             reciprocal condition number (see the description of the
+C             argument RCOND in the SLICOT routine MB03OD);  a
+C             (sub)matrix whose estimated condition number is less than
+C             1/TOL is considered to be of full rank.  If the user sets
+C             TOL <= 0, then an implicitly computed, default tolerance
+C             (determined by the SLICOT routine TB01UD) is used instead.
+C
+C     Workspace
+C
+C     IWORK   INTEGER array, dimension (N+MAX(M,P))
+C             On exit, if INFO = 0, the first nonzero elements of
+C             IWORK(1:N) return the orders of the diagonal blocks of A.
+C
+C     DWORK   DOUBLE PRECISION array, dimension (LDWORK)
+C             On exit, if INFO = 0, DWORK(1) returns the optimal value
+C             of LDWORK.
+C
+C     LDWORK  INTEGER
+C             The length of the array DWORK.
+C             LDWORK >= MAX(1, N + MAX(N, 3*M, 3*P)).
+C             For optimum performance LDWORK should be larger.
+C
+C     Error Indicator
+C
+C     INFO    INTEGER
+C             = 0:  successful exit;
+C             < 0:  if INFO = -i, the i-th argument had an illegal
+C                   value;
+C             > 0:  if INFO = i, then i is the first integer for which
+C                   ABS( DCOEFF(I,1) ) is so small that the calculations
+C                   would overflow (see SLICOT Library routine TD03AY);
+C                   that is, the leading coefficient of a polynomial is
+C                   nearly zero; no state-space representation is
+C                   calculated.
+C
+C     METHOD
+C
+C     The method for transfer matrices factorized by rows will be
+C     described here: T(s) factorized by columns is dealt with by
+C     operating on the dual T'(s). This description for T(s) is
+C     actually the left polynomial matrix representation
+C
+C          T(s) = inv(D(s))*U(s),
+C
+C     where D(s) is diagonal with its (I,I)-th polynomial element of
+C     degree INDEX(I). The first step is to check whether the leading
+C     coefficient of any polynomial element of D(s) is approximately
+C     zero; if so the routine returns with INFO > 0. Otherwise,
+C     Wolovich's Observable Structure Theorem is used to construct a
+C     state-space representation in observable companion form which
+C     is equivalent to the above polynomial matrix representation.
+C     The method is particularly easy here due to the diagonal form
+C     of D(s). This state-space representation is not necessarily
+C     controllable (as D(s) and U(s) are not necessarily relatively
+C     left prime), but it is in theory completely observable; however,
+C     its observability matrix may be poorly conditioned, so it is
+C     treated as a general state-space representation and SLICOT
+C     Library routine TB01PD is then called to separate out a minimal
+C     realization from this general state-space representation by means
+C     of orthogonal similarity transformations.
+C
+C     REFERENCES
+C
+C     [1] Patel, R.V.
+C         Computation of Minimal-Order State-Space Realizations and
+C         Observability Indices using Orthogonal Transformations.
+C         Int. J. Control, 33, pp. 227-246, 1981.
+C
+C     [2] Wolovich, W.A.
+C         Linear Multivariable Systems, (Theorem 4.3.3).
+C         Springer-Verlag, 1974.
+C
+C     NUMERICAL ASPECTS
+C                               3
+C     The algorithm requires 0(N ) operations.
+C
+C     CONTRIBUTOR
+C
+C     V. Sima, Katholieke Univ. Leuven, Belgium, March 1998.
+C     Supersedes Release 3.0 routine TD01OD.
+C
+C     REVISIONS
+C
+C     -
+C
+C     KEYWORDS
+C
+C     Controllability, elementary polynomial operations, minimal
+C     realization, polynomial matrix, state-space representation,
+C     transfer matrix.
+C
+C     ******************************************************************
+C
+C     .. Parameters ..
+      DOUBLE PRECISION  ZERO, ONE
+      PARAMETER         ( ZERO = 0.0D0, ONE = 1.0D0 )
+C     .. Scalar Arguments ..
+      CHARACTER         ROWCOL
+      INTEGER           INFO, LDA, LDB, LDC, LDD, LDDCOE, LDUCO1,
+     $                  LDUCO2, LDWORK, M, NR, P
+      DOUBLE PRECISION  TOL
+C     .. Array Arguments ..
+      INTEGER           INDEX(*), IWORK(*)
+      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+     $                  DCOEFF(LDDCOE,*), DWORK(*),
+     $                  UCOEFF(LDUCO1,LDUCO2,*)
+C     .. Local Scalars ..
+      LOGICAL           LROCOC, LROCOR
+      INTEGER           I, J, JSTOP, K, KDCOEF, MPLIM, MWORK, N, PWORK
+C     .. External Functions ..
+      LOGICAL           LSAME
+      EXTERNAL          LSAME
+C     .. External Subroutines ..
+      EXTERNAL          DLASET, DSWAP, TB01PD, TB01XD, TD03AY, XERBLA
+C     .. Intrinsic Functions ..
+      INTRINSIC         MAX
+C     .. Executable Statements ..
+C
+      INFO = 0
+      LROCOR = LSAME( ROWCOL, 'R' )
+      LROCOC = LSAME( ROWCOL, 'C' )
+      MPLIM = MAX( 1, M, P )
+C
+C     Test the input scalar arguments.
+C
+      IF( .NOT.LROCOR .AND. .NOT.LROCOC ) THEN
+         INFO = -1
+      ELSE IF( M.LT.0 ) THEN
+         INFO = -2
+      ELSE IF( P.LT.0 ) THEN
+         INFO = -3
+      ELSE IF( ( LROCOR .AND. LDDCOE.LT.MAX( 1, P ) ) .OR.
+     $         ( LROCOC .AND. LDDCOE.LT.MAX( 1, M ) ) ) THEN
+         INFO = -6
+      ELSE IF( ( LROCOR .AND. LDUCO1.LT.MAX( 1, P ) ) .OR.
+     $         ( LROCOC .AND. LDUCO1.LT.MPLIM ) ) THEN
+         INFO = -8
+      ELSE IF( ( LROCOR .AND. LDUCO2.LT.MAX( 1, M ) ) .OR.
+     $         ( LROCOC .AND. LDUCO2.LT.MPLIM ) ) THEN
+         INFO = -9
+      END IF
+C
+      N = 0
+      IF ( INFO.EQ.0 ) THEN
+         IF ( LROCOR ) THEN
+C
+C           Initialization for T(s) given as rows over common
+C           denominators.
+C
+            PWORK = P
+            MWORK = M
+         ELSE
+C
+C           Initialization for T(s) given as columns over common
+C           denominators.
+C
+            PWORK = M
+            MWORK = P
+         END IF
+C
+C        Calculate N, the order of the resulting state-space
+C        representation.
+C
+         KDCOEF = 0
+C
+         DO 10 I = 1, PWORK
+            KDCOEF = MAX( KDCOEF, INDEX(I) )
+            N = N + INDEX(I)
+   10    CONTINUE
+C
+         KDCOEF = KDCOEF + 1
+C
+         IF( LDA.LT.MAX( 1, N ) ) THEN
+            INFO = -12
+         ELSE IF( LDB.LT.MAX( 1, N ) ) THEN
+            INFO = -14
+         ELSE IF( LDC.LT.MPLIM ) THEN
+            INFO = -16
+         ELSE IF( ( LROCOR .AND. LDD.LT.MAX( 1, P ) ) .OR.
+     $         ( LROCOC .AND. LDD.LT.MPLIM ) ) THEN
+            INFO = -18
+         ELSE IF( LDWORK.LT.MAX( 1, N + MAX( N, 3*M, 3*P ) ) ) THEN
+            INFO = -22
+         END IF
+      END IF
+C
+      IF ( INFO.NE.0 ) THEN
+C
+C        Error return.
+C
+         CALL XERBLA( 'TD04AD', -INFO )
+         RETURN
+      END IF
+C
+C     Quick return if possible.
+C
+      IF ( MAX( N, M, P ).EQ.0 ) THEN
+         NR  = 0
+         DWORK(1) = ONE
+         RETURN
+      END IF
+C
+      IF ( LROCOC ) THEN
+C
+C        Initialize the remainder of the leading
+C        MPLIM-by-MPLIM-by-KDCOEF part of U(s) to zero.
+C
+         IF ( P.LT.M ) THEN
+C
+            DO 20 K = 1, KDCOEF
+               CALL DLASET( 'Full', M-P, MPLIM, ZERO, ZERO,
+     $                      UCOEFF(P+1,1,K), LDUCO1 )
+   20       CONTINUE
+C
+         ELSE IF ( P.GT.M ) THEN
+C
+            DO 30 K = 1, KDCOEF
+               CALL DLASET( 'Full', MPLIM, P-M, ZERO, ZERO,
+     $                      UCOEFF(1,M+1,K), LDUCO1 )
+   30       CONTINUE
+C
+         END IF
+C
+         IF ( MPLIM.NE.1 ) THEN
+C
+C           Non-scalar T(s) factorized by columns: transpose it (i.e.
+C           U(s)).
+C
+            JSTOP = MPLIM - 1
+C
+            DO 50 K = 1, KDCOEF
+C
+               DO 40 J = 1, JSTOP
+                  CALL DSWAP( MPLIM-J, UCOEFF(J+1,J,K), 1,
+     $                        UCOEFF(J,J+1,K), LDUCO1 )
+   40          CONTINUE
+C
+   50       CONTINUE
+C
+         END IF
+      END IF
+C
+C     Construct non-minimal state-space representation (by Wolovich's
+C     Structure Theorem) which has transfer matrix T(s) or T'(s) as
+C     appropriate ...
+C
+      CALL TD03AY( MWORK, PWORK, INDEX, DCOEFF, LDDCOE, UCOEFF, LDUCO1,
+     $             LDUCO2, N, A, LDA, B, LDB, C, LDC, D, LDD, INFO )
+      IF ( INFO.GT.0 )
+     $   RETURN
+C
+C     and then separate out a minimal realization from this.
+C
+C     Workspace: need  N + MAX(N, 3*MWORK, 3*PWORK).
+C
+      CALL TB01PD( 'Minimal', 'Scale', N, MWORK, PWORK, A, LDA, B, LDB,
+     $             C, LDC, NR, TOL, IWORK, DWORK, LDWORK, INFO )
+C
+      IF ( LROCOC ) THEN
+C
+C        If T(s) originally factorized by columns, find dual of minimal
+C        state-space representation, and reorder the rows and columns
+C        to get an upper block Hessenberg state dynamics matrix.
+C
+         K = IWORK(1)+IWORK(2)-1
+         CALL TB01XD( 'D', NR, MWORK, PWORK, K, NR-1, A, LDA, B, LDB,
+     $                C, LDC, D, LDD, INFO )
+         IF ( MPLIM.NE.1 ) THEN
+C
+C           Also, retranspose U(s) if this is non-scalar.
+C
+            DO 70 K = 1, KDCOEF
+C
+               DO 60 J = 1, JSTOP
+                  CALL DSWAP( MPLIM-J, UCOEFF(J+1,J,K), 1,
+     $                        UCOEFF(J,J+1,K), LDUCO1 )
+   60          CONTINUE
+C
+   70       CONTINUE
+C
+         END IF
+      END IF
+C
+      RETURN
+C *** Last line of TD04AD ***
+      END


Property changes on: trunk/octave-forge/extra/control-devel/src/TD04AD.f
___________________________________________________________________
Added: svn:executable
   + *

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

Revision: 8792
          http://octave.svn.sourceforge.net/octave/?rev=8792&view=rev
Author:   paramaniac
Date:     2011-10-19 18:16:26 +0000 (Wed, 19 Oct 2011)
Log Message:
-----------
control-devel: add code for fitfrd (3)

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/makefile_ident.m
    trunk/octave-forge/extra/control-devel/inst/fitfrd.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/test_fitfrd.m
    trunk/octave-forge/extra/control-devel/src/slsb10yd.cc

Modified: trunk/octave-forge/extra/control-devel/devel/makefile_ident.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/makefile_ident.m	2011-10-19 17:01:28 UTC (rev 8791)
+++ trunk/octave-forge/extra/control-devel/devel/makefile_ident.m	2011-10-19 18:16:26 UTC (rev 8792)
@@ -24,7 +24,8 @@
           MB03UD.f MB01SD.f
 
 ## fit state-space model to frequency response data
-mkoctfile SB10YD.f DG01MD.f AB04MD.f SB10ZP.f AB07ND.f \
+mkoctfile slsb10yd.cc \
+          SB10YD.f DG01MD.f AB04MD.f SB10ZP.f AB07ND.f \
           MC01PD.f TD04AD.f TD03AY.f TB01PD.f TB01XD.f \
           AB07MD.f TB01UD.f TB01ID.f MB01PD.f MB03OY.f \
           MB01QD.f

Added: trunk/octave-forge/extra/control-devel/devel/test_fitfrd.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_fitfrd.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/test_fitfrd.m	2011-10-19 18:16:26 UTC (rev 8792)
@@ -0,0 +1,6 @@
+sys = ss (-1, 1, 1, 0);
+n = 1;
+
+ret0 = fitfrd (sys, n)
+
+ret1 = fitfrd (sys, n, 1)
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/inst/fitfrd.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/fitfrd.m	2011-10-19 17:01:28 UTC (rev 8791)
+++ trunk/octave-forge/extra/control-devel/inst/fitfrd.m	2011-10-19 18:16:26 UTC (rev 8792)
@@ -16,9 +16,8 @@
 ## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
 
 ## -*- texinfo -*-
-## @deftypefn{Function File} {[@var{K}, @var{N}, @var{gamma}, @var{info}] =} ncfsyn (@var{G}, @var{W1}, @var{W2}, @var{factor})
-## Normalized Coprime Factor (NCF) H-infinity synthesis.
-## Compute positive feedback controller using the McFarlane/Glover Loop Shaping Design Procedure.
+## @deftypefn{Function File} {[@var{sys}, @var{n}] =} fitfrd (@var{dat}, @var{n})
+## Fit frequency response data with a stable, minimum-phase state-space system.
 ##
 ## @strong{Inputs}
 ## @table @var
@@ -68,8 +67,25 @@
 ## Created: October 2011
 ## Version: 0.1
 
-function [retsys, n] = fitfrd (sys, n, code)
+function [sys, n] = fitfrd (dat, n, flag = 0)
 
+  if (nargin == 0 || nargin > 3)
+    print_usage ();
+  endif
   
+  if (! isa (dat, "frd"))
+    dat = frd (dat);
+  endif
+  
+  if (! issample (n, 0) || n != round (n))
+    error ("fitfrd: second argument must be an integer >= 0");
+  endif
 
+  [H, w, tsam] = frdata (dat, "vector");
+  dt = isdt (dat);
+  
+  [a, b, c, d, n] = slsb10yd (real (H), imag (H), w, n, dt, flag);
+  
+  sys = ss (a, b, c, d, tsam);
+
 endfunction
\ No newline at end of file

Added: trunk/octave-forge/extra/control-devel/src/slsb10yd.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slsb10yd.cc	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/src/slsb10yd.cc	2011-10-19 18:16:26 UTC (rev 8792)
@@ -0,0 +1,159 @@
+/*
+
+Copyright (C) 2011   Lukas F. Reichlin
+
+This file is part of LTI Syncope.
+
+LTI Syncope is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+LTI Syncope is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+Fit FRD with SS model.
+Uses SLICOT SB10YD by courtesy of NICONET e.V.
+<http://www.slicot.org>
+
+Author: Lukas Reichlin <lukas.reichlin@...>
+Created: October 2011
+Version: 0.1
+
+*/
+
+#include <octave/oct.h>
+#include <f77-fcn.h>
+#include <complex>
+#include "common.cc"
+
+extern "C"
+{ 
+    int F77_FUNC (sb10yd, SB10YD)
+                 (int& DISCFL, int& FLAG,
+                  int& LENDAT,
+                  double* RFRDAT, double* IFRDAT,
+                  double* OMEGA,
+                  int& N,
+                  double* A, int& LDA,
+                  double* B,
+                  double* C,
+                  double* D,
+                  double& TOL,
+                  int* IWORK, double* DWORK, int& LDWORK,
+                  Complex* ZWORK, int& LZWORK,
+                  int& INFO);
+}
+     
+DEFUN_DLD (slsb10yd, args, nargout,
+   "-*- texinfo -*-\n\
+Slicot SB10YD Release 5.0\n\
+No argument checking.\n\
+For internal use only.")
+{
+    int nargin = args.length ();
+    octave_value_list retval;
+    
+    if (nargin != 6)
+    {
+        print_usage ();
+    }
+    else
+    {
+        // arguments in
+        Matrix rfrdat = args(0).matrix_value ();
+        Matrix ifrdat = args(1).matrix_value ();
+        Matrix omega = args(2).matrix_value ();
+        int n = args(3).int_value ();
+        int discfl = args(4).int_value ();
+        int flag = args(5).int_value ();
+        
+        int lendat = omega.rows ();      // number of frequencies
+
+        int lda = max (1, n);
+        
+        // arguments out
+        Matrix a (lda, n);
+        Matrix b (n, 1);
+        Matrix c (1, n);
+        Matrix d (1, 1);
+        
+        // workspace
+        int liwork = max (2, 2*n + 1);
+        int ldwork;
+        int lzwork;
+        int hnpts = 2048;
+        
+        int lw1 = 2*lendat + 4*hnpts;
+        int lw2 =   lendat + 6*hnpts;
+        int mn  = min (2*lendat, 2*n+1);
+        int lw3;
+        int lw4;
+        
+        if (n > 0)
+        {
+            lw3 = 2*lendat*(2*n+1) + max (2*lendat, 2*n+1)
+                  + max (mn + 6*n + 4, 2*mn + 1);
+            lzwork = lendat*(2*n+3);
+        }
+        else
+        {
+            lw3 = 4*lendat + 5;
+            lzwork = lendat;
+        }
+
+        if (flag == 1)
+            lw4 = max (n*n + 5*n, 6*n + 1 + min (1, n));
+        else
+            lw4 = 0;
+       
+        ldwork = max (2, lw1, lw2, lw3, lw4);
+        
+        OCTAVE_LOCAL_BUFFER (int, iwork, liwork);
+        OCTAVE_LOCAL_BUFFER (double, dwork, ldwork);
+        OCTAVE_LOCAL_BUFFER (Complex, zwork, lzwork);
+        
+        // tolerance
+        double tol = 0;
+        
+        // error indicator
+        int info;
+
+
+        // SLICOT routine SB10YD
+        F77_XFCN (sb10yd, SB10YD,
+                 (discfl, flag,
+                  lendat,
+                  rfrdat.fortran_vec (), ifrdat.fortran_vec (),
+                  omega.fortran_vec (),
+                  n,
+                  a.fortran_vec (), lda,
+                  b.fortran_vec (),
+                  c.fortran_vec (),
+                  d.fortran_vec (),
+                  tol,
+                  iwork, dwork, ldwork,
+                  zwork, lzwork,
+                  info));
+
+        if (f77_exception_encountered)
+            error ("fitfrd: slsb10yd: exception in SLICOT subroutine SB10YD");
+            
+        if (info != 0)
+            error ("fitfrd: slsb10yd: SB10YD returned info = %d", info);
+        
+        // return values
+        retval(0) = a;
+        retval(1) = b;
+        retval(2) = c;
+        retval(3) = d;
+        retval(4) = octave_value (n);
+    }
+    
+    return retval;
+}

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Revision: 8793
          http://octave.svn.sourceforge.net/octave/?rev=8793&view=rev
Author:   paramaniac
Date:     2011-10-19 18:33:03 +0000 (Wed, 19 Oct 2011)
Log Message:
-----------
control-devel: touch up fitfrd

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/fitfrd.m
    trunk/octave-forge/extra/control-devel/src/Makefile

Modified: trunk/octave-forge/extra/control-devel/inst/fitfrd.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/fitfrd.m	2011-10-19 18:16:26 UTC (rev 8792)
+++ trunk/octave-forge/extra/control-devel/inst/fitfrd.m	2011-10-19 18:33:03 UTC (rev 8793)
@@ -17,45 +17,29 @@
 
 ## -*- texinfo -*-
 ## @deftypefn{Function File} {[@var{sys}, @var{n}] =} fitfrd (@var{dat}, @var{n})
+## @deftypefnx{Function File} {[@var{sys}, @var{n}] =} fitfrd (@var{dat}, @var{n}, @var{flag})
 ## Fit frequency response data with a stable, minimum-phase state-space system.
 ##
 ## @strong{Inputs}
 ## @table @var
-## @item G
-## LTI model of plant.
-## @item W1
-## LTI model of precompensator.  Model must be SISO or of appropriate size.
-## An identity matrix is taken if @var{W1} is not specified or if an empty model
-## @code{[]} is passed.
-## @item W2
-## LTI model of postcompensator.  Model must be SISO or of appropriate size.
-## An identity matrix is taken if @var{W2} is not specified or if an empty model
-## @code{[]} is passed.
-## @item factor
-## @code{factor = 1} implies that an optimal controller is required.
-## @code{factor > 1} implies that a suboptimal controller is required,
-## achieving a performance that is @var{factor} times less than optimal.
-## Default value is 1.
+## @item dat
+## LTI model containing frequency response data of a SISO system.
+## @item n
+## The desired order of the system to be fitted.  @code{n <= length(dat.w)}.
+## @item flag = 0
+## The system zeros and poles are not constrained.  Default value
+## @item flag = 1
+## The system zeros and poles will have negative real parts in the
+## continuous-time case, or moduli less than 1 in the discrete-time case.
 ## @end table
 ##
 ## @strong{Outputs}
 ## @table @var
-## @item K
+## @item sys
 ## State-space model of the H-infinity loop-shaping controller.
-## @item N
-## State-space model of the closed loop depicted below.
-## @item gamma
-## L-infinity norm of @var{N}.
-## @item info
-## Structure containing additional information.
-## @item info.emax
-## Nugap robustness.  @code{emax = inv (gamma)}.
-## @item info.Gs
-## Shaped plant.  @code{Gs = W2 * G * W1}.
-## @item info.Ks
-## Controller for shaped plant.  @code{Ks = ncfsyn (Gs)}.
-## @item info.rcond
-## Estimates of the reciprocal condition numbers of the Riccati equations.
+## @item n
+## The order of the obtained system.  The value of @var{n}
+## could only be modified if inputs @code{n > 0} and @code{flag = 1}.
 ## @end table
 ##
 ## @strong{Algorithm}@*
@@ -84,8 +68,12 @@
   [H, w, tsam] = frdata (dat, "vector");
   dt = isdt (dat);
   
-  [a, b, c, d, n] = slsb10yd (real (H), imag (H), w, n, dt, flag);
+  if (n > length (w))
+    error ("fitfrd: require n <= length (dat.w)");
+  endif
   
+  [a, b, c, d, n] = slsb10yd (real (H), imag (H), w, n, dt, logical (flag));
+  
   sys = ss (a, b, c, d, tsam);
 
 endfunction
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/src/Makefile
===================================================================
--- trunk/octave-forge/extra/control-devel/src/Makefile	2011-10-19 18:16:26 UTC (rev 8792)
+++ trunk/octave-forge/extra/control-devel/src/Makefile	2011-10-19 18:33:03 UTC (rev 8793)
@@ -1,4 +1,4 @@
-all: slab09jd.oct
+all: slab09jd.oct slsb10yd.oct
 
 # TODO: leading and trailing underscores for sl* functions
 #       (__sl*__.oct) would be nice, but this can be an issue
@@ -16,5 +16,13 @@
               MB04ND.f MB04OD.f SB03OR.f SB03OY.f MB04NY.f \
               MB04OY.f SB03OV.f
 
+# fit state-space model to frequency response data
+slsb10yd.oct: slsb10yd.cc
+	mkoctfile slsb10yd.cc \
+              SB10YD.f DG01MD.f AB04MD.f SB10ZP.f AB07ND.f \
+              MC01PD.f TD04AD.f TD03AY.f TB01PD.f TB01XD.f \
+              AB07MD.f TB01UD.f TB01ID.f MB01PD.f MB03OY.f \
+              MB01QD.f
+
 clean:
 	rm *.o core octave-core *.oct *~

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Revision: 8800
          http://octave.svn.sourceforge.net/octave/?rev=8800&view=rev
Author:   paramaniac
Date:     2011-10-20 19:50:05 +0000 (Thu, 20 Oct 2011)
Log Message:
-----------
control-devel: add/update draft code

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/test_ab09jd.m
    trunk/octave-forge/extra/control-devel/src/slab09jd.cc

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/inst/hnamodred.m

Modified: trunk/octave-forge/extra/control-devel/devel/test_ab09jd.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_ab09jd.m	2011-10-20 16:56:06 UTC (rev 8799)
+++ trunk/octave-forge/extra/control-devel/devel/test_ab09jd.m	2011-10-20 19:50:05 UTC (rev 8800)
@@ -29,10 +29,34 @@
 
 dv = [       1 ];
 
+[ar, br, cr, dr] = slab09jd (a, b, c, d, 0, 0, 0, 1, 0.0, \
+                             1, av, bv, cv, dv, \
+                             0, [], [], [], [], \
+                             2, 1e-1, 1e-14)
+                             
+                             
+%{                             
+                             0, 0.0, \
+                             1, 0, 2, 0, 0, 1, \
+                             1e-1, 1e-14)
 
+  [ar, br, cr, dr, nr] = slab09jd (a, b, c, d, dt, scaled, nr, ordsel, alpha, \
+                                   jobv, av, bv, cv, dv, \
+                                   jobw, aw, bw, cw, dw, \
+                                   jobinv, tol1, tol2);
+%}
+%{
+sys = ss (a, b, c, d);
+sysv = ss (av, bv, cv, dv);
+
+sysr = hnamodred (sys, 0, sysv, [])
+%}
+
+%{
 [ar, br, cr, dr] = slab09jd (a, b, c, d, av, bv, cv, dv, [], [], [], [], 0, 0.0, \
                              1, 0, 2, 0, 0, 1, \
                              1e-1, 1e-14)
+%}
 
 %{
  The reduced state dynamics matrix Ar is 

Added: trunk/octave-forge/extra/control-devel/inst/hnamodred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/hnamodred.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/inst/hnamodred.m	2011-10-20 19:50:05 UTC (rev 8800)
@@ -0,0 +1,94 @@
+function [sysr, nr] = hnamodred (sys, nr = 0, sysv = [], sysw = [])
+
+  [a, b, c, d, tsam, scaled] = ssdata (sys);
+  dt = isdt (sys);
+  
+  if (isempty (sysv))
+    av = bv = cv = dv = [];
+    jobv = 0;
+  else
+    sysv = ss (sysv);
+    [av, bv, cv, dv] = ssdata (sysv);
+    jobv = 1;
+  endif
+
+  if (isempty (sysw))
+    aw = bw = cw = dw = [];
+    jobw = 0;
+  else
+    sysw = ss (sysw);
+    [aw, bw, cw, dw] = ssdata (sysw);
+    jobw = 1;
+  endif
+
+  jobinv = 2;
+  tol1 = 1e-1; 
+  tol2 = 1e-14;
+  alpha = 0.0;
+  ordsel = 1;
+
+  [ar, br, cr, dr, nr] = slab09jd (a, b, c, d, dt, scaled, nr, ordsel, alpha, \
+                                   jobv, av, bv, cv, dv, \
+                                   jobw, aw, bw, cw, dw, \
+                                   jobinv, tol1, tol2);
+
+  sysr = ss (ar, br, cr, dr, tsam);
+
+endfunction
+
+
+%!shared Mo, Me
+%! a =  [ -3.8637   -7.4641   -9.1416   -7.4641   -3.8637   -1.0000
+%!         1.0000,         0         0         0         0         0
+%!              0    1.0000         0         0         0         0
+%!              0         0    1.0000         0         0         0
+%!              0         0         0    1.0000         0         0
+%!              0         0         0         0    1.0000         0 ];
+%!
+%! b =  [       1
+%!              0
+%!              0
+%!              0
+%!              0
+%!              0 ];
+%!
+%! c =  [       0         0         0         0         0         1 ];
+%!
+%! d =  [       0 ];
+%!
+%! sys = ss (a, b, c, d);
+%!
+%! av = [  0.2000   -1.0000
+%!         1.0000         0 ];
+%!
+%! bv = [       1
+%!              0 ];
+%!
+%! cv = [ -1.8000         0 ];
+%!
+%! dv = [       1 ];
+%!
+%! sysv = ss (av, bv, cv, dv);
+%!
+%! sysr = hnamodred (sys, 0, sysv, []);
+%! [ao, bo, co, do] = ssdata (sysr);
+%!
+%! ae = [ -0.2391   0.3072   1.1630   1.1967
+%!        -2.9709  -0.2391   2.6270   3.1027
+%!         0.0000   0.0000  -0.5137  -1.2842
+%!         0.0000   0.0000   0.1519  -0.5137 ];
+%!
+%! be = [ -1.0497
+%!        -3.7052
+%!         0.8223
+%!         0.7435 ];
+%!
+%! ce = [ -0.4466   0.0143  -0.4780  -0.2013 ];
+%!
+%! de = [  0.0219 ];
+%!
+%! Mo = [ao, bo; co, do];
+%! Me = [ae, be; ce, de];
+%!
+%!assert (Mo, Me, 1e-4);
+

Modified: trunk/octave-forge/extra/control-devel/src/slab09jd.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slab09jd.cc	2011-10-20 16:56:06 UTC (rev 8799)
+++ trunk/octave-forge/extra/control-devel/src/slab09jd.cc	2011-10-20 19:50:05 UTC (rev 8800)
@@ -87,26 +87,25 @@
         Matrix c = args(2).matrix_value ();
         Matrix d = args(3).matrix_value ();
         
-        Matrix av = args(4).matrix_value ();
-        Matrix bv = args(5).matrix_value ();
-        Matrix cv = args(6).matrix_value ();
-        Matrix dv = args(7).matrix_value ();
-        
-        Matrix aw = args(8).matrix_value ();
-        Matrix bw = args(9).matrix_value ();
-        Matrix cw = args(10).matrix_value ();
-        Matrix dw = args(11).matrix_value ();
+        const int idico = args(4).int_value ();
+        const int iequil = args(5).int_value ();
+        int nr = args(6).int_value ();
+        const int iordsel = args(7).int_value ();
+        double alpha = args(8).double_value ();
+                 
+        const int ijobv = args(9).int_value ();       
+        Matrix av = args(10).matrix_value ();
+        Matrix bv = args(11).matrix_value ();
+        Matrix cv = args(12).matrix_value ();
+        Matrix dv = args(13).matrix_value ();
 
-        int nr = args(12).int_value ();
-        double alpha = args(13).double_value ();
-        
-        const int ijobv = args(14).int_value ();
-        const int ijobw = args(15).int_value ();
-        const int ijobinv = args(16).int_value ();
-        const int idico = args(17).int_value ();
-        const int iequil = args(18).int_value ();
-        const int iordsel = args(19).int_value ();
-        
+        const int ijobw = args(14).int_value ();        
+        Matrix aw = args(15).matrix_value ();
+        Matrix bw = args(16).matrix_value ();
+        Matrix cw = args(17).matrix_value ();
+        Matrix dw = args(18).matrix_value ();
+
+        const int ijobinv = args(19).int_value ();
         double tol1 = args(20).double_value ();
         double tol2 = args(21).double_value ();
 
@@ -308,6 +307,7 @@
         retval(1) = b;
         retval(2) = c;
         retval(3) = d;
+        retval(4) = octave_value (nr);
         // retval(0) = hsv;
         // retval(1) = octave_value (ns);
     }

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Revision: 8862
          http://octave.svn.sourceforge.net/octave/?rev=8862&view=rev
Author:   paramaniac
Date:     2011-10-25 21:30:19 +0000 (Tue, 25 Oct 2011)
Log Message:
-----------
control-devel: compare different results

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/hnamodred.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/compare_results_hnamodred.m

Added: trunk/octave-forge/extra/control-devel/devel/compare_results_hnamodred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/compare_results_hnamodred.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/compare_results_hnamodred.m	2011-10-25 21:30:19 UTC (rev 8862)
@@ -0,0 +1,33 @@
+    Mo = [
+
+      -0.23915   0.30723   1.16297  -1.19671   1.04965
+      -2.97091  -0.23915   2.62702  -3.10273   3.70515
+       0.00000   0.00000  -0.51368   1.28421  -0.82227
+       0.00000   0.00000  -0.15189  -0.51368   0.74348
+       0.44660  -0.01427   0.47803  -0.20129   0.02190
+];
+
+    Me = [
+
+      -0.23910   0.30720   1.16300   1.19670  -1.04970
+      -2.97090  -0.23910   2.62700   3.10270  -3.70520
+       0.00000   0.00000  -0.51370  -1.28420   0.82230
+       0.00000   0.00000   0.15190  -0.51370   0.74350
+      -0.44660   0.01430  -0.47800  -0.20130   0.02190
+];
+
+syso = ss (Mo(1:4, 1:4), Mo(1:4, 5), Mo(5, 1:4), Mo(5, 5))
+
+syse = ss (Me(1:4, 1:4), Me(1:4, 5), Me(5, 1:4), Me(5, 5))
+
+figure (1)
+bode (syso)
+
+figure (2)
+bode (syse)
+
+figure (3)
+step (syso)
+
+figure (4)
+step (syse)
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/inst/hnamodred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/hnamodred.m	2011-10-25 15:20:09 UTC (rev 8861)
+++ trunk/octave-forge/extra/control-devel/inst/hnamodred.m	2011-10-25 21:30:19 UTC (rev 8862)
@@ -133,6 +133,8 @@
     endswitch
   endfor
   
+  ## TODO: handle jobv, jobw, (jobinv)
+  
   ## perform model order reduction
   [ar, br, cr, dr, nr] = slab09jd (a, b, c, d, dt, scaled, nr, ordsel, alpha, \
                                    jobv, av, bv, cv, dv, \

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Revision: 8865
          http://octave.svn.sourceforge.net/octave/?rev=8865&view=rev
Author:   paramaniac
Date:     2011-10-26 18:07:10 +0000 (Wed, 26 Oct 2011)
Log Message:
-----------
control-devel: touch up hnamodred

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/hnamodred.m
    trunk/octave-forge/extra/control-devel/src/slab09jd.cc

Modified: trunk/octave-forge/extra/control-devel/inst/hnamodred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/hnamodred.m	2011-10-26 16:23:52 UTC (rev 8864)
+++ trunk/octave-forge/extra/control-devel/inst/hnamodred.m	2011-10-26 18:07:10 UTC (rev 8865)
@@ -178,7 +178,7 @@
 %!
 %! DV = [       1 ];
 %!
-%! sysv = ss (AV, BV, CV, DV);
+%! sysv = ss (AV, BV, CV, DV, "scaled", true);
 %!
 %! sysr = hnamodred (sys, "left", sysv, "tol1", 1e-1, "tol2", 1e-14);
 %! [Ao, Bo, Co, Do] = ssdata (sysr);

Modified: trunk/octave-forge/extra/control-devel/src/slab09jd.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slab09jd.cc	2011-10-26 16:23:52 UTC (rev 8864)
+++ trunk/octave-forge/extra/control-devel/src/slab09jd.cc	2011-10-26 18:07:10 UTC (rev 8865)
@@ -380,6 +380,29 @@
                 }
             }
         }
+        
+        if (iwarn != 0)
+        {
+            switch (iwarn)
+            {
+                case 1:
+                    warning ("hnamodred: 1: with ORDSEL = 'F', the selected order NR is greater\
+                              than NSMIN, the sum of the order of the\
+                              ALPHA-unstable part and the order of a minimal\
+                              realization of the ALPHA-stable part of the given\
+                              system. In this case, the resulting NR is set equal\
+                              to NSMIN.");
+                    break;
+                case 2:
+                    warning ("hnamodred: 2: with ORDSEL = 'F', the selected order NR is less\
+                              than the order of the ALPHA-unstable part of the\
+                              given system. In this case NR is set equal to the\
+                              order of the ALPHA-unstable part.");
+                    break;
+                default:
+                    warning ("hnamodred: unknown warning, iwarn = %d", info);
+            }
+        }
 
         // resize
         a.resize (nr, nr);

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Revision: 8866
          http://octave.svn.sourceforge.net/octave/?rev=8866&view=rev
Author:   paramaniac
Date:     2011-10-26 18:32:52 +0000 (Wed, 26 Oct 2011)
Log Message:
-----------
control-devel: add oct-file for bstmodred

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/makefile_modred.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/src/slab09hd.cc

Modified: trunk/octave-forge/extra/control-devel/devel/makefile_modred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/makefile_modred.m	2011-10-26 18:07:10 UTC (rev 8865)
+++ trunk/octave-forge/extra/control-devel/devel/makefile_modred.m	2011-10-26 18:32:52 UTC (rev 8866)
@@ -23,7 +23,9 @@
           MB04ND.f MB04OD.f SB03OR.f SB03OY.f MB04NY.f \
           MB04OY.f SB03OV.f
 
-mkoctfile AB09HD.f TB01ID.f AB04MD.f TB01KD.f AB09HY.f \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+          slab09hd.cc \
+          AB09HD.f TB01ID.f AB04MD.f TB01KD.f AB09HY.f \
           AB09IX.f MB03UD.f SB02MD.f AB09DD.f TB01LD.f \
           SB03OU.f MA02AD.f MB03QX.f select.f SB03OT.f \
           SB02MR.f SB02MS.f MB03QD.f SB02MU.f SB02MV.f \

Added: trunk/octave-forge/extra/control-devel/src/slab09hd.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slab09hd.cc	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/src/slab09hd.cc	2011-10-26 18:32:52 UTC (rev 8866)
@@ -0,0 +1,271 @@
+/*
+
+Copyright (C) 2011   Lukas F. Reichlin
+
+This file is part of LTI Syncope.
+
+LTI Syncope is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+LTI Syncope is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+Model reduction based on balanced stochastic truncation method.
+Uses SLICOT AB09HD by courtesy of NICONET e.V.
+<http://www.slicot.org>
+
+Author: Lukas Reichlin <lukas.reichlin@...>
+Created: October 2011
+Version: 0.1
+
+*/
+
+#include <octave/oct.h>
+#include <f77-fcn.h>
+#include "common.cc"
+
+extern "C"
+{ 
+    int F77_FUNC (ab09hd, AB09HD)
+                 (char& DICO, char& JOB, char& EQUIL, char& ORDSEL,
+                  int& N, int& M, int& P,
+                  int& NR,
+                  double& ALPHA, double& BETA,
+                  double* A, int& LDA,
+                  double* B, int& LDB,
+                  double* C, int& LDC,
+                  double* D, int& LDD,
+                  int& NS,
+                  double* HSV,
+                  double& TOL1, double& TOL2,
+                  int* IWORK,
+                  double* DWORK, int& LDWORK,
+                  bool* BWORK,
+                  int& IWARN, int& INFO);
+}
+     
+DEFUN_DLD (slab09hd, args, nargout,
+   "-*- texinfo -*-\n\
+Slicot AB09HD Release 5.0\n\
+No argument checking.\n\
+For internal use only.")
+{
+    int nargin = args.length ();
+    octave_value_list retval;
+    
+    if (nargin != 13)
+    {
+        print_usage ();
+    }
+    else
+    {
+        // arguments in
+        char dico;
+        char job;
+        char equil;
+        char ordsel;
+        
+        Matrix a = args(0).matrix_value ();
+        Matrix b = args(1).matrix_value ();
+        Matrix c = args(2).matrix_value ();
+        Matrix d = args(3).matrix_value ();
+        
+        const int idico = args(4).int_value ();
+        const int iequil = args(5).int_value ();
+        const int ijob = args(6).int_value ();
+        
+        int nr = args(7).int_value ();
+        const int iordsel = args(8).int_value ();
+        
+        double alpha = args(9).double_value ();
+        double beta = args(10).double_value ();
+        double tol1 = args(11).double_value ();
+        double tol2 = args(12).double_value ();
+
+        switch (ijob)
+        {
+            case 0:
+                job = 'B';
+                break;
+            case 1:
+                job = 'F';
+                break;
+            case 2:
+                job = 'S';
+                break;
+            case 3:
+                job = 'P';
+                break;
+            default:
+                error ("slab09hd: argument job invalid");
+        }
+
+        if (idico == 0)
+            dico = 'C';
+        else
+            dico = 'D';
+
+        if (iequil == 0)
+            equil = 'S';
+        else
+            equil = 'N';
+
+        if (iordsel == 0)
+            ordsel = 'F';
+        else
+            ordsel = 'A';
+
+        int n = a.rows ();      // n: number of states
+        int m = b.columns ();   // m: number of inputs
+        int p = c.rows ();      // p: number of outputs
+
+        int lda = max (1, n);
+        int ldb = max (1, n);
+        int ldc = max (1, p);
+        int ldd = max (1, p);
+
+        // arguments out
+        int ns;
+        ColumnVector hsv (n);
+
+        // workspace
+        int liwork = max (1, 2*n);
+        int mb;
+        
+        if (beta == 0)
+            mb = m;
+        else
+            mb = m + p;
+        
+        int ldwork = 2*n*n + mb*(n+p)
+                     + max (2, n*(max (n,mb,p)+5), 2*n*p + max (p*(mb+2), 10*n*(n+1)));
+
+        OCTAVE_LOCAL_BUFFER (int, iwork, liwork);
+        OCTAVE_LOCAL_BUFFER (double, dwork, ldwork);
+        OCTAVE_LOCAL_BUFFER (bool, bwork, 2*n);
+        
+        // error indicators
+        int iwarn = 0;
+        int info = 0;
+
+
+        // SLICOT routine AB09HD
+        F77_XFCN (ab09hd, AB09HD,
+                 (dico, job, equil, ordsel,
+                  n, m, p,
+                  nr,
+                  alpha, beta,
+                  a.fortran_vec (), lda,
+                  b.fortran_vec (), ldb,
+                  c.fortran_vec (), ldc,
+                  d.fortran_vec (), ldd,
+                  ns,
+                  hsv.fortran_vec (),
+                  tol1, tol2,
+                  iwork,
+                  dwork, ldwork,
+                  bwork,
+                  iwarn, info));
+
+        if (f77_exception_encountered)
+            error ("bstmodred: exception in SLICOT subroutine AB09HD");
+            
+        if (info != 0)
+        {
+            if (info < 0)
+                error ("bstmodred: the %d-th argument had an invalid value", info);
+            else
+            {
+                switch (info)
+                {
+                    // FIXME: The code below looks nice, but the error message does not
+                    //        because there is much white space after each line break
+                    case 1:
+                        error ("bstmodred: 1: the computation of the ordered real Schur form of A\
+                                failed");
+                    case 2:
+                        error ("bstmodred: 2: the reduction of the Hamiltonian matrix to real\
+                                Schur form failed");
+                    case 3:
+                        error ("bstmodred: 3: the reordering of the real Schur form of the\
+                                Hamiltonian matrix failed");
+                    case 4:
+                        error ("bstmodred: 4: the Hamiltonian matrix has less than N stable\
+                                eigenvalues");
+                    case 5:
+                        error ("bstmodred: 5: the coefficient matrix U11 in the linear system\
+                                X*U11 = U21 to determine X is singular to working\
+                                precision");
+                    case 6:
+                        error ("bstmodred: 6: BETA = 0 and D has not a maximal row rank");
+                    case 7:
+                        error ("bstmodred: 7: the computation of Hankel singular values failed");
+                    case 8:
+                        error ("bstmodred: 8: the separation of the ALPHA-stable/unstable diagonal\
+                                blocks failed because of very close eigenvalues");
+                    case 9:
+                        error ("bstmodred: 9: the resulting order of reduced stable part is less\
+                                than the number of unstable zeros of the stable\
+                                part");
+                    default:
+                        error ("bstmodred: unknown error, info = %d", info);
+                }
+            }
+        }
+
+        if (iwarn != 0)
+        {
+            switch (iwarn)
+            {
+                case 1:
+                    warning ("bstmodred: 1: with ORDSEL = 'F', the selected order NR is greater\
+                              than NSMIN, the sum of the order of the\
+                              ALPHA-unstable part and the order of a minimal\
+                              realization of the ALPHA-stable part of the given\
+                              system; in this case, the resulting NR is set equal\
+                              to NSMIN.");
+                    break;
+                case 2:
+                    warning ("bstmodred: 2: with ORDSEL = 'F', the selected order NR corresponds\
+                              to repeated singular values for the ALPHA-stable\
+                              part, which are neither all included nor all\
+                              excluded from the reduced model; in this case, the\
+                              resulting NR is automatically decreased to exclude\
+                              all repeated singular values.");
+                    break;
+                case 3:
+                    warning ("bstmodred: 3: with ORDSEL = 'F', the selected order NR is less\
+                              than the order of the ALPHA-unstable part of the\
+                              given system; in this case NR is set equal to the\
+                              order of the ALPHA-unstable part.");
+                    break;
+                default:
+                    warning ("bstmodred: unknown warning, iwarn = %d", info);
+            }
+        }
+
+        // resize
+        a.resize (nr, nr);
+        b.resize (nr, m);
+        c.resize (p, nr);
+        hsv.resize (ns);
+        
+        // return values
+        retval(0) = a;
+        retval(1) = b;
+        retval(2) = c;
+        retval(3) = d;
+        retval(4) = octave_value (nr);
+        // retval(0) = hsv;
+        // retval(1) = octave_value (ns);
+    }
+    
+    return retval;
+}

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Revision: 8868
          http://octave.svn.sourceforge.net/octave/?rev=8868&view=rev
Author:   paramaniac
Date:     2011-10-26 19:13:06 +0000 (Wed, 26 Oct 2011)
Log Message:
-----------
control-devel: add an early version of bstmodred

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/hnamodred.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/test_bstmodred.m
    trunk/octave-forge/extra/control-devel/inst/bstmodred.m

Added: trunk/octave-forge/extra/control-devel/devel/test_bstmodred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_bstmodred.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/test_bstmodred.m	2011-10-26 19:13:06 UTC (rev 8868)
@@ -0,0 +1,28 @@
+A =  [ -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
+       -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
+        0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
+        0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
+        0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
+        0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
+        0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300 ];
+
+B =  [  0.0000   0.0000
+        12.500   0.0000
+        0.0000   0.0000
+        0.0000   0.0000
+        0.0000   0.0000
+        0.0000   12.500
+        0.0000   0.0000 ];
+
+C =  [  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+        0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+        0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000 ];
+
+D =  [  0.0000   0.0000
+        0.0000   0.0000
+        0.0000   0.0000 ];
+
+sys = ss (A, B, C, D, "scaled", true);
+
+sysr = bstmodred (sys, "beta", 1.0, "tol1", 0.1, "tol2", 0.0)
+[Ao, Bo, Co, Do] = ssdata (sysr);

Added: trunk/octave-forge/extra/control-devel/inst/bstmodred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/bstmodred.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/inst/bstmodred.m	2011-10-26 19:13:06 UTC (rev 8868)
@@ -0,0 +1,195 @@
+## Copyright (C) 2011   Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn{Function File} {[@var{sysr}, @var{nr}] =} hnamodred (@var{sys}, @dots{})
+## Model order reduction by frequency weighted optimal Hankel-norm approximation method.
+##
+## @strong{Inputs}
+## @table @var
+## @item sys
+## LTI model to be reduced.
+## @item @dots{}
+## Pairs of properties and values.
+## TODO: describe options.
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item sysr
+## Reduced order state-space model.
+## @item nr
+## The order of the obtained system @var{sysr}.
+## @end table
+##
+## @strong{Algorithm}@*
+## Uses SLICOT AB09HD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
+## @end deftypefn
+
+## Author: Lukas Reichlin <lukas.reichlin@...>
+## Created: October 2011
+## Version: 0.1
+
+function [sysr, nr] = bstmodred (sys, varargin)
+
+  if (nargin == 0)
+    print_usage ();
+  endif
+  
+  if (! isa (sys, "lti"))
+    error ("bstmodred: first argument must be an LTI system");
+  endif
+
+  if (rem (nargin-1, 2))
+    error ("bstmodred: properties and values must come in pairs");
+  endif
+
+  [a, b, c, d, tsam, scaled] = ssdata (sys);
+  dt = isdt (sys);
+  
+  ## default arguments
+  beta = 1; # ?
+  tol1 = 0; 
+  tol2 = 0;
+  ordsel = 1;
+  nr = 0;
+  
+  job = 1; ## ?
+  
+  if (dt)       # discrete-time
+    alpha = 1;  # ALPHA <= 0
+  else          # continuous-time
+    alpha = 0;  # 0 <= ALPHA <= 1
+  endif
+
+  for k = 1 : 2 : (nargin-1)
+    prop = lower (varargin{k});
+    val = varargin{k+1};
+    switch (prop)
+      case {"order", "n", "nr"}
+        if (! issample (val, 0) || val != round (val))
+          error ("bstmodred: argument %s must be an integer >= 0", varargin{k});
+        endif
+        nr = val;
+        ordsel = 0;
+
+      case "tol1"
+        if (! is_real_scalar (val))
+          error ("hnamodred: argument %s must be a real scalar", varargin{k});
+        endif
+        tol1 = val;
+
+      case "tol2"
+        if (! is_real_scalar (val))
+          error ("hnamodred: argument %s must be a real scalar", varargin{k});
+        endif
+        tol2 = val;
+
+      case "alpha"
+        if (! is_real_scalar (val))
+          error ("bstmodred: argument %s must be a real scalar", varargin{k});
+        endif
+        if (dt)  # discrete-time
+          if (val < 0 || val > 1)
+            error ("bstmodred: argument %s must be 0 <= ALPHA <= 1", varargin{k});
+          endif
+        else     # continuous-time
+          if (val > 0)
+            error ("bstmodred: argument %s must be ALPHA <= 0", varargin{k});
+          endif
+        endif
+        alpha = val;
+
+      case "beta"
+        if (! issample (val, 0))
+          error ("bstmodred: argument %s must be BETA >= 0", varargin{k});
+        endif
+        beta = val;
+
+      otherwise
+        error ("hnamodred: invalid property name");
+    endswitch
+  endfor
+  
+  ## TODO: handle job
+  
+  ## perform model order reduction
+  [ar, br, cr, dr, nr] = slab09hd (a, b, c, d, dt, scaled, job, nr, ordsel, alpha, beta, \
+                                   tol1, tol2);
+
+  ## assemble reduced order model
+  sysr = ss (ar, br, cr, dr, tsam);
+
+endfunction
+
+
+%!shared Mo, Me
+%! A =  [ -0.04165  0.0000  4.9200  -4.9200  0.0000  0.0000  0.0000
+%!        -5.2100  -12.500  0.0000   0.0000  0.0000  0.0000  0.0000
+%!         0.0000   3.3300 -3.3300   0.0000  0.0000  0.0000  0.0000
+%!         0.5450   0.0000  0.0000   0.0000 -0.5450  0.0000  0.0000
+%!         0.0000   0.0000  0.0000   4.9200 -0.04165 0.0000  4.9200
+%!         0.0000   0.0000  0.0000   0.0000 -5.2100 -12.500  0.0000
+%!         0.0000   0.0000  0.0000   0.0000  0.0000  3.3300 -3.3300 ];
+%!
+%! B =  [  0.0000   0.0000
+%!         12.500   0.0000
+%!         0.0000   0.0000
+%!         0.0000   0.0000
+%!         0.0000   0.0000
+%!         0.0000   12.500
+%!         0.0000   0.0000 ];
+%!
+%! C =  [  1.0000   0.0000  0.0000   0.0000  0.0000  0.0000  0.0000
+%!         0.0000   0.0000  0.0000   1.0000  0.0000  0.0000  0.0000
+%!         0.0000   0.0000  0.0000   0.0000  1.0000  0.0000  0.0000 ];
+%!
+%! D =  [  0.0000   0.0000
+%!         0.0000   0.0000
+%!         0.0000   0.0000 ];
+%!
+%! sys = ss (A, B, C, D, "scaled", true);
+%!
+%! sysr = bstmodred (sys, "beta", 1.0, "tol1", 0.1, "tol2", 0.0);
+%! [Ao, Bo, Co, Do] = ssdata (sysr);
+%!
+%! Ae = [  1.2729   0.0000   6.5947   0.0000  -3.4229
+%!         0.0000   0.8169   0.0000   2.4821   0.0000
+%!        -2.9889   0.0000  -2.9028   0.0000  -0.3692
+%!         0.0000  -3.3921   0.0000  -3.1126   0.0000
+%!        -1.4767   0.0000  -2.0339   0.0000  -0.6107 ];
+%!
+%! Be = [  0.1331  -0.1331
+%!        -0.0862  -0.0862
+%!        -2.6777   2.6777
+%!        -3.5767  -3.5767
+%!        -2.3033   2.3033 ];
+%!
+%! Ce = [ -0.6907  -0.6882   0.0779   0.0958  -0.0038
+%!         0.0676   0.0000   0.6532   0.0000  -0.7522
+%!         0.6907  -0.6882  -0.0779   0.0958   0.0038 ];
+%!
+%! De = [  0.0000   0.0000
+%!         0.0000   0.0000
+%!         0.0000   0.0000 ];
+%!
+%! Mo = [Ao, Bo; Co, Do];
+%! Me = [Ae, Be; Ce, De];
+%!
+%!assert (Mo, Me, 1e-4);
+

Modified: trunk/octave-forge/extra/control-devel/inst/hnamodred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/hnamodred.m	2011-10-26 18:59:06 UTC (rev 8867)
+++ trunk/octave-forge/extra/control-devel/inst/hnamodred.m	2011-10-26 19:13:06 UTC (rev 8868)
@@ -71,7 +71,7 @@
   tol1 = 0; 
   tol2 = 0;
   ordsel = 1;
-  nr = 0
+  nr = 0;
   
   if (dt)       # discrete-time
     alpha = 1;  # ALPHA <= 0

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Revision: 8869
          http://octave.svn.sourceforge.net/octave/?rev=8869&view=rev
Author:   paramaniac
Date:     2011-10-27 06:04:32 +0000 (Thu, 27 Oct 2011)
Log Message:
-----------
control-devel: add draft code

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/INDEX

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/src/slab09id.cc

Modified: trunk/octave-forge/extra/control-devel/INDEX
===================================================================
--- trunk/octave-forge/extra/control-devel/INDEX	2011-10-26 19:13:06 UTC (rev 8868)
+++ trunk/octave-forge/extra/control-devel/INDEX	2011-10-27 06:04:32 UTC (rev 8869)
@@ -6,9 +6,13 @@
   @iddata/set
   @iddata/size
 System Identification
+  fitfrd
   moesp
   n4sid
 Model Reduction
-  hna
+  bstmodred
+  btamodred
+  hnamodred
+  spamodred
 Controller Reduction
 

Added: trunk/octave-forge/extra/control-devel/src/slab09id.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slab09id.cc	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/src/slab09id.cc	2011-10-27 06:04:32 UTC (rev 8869)
@@ -0,0 +1,425 @@
+/*
+
+Copyright (C) 2011   Lukas F. Reichlin
+
+This file is part of LTI Syncope.
+
+LTI Syncope is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+LTI Syncope is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+Model reduction based on Balance & Truncate (B&T) or
+Singular Perturbation Approximation (SPA) method.
+Uses SLICOT AB09ID by courtesy of NICONET e.V.
+<http://www.slicot.org>
+
+Author: Lukas Reichlin <lukas.reichlin@...>
+Created: October 2011
+Version: 0.1
+
+*/
+
+#include <octave/oct.h>
+#include <f77-fcn.h>
+#include "common.cc"
+
+extern "C"
+{ 
+    int F77_FUNC (ab09id, AB09ID)
+                 (char& JOBV, char& JOBW, char& JOBINV,
+                  char& DICO, char& EQUIL, char& ORDSEL,
+                  int& N, int& NV, int& NW, int& M, int& P,
+                  int& NR,
+                  double& ALPHA,
+                  double* A, int& LDA,
+                  double* B, int& LDB,
+                  double* C, int& LDC,
+                  double* D, int& LDD,
+                  double* AV, int& LDAV,
+                  double* BV, int& LDBV,
+                  double* CV, int& LDCV,
+                  double* DV, int& LDDV,
+                  double* AW, int& LDAW,
+                  double* BW, int& LDBW,
+                  double* CW, int& LDCW,
+                  double* DW, int& LDDW,
+                  int& NS,
+                  double* HSV,
+                  double& TOL1, double& TOL2,
+                  int* IWORK,
+                  double* DWORK, int& LDWORK,
+                  int& IWARN, int& INFO);
+}
+     
+DEFUN_DLD (slab09id, args, nargout,
+   "-*- texinfo -*-\n\
+Slicot AB09ID Release 5.0\n\
+No argument checking.\n\
+For internal use only.")
+{
+    int nargin = args.length ();
+    octave_value_list retval;
+    
+    if (nargin != 22)
+    {
+        print_usage ();
+    }
+    else
+    {
+        // arguments in
+        char jobv;
+        char jobw;
+        char jobinv;
+        char dico;
+        char equil;
+        char ordsel;
+        
+        Matrix a = args(0).matrix_value ();
+        Matrix b = args(1).matrix_value ();
+        Matrix c = args(2).matrix_value ();
+        Matrix d = args(3).matrix_value ();
+        
+        const int idico = args(4).int_value ();
+        const int iequil = args(5).int_value ();
+        int nr = args(6).int_value ();
+        const int iordsel = args(7).int_value ();
+        double alpha = args(8).double_value ();
+                 
+        const int ijobv = args(9).int_value ();       
+        Matrix av = args(10).matrix_value ();
+        Matrix bv = args(11).matrix_value ();
+        Matrix cv = args(12).matrix_value ();
+        Matrix dv = args(13).matrix_value ();
+
+        const int ijobw = args(14).int_value ();        
+        Matrix aw = args(15).matrix_value ();
+        Matrix bw = args(16).matrix_value ();
+        Matrix cw = args(17).matrix_value ();
+        Matrix dw = args(18).matrix_value ();
+
+        const int ijobinv = args(19).int_value ();
+        double tol1 = args(20).double_value ();
+        double tol2 = args(21).double_value ();
+
+        switch (ijobv)
+        {
+            case 0:
+                jobv = 'N';
+                break;
+            case 1:
+                jobv = 'V';
+                break;
+            case 2:
+                jobv = 'I';
+                break;
+            case 3:
+                jobv = 'C';
+                break;
+            case 4:
+                jobv = 'R';
+                break;
+            default:
+                error ("slab09id: argument jobv invalid");
+        }
+
+        switch (ijobw)
+        {
+            case 0:
+                jobw = 'N';
+                break;
+            case 1:
+                jobw = 'W';
+                break;
+            case 2:
+                jobw = 'I';
+                break;
+            case 3:
+                jobw = 'C';
+                break;
+            case 4:
+                jobw = 'R';
+                break;
+            default:
+                error ("slab09id: argument jobw invalid");
+        }
+            
+        switch (ijobinv)
+        {
+            case 0:
+                jobinv = 'N';
+                break;
+            case 1:
+                jobinv = 'I';
+                break;
+            case 2:
+                jobinv = 'A';
+                break;
+            default:
+                error ("slab09id: argument jobinv invalid");
+        }
+
+        if (idico == 0)
+            dico = 'C';
+        else
+            dico = 'D';
+
+        if (iequil == 0)
+            equil = 'S';
+        else
+            equil = 'N';
+
+        if (iordsel == 0)
+            ordsel = 'F';
+        else
+            ordsel = 'A';
+
+        int n = a.rows ();      // n: number of states
+        int nv = av.rows ();
+        int nw = aw.rows ();
+        int m = b.columns ();   // m: number of inputs
+        int p = c.rows ();      // p: number of outputs
+
+        int lda = max (1, n);
+        int ldb = max (1, n);
+        int ldc = max (1, p);
+        int ldd = max (1, p);
+
+        int ldav = max (1, nv);
+        int ldbv = max (1, nv);
+        int ldcv = max (1, p);
+        int lddv = max (1, p);
+
+        int ldaw = max (1, nw);
+        int ldbw = max (1, nw);
+        int ldcw = max (1, m);
+        int lddw = max (1, m);
+
+        // arguments out
+        int ns;
+        ColumnVector hsv (n);
+
+        // workspace
+        int liwork;
+        int tmpc;
+        int tmpd;
+
+        if (jobv == 'N')
+            tmpc = 0;
+        else
+            tmpc = max (2*p, nv+p+n+6, 2*nv+p+2);
+
+        if (jobw == 'N')
+            tmpd = 0;
+        else
+            tmpd = max (2*m, nw+m+n+6, 2*nw+m+2);
+        
+        if (dico == 'C')
+            liwork = max (1, m, tmpc, tmpd);
+        else
+            liwork = max (1, n, m, tmpc, tmpd);
+
+        int ldwork;
+        int nvp = nv + p;
+        int nwm = nw + m;
+        int ldw1;
+        int ldw2;
+        int ldw3 = n*(2*n + max (n, m, p) + 5) + n*(n+1)/2;
+        int ldw4 = n*(m+p+2) + 2*m*p + min (n, m) + max (3*m+1, min (n, m) + p);
+        
+        if (jobv == 'N')
+        {
+            ldw1 = 0;
+        }
+        else
+        {
+            ldw1 = 2*nvp*(nvp+p) + p*p + max (2*nvp*nvp + max (11*nvp+16, p*nvp),
+                                              nvp*n + max (nvp*n+n*n, p*n, p*m));
+        }
+
+        if (jobw == 'N')
+        {
+            ldw2 = 0;
+        }
+        else
+        {
+            ldw2 = 2*nwm*(nwm+m) + m*m + max (2*nwm*nwm + max (11*nwm+16, m*nwm),
+                                              nwm*n + max (nwm*n+n*n, m*n, p*m));
+        }
+        
+        ldwork = max (ldw1, ldw2, ldw3, ldw4);
+
+        OCTAVE_LOCAL_BUFFER (int, iwork, liwork);
+        OCTAVE_LOCAL_BUFFER (double, dwork, ldwork);
+        
+        // error indicators
+        int iwarn = 0;
+        int info = 0;
+
+
+        // SLICOT routine AB09ID
+        F77_XFCN (ab09id, AB09ID,
+                 (jobv, jobw, jobinv,
+                  dico, equil, ordsel,
+                  n, nv, nw, m, p,
+                  nr,
+                  alpha,
+                  a.fortran_vec (), lda,
+                  b.fortran_vec (), ldb,
+                  c.fortran_vec (), ldc,
+                  d.fortran_vec (), ldd,
+                  av.fortran_vec (), ldav,
+                  bv.fortran_vec (), ldbv,
+                  cv.fortran_vec (), ldcv,
+                  dv.fortran_vec (), lddv,
+                  aw.fortran_vec (), ldaw,
+                  bw.fortran_vec (), ldbw,
+                  cw.fortran_vec (), ldcw,
+                  dw.fortran_vec (), lddw,
+                  ns,
+                  hsv.fortran_vec (),
+                  tol1, tol2,
+                  iwork,
+                  dwork, ldwork,
+                  iwarn, info));
+
+        if (f77_exception_encountered)
+            error ("hnamodred: exception in SLICOT subroutine AB09ID");
+            
+        if (info != 0)
+        {
+            //error ("hsvd: slab09id: AB09ID returned info = %d", info);
+            if (info < 0)
+                error ("hnamodred: the %d-th argument had an invalid value", info);
+            else
+            {
+                switch (info)
+                {
+                    // FIXME: The code below looks nice, but the error message does not
+                    //        because there is much white space after each line break
+                    case 1:
+                        error ("hnamodred: 1: the computation of the ordered real Schur form of A\
+                                failed");
+                    case 2:
+                        error ("hnamodred: 2: the separation of the ALPHA-stable/unstable\
+                                diagonal blocks failed because of very close eigenvalues");
+                    case 3:
+                        error ("hnamodred: 3: the reduction of AV to a real Schur form failed");
+                    case 4:
+                        error ("hnamodred: 4: the reduction of AW to a real Schur form failed");
+                    case 5:
+                        error ("hnamodred: 5: the reduction to generalized Schur form of the\
+                                descriptor pair corresponding to the inverse of V\
+                                failed");
+                    case 6:
+                        error ("hnamodred: 6: the reduction to generalized Schur form of the\
+                                descriptor pair corresponding to the inverse of W\
+                                failed");
+                    case 7:
+                        error ("hnamodred: 7: the computation of Hankel singular values failed");
+                    case 8:
+                        error ("hnamodred: 8: the computation of stable projection in the\
+                                Hankel-norm approximation algorithm failed");
+                    case 9:
+                        error ("hnamodred: 9: the order of computed stable projection in the\
+                                Hankel-norm approximation algorithm differs\
+                                from the order of Hankel-norm approximation");
+                    case 10:
+                        error ("hnamodred: 10: the reduction of AV-BV*inv(DV)*CV to a\
+                                real Schur form failed");
+                    case 11:
+                        error ("hnamodred: 11: the reduction of AW-BW*inv(DW)*CW to a\
+                                real Schur form failed");
+                    case 12:
+                        error ("hnamodred: 12: the solution of the Sylvester equation failed\
+                                because the poles of V (if JOBV = 'V') or of\
+                                conj(V) (if JOBV = 'C') are not distinct from\
+                                the poles of G1 (see METHOD)");
+                    case 13:
+                        error ("hnamodred: 13: the solution of the Sylvester equation failed\
+                                because the poles of W (if JOBW = 'W') or of\
+                                conj(W) (if JOBW = 'C') are not distinct from\
+                                the poles of G1 (see METHOD)");
+                    case 14:
+                        error ("hnamodred: 14: the solution of the Sylvester equation failed\
+                                because the zeros of V (if JOBV = 'I') or of\
+                                conj(V) (if JOBV = 'R') are not distinct from\
+                                the poles of G1sr (see METHOD)");
+                    case 15:
+                        error ("hnamodred: 15: the solution of the Sylvester equation failed\
+                                because the zeros of W (if JOBW = 'I') or of\
+                                conj(W) (if JOBW = 'R') are not distinct from\
+                                the poles of G1sr (see METHOD)");
+                    case 16:
+                        error ("hnamodred: 16: the solution of the generalized Sylvester system\
+                                failed because the zeros of V (if JOBV = 'I') or\
+                                of conj(V) (if JOBV = 'R') are not distinct from\
+                                the poles of G1sr (see METHOD)");
+                    case 17:
+                        error ("hnamodred: 17: the solution of the generalized Sylvester system\
+                                failed because the zeros of W (if JOBW = 'I') or\
+                                of conj(W) (if JOBW = 'R') are not distinct from\
+                                the poles of G1sr (see METHOD)");
+                    case 18:
+                        error ("hnamodred: 18: op(V) is not antistable");
+                    case 19:
+                        error ("hnamodred: 19: op(W) is not antistable");
+                    case 20:
+                        error ("hnamodred: 20: V is not invertible");
+                    case 21:
+                        error ("hnamodred: 21: W is not invertible");
+                    default:
+                        error ("hnamodred: unknown error, info = %d", info);
+                }
+            }
+        }
+        
+        if (iwarn != 0)
+        {
+            switch (iwarn)
+            {
+                case 1:
+                    warning ("hnamodred: 1: with ORDSEL = 'F', the selected order NR is greater\
+                              than NSMIN, the sum of the order of the\
+                              ALPHA-unstable part and the order of a minimal\
+                              realization of the ALPHA-stable part of the given\
+                              system. In this case, the resulting NR is set equal\
+                              to NSMIN.");
+                    break;
+                case 2:
+                    warning ("hnamodred: 2: with ORDSEL = 'F', the selected order NR is less\
+                              than the order of the ALPHA-unstable part of the\
+                              given system. In this case NR is set equal to the\
+                              order of the ALPHA-unstable part.");
+                    break;
+                default:
+                    warning ("hnamodred: unknown warning, iwarn = %d", info);
+            }
+        }
+
+        // resize
+        a.resize (nr, nr);
+        b.resize (nr, m);
+        c.resize (p, nr);
+        hsv.resize (ns);
+        
+        // return values
+        retval(0) = a;
+        retval(1) = b;
+        retval(2) = c;
+        retval(3) = d;
+        retval(4) = octave_value (nr);
+        // retval(0) = hsv;
+        // retval(1) = octave_value (ns);
+    }
+    
+    return retval;
+}

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Revision: 8887
          http://octave.svn.sourceforge.net/octave/?rev=8887&view=rev
Author:   paramaniac
Date:     2011-10-27 18:42:50 +0000 (Thu, 27 Oct 2011)
Log Message:
-----------
control-devel: update draft code

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/makefile_modred.m
    trunk/octave-forge/extra/control-devel/src/slab09id.cc

Modified: trunk/octave-forge/extra/control-devel/devel/makefile_modred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/makefile_modred.m	2011-10-27 17:07:19 UTC (rev 8886)
+++ trunk/octave-forge/extra/control-devel/devel/makefile_modred.m	2011-10-27 18:42:50 UTC (rev 8887)
@@ -3,7 +3,18 @@
 srcdir = [develdir, "/../src"];
 cd (srcdir);
 
-mkoctfile AB09ID.f TB01PD.f SB08DD.f TB01ID.f TB01KD.f \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+          slab09hd.cc \
+          AB09HD.f TB01ID.f AB04MD.f TB01KD.f AB09HY.f \
+          AB09IX.f MB03UD.f SB02MD.f AB09DD.f TB01LD.f \
+          SB03OU.f MA02AD.f MB03QX.f select.f SB03OT.f \
+          SB02MR.f SB02MS.f MB03QD.f SB02MU.f SB02MV.f \
+          SB02MW.f MB04ND.f MB04OD.f MB03QY.f SB03OR.f \
+          SB03OY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f
+
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+          slab09id.cc \
+          AB09ID.f TB01PD.f SB08DD.f TB01ID.f TB01KD.f \
           AB09IX.f AB09IY.f SB08CD.f MB04ND.f TB01XD.f \
           MB04OD.f MB01WD.f MB03UD.f AB07MD.f SB01FY.f \
           AB09DD.f TB01LD.f SB03OU.f TB01UD.f MA02AD.f \
@@ -23,14 +34,6 @@
           MB04ND.f MB04OD.f SB03OR.f SB03OY.f MB04NY.f \
           MB04OY.f SB03OV.f
 
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
-          slab09hd.cc \
-          AB09HD.f TB01ID.f AB04MD.f TB01KD.f AB09HY.f \
-          AB09IX.f MB03UD.f SB02MD.f AB09DD.f TB01LD.f \
-          SB03OU.f MA02AD.f MB03QX.f select.f SB03OT.f \
-          SB02MR.f SB02MS.f MB03QD.f SB02MU.f SB02MV.f \
-          SB02MW.f MB04ND.f MB04OD.f MB03QY.f SB03OR.f \
-          SB03OY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f
 
 system ("rm *.o");
 cd (homedir);

Modified: trunk/octave-forge/extra/control-devel/src/slab09id.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slab09id.cc	2011-10-27 17:07:19 UTC (rev 8886)
+++ trunk/octave-forge/extra/control-devel/src/slab09id.cc	2011-10-27 18:42:50 UTC (rev 8887)
@@ -81,7 +81,7 @@
         char jobc;
         char jobo;
         char job;
-        char weigth
+        char weight;
         char equil;
         char ordsel;
         
@@ -182,7 +182,7 @@
         int p = c.rows ();      // p: number of outputs
         
         int nv = av.rows ();
-        int pw = cv.rows ();
+        int pv = cv.rows ();
         int nw = aw.rows ();
         int mw = bw.columns ();
 
@@ -233,78 +233,53 @@
         else
             liwrk3 = nw + max (m, mw);
 
-        liwork = max (3, liwrk1, liwrk2, liwrk3));
+        liwork = max (3, liwrk1, liwrk2, liwrk3);
 
         int ldwork;
-        int 
-        
-        ldwork =  max (lminl, lminr, lrcf,
-                       2*n*n + max (1, lleft, lright, 2*n*n+5*n, n*max (m, p)));
-c             where
-c             lminl  = 0, if weight = 'r' or 'n' or nv = 0; otherwise,
-c             lminl  = max(llcf,nv+max(nv,3*p))           if p =  pv;
-c             lminl  = max(p,pv)*(2*nv+max(p,pv))+
-c                      max(llcf,nv+max(nv,3*p,3*pv))      if p <> pv;
-c             lrcf   = 0, and
-c             lminr  = 0, if weight = 'l' or 'n' or nw = 0; otherwise,
-c             lminr  = nw+max(nw,3*m)                     if m =  mw;
-c             lminr  = 2*nw*max(m,mw)+nw+max(nw,3*m,3*mw) if m <> mw;
-c             llcf   = pv*(nv+pv)+pv*nv+max(nv*(nv+5), pv*(pv+2),
-c                                           4*pv, 4*p);
-c             lrcf   = mw*(nw+mw)+max(nw*(nw+5),mw*(mw+2),4*mw,4*m)
-c             lleft  = (n+nv)*(n+nv+max(n+nv,pv)+5)
-c                              if weight = 'l' or 'b' and pv > 0;
-c             lleft  = n*(p+5) if weight = 'r' or 'n' or  pv = 0;
-c             lright = (n+nw)*(n+nw+max(n+nw,mw)+5)
-c                              if weight = 'r' or 'b' and mw > 0;
-c             lright = n*(m+5) if weight = 'l' or 'n' or  mw = 0.
+        int lminl;
+        int lrcf;
+        int lminr;
+        int llcf;
+        int lleft;
+        int lright;
 
-
-        if (jobv == 'N')
-            tmpc = 0;
-        else
-            tmpc = max (2*p, nv+p+n+6, 2*nv+p+2);
-
-        if (jobw == 'N')
-            tmpd = 0;
-        else
-            tmpd = max (2*m, nw+m+n+6, 2*nw+m+2);
-        
-        if (dico == 'C')
-            liwork = max (1, m, tmpc, tmpd);
-        else
-            liwork = max (1, n, m, tmpc, tmpd);
-
-        int ldwork;
-        int nvp = nv + p;
-        int nwm = nw + m;
-        int ldw1;
-        int ldw2;
-        int ldw3 = n*(2*n + max (n, m, p) + 5) + n*(n+1)/2;
-        int ldw4 = n*(m+p+2) + 2*m*p + min (n, m) + max (3*m+1, min (n, m) + p);
-        
-        if (jobv == 'N')
+        if (nw == 0 || weight == 'L' || weight == 'N')
         {
-            ldw1 = 0;
+            lrcf = 0;
+            lminr = 0;
         }
         else
         {
-            ldw1 = 2*nvp*(nvp+p) + p*p + max (2*nvp*nvp + max (11*nvp+16, p*nvp),
-                                              nvp*n + max (nvp*n+n*n, p*n, p*m));
+            lrcf = mw*(nw+mw) + max (nw*(nw+5), mw*(mw+2), 4*mw, 4*m);
+            if (m == mw)
+                lminr = nw + max (nw, 3*m);
+            else
+                lminr = 2*nw*max (m, mw) + nw + max (nw, 3*m, 3*mw);
         }
 
-        if (jobw == 'N')
-        {
-            ldw2 = 0;
-        }
+        llcf = pv*(nv+pv) + pv*nv + max (nv*(nv+5), pv*(pv+2), 4*pv, 4*p);
+
+        if (nv == 0 || weight == 'R' || weight == 'N')
+            lminl = 0;
+        else if (p == pv)
+            lminl  = max (llcf, nv + max (nv, 3*p));
         else
-        {
-            ldw2 = 2*nwm*(nwm+m) + m*m + max (2*nwm*nwm + max (11*nwm+16, m*nwm),
-                                              nwm*n + max (nwm*n+n*n, m*n, p*m));
-        }
-        
-        ldwork = max (ldw1, ldw2, ldw3, ldw4);
+            lminl  = max (p, pv) * (2*nv + max (p, pv)) + max (llcf, nv + max (nv, 3*p, 3*pv));
 
+
+        if (pv == 0 || weight == 'R' || weight == 'N')
+            lleft = n*(p+5);
+        else
+            lleft = (n+nv) * (n + nv + max (n+nv, pv) + 5);
+
+        if (mw == 0 || weight == 'L' || weight == 'N')
+            lright = n*(m+5);
+        else
+            lright = (n+nw) * (n + nw + max (n+nw, mw) + 5);
+
+        ldwork =  max (lminl, lminr, lrcf,
+                       2*n*n + max (1, lleft, lright, 2*n*n+5*n, n*max (m, p)));
+
         OCTAVE_LOCAL_BUFFER (int, iwork, liwork);
         OCTAVE_LOCAL_BUFFER (double, dwork, ldwork);
         

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Revision: 8889
          http://octave.svn.sourceforge.net/octave/?rev=8889&view=rev
Author:   paramaniac
Date:     2011-10-27 21:44:50 +0000 (Thu, 27 Oct 2011)
Log Message:
-----------
control-devel: get testcase for slicot ab09id working

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/src/slab09id.cc

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/test_ab09id.m

Added: trunk/octave-forge/extra/control-devel/devel/test_ab09id.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_ab09id.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/test_ab09id.m	2011-10-27 21:44:50 UTC (rev 8889)
@@ -0,0 +1,82 @@
+% AB09ID EXAMPLE PROGRAM DATA (Continuous system)
+%  3  1  1   6  1  0  0   2   0.0  0.0  0.0 0.1E0  0.0    C   S  S   F   L  S  F 
+
+% N, M, P, NV, PV, NW, MW, NR,
+% ALPHA, ALPHAC, ALPHAO, TOL1, TOL2,
+% DICO, JOBC, JOBO, JOB, WEIGHT,
+% EQUIL, ORDSEL
+
+
+a =  [ -26.4000,    6.4023,    4.3868;
+        32.0000,         0,         0;
+              0,    8.0000,         0 ];
+
+b =  [       16
+              0
+              0 ];
+
+c =  [   9.2994     1.1624     0.1090 ];
+
+d =  [        0 ];
+
+av = [  -1.0000,         0,    4.0000,   -9.2994,   -1.1624,   -0.1090;
+              0,    2.0000,         0,   -9.2994,   -1.1624,   -0.1090;
+              0,         0,   -3.0000,   -9.2994,   -1.1624,   -0.1090;
+        16.0000,   16.0000,   16.0000,  -26.4000,    6.4023,    4.3868;
+              0,         0,         0,   32.0000,         0,         0;
+              0,         0,         0,         0,    8.0000,         0 ];
+
+bv = [        1
+              1
+              1
+              0
+              0
+              0 ];
+
+cv = [        1          1          1          0          0          0 ];
+
+dv = [        0 ];
+
+aw = bw = cw = dw = [];
+
+alpha = alphac = alphao = 0.0;
+tol1 = 0.1;
+tol2 = 0.0;
+dico = 0;
+jobc = jobo = 0;
+job = 1;
+weight = 1;
+equil = 0;
+ordsel = 0;
+nr = 2;
+
+
+[ar, br, cr, dr] = slab09id (a, b, c, d, dico, equil, nr, ordsel, alpha, job, \
+                             av, bv, cv, dv, \
+                             aw, bw, cw, dw, \
+                             weight, jobc, jobo, alphac, alphao, \
+                             tol1, tol2)
+
+%{
+ AB09ID EXAMPLE PROGRAM RESULTS
+
+
+ The order of reduced model =  2
+
+ The Hankel singular values of weighted ALPHA-stable part are
+   3.8253   0.2005
+
+ The reduced state dynamics matrix Ar is 
+   9.1900   0.0000
+   0.0000 -34.5297
+
+ The reduced input/state matrix Br is 
+  11.9593
+  16.9329
+
+ The reduced state/output matrix Cr is 
+   2.8955   6.9152
+
+ The reduced input/output matrix Dr is 
+   0.0000
+%}
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/src/slab09id.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slab09id.cc	2011-10-27 19:03:15 UTC (rev 8888)
+++ trunk/octave-forge/extra/control-devel/src/slab09id.cc	2011-10-27 21:44:50 UTC (rev 8889)
@@ -70,7 +70,7 @@
     int nargin = args.length ();
     octave_value_list retval;
     
-    if (nargin != 26)
+    if (nargin != 25)
     {
         print_usage ();
     }
@@ -102,19 +102,19 @@
         Matrix cv = args(12).matrix_value ();
         Matrix dv = args(13).matrix_value ();
       
-        Matrix aw = args(15).matrix_value ();
-        Matrix bw = args(16).matrix_value ();
-        Matrix cw = args(17).matrix_value ();
-        Matrix dw = args(18).matrix_value ();
+        Matrix aw = args(14).matrix_value ();
+        Matrix bw = args(15).matrix_value ();
+        Matrix cw = args(16).matrix_value ();
+        Matrix dw = args(17).matrix_value ();
         
-        const int iweight = args(19).int_value ();
-        const int ijobc = args(20).int_value ();
-        double alphac = args(21).double_value ();
-        const int ijobo = args(22).int_value ();
-        double alphao = args(23).double_value ();
+        const int iweight = args(18).int_value ();
+        const int ijobc = args(19).int_value ();
+        double alphac = args(20).double_value ();
+        const int ijobo = args(21).int_value ();
+        double alphao = args(22).double_value ();
 
-        double tol1 = args(24).double_value ();
-        double tol2 = args(25).double_value ();
+        double tol1 = args(23).double_value ();
+        double tol2 = args(24).double_value ();
 
         if (idico == 0)
             dico = 'C';

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Revision: 9046
          http://octave.svn.sourceforge.net/octave/?rev=9046&view=rev
Author:   paramaniac
Date:     2011-11-10 17:30:57 +0000 (Thu, 10 Nov 2011)
Log Message:
-----------
control-devel: update makefile

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/__check_weight__.m
    trunk/octave-forge/extra/control-devel/src/Makefile

Modified: trunk/octave-forge/extra/control-devel/inst/__check_weight__.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/__check_weight__.m	2011-11-10 07:14:45 UTC (rev 9045)
+++ trunk/octave-forge/extra/control-devel/inst/__check_weight__.m	2011-11-10 17:30:57 UTC (rev 9046)
@@ -33,5 +33,7 @@
   [a, b, c, d] = ssdata (sys);
   
   job = 1;
+  
+  ## TODO: check system size
 
 endfunction

Modified: trunk/octave-forge/extra/control-devel/src/Makefile
===================================================================
--- trunk/octave-forge/extra/control-devel/src/Makefile	2011-11-10 07:14:45 UTC (rev 9045)
+++ trunk/octave-forge/extra/control-devel/src/Makefile	2011-11-10 17:30:57 UTC (rev 9046)
@@ -1,10 +1,10 @@
-all: slab09hd.oct slab09jd.oct slsb10yd.oct
+all: slab09hd.oct slab09id.oct slab09jd.oct slsb10yd.oct
 
 # TODO: leading and trailing underscores for sl* functions
 #       (__sl*__.oct) would be nice, but this can be an issue
 #       for fortran compilers.
 
-# model reduction based on balanced stochastic truncation method
+# balanced stochastic truncation model reduction
 slab09hd.oct: slab09hd.cc
 	mkoctfile slab09hd.cc \
               AB09HD.f TB01ID.f AB04MD.f TB01KD.f AB09HY.f \
@@ -14,7 +14,19 @@
               SB02MW.f MB04ND.f MB04OD.f MB03QY.f SB03OR.f \
               SB03OY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f
 
-# frequency-weighted Hankel norm approximation with invertible weights
+# balanced truncation & singular perturbation approximation model reduction
+slab09id.oct: slab09id.cc
+	mkoctfile slab09id.cc \
+              AB09ID.f TB01PD.f SB08DD.f TB01ID.f TB01KD.f \
+              AB09IX.f AB09IY.f SB08CD.f MB04ND.f TB01XD.f \
+              MB04OD.f MB01WD.f MB03UD.f AB07MD.f SB01FY.f \
+              AB09DD.f TB01LD.f SB03OU.f TB01UD.f MA02AD.f \
+              MA02BD.f MB03OY.f MB03QX.f MB01PD.f select.f \
+              MB01YD.f MB04NY.f MB01ZD.f SB03OT.f MB04OX.f \
+              MB04OY.f MB03QD.f SB03OY.f MB03QY.f MB01QD.f \
+              SB03OR.f SB03OV.f SB04PX.f
+
+# hankel-norm approximation model reduction
 slab09jd.oct: slab09jd.cc
 	mkoctfile slab09jd.cc \
               AB09JD.f TB01ID.f TB01KD.f AB07ND.f AB09JV.f \

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Revision: 9054
          http://octave.svn.sourceforge.net/octave/?rev=9054&view=rev
Author:   paramaniac
Date:     2011-11-10 20:31:47 +0000 (Thu, 10 Nov 2011)
Log Message:
-----------
control-devel: touch up hnamodred

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/hnamodred.m
    trunk/octave-forge/extra/control-devel/src/slab09jd.cc

Modified: trunk/octave-forge/extra/control-devel/inst/hnamodred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/hnamodred.m	2011-11-10 20:28:06 UTC (rev 9053)
+++ trunk/octave-forge/extra/control-devel/inst/hnamodred.m	2011-11-10 20:31:47 UTC (rev 9054)
@@ -16,7 +16,7 @@
 ## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
 
 ## -*- texinfo -*-
-## @deftypefn{Function File} {[@var{sysr}, @var{nr}] =} hnamodred (@var{sys}, @dots{})
+## @deftypefn{Function File} {[@var{sysr}, @var{info}] =} hnamodred (@var{sys}, @dots{})
 ## Model order reduction by frequency weighted optimal Hankel-norm approximation method.
 ##
 ## @strong{Inputs}
@@ -45,7 +45,7 @@
 ## Created: October 2011
 ## Version: 0.1
 
-function [sysr, nr] = hnamodred (sys, varargin)
+function [sysr, info] = hnamodred (sys, varargin)
 
   if (nargin == 0)
     print_usage ();
@@ -87,6 +87,30 @@
       case {"right", "w"}
         [aw, bw, cw, dw, jobw] = __modred_check_weight__ (val, dt, m, m);
 
+      case {"left-inv", "inv-v"}
+        [av, bv, cv, dv] = __modred_check_weight__ (val, dt, p, p);
+        jobv = 2;
+
+      case {"right-inv", "inv-w"}
+        [aw, bw, cw, dw] = __modred_check_weight__ (val, dt, m, m);
+        jobv = 2
+
+      case {"left-conj", "conj-v"}
+        [av, bv, cv, dv] = __modred_check_weight__ (val, dt, p, p);
+        jobv = 3;
+
+      case {"right-conj", "conj-w"}
+        [aw, bw, cw, dw] = __modred_check_weight__ (val, dt, m, m);
+        jobv = 3
+
+      case {"left-conj-inv", "conj-inv-v"}
+        [av, bv, cv, dv] = __modred_check_weight__ (val, dt, p, p);
+        jobv = 4;
+
+      case {"right-conj-inv", "conj-inv-w"}
+        [aw, bw, cw, dw] = __modred_check_weight__ (val, dt, m, m);
+        jobv = 4
+
       case {"order", "n", "nr"}
         [nr, ordsel] = __modred_check_order__ (val);
 
@@ -99,6 +123,18 @@
       case "alpha"
         alpha = __modred_check_alpha__ (val, dt);
 
+      case {"approach", "jobinv"}
+        switch (tolower (val(1)))
+          case {"d", "n"}      # "descriptor"
+            jobinv = 0;
+          case {"s", "i"}      # "standard"
+            jobinv = 1;
+          case "a"             # {"auto", "automatic"}
+            jobinv = 2;
+          otherwise
+            error ("hnamodred: invalid computational approach");
+        endswitch
+
       otherwise
         error ("hnamodred: invalid property name");
     endswitch
@@ -107,14 +143,17 @@
   ## TODO: handle jobv, jobw, (jobinv)
   
   ## perform model order reduction
-  [ar, br, cr, dr, nr] = slab09jd (a, b, c, d, dt, scaled, nr, ordsel, alpha, \
-                                   jobv, av, bv, cv, dv, \
-                                   jobw, aw, bw, cw, dw, \
-                                   jobinv, tol1, tol2);
+  [ar, br, cr, dr, nr, hsv, ns] = slab09jd (a, b, c, d, dt, scaled, nr, ordsel, alpha, \
+                                            jobv, av, bv, cv, dv, \
+                                            jobw, aw, bw, cw, dw, \
+                                            jobinv, tol1, tol2);
 
   ## assemble reduced order model
   sysr = ss (ar, br, cr, dr, tsam);
 
+  ## assemble info struct  
+  info = struct ("nr", nr, "ns", ns, "hsv", hsv);
+
 endfunction
 
 

Modified: trunk/octave-forge/extra/control-devel/src/slab09jd.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slab09jd.cc	2011-11-10 20:28:06 UTC (rev 9053)
+++ trunk/octave-forge/extra/control-devel/src/slab09jd.cc	2011-11-10 20:31:47 UTC (rev 9054)
@@ -414,8 +414,8 @@
         retval(2) = c;
         retval(3) = d;
         retval(4) = octave_value (nr);
-        // retval(0) = hsv;
-        // retval(1) = octave_value (ns);
+        retval(5) = hsv;
+        retval(6) = octave_value (ns);
     }
     
     return retval;

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Revision: 9055
          http://octave.svn.sourceforge.net/octave/?rev=9055&view=rev
Author:   paramaniac
Date:     2011-11-10 20:38:42 +0000 (Thu, 10 Nov 2011)
Log Message:
-----------
control-devel: return info struct for all model reduction commands

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/__modred_ab09id__.m
    trunk/octave-forge/extra/control-devel/inst/bstmodred.m
    trunk/octave-forge/extra/control-devel/inst/btamodred.m
    trunk/octave-forge/extra/control-devel/inst/spamodred.m
    trunk/octave-forge/extra/control-devel/src/slab09hd.cc
    trunk/octave-forge/extra/control-devel/src/slab09id.cc

Modified: trunk/octave-forge/extra/control-devel/inst/__modred_ab09id__.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/__modred_ab09id__.m	2011-11-10 20:31:47 UTC (rev 9054)
+++ trunk/octave-forge/extra/control-devel/inst/__modred_ab09id__.m	2011-11-10 20:38:42 UTC (rev 9055)
@@ -16,7 +16,7 @@
 ## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
 
 ## -*- texinfo -*-
-## @deftypefn{Function File} {[@var{sysr}, @var{nr}] =} __modred_ab09id__ (@var{method}, @dots{})
+## @deftypefn{Function File} {[@var{sysr}, @var{info}] =} __modred_ab09id__ (@var{method}, @dots{})
 ## Backend for btamodred and spamodred.
 ## @end deftypefn
 
@@ -24,7 +24,7 @@
 ## Created: November 2011
 ## Version: 0.1
 
-function [sysr, nr] = __modred_ab09id__ (method, varargin)
+function [sysr, info] = __modred_ab09id__ (method, varargin)
 
   if (nargin < 2)
     print_usage ();
@@ -110,15 +110,18 @@
   ## TODO: handle job
   
   ## perform model order reduction
-  [ar, br, cr, dr] = slab09id (a, b, c, d, dico, equil, nr, ordsel, alpha, job, \
-                               av, bv, cv, dv, \
-                               aw, bw, cw, dw, \
-                               weight, jobc, jobo, alphac, alphao, \
-                               tol1, tol2);
+  [ar, br, cr, dr, nr, hsv, ns] = slab09id (a, b, c, d, dico, equil, nr, ordsel, alpha, job, \
+                                            av, bv, cv, dv, \
+                                            aw, bw, cw, dw, \
+                                            weight, jobc, jobo, alphac, alphao, \
+                                            tol1, tol2);
 
   ## assemble reduced order model
   sysr = ss (ar, br, cr, dr, tsam);
 
+  ## assemble info struct  
+  info = struct ("nr", nr, "ns", ns, "hsv", hsv);
+
 endfunction
 
 

Modified: trunk/octave-forge/extra/control-devel/inst/bstmodred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/bstmodred.m	2011-11-10 20:31:47 UTC (rev 9054)
+++ trunk/octave-forge/extra/control-devel/inst/bstmodred.m	2011-11-10 20:38:42 UTC (rev 9055)
@@ -103,12 +103,15 @@
   ## TODO: handle job
   
   ## perform model order reduction
-  [ar, br, cr, dr, nr] = slab09hd (a, b, c, d, dt, scaled, job, nr, ordsel, alpha, beta, \
-                                   tol1, tol2);
+  [ar, br, cr, dr, nr, hsv, ns] = slab09hd (a, b, c, d, dt, scaled, job, nr, ordsel, alpha, beta, \
+                                            tol1, tol2);
 
   ## assemble reduced order model
   sysr = ss (ar, br, cr, dr, tsam);
 
+  ## assemble info struct  
+  info = struct ("nr", nr, "ns", ns, "hsv", hsv);
+
 endfunction
 
 

Modified: trunk/octave-forge/extra/control-devel/inst/btamodred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/btamodred.m	2011-11-10 20:31:47 UTC (rev 9054)
+++ trunk/octave-forge/extra/control-devel/inst/btamodred.m	2011-11-10 20:38:42 UTC (rev 9055)
@@ -45,9 +45,9 @@
 ## Created: November 2011
 ## Version: 0.1
 
-function [sysr, nr] = btamodred (varargin)
+function [sysr, info] = btamodred (varargin)
 
-  [sysr, nr] = __modred_ab09id__ ("bta", varargin{:});
+  [sysr, info] = __modred_ab09id__ ("bta", varargin{:});
 
 endfunction
 

Modified: trunk/octave-forge/extra/control-devel/inst/spamodred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/spamodred.m	2011-11-10 20:31:47 UTC (rev 9054)
+++ trunk/octave-forge/extra/control-devel/inst/spamodred.m	2011-11-10 20:38:42 UTC (rev 9055)
@@ -45,9 +45,9 @@
 ## Created: November 2011
 ## Version: 0.1
 
-function [sysr, nr] = spamodred (varargin)
+function [sysr, info] = spamodred (varargin)
 
-  [sysr, nr] = __modred_ab09id__ ("spa", varargin{:});
+  [sysr, info] = __modred_ab09id__ ("spa", varargin{:});
 
 endfunction
 

Modified: trunk/octave-forge/extra/control-devel/src/slab09hd.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slab09hd.cc	2011-11-10 20:31:47 UTC (rev 9054)
+++ trunk/octave-forge/extra/control-devel/src/slab09hd.cc	2011-11-10 20:38:42 UTC (rev 9055)
@@ -261,8 +261,8 @@
         retval(2) = c;
         retval(3) = d;
         retval(4) = octave_value (nr);
-        // retval(0) = hsv;
-        // retval(1) = octave_value (ns);
+        retval(5) = hsv;
+        retval(6) = octave_value (ns);
     }
     
     return retval;

Modified: trunk/octave-forge/extra/control-devel/src/slab09id.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slab09id.cc	2011-11-10 20:31:47 UTC (rev 9054)
+++ trunk/octave-forge/extra/control-devel/src/slab09id.cc	2011-11-10 20:38:42 UTC (rev 9055)
@@ -414,8 +414,8 @@
         retval(2) = c;
         retval(3) = d;
         retval(4) = octave_value (nr);
-        // retval(0) = hsv;
-        // retval(1) = octave_value (ns);
+        retval(5) = hsv;
+        retval(6) = octave_value (ns);
     }
     
     return retval;

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Revision: 9134
          http://octave.svn.sourceforge.net/octave/?rev=9134&view=rev
Author:   paramaniac
Date:     2011-11-18 16:53:44 +0000 (Fri, 18 Nov 2011)
Log Message:
-----------
control-devel: add draft code

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/bstmodred.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/opt2cell.m
    trunk/octave-forge/extra/control-devel/devel/options.m

Added: trunk/octave-forge/extra/control-devel/devel/opt2cell.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/opt2cell.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/opt2cell.m	2011-11-18 16:53:44 UTC (rev 9134)
@@ -0,0 +1,12 @@
+function c = opt2cell (opt)
+
+  if (! isstruct (opt))
+    error ("opt2cell: argument must be a struct");
+  endif
+
+  key = fieldnames (opt);
+  val = struct2cell (opt);
+  
+  c = [key.'; val.'](:);  # reshape to {key1; val1; key2; val2; ...}
+
+endfunction
\ No newline at end of file

Added: trunk/octave-forge/extra/control-devel/devel/options.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/options.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/options.m	2011-11-18 16:53:44 UTC (rev 9134)
@@ -0,0 +1,8 @@
+function opt = options (varargin)
+
+  key = reshape (varargin(1:2:end-1), [], 1);
+  val = reshape (varargin(2:2:end), [], 1);
+
+  opt = cell2struct (val, key, 1)
+
+endfunction
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/inst/bstmodred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/bstmodred.m	2011-11-18 14:23:19 UTC (rev 9133)
+++ trunk/octave-forge/extra/control-devel/inst/bstmodred.m	2011-11-18 16:53:44 UTC (rev 9134)
@@ -16,8 +16,12 @@
 ## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
 
 ## -*- texinfo -*-
-## @deftypefn{Function File} {[@var{sysr}, @var{nr}] =} hnamodred (@var{sys}, @dots{})
-## Model order reduction by frequency weighted optimal Hankel-norm approximation method.
+## @deftypefn{Function File} {[@var{sysr}, @var{nr}] =} bstmodred (@var{sys}, @dots{})
+## Model order reduction by Balanced Stochastic Truncation method.
+## Uses the stochastic balancing approach in conjunction with the square-root or
+## the balancing-free square-root Balance & Truncate (B&T)
+## or Singular Perturbation Approximation (SPA) model reduction
+## methods for the ALPHA-stable part of the system.
 ##
 ## @strong{Inputs}
 ## @table @var

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Revision: 9139
          http://octave.svn.sourceforge.net/octave/?rev=9139&view=rev
Author:   paramaniac
Date:     2011-11-19 18:01:27 +0000 (Sat, 19 Nov 2011)
Log Message:
-----------
control-devel: allow struct to pass settings

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/__modred_ab09id__.m
    trunk/octave-forge/extra/control-devel/inst/bstmodred.m
    trunk/octave-forge/extra/control-devel/inst/hnamodred.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/inst/__opt2cell__.m
    trunk/octave-forge/extra/control-devel/inst/options.m

Removed Paths:
-------------
    trunk/octave-forge/extra/control-devel/devel/opt2cell.m
    trunk/octave-forge/extra/control-devel/devel/options.m

Deleted: trunk/octave-forge/extra/control-devel/devel/opt2cell.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/opt2cell.m	2011-11-19 15:43:51 UTC (rev 9138)
+++ trunk/octave-forge/extra/control-devel/devel/opt2cell.m	2011-11-19 18:01:27 UTC (rev 9139)
@@ -1,12 +0,0 @@
-function c = opt2cell (opt)
-
-  if (! isstruct (opt))
-    error ("opt2cell: argument must be a struct");
-  endif
-
-  key = fieldnames (opt);
-  val = struct2cell (opt);
-  
-  c = [key.'; val.'](:);  # reshape to {key1; val1; key2; val2; ...}
-
-endfunction
\ No newline at end of file

Deleted: trunk/octave-forge/extra/control-devel/devel/options.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/options.m	2011-11-19 15:43:51 UTC (rev 9138)
+++ trunk/octave-forge/extra/control-devel/devel/options.m	2011-11-19 18:01:27 UTC (rev 9139)
@@ -1,16 +0,0 @@
-function opt = options (varargin)
-
-  if (nargin == 0)
-    print_usage ();
-  endif
-
-  if (rem (nargin, 2))
-    error ("options: properties and values must come in pairs");
-  endif
-
-  key = reshape (varargin(1:2:end-1), [], 1);
-  val = reshape (varargin(2:2:end), [], 1);
-
-  opt = cell2struct (val, key, 1)
-
-endfunction
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/inst/__modred_ab09id__.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/__modred_ab09id__.m	2011-11-19 15:43:51 UTC (rev 9138)
+++ trunk/octave-forge/extra/control-devel/inst/__modred_ab09id__.m	2011-11-19 18:01:27 UTC (rev 9139)
@@ -42,7 +42,9 @@
     error ("%smodred: first argument must be an LTI system", method);
   endif
 
-  if (rem (npv, 2))
+  if (npv == 1)
+    varargin = __opt2cell__ (varargin{1});
+  elseif (rem (npv, 2))
     error ("%smodred: properties and values must come in pairs", method);
   endif
 
@@ -103,7 +105,7 @@
       ## TODO: alphac, alphao, jobc, jobo
 
       otherwise
-        error ("hnamodred: invalid property name");
+        warning ("modred: invalid property name ""%s"" ignored", prop);
     endswitch
   endfor
 

Copied: trunk/octave-forge/extra/control-devel/inst/__opt2cell__.m (from rev 9138, trunk/octave-forge/extra/control-devel/devel/opt2cell.m)
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/__opt2cell__.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/inst/__opt2cell__.m	2011-11-19 18:01:27 UTC (rev 9139)
@@ -0,0 +1,12 @@
+function c = __opt2cell__ (opt)
+
+  if (! isstruct (opt))
+    error ("opt2cell: argument must be a struct");
+  endif
+
+  key = fieldnames (opt);
+  val = struct2cell (opt);
+  
+  c = [key.'; val.'](:);  # reshape to {key1; val1; key2; val2; ...}
+
+endfunction
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/inst/bstmodred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/bstmodred.m	2011-11-19 15:43:51 UTC (rev 9138)
+++ trunk/octave-forge/extra/control-devel/inst/bstmodred.m	2011-11-19 18:01:27 UTC (rev 9139)
@@ -59,7 +59,9 @@
     error ("bstmodred: first argument must be an LTI system");
   endif
 
-  if (rem (nargin-1, 2))
+  if (nargin == 2)
+    varargin = __opt2cell__ (varargin{1});
+  elseif (rem (nargin-1, 2))
     error ("bstmodred: properties and values must come in pairs");
   endif
 
@@ -113,12 +115,10 @@
         endswitch
 
       otherwise
-        error ("hnamodred: invalid property name");
+        warning ("bstmodred: invalid property name ""%s"" ignored", prop);
     endswitch
   endfor
   
-  ## TODO: handle job
-  
   ## perform model order reduction
   [ar, br, cr, dr, nr, hsv, ns] = slab09hd (a, b, c, d, dt, scaled, job, nr, ordsel, alpha, beta, \
                                             tol1, tol2);

Modified: trunk/octave-forge/extra/control-devel/inst/hnamodred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/hnamodred.m	2011-11-19 15:43:51 UTC (rev 9138)
+++ trunk/octave-forge/extra/control-devel/inst/hnamodred.m	2011-11-19 18:01:27 UTC (rev 9139)
@@ -55,7 +55,9 @@
     error ("hnamodred: first argument must be an LTI system");
   endif
 
-  if (rem (nargin-1, 2))
+  if (nargin == 2)
+    varargin = __opt2cell__ (varargin{1});
+  elseif (rem (nargin-1, 2))
     error ("hnamodred: properties and values must come in pairs");
   endif
 
@@ -136,12 +138,11 @@
         endswitch
 
       otherwise
-        error ("hnamodred: invalid property name");
+        warning ("hnamodred: invalid property name ""%s"" ignored", prop);
     endswitch
   endfor
+
   
-  ## TODO: handle jobv, jobw, (jobinv)
-  
   ## perform model order reduction
   [ar, br, cr, dr, nr, hsv, ns] = slab09jd (a, b, c, d, dt, scaled, nr, ordsel, alpha, \
                                             jobv, av, bv, cv, dv, \

Copied: trunk/octave-forge/extra/control-devel/inst/options.m (from rev 9138, trunk/octave-forge/extra/control-devel/devel/options.m)
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/options.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/inst/options.m	2011-11-19 18:01:27 UTC (rev 9139)
@@ -0,0 +1,16 @@
+function opt = options (varargin)
+
+  if (nargin == 0)
+    print_usage ();
+  endif
+
+  if (rem (nargin, 2))
+    error ("options: properties and values must come in pairs");
+  endif
+
+  key = reshape (varargin(1:2:end-1), [], 1);
+  val = reshape (varargin(2:2:end), [], 1);
+
+  opt = cell2struct (val, key, 1)
+
+endfunction
\ No newline at end of file

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Revision: 9183
          http://octave.svn.sourceforge.net/octave/?rev=9183&view=rev
Author:   paramaniac
Date:     2011-11-25 16:51:56 +0000 (Fri, 25 Nov 2011)
Log Message:
-----------
control-devel: move file

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/inst/test_devel.m

Removed Paths:
-------------
    trunk/octave-forge/extra/control-devel/devel/test_devel.m

Deleted: trunk/octave-forge/extra/control-devel/devel/test_devel.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_devel.m	2011-11-25 16:46:09 UTC (rev 9182)
+++ trunk/octave-forge/extra/control-devel/devel/test_devel.m	2011-11-25 16:51:56 UTC (rev 9183)
@@ -1,7 +0,0 @@
-# identification
-test fitfrd
-
-# model order reduction
-test bstmodred
-test btamodred
-test hnamodred

Copied: trunk/octave-forge/extra/control-devel/inst/test_devel.m (from rev 9181, trunk/octave-forge/extra/control-devel/devel/test_devel.m)
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/test_devel.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/inst/test_devel.m	2011-11-25 16:51:56 UTC (rev 9183)
@@ -0,0 +1,7 @@
+# identification
+test fitfrd
+
+# model order reduction
+test bstmodred
+test btamodred
+test hnamodred

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Revision: 9220
          http://octave.svn.sourceforge.net/octave/?rev=9220&view=rev
Author:   paramaniac
Date:     2011-11-29 14:00:17 +0000 (Tue, 29 Nov 2011)
Log Message:
-----------
control-devel: update draft code

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/makefile_conred.m
    trunk/octave-forge/extra/control-devel/inst/bstmodred.m
    trunk/octave-forge/extra/control-devel/src/slsb16ad.cc

Modified: trunk/octave-forge/extra/control-devel/devel/makefile_conred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/makefile_conred.m	2011-11-29 09:53:30 UTC (rev 9219)
+++ trunk/octave-forge/extra/control-devel/devel/makefile_conred.m	2011-11-29 14:00:17 UTC (rev 9220)
@@ -12,7 +12,9 @@
 srcdir = [develdir, "/../src"];
 cd (srcdir);
 
-mkoctfile SB16AD.f TB01ID.f SB16AY.f TB01KD.f AB09IX.f \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+          slsb16ad.cc \
+          SB16AD.f TB01ID.f SB16AY.f TB01KD.f AB09IX.f \
           MB04OD.f MB01WD.f SB03OD.f MB03UD.f AB05PD.f \
           AB09DD.f AB07ND.f TB01LD.f AB05QD.f SB03OU.f \
           MA02AD.f MB03QX.f select.f MB01YD.f MB01ZD.f \

Modified: trunk/octave-forge/extra/control-devel/inst/bstmodred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/bstmodred.m	2011-11-29 09:53:30 UTC (rev 9219)
+++ trunk/octave-forge/extra/control-devel/inst/bstmodred.m	2011-11-29 14:00:17 UTC (rev 9220)
@@ -97,9 +97,10 @@
 ## @item
 ## Guaranteed a priori error bound
 ## @iftex
-## @math{|| G^{-1} (G-G_r) ||_{\\infty} <= }
+## @tex
+## $$ || G^{-1} (G-G_r) ||_{\\infty} \\leq 2 \\sum_{j=r+1}^{n} \\frac{1+\\sigma_j}{1-\\sigma_j} - 1 $$
+## @end tex
 ## @end iftex
-##
 ## @end itemize
 ## 
 ##

Modified: trunk/octave-forge/extra/control-devel/src/slsb16ad.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slsb16ad.cc	2011-11-29 09:53:30 UTC (rev 9219)
+++ trunk/octave-forge/extra/control-devel/src/slsb16ad.cc	2011-11-29 14:00:17 UTC (rev 9220)
@@ -87,7 +87,7 @@
         
         const int idico = args(4).int_value ();
         const int iequil = args(5).int_value ();
-        int nr = args(6).int_value ();
+        int ncr = args(6).int_value ();
         const int iordsel = args(7).int_value ();
         double alpha = args(8).double_value ();
         const int ijobmr = args(9).int_value ();
@@ -210,50 +210,26 @@
         liwork = max (1, liwrk1, liwrk2);
 
         int ldwork;
-        int lminl;
-        int lrcf;
-        int lminr;
-        int llcf;
-        int lleft;
-        int lright;
+        int lfreq;
+        int lsqred;
 
-        if (nw == 0 || weight == 'L' || weight == 'N')
+        if (weight == 'N')
         {
-            lrcf = 0;
-            lminr = 0;
+            if (equil == 'N')           // if WEIGHT = 'N' and EQUIL = 'N'
+                lfreq  = nc*(max (m, p) + 5);
+            else                        // if WEIGHT = 'N' and EQUIL  = 'S'
+                lfreq  = max (n, nc*(max (m, p) + 5));
+
         }
-        else
+        else                            // if WEIGHT = 'I' or 'O' or 'P'
         {
-            lrcf = mw*(nw+mw) + max (nw*(nw+5), mw*(mw+2), 4*mw, 4*m);
-            if (m == mw)
-                lminr = nw + max (nw, 3*m);
-            else
-                lminr = 2*nw*max (m, mw) + nw + max (nw, 3*m, 3*mw);
+            lfreq = (n+nc)*(n+nc+2*m+2*p) +
+                     max ((n+nc)*(n+nc+max(n+nc,m,p)+7), (m+p)*(m+p+4));
         }
 
-        llcf = pv*(nv+pv) + pv*nv + max (nv*(nv+5), pv*(pv+2), 4*pv, 4*p);
+        lsqred = max (1, 2*nc*nc+5*nc);
+        ldwork = 2*nc*nc + max (1, lfreq, lsqred);
 
-        if (nv == 0 || weight == 'R' || weight == 'N')
-            lminl = 0;
-        else if (p == pv)
-            lminl  = max (llcf, nv + max (nv, 3*p));
-        else
-            lminl  = max (p, pv) * (2*nv + max (p, pv)) + max (llcf, nv + max (nv, 3*p, 3*pv));
-
-
-        if (pv == 0 || weight == 'R' || weight == 'N')
-            lleft = n*(p+5);
-        else
-            lleft = (n+nv) * (n + nv + max (n+nv, pv) + 5);
-
-        if (mw == 0 || weight == 'L' || weight == 'N')
-            lright = n*(m+5);
-        else
-            lright = (n+nw) * (n + nw + max (n+nw, mw) + 5);
-
-        ldwork =  max (lminl, lminr, lrcf,
-                       2*n*n + max (1, lleft, lright, 2*n*n+5*n, n*max (m, p)));
-
         OCTAVE_LOCAL_BUFFER (int, iwork, liwork);
         OCTAVE_LOCAL_BUFFER (double, dwork, ldwork);
         
@@ -353,19 +329,19 @@
         }
 
         // resize
-        a.resize (nr, nr);
-        b.resize (nr, m);
-        c.resize (p, nr);
-        hsv.resize (ns);
+        ac.resize (ncr, ncr);
+        bc.resize (ncr, p);    // p: number of plant outputs
+        cc.resize (m, ncr);    // m: number of plant inputs
+        hsvc.resize (ncs);
         
         // return values
-        retval(0) = a;
-        retval(1) = b;
-        retval(2) = c;
-        retval(3) = d;
-        retval(4) = octave_value (nr);
-        retval(5) = hsv;
-        retval(6) = octave_value (ns);
+        retval(0) = ac;
+        retval(1) = bc;
+        retval(2) = cc;
+        retval(3) = dc;
+        retval(4) = octave_value (ncr);
+        retval(5) = hsvc;
+        retval(6) = octave_value (ncs);
     }
     
     return retval;

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Revision: 9221
          http://octave.svn.sourceforge.net/octave/?rev=9221&view=rev
Author:   paramaniac
Date:     2011-11-29 14:15:32 +0000 (Tue, 29 Nov 2011)
Log Message:
-----------
control-devel: get slicot sb16ad working

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/src/slsb16ad.cc

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/test_sb16ad.m

Added: trunk/octave-forge/extra/control-devel/devel/test_sb16ad.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_sb16ad.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/test_sb16ad.m	2011-11-29 14:15:32 UTC (rev 9221)
@@ -0,0 +1,88 @@
+%{
+ SB16AD EXAMPLE PROGRAM DATA (Continuous system)
+  3  1  1   3  2   0.0  0.1E0  0.0    C  S  S  F   I  N   F 
+
+  N, M, P, NC, NCR, ALPHA, TOL1, TOL2, DICO,
+  JOBC, JOBO, JOBMR, WEIGHT, EQUIL, ORDSEL
+    
+  -1.  0.   4.
+   0.  2.   0.
+   0.  0.  -3.
+   1.
+   1.
+   1.
+   1.  1.   1.
+   0. 
+  -26.4000    6.4023    4.3868
+   32.0000         0         0
+         0    8.0000         0
+    -16
+     0
+     0
+    9.2994    1.1624    0.1090
+     0
+%}
+
+a =  [ -1.  0.   4.
+        0.  2.   0.
+        0.  0.  -3. ];
+
+b =  [  1.
+        1.
+        1. ];
+
+c =  [  1.  1.   1. ];
+
+d =  [  0. ];
+
+ac = [ -26.4000,    6.4023,    4.3868;
+        32.0000,         0,         0;
+              0,    8.0000,         0 ];
+
+bc = [      -16
+              0
+              0 ];
+
+cc = [   9.2994    1.1624    0.1090 ];
+
+dc = [        0 ];
+
+
+alpha = 0.0;
+tol1 = 0.1;
+tol2 = 0.0;
+dico = 0;
+jobc = jobo = 0;
+jobmr = 1;
+weight = 2;
+equil = 1;
+ordsel = 0;
+ncr = 2;
+
+
+[ar, br, cr, dr] = slsb16ad (a, b, c, d, dico, equil, ncr, ordsel, alpha, jobmr, \
+                             ac, bc, cc, dc, weight, jobc, jobo, tol1, tol2)
+
+%{
+ SB16AD EXAMPLE PROGRAM RESULTS
+
+
+ The order of reduced controller =  2
+
+ The Hankel singular values of weighted ALPHA-stable part are
+   3.8253   0.2005
+
+ The reduced controller state dynamics matrix Ac is 
+   9.1900   0.0000
+   0.0000 -34.5297
+
+ The reduced controller input/state matrix Bc is 
+ -11.9593
+  86.3137
+
+ The reduced controller state/output matrix Cc is 
+   2.8955  -1.3566
+
+ The reduced controller input/output matrix Dc is 
+   0.0000
+%}
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/src/slsb16ad.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slsb16ad.cc	2011-11-29 14:00:17 UTC (rev 9220)
+++ trunk/octave-forge/extra/control-devel/src/slsb16ad.cc	2011-11-29 14:15:32 UTC (rev 9221)
@@ -65,7 +65,7 @@
     int nargin = args.length ();
     octave_value_list retval;
     
-    if (nargin != 25)
+    if (nargin != 19)
     {
         print_usage ();
     }

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Revision: 9224
          http://octave.svn.sourceforge.net/octave/?rev=9224&view=rev
Author:   paramaniac
Date:     2011-11-30 13:05:10 +0000 (Wed, 30 Nov 2011)
Log Message:
-----------
control-devel: quicksave draft code

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/bstmodred.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/src/slsb16bd.cc

Modified: trunk/octave-forge/extra/control-devel/inst/bstmodred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/bstmodred.m	2011-11-30 08:36:23 UTC (rev 9223)
+++ trunk/octave-forge/extra/control-devel/inst/bstmodred.m	2011-11-30 13:05:10 UTC (rev 9224)
@@ -61,8 +61,8 @@
 ## unsolved so far.  Nevertheless, balanced truncation and related
 ## methods can be used to obtain good approximations using this measure.
 ##
-## Available approximation methods are the standard square-root (SR) or
-## the accuracy-enhanced balancing-free square-root (BFSR) versions of
+## Available approximation methods are the accuracy-enhancing square-root (SR)
+## or the balancing-free square-root (BFSR) versions of
 ## the Balance & Truncate (BTA) or Singular Perturbation Approximation (SPA) 
 ## model reduction methods for the ALPHA-stable part of the system.
 ##

Added: trunk/octave-forge/extra/control-devel/src/slsb16bd.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slsb16bd.cc	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/src/slsb16bd.cc	2011-11-30 13:05:10 UTC (rev 9224)
@@ -0,0 +1,319 @@
+/*
+
+Copyright (C) 2011   Lukas F. Reichlin
+
+This file is part of LTI Syncope.
+
+LTI Syncope is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+LTI Syncope is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+TODO
+Uses SLICOT SB16BD by courtesy of NICONET e.V.
+<http://www.slicot.org>
+
+Author: Lukas Reichlin <lukas.reichlin@...>
+Created: November 2011
+Version: 0.1
+
+*/
+
+#include <octave/oct.h>
+#include <f77-fcn.h>
+#include "common.cc"
+
+extern "C"
+{ 
+    int F77_FUNC (sb16bd, SB16BD)
+                 (char& DICO, char& JOBD, char& JOBMR, char& JOBCF,
+                  char& EQUIL, char& ORDSEL,
+                  int& N, int& M, int& P,
+                  int& NCR,
+                  double* A, int& LDA,
+                  double* B, int& LDB,
+                  double* C, int& LDC,
+                  double* D, int& LDD,
+                  double* F, int& LDF,
+                  double* G, int& LDG,
+                  double* DC, int& LDDC,
+                  double* HSV,
+                  double& TOL1, double& TOL2,
+                  int* IWORK,
+                  double* DWORK, int& LDWORK,
+                  int& IWARN, int& INFO);
+}
+     
+DEFUN_DLD (slsb16bd, args, nargout,
+   "-*- texinfo -*-\n\
+Slicot SB16BD Release 5.0\n\
+No argument checking.\n\
+For internal use only.")
+{
+    int nargin = args.length ();
+    octave_value_list retval;
+    
+    if (nargin != 19)
+    {
+        print_usage ();
+    }
+    else
+    {
+        // arguments in
+        char dico;
+        char jobc;
+        char jobo;
+        char jobmr;
+        char weight;
+        char equil;
+        char ordsel;
+        
+        Matrix a = args(0).matrix_value ();
+        Matrix b = args(1).matrix_value ();
+        Matrix c = args(2).matrix_value ();
+        Matrix d = args(3).matrix_value ();
+        
+        const int idico = args(4).int_value ();
+        const int iequil = args(5).int_value ();
+        int ncr = args(6).int_value ();
+        const int iordsel = args(7).int_value ();
+        double alpha = args(8).double_value ();
+        const int ijobmr = args(9).int_value ();
+                       
+        Matrix ac = args(10).matrix_value ();
+        Matrix bc = args(11).matrix_value ();
+        Matrix cc = args(12).matrix_value ();
+        Matrix dc = args(13).matrix_value ();
+        
+        const int iweight = args(14).int_value ();
+        const int ijobc = args(15).int_value ();
+        const int ijobo = args(16).int_value ();
+
+        double tol1 = args(17).double_value ();
+        double tol2 = args(18).double_value ();
+
+        if (idico == 0)
+            dico = 'C';
+        else
+            dico = 'D';
+
+        if (iequil == 0)
+            equil = 'S';
+        else
+            equil = 'N';
+
+        if (iordsel == 0)
+            ordsel = 'F';
+        else
+            ordsel = 'A';
+
+        if (ijobc == 0)
+            jobc = 'S';
+        else
+            jobc = 'E';
+
+        if (ijobo == 0)
+            jobo = 'S';
+        else
+            jobo = 'E';
+
+        switch (ijobmr)
+        {
+            case 0:
+                jobmr = 'B';
+                break;
+            case 1:
+                jobmr = 'F';
+                break;
+            case 2:
+                jobmr = 'S';
+                break;
+            case 3:
+                jobmr = 'P';
+                break;
+            default:
+                error ("slsb16bd: argument jobmr invalid");
+        }
+
+        switch (iweight)
+        {
+            case 0:
+                weight = 'N';
+                break;
+            case 1:
+                weight = 'O';
+                break;
+            case 2:
+                weight = 'I';
+                break;
+            case 3:
+                weight = 'P';
+                break;
+            default:
+                error ("slsb16bd: argument weight invalid");
+        }
+
+        int n = a.rows ();      // n: number of states
+        int m = b.columns ();   // m: number of inputs
+        int p = c.rows ();      // p: number of outputs
+        
+        int nc = ac.rows ();
+
+        int lda = max (1, n);
+        int ldb = max (1, n);
+        int ldc = max (1, p);
+        int ldd = max (1, p);
+
+        int ldac = max (1, nc);
+        int ldbc = max (1, nc);
+        int ldcc = max (1, m);
+        int lddc = max (1, m);
+
+        // arguments out
+        int ncs;
+        ColumnVector hsvc (n);
+
+        // workspace
+        int liwork;
+        int liwrk1;
+        int liwrk2;
+
+        switch (jobmr)
+        {
+            case 'B':
+                liwrk1 = 0;
+                break;
+            case 'F':
+                liwrk1 = nc;
+                break;
+            default:
+                liwrk1 = 2*nc;
+        }
+
+        if (weight == 'N')
+            liwrk2 = 0;
+        else
+            liwrk2 = 2*(m+p);
+
+        liwork = max (1, liwrk1, liwrk2);
+
+        int ldwork;
+        int lfreq;
+        int lsqred;
+
+        if (weight == 'N')
+        {
+            if (equil == 'N')           // if WEIGHT = 'N' and EQUIL = 'N'
+                lfreq  = nc*(max (m, p) + 5);
+            else                        // if WEIGHT = 'N' and EQUIL  = 'S'
+                lfreq  = max (n, nc*(max (m, p) + 5));
+
+        }
+        else                            // if WEIGHT = 'I' or 'O' or 'P'
+        {
+            lfreq = (n+nc)*(n+nc+2*m+2*p) +
+                     max ((n+nc)*(n+nc+max(n+nc,m,p)+7), (m+p)*(m+p+4));
+        }
+
+        lsqred = max (1, 2*nc*nc+5*nc);
+        ldwork = 2*nc*nc + max (1, lfreq, lsqred);
+
+        OCTAVE_LOCAL_BUFFER (int, iwork, liwork);
+        OCTAVE_LOCAL_BUFFER (double, dwork, ldwork);
+        
+        // error indicators
+        int iwarn = 0;
+        int info = 0;
+
+
+        // SLICOT routine SB16BD
+        F77_XFCN (sb16bd, SB16BD,
+                 (dico, jobd, jobmr, jobcf,
+                  equil, ordsel,
+                  n, m, p,
+                  ncr,
+                  a.fortran_vec (), lda,
+                  b.fortran_vec (), ldb,
+                  c.fortran_vec (), ldc,
+                  d.fortran_vec (), ldd,
+                  f.fortran_vec (), ldf,
+                  g.fortran_vec (), ldg,
+                  dc.fortran_vec (), lddc,
+                  hsv.fortran_vec (),
+                  tol1, tol2,
+                  iwork,
+                  dwork, ldwork,
+                  iwarn, info));
+
+
+        if (f77_exception_encountered)
+            error ("conred: exception in SLICOT subroutine SB16BD");
+            
+        if (info != 0)
+        {
+            if (info < 0)
+                error ("conred: the %d-th argument had an invalid value", info);
+            else
+            {
+                switch (info)
+                {
+                    case 1:
+                        error ("conred: 1: the reduction of A+G*C to a real Schur form "
+                               "failed");
+                    case 2:
+                        error ("conred: 2: the matrix A+G*C is not stable (if DICO = 'C'), "
+                               "or not convergent (if DICO = 'D')");
+                    case 3:
+                        error ("conred: 3: the computation of Hankel singular values failed");
+                    case 4:
+                        error ("conred: 4: the reduction of A+B*F to a real Schur form "
+                               "failed");
+                    case 5:
+                        error ("conred: 5: the matrix A+B*F is not stable (if DICO = 'C'), "
+                               "or not convergent (if DICO = 'D')");
+                    default:
+                        error ("conred: unknown error, info = %d", info);
+                }
+            }
+        }
+        
+        if (iwarn != 0)
+        {
+            switch (iwarn)
+            {
+                case 1:
+                    warning ("conred: 1: with ORDSEL = 'F', the selected order NCR is "
+                             "greater than the order of a minimal "
+                             "realization of the controller.");
+                    break;
+                default:
+                    warning ("conred: unknown warning, iwarn = %d", iwarn);
+            }
+        }
+
+        // resize
+        ac.resize (ncr, ncr);
+        bc.resize (ncr, p);    // p: number of plant outputs
+        cc.resize (m, ncr);    // m: number of plant inputs
+        hsvc.resize (ncs);
+        
+        // return values
+        retval(0) = ac;
+        retval(1) = bc;
+        retval(2) = cc;
+        retval(3) = dc;
+        retval(4) = octave_value (ncr);
+        retval(5) = hsvc;
+        retval(6) = octave_value (ncs);
+    }
+    
+    return retval;
+}

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Revision: 9225
          http://octave.svn.sourceforge.net/octave/?rev=9225&view=rev
Author:   paramaniac
Date:     2011-11-30 14:04:01 +0000 (Wed, 30 Nov 2011)
Log Message:
-----------
control-devel: finish sb16bd

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/makefile_conred.m
    trunk/octave-forge/extra/control-devel/src/slsb16bd.cc

Modified: trunk/octave-forge/extra/control-devel/devel/makefile_conred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/makefile_conred.m	2011-11-30 13:05:10 UTC (rev 9224)
+++ trunk/octave-forge/extra/control-devel/devel/makefile_conred.m	2011-11-30 14:04:01 UTC (rev 9225)
@@ -21,7 +21,9 @@
           SB03OT.f MB04OY.f MB03QD.f MB04ND.f MB03QY.f \
           SB03OR.f SB03OY.f SB04PX.f MB04NY.f SB03OV.f
 
-mkoctfile SB16BD.f AB09AD.f AB09BD.f SB08GD.f SB08HD.f \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+          slsb16bd.cc \
+          SB16BD.f AB09AD.f AB09BD.f SB08GD.f SB08HD.f \
           TB01ID.f AB09AX.f MA02GD.f AB09BX.f TB01WD.f \
           MA02DD.f MB03UD.f select.f AB09DD.f SB03OU.f \
           MA02AD.f SB03OT.f MB04ND.f MB04OD.f SB03OR.f \

Modified: trunk/octave-forge/extra/control-devel/src/slsb16bd.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slsb16bd.cc	2011-11-30 13:05:10 UTC (rev 9224)
+++ trunk/octave-forge/extra/control-devel/src/slsb16bd.cc	2011-11-30 14:04:01 UTC (rev 9225)
@@ -61,7 +61,7 @@
     int nargin = args.length ();
     octave_value_list retval;
     
-    if (nargin != 19)
+    if (nargin != 15)
     {
         print_usage ();
     }
@@ -69,10 +69,9 @@
     {
         // arguments in
         char dico;
-        char jobc;
-        char jobo;
+        char jobd;
         char jobmr;
-        char weight;
+        char jobcf;
         char equil;
         char ordsel;
         
@@ -85,21 +84,17 @@
         const int iequil = args(5).int_value ();
         int ncr = args(6).int_value ();
         const int iordsel = args(7).int_value ();
-        double alpha = args(8).double_value ();
+        const int ijobd = args(8).int_value ();
         const int ijobmr = args(9).int_value ();
                        
-        Matrix ac = args(10).matrix_value ();
-        Matrix bc = args(11).matrix_value ();
-        Matrix cc = args(12).matrix_value ();
-        Matrix dc = args(13).matrix_value ();
+        Matrix f = args(10).matrix_value ();
+        Matrix g = args(11).matrix_value ();
+
+        const int ijobcf = args(12).int_value ();
         
-        const int iweight = args(14).int_value ();
-        const int ijobc = args(15).int_value ();
-        const int ijobo = args(16).int_value ();
+        double tol1 = args(13).double_value ();
+        double tol2 = args(14).double_value ();
 
-        double tol1 = args(17).double_value ();
-        double tol2 = args(18).double_value ();
-
         if (idico == 0)
             dico = 'C';
         else
@@ -115,15 +110,15 @@
         else
             ordsel = 'A';
 
-        if (ijobc == 0)
-            jobc = 'S';
+        if (ijobd == 0)
+            jobd = 'Z';
         else
-            jobc = 'E';
+            jobd = 'D';
 
-        if (ijobo == 0)
-            jobo = 'S';
+        if (ijobcf == 0)
+            jobcf = 'L';
         else
-            jobo = 'E';
+            jobcf = 'R';
 
         switch (ijobmr)
         {
@@ -143,88 +138,64 @@
                 error ("slsb16bd: argument jobmr invalid");
         }
 
-        switch (iweight)
-        {
-            case 0:
-                weight = 'N';
-                break;
-            case 1:
-                weight = 'O';
-                break;
-            case 2:
-                weight = 'I';
-                break;
-            case 3:
-                weight = 'P';
-                break;
-            default:
-                error ("slsb16bd: argument weight invalid");
-        }
 
         int n = a.rows ();      // n: number of states
         int m = b.columns ();   // m: number of inputs
         int p = c.rows ();      // p: number of outputs
-        
-        int nc = ac.rows ();
 
         int lda = max (1, n);
         int ldb = max (1, n);
         int ldc = max (1, p);
-        int ldd = max (1, p);
+        int ldd;
+        
+        if (jobd == 'Z')
+            ldd = 1;
+        else
+            ldd = max (1, p);
 
-        int ldac = max (1, nc);
-        int ldbc = max (1, nc);
-        int ldcc = max (1, m);
+        int ldf = max (1, m);
+        int ldg = max (1, n);
         int lddc = max (1, m);
 
         // arguments out
-        int ncs;
-        ColumnVector hsvc (n);
+        Matrix dc (lddc, p);
+        ColumnVector hsv (n);
 
         // workspace
         int liwork;
-        int liwrk1;
-        int liwrk2;
+        int pm;
 
+        int ldwork;
+        int lwr = max (1, n*(2*n+max(n,m+p)+5)+n*(n+1)/2);
+
         switch (jobmr)
         {
             case 'B':
-                liwrk1 = 0;
+                pm = 0;
                 break;
             case 'F':
-                liwrk1 = nc;
+                pm = n;
                 break;
-            default:
-                liwrk1 = 2*nc;
+            default:                // if JOBMR = 'S' or 'P'
+                pm = max (1, 2*n);
         }
 
-        if (weight == 'N')
-            liwrk2 = 0;
-        else
-            liwrk2 = 2*(m+p);
-
-        liwork = max (1, liwrk1, liwrk2);
-
-        int ldwork;
-        int lfreq;
-        int lsqred;
-
-        if (weight == 'N')
+        if (ordsel == 'F' && ncr == n)
         {
-            if (equil == 'N')           // if WEIGHT = 'N' and EQUIL = 'N'
-                lfreq  = nc*(max (m, p) + 5);
-            else                        // if WEIGHT = 'N' and EQUIL  = 'S'
-                lfreq  = max (n, nc*(max (m, p) + 5));
-
+            liwork = 0;
+            ldwork = p*n;
         }
-        else                            // if WEIGHT = 'I' or 'O' or 'P'
+        else if (jobcf == 'L')
         {
-            lfreq = (n+nc)*(n+nc+2*m+2*p) +
-                     max ((n+nc)*(n+nc+max(n+nc,m,p)+7), (m+p)*(m+p+4));
+            liwork = max (pm, m);
+            ldwork = (n+m)*(m+p) + max (lwr, 4*m);
         }
+        else                        // if JOBCF = 'R'
+        {
+            liwork = max (pm, p);
+            ldwork = (n+p)*(m+p) + max (lwr, 4*p);
+        }
 
-        lsqred = max (1, 2*nc*nc+5*nc);
-        ldwork = 2*nc*nc + max (1, lfreq, lsqred);
 
         OCTAVE_LOCAL_BUFFER (int, iwork, liwork);
         OCTAVE_LOCAL_BUFFER (double, dwork, ldwork);
@@ -300,19 +271,18 @@
         }
 
         // resize
-        ac.resize (ncr, ncr);
-        bc.resize (ncr, p);    // p: number of plant outputs
-        cc.resize (m, ncr);    // m: number of plant inputs
-        hsvc.resize (ncs);
+        a.resize (ncr, ncr);    // Ac
+        g.resize (ncr, p);      // Bc
+        f.resize (m, ncr);      // Cc
+        dc.resize (m, p);       // Dc
         
         // return values
-        retval(0) = ac;
-        retval(1) = bc;
-        retval(2) = cc;
+        retval(0) = a;
+        retval(1) = g;
+        retval(2) = f;
         retval(3) = dc;
         retval(4) = octave_value (ncr);
-        retval(5) = hsvc;
-        retval(6) = octave_value (ncs);
+        retval(5) = hsv;
     }
     
     return retval;

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Revision: 9227
          http://octave.svn.sourceforge.net/octave/?rev=9227&view=rev
Author:   paramaniac
Date:     2011-11-30 14:54:12 +0000 (Wed, 30 Nov 2011)
Log Message:
-----------
control-devel: add slicot sb16cd

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/makefile_conred.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/src/slsb16cd.cc

Modified: trunk/octave-forge/extra/control-devel/devel/makefile_conred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/makefile_conred.m	2011-11-30 14:18:03 UTC (rev 9226)
+++ trunk/octave-forge/extra/control-devel/devel/makefile_conred.m	2011-11-30 14:54:12 UTC (rev 9227)
@@ -29,7 +29,9 @@
           MA02AD.f SB03OT.f MB04ND.f MB04OD.f SB03OR.f \
           SB03OY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f
 
-mkoctfile SB16CD.f SB16CY.f AB09IX.f SB03OD.f MB02UD.f \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+          slsb16cd.cc \
+          SB16CD.f SB16CY.f AB09IX.f SB03OD.f MB02UD.f \
           AB09DD.f MA02AD.f MB03UD.f select.f SB03OU.f \
           MB01SD.f SB03OT.f MB04ND.f MB04OD.f SB03OR.f \
           SB03OY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f

Added: trunk/octave-forge/extra/control-devel/src/slsb16cd.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slsb16cd.cc	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/src/slsb16cd.cc	2011-11-30 14:54:12 UTC (rev 9227)
@@ -0,0 +1,261 @@
+/*
+
+Copyright (C) 2011   Lukas F. Reichlin
+
+This file is part of LTI Syncope.
+
+LTI Syncope is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+LTI Syncope is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+TODO
+Uses SLICOT SB16CD by courtesy of NICONET e.V.
+<http://www.slicot.org>
+
+Author: Lukas Reichlin <lukas.reichlin@...>
+Created: November 2011
+Version: 0.1
+
+*/
+
+#include <octave/oct.h>
+#include <f77-fcn.h>
+#include "common.cc"
+
+extern "C"
+{ 
+    int F77_FUNC (sb16cd, SB16CD)
+                 (char& DICO, char& JOBD, char& JOBMR, char& JOBCF,
+                  char& ORDSEL,
+                  int& N, int& M, int& P,
+                  int& NCR,
+                  double* A, int& LDA,
+                  double* B, int& LDB,
+                  double* C, int& LDC,
+                  double* D, int& LDD,
+                  double* F, int& LDF,
+                  double* G, int& LDG,
+                  double* HSV,
+                  double& TOL,
+                  int* IWORK,
+                  double* DWORK, int& LDWORK,
+                  int& IWARN, int& INFO);
+}
+     
+DEFUN_DLD (slsb16cd, args, nargout,
+   "-*- texinfo -*-\n\
+Slicot SB16CD Release 5.0\n\
+No argument checking.\n\
+For internal use only.")
+{
+    int nargin = args.length ();
+    octave_value_list retval;
+    
+    if (nargin != 15)
+    {
+        print_usage ();
+    }
+    else
+    {
+        // arguments in
+        char dico;
+        char jobd;
+        char jobmr;
+        char jobcf;
+        char ordsel;
+        
+        Matrix a = args(0).matrix_value ();
+        Matrix b = args(1).matrix_value ();
+        Matrix c = args(2).matrix_value ();
+        Matrix d = args(3).matrix_value ();
+        
+        const int idico = args(4).int_value ();
+        int ncr = args(5).int_value ();
+        const int iordsel = args(6).int_value ();
+        const int ijobd = args(7).int_value ();
+        const int ijobmr = args(8).int_value ();
+                       
+        Matrix f = args(9).matrix_value ();
+        Matrix g = args(10).matrix_value ();
+
+        const int ijobcf = args(11).int_value ();
+        double tol = args(12).double_value ();
+
+        if (idico == 0)
+            dico = 'C';
+        else
+            dico = 'D';
+
+        if (iordsel == 0)
+            ordsel = 'F';
+        else
+            ordsel = 'A';
+
+        if (ijobd == 0)
+            jobd = 'Z';
+        else
+            jobd = 'D';
+
+        if (ijobcf == 0)
+            jobcf = 'L';
+        else
+            jobcf = 'R';
+
+        switch (ijobmr)
+        {
+            case 0:
+                jobmr = 'B';
+                break;
+            case 1:
+                jobmr = 'F';
+                break;
+            default:
+                error ("slsb16cd: argument jobmr invalid");
+        }
+
+
+        int n = a.rows ();      // n: number of states
+        int m = b.columns ();   // m: number of inputs
+        int p = c.rows ();      // p: number of outputs
+
+        int lda = max (1, n);
+        int ldb = max (1, n);
+        int ldc = max (1, p);
+        int ldd;
+        
+        if (jobd == 'Z')
+            ldd = 1;
+        else
+            ldd = max (1, p);
+
+        int ldf = max (1, m);
+        int ldg = max (1, n);
+
+        // arguments out
+        ColumnVector hsv (n);
+
+        // workspace
+        int liwork;
+
+        if (jobmr == 'B')
+            liwork = 0;
+        else                // if JOBMR = 'F'
+            liwork = n;
+
+        int ldwork;
+        int mp;
+
+        if (jobcf == 'L')
+            mp = m;
+        else                // if JOBCF = 'R'
+            mp = p;
+
+        ldwork = 2*n*n + max (1, 2*n*n + 5*n, n*max(m,p),
+                              n*(n + max(n,mp) + min(n,mp) + 6));
+
+
+        OCTAVE_LOCAL_BUFFER (int, iwork, liwork);
+        OCTAVE_LOCAL_BUFFER (double, dwork, ldwork);
+        
+        // error indicators
+        int iwarn = 0;
+        int info = 0;
+
+
+        // SLICOT routine SB16CD
+        F77_XFCN (sb16cd, SB16CD,
+                 (dico, jobd, jobmr, jobcf,
+                  ordsel,
+                  n, m, p,
+                  ncr,
+                  a.fortran_vec (), lda,
+                  b.fortran_vec (), ldb,
+                  c.fortran_vec (), ldc,
+                  d.fortran_vec (), ldd,
+                  f.fortran_vec (), ldf,
+                  g.fortran_vec (), ldg,
+                  hsv.fortran_vec (),
+                  tol,
+                  iwork,
+                  dwork, ldwork,
+                  iwarn, info));
+
+
+        if (f77_exception_encountered)
+            error ("conred: exception in SLICOT subroutine SB16CD");
+            
+        if (info != 0)
+        {
+            if (info < 0)
+                error ("conred: the %d-th argument had an invalid value", info);
+            else
+            {
+                switch (info)
+                {
+                    case 1:
+                        error ("conred: 1: eigenvalue computation failure");
+                    case 2:
+                        error ("conred: 2: the matrix A+G*C is not stable");
+                    case 3:
+                        error ("conred: 3: the matrix A+B*F is not stable");
+                    case 4:
+                        error ("conred: 4: the Lyapunov equation for computing the "
+                               "observability Grammian is (nearly) singular");
+                    case 5:
+                        error ("conred: 5: the Lyapunov equation for computing the "
+                               "controllability Grammian is (nearly) singular");
+                    case 6:
+                        error ("conred: 6: the computation of Hankel singular values failed");
+                    default:
+                        error ("conred: unknown error, info = %d", info);
+                }
+            }
+        }
+        
+        if (iwarn != 0)
+        {
+            switch (iwarn)
+            {
+                case 1:
+                    warning ("conred: 1: with ORDSEL = 'F', the selected order NCR is "
+                             "greater than the order of a minimal realization "
+                             "of the controller.");
+                    break;
+                case 2:
+                    warning ("conred: 2: with ORDSEL = 'F', the selected order NCR "
+                             "corresponds to repeated singular values, which are "
+                             "neither all included nor all excluded from the "
+                             "reduced controller. In this case, the resulting NCR "
+                             "is set automatically to the largest value such that "
+                             "HSV(NCR) > HSV(NCR+1).");
+                    break;
+                default:
+                    warning ("conred: unknown warning, iwarn = %d", iwarn);
+            }
+        }
+
+        // resize
+        a.resize (ncr, ncr);    // Ac
+        g.resize (ncr, p);      // Bc
+        f.resize (m, ncr);      // Cc
+        // Dc = 0
+        
+        // return values
+        retval(0) = a;
+        retval(1) = g;
+        retval(2) = f;
+        retval(3) = octave_value (ncr);
+        retval(4) = hsv;
+    }
+    
+    return retval;
+}

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Revision: 9228
          http://octave.svn.sourceforge.net/octave/?rev=9228&view=rev
Author:   paramaniac
Date:     2011-11-30 15:03:54 +0000 (Wed, 30 Nov 2011)
Log Message:
-----------
control-devel: get slicot sb16cd working

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/src/slsb16cd.cc

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/test_sb16cd.m

Added: trunk/octave-forge/extra/control-devel/devel/test_sb16cd.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_sb16cd.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/test_sb16cd.m	2011-11-30 15:03:54 UTC (rev 9228)
@@ -0,0 +1,108 @@
+%{
+ SB16CD EXAMPLE PROGRAM DATA (Continuous system)
+  8  1  1   2   0.1E0  C  D  F  R  F
+  
+  N, M, P, NCR, TOL,
+  DICO, JOBD, JOBMR, JOBCF, ORDSEL
+  
+         0    1.0000         0         0         0         0         0        0
+         0         0         0         0         0         0         0        0
+         0         0   -0.0150    0.7650         0         0         0        0
+         0         0   -0.7650   -0.0150         0         0         0        0
+         0         0         0         0   -0.0280    1.4100         0        0
+         0         0         0         0   -1.4100   -0.0280         0        0
+         0         0         0         0         0         0   -0.0400    1.850
+         0         0         0         0         0         0   -1.8500   -0.040
+    0.0260
+   -0.2510
+    0.0330
+   -0.8860
+   -4.0170
+    0.1450
+    3.6040
+    0.2800
+  -.996 -.105 0.261 .009 -.001 -.043 0.002 -0.026
+  0.0
+4.472135954999638e-002    6.610515358414598e-001    4.698598960657579e-003  3.601363251422058e-001    1.032530880771415e-001   -3.754055214487997e-002  -4.268536964759344e-002    3.287284547842979e-002
+    4.108939884667451e-001
+    8.684600000000012e-002
+    3.852317308197148e-004
+   -3.619366874815911e-003
+   -8.803722876359955e-003
+    8.420521094001852e-003
+    1.234944428038507e-003
+    4.263205617645322e-003
+%}
+
+a =  [       0    1.0000         0         0         0         0         0        0
+             0         0         0         0         0         0         0        0
+             0         0   -0.0150    0.7650         0         0         0        0
+             0         0   -0.7650   -0.0150         0         0         0        0
+             0         0         0         0   -0.0280    1.4100         0        0
+             0         0         0         0   -1.4100   -0.0280         0        0
+             0         0         0         0         0         0   -0.0400    1.850
+             0         0         0         0         0         0   -1.8500   -0.040 ];
+
+b =  [  0.0260
+       -0.2510
+        0.0330
+       -0.8860
+       -4.0170
+        0.1450
+        3.6040
+        0.2800 ];
+
+c =  [  -.996 -.105 0.261 .009 -.001 -.043 0.002 -0.026 ];
+
+d =  [  0.0 ];
+
+f = [  4.472135954999638e-002    6.610515358414598e-001    4.698598960657579e-003  3.601363251422058e-001    1.032530880771415e-001   -3.754055214487997e-002  -4.268536964759344e-002    3.287284547842979e-002 ];
+
+g = [  4.108939884667451e-001
+       8.684600000000012e-002
+       3.852317308197148e-004
+      -3.619366874815911e-003
+      -8.803722876359955e-003
+       8.420521094001852e-003
+       1.234944428038507e-003
+       4.263205617645322e-003 ];
+       
+%{
+  8  1  1   2   0.1E0  C  D  F  R  F
+  
+  N, M, P, NCR, TOL,
+  DICO, JOBD, JOBMR, JOBCF, ORDSEL
+%}
+
+
+tol = 0.1;  # tol1
+dico = 0;
+jobd = 1;
+jobmr = 1;
+jobcf = 1;
+ordsel = 0;
+ncr = 2;
+
+
+[ac, bc, cc] = slsb16cd (a, b, c, d, dico, ncr, ordsel, jobd, jobmr, \
+                             f, g, jobcf, tol)
+
+%{
+ SB16CD EXAMPLE PROGRAM RESULTS
+
+ The order of reduced controller =  2
+
+ The frequency-weighted Hankel singular values are:
+   3.3073   0.7274   0.1124   0.0784   0.0242   0.0182   0.0101   0.0094
+
+ The reduced controller state dynamics matrix Ac is 
+  -0.4334   0.4884
+  -0.1950  -0.1093
+
+ The reduced controller input/state matrix Bc is 
+  -0.4231
+  -0.1785
+
+ The reduced controller state/output matrix Cc is 
+  -0.0326  -0.2307
+%}
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/src/slsb16cd.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slsb16cd.cc	2011-11-30 14:54:12 UTC (rev 9227)
+++ trunk/octave-forge/extra/control-devel/src/slsb16cd.cc	2011-11-30 15:03:54 UTC (rev 9228)
@@ -60,7 +60,7 @@
     int nargin = args.length ();
     octave_value_list retval;
     
-    if (nargin != 15)
+    if (nargin != 13)
     {
         print_usage ();
     }

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Revision: 9229
          http://octave.svn.sourceforge.net/octave/?rev=9229&view=rev
Author:   paramaniac
Date:     2011-11-30 19:37:41 +0000 (Wed, 30 Nov 2011)
Log Message:
-----------
control-devel: improve argument handling for bstmodred

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/test_bstmodred.m
    trunk/octave-forge/extra/control-devel/inst/__opt2cell__.m
    trunk/octave-forge/extra/control-devel/inst/bstmodred.m

Modified: trunk/octave-forge/extra/control-devel/devel/test_bstmodred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_bstmodred.m	2011-11-30 15:03:54 UTC (rev 9228)
+++ trunk/octave-forge/extra/control-devel/devel/test_bstmodred.m	2011-11-30 19:37:41 UTC (rev 9229)
@@ -26,3 +26,12 @@
 
 sysr = bstmodred (sys, "beta", 1.0, "tol1", 0.1, "tol2", 0.0)
 [Ao, Bo, Co, Do] = ssdata (sysr);
+
+
+opt = options ("beta", 1.0, "tol1", 0.1, "tol2", 0.0)
+sysr = bstmodred (sys, opt)
+
+
+sysr = bstmodred (sys, 5, "beta", 1.0, "tol1", 0.1, "tol2", 0.0)
+
+sysr = bstmodred (sys, 5, opt)

Modified: trunk/octave-forge/extra/control-devel/inst/__opt2cell__.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/__opt2cell__.m	2011-11-30 15:03:54 UTC (rev 9228)
+++ trunk/octave-forge/extra/control-devel/inst/__opt2cell__.m	2011-11-30 19:37:41 UTC (rev 9229)
@@ -32,6 +32,6 @@
   key = fieldnames (opt);
   val = struct2cell (opt);
   
-  c = [key.'; val.'](:);  # reshape to {key1; val1; key2; val2; ...}
+  c = [key.'; val.'](:).';  # reshape to {key1, val1, key2, val2, ...}
 
 endfunction
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/inst/bstmodred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/bstmodred.m	2011-11-30 15:03:54 UTC (rev 9228)
+++ trunk/octave-forge/extra/control-devel/inst/bstmodred.m	2011-11-30 19:37:41 UTC (rev 9229)
@@ -16,9 +16,11 @@
 ## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
 
 ## -*- texinfo -*-
-## @deftypefn{Function File} {[@var{Gr}, @var{info}] =} bstmodred (@var{G})
-## @deftypefnx{Function File} {[@var{Gr}, @var{info}] =} bstmodred (@var{G}, @dots{})
-## @deftypefnx{Function File} {[@var{Gr}, @var{info}] =} bstmodred (@var{G}, @var{opt})
+## @deftypefn{Function File} {[@var{Gr}, @var{info}] =} bstmodred (@var{G}, @dots{})
+## @deftypefnx{Function File} {[@var{Gr}, @var{info}] =} bstmodred (@var{G}, @var{nr}, @dots{})
+## @deftypefnx{Function File} {[@var{Gr}, @var{info}] =} bstmodred (@var{G}, @var{opt}, @dots{})
+## @deftypefnx{Function File} {[@var{Gr}, @var{info}] =} bstmodred (@var{G}, @var{nr}, @var{opt}, @dots{})
+##
 ## Model order reduction by Balanced Stochastic Truncation (BST) method.
 ## The aim of model reduction is to find an LTI system @var{Gr} of order
 ## @var{nr} (nr << n) such that the input-output behaviour of @var{Gr}
@@ -109,9 +111,9 @@
 ## @item G
 ## LTI model to be reduced.
 ## @item @dots{}
-## Pairs of keys and values.
+## Optional pairs of keys and values.
 ## @item opt
-## Struct with keys as field names.
+## Optional struct with keys as field names.
 ## @end table
 ##
 ## @strong{Outputs}
@@ -228,11 +230,24 @@
     error ("bstmodred: first argument must be an LTI system");
   endif
 
-  if (nargin == 2)
-    varargin = __opt2cell__ (varargin{1});
-  elseif (rem (nargin-1, 2))
-    error ("bstmodred: properties and values must come in pairs");
+  if (nargin > 1)                                  # bstmodred (G, ...)
+    if (isstruct (varargin{1}))                    # bstmodred (G, opt, ...)
+      varargin = horzcat (__opt2cell__ (varargin{1}), varargin(2:end));
+    elseif (is_real_scalar (varargin{1}))          # bstmodred (G, nr)
+      varargin = horzcat ({"order"}, varargin);
+      if (nargin > 2 && isstruct (varargin{3}))    # bstmodred (G, nr, ...)
+        varargin = horzcat (__opt2cell__ (varargin{3}), varargin([1:2, 4:end]));
+        ## varargin(1:2) placed after opt such that nr from bstmodred (G, nr, opt, ...)
+        ## overrides possible nr's inside opt struct (later keys override former keys)
+      endif
+    endif
   endif
+  
+  narg = numel (varargin);
+  
+  if (rem (narg, 2))
+    error ("bstmodred: keys and values must come in pairs");
+  endif
 
   [a, b, c, d, tsam, scaled] = ssdata (sys);
   dt = isdt (sys);
@@ -247,11 +262,11 @@
   job = 1;
 
   ## handle properties and values
-  for k = 1 : 2 : (nargin-1)
+  for k = 1 : 2 : narg
     prop = lower (varargin{k});
     val = varargin{k+1};
     switch (prop)
-      case {"order", "n", "nr"}
+      case {"order", "nr"}
         [nr, ordsel] = __modred_check_order__ (val);
 
       case "tol1"
@@ -360,4 +375,3 @@
 %! Me = [Ae, Be; Ce, De];
 %!
 %!assert (Mo, Me, 1e-4);
-

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Revision: 9235
          http://octave.svn.sourceforge.net/octave/?rev=9235&view=rev
Author:   paramaniac
Date:     2011-12-01 16:44:58 +0000 (Thu, 01 Dec 2011)
Log Message:
-----------
control-devel: add test manual, fix function name

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/__modred_check_equil__.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/generate_devel_pdf.m
    trunk/octave-forge/extra/control-devel/devel/pdfdoc/
    trunk/octave-forge/extra/control-devel/devel/pdfdoc/collect_texinfo_strings.m
    trunk/octave-forge/extra/control-devel/devel/pdfdoc/control-devel.tex
    trunk/octave-forge/extra/control-devel/devel/pdfdoc/info_generate_manual.txt

Added: trunk/octave-forge/extra/control-devel/devel/generate_devel_pdf.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/generate_devel_pdf.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/generate_devel_pdf.m	2011-12-01 16:44:58 UTC (rev 9235)
@@ -0,0 +1,12 @@
+homedir = pwd ();
+develdir = fileparts (which ("generate_devel_pdf"));
+pdfdir = [develdir, "/pdfdoc"];
+cd (pdfdir);
+
+collect_texinfo_strings
+
+for i = 1:5
+  system ("pdftex -interaction batchmode control-devel.tex");
+endfor
+
+cd (homedir);

Added: trunk/octave-forge/extra/control-devel/devel/pdfdoc/collect_texinfo_strings.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/pdfdoc/collect_texinfo_strings.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/pdfdoc/collect_texinfo_strings.m	2011-12-01 16:44:58 UTC (rev 9235)
@@ -0,0 +1,41 @@
+% pack_name = "generate_html"
+% pack_name = "control"
+% pack_name = "quaternion"
+pack_name = "control-devel"
+
+% Load Packages
+pkg load "generate_html"
+pkg ("load", pack_name);
+
+% Get list of functions  
+list = pkg ("describe", pack_name);
+
+%list
+
+% Open output file
+fid = fopen ("functions.texi", "w");
+
+for k = 1:numel (list {1}.provides)
+        
+        group = list {1}.provides{k};
+        functions = group.functions;
+
+        % fprintf (fid, '@section %s\n', group.category);
+        fprintf (fid, '@chapter %s\n', group.category);
+        
+        for k=1:numel(functions)
+                [TEXT, FORMAT] = get_help_text (functions(k));
+                fun = functions{k};
+                if (fun(1) == "@")
+                  % fprintf (fid, '@subsection @%s\n', fun);
+                  fprintf (fid, '@section @%s\n', fun);
+                else
+                  % fprintf (fid, '@subsection %s\n', fun);
+                  fprintf (fid, '@section %s\n', fun);
+                endif
+                fprintf (fid,TEXT);
+        end
+        
+end
+
+fclose(fid);

Added: trunk/octave-forge/extra/control-devel/devel/pdfdoc/control-devel.tex
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/pdfdoc/control-devel.tex	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/pdfdoc/control-devel.tex	2011-12-01 16:44:58 UTC (rev 9235)
@@ -0,0 +1,83 @@
+\input texinfo   @c -*-texinfo-*-
+@c %**start of header
+@setfilename control.info
+@settitle Octave Control Systems Package
+@afourpaper
+@set VERSION 0.1.50
+@finalout
+@c @afourwide
+@c %**end of header
+
+@c %*** Start of TITLEPAGE
+@titlepage
+@title control-devel @value{VERSION}
+@subtitle Control Systems Package for GNU Octave
+@author Lukas F. Reichlin
+@page
+@vskip 0pt plus 1filll
+Copyright @copyright{} 2009-2011, Lukas F. Reichlin @email{lukas.reichlin@...}
+
+This manual is generated automatically from the texinfo help strings
+of the package's functions.
+
+Permission is granted to make and distribute verbatim copies of
+this manual provided the copyright notice and this permission notice
+are preserved on all copies.
+
+Permission is granted to copy and distribute modified versions of this
+manual under the conditions for verbatim copying, provided that the entire
+resulting derived work is distributed under the terms of a permission
+notice identical to this one.
+
+Permission is granted to copy and distribute translations of this manual
+into another language, under the same conditions as for modified versions.
+@page
+@chapheading Preface
+The @acronym{GNU} Octave control package from version 2 onwards was
+developed by Lukas F. Reichlin and is based on the proven open-source
+library @acronym{SLICOT}. This new package is intended as a replacement
+for control-1.0.11 by A. Scottedward Hodel and his students.
+Its main features are:
+@itemize
+@item Reliable solvers for Lyapunov, Sylvester and algebraic Riccati equations.
+@item Pole placement techniques as well as @tex $ H_2 $ @end tex
+and @tex $ H_{\infty} $ @end tex
+synthesis methods.
+@item Overloaded operators due to the use of the object-oriented features
+introduced with Octave 3.2.
+@item Support for descriptor state-space models and non-proper transfer functions.
+@item Improved @acronym{MATLAB} compatibility.
+@end itemize
+
+@sp 5
+@subheading Acknowledgments
+The author is indebted to several people and institutions who helped
+him to achieve his goals. I am particularly grateful to Luca Favatella
+who introduced me to Octave development as well as discussed and revised
+my early draft code with great patience. My continued support from the
+@acronym{FHNW} University of Applied Sciences of Northwestern Switzerland,
+where I could work on the control package as a semester project, has also
+been important. Furthermore, I thank the @acronym{SLICOT} authors
+Peter Benner, Vasile Sima and Andras Varga for their advice.
+
+
+@sp 5
+@subheading Using the help function
+Some functions of the control package are listed with a leading @code{@@lti/}.
+This is only needed to view the help text of the function, e.g. @w{@code{help norm}}
+shows the built-in function while @w{@code{help @@lti/norm}} shows the overloaded
+function for @acronym{LTI} systems. Note that there are @acronym{LTI} functions
+like @code{pole} that have no built-in equivalent.
+
+When just using the function, the leading @code{@@lti/} must @strong{not} be typed.
+Octave selects the right function automatically. So one can type @w{@code{norm (sys, inf)}}
+and @w{@code{norm (matrix, inf)}} regardless of the class of the argument.
+@end titlepage
+@c %*** End of TITLEPAGE
+
+@contents
+@c @chapter Function Reference
+@include functions.texi
+
+@end
+@bye

Added: trunk/octave-forge/extra/control-devel/devel/pdfdoc/info_generate_manual.txt
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/pdfdoc/info_generate_manual.txt	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/pdfdoc/info_generate_manual.txt	2011-12-01 16:44:58 UTC (rev 9235)
@@ -0,0 +1,13 @@
+* Check that "pkg list" lists the packages generate_html and control-devel.
+* Run collect_texinfo_strings within Octave.  This script collects the Texinfo strings from all
+  functions listed in the package's INDEX file and writes them to the file functions.texi.
+  Don't edit the file functions.texi since your changes will be lost by the next run.
+* Adapt version number in control-devel.tex
+* Run control-devel.tex 
+
+
+pdftex control-devel.tex
+q
+
+Alternatively:
+Run generate_devel_pdf

Modified: trunk/octave-forge/extra/control-devel/inst/__modred_check_equil__.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/__modred_check_equil__.m	2011-12-01 16:28:52 UTC (rev 9234)
+++ trunk/octave-forge/extra/control-devel/inst/__modred_check_equil__.m	2011-12-01 16:44:58 UTC (rev 9235)
@@ -22,7 +22,7 @@
 ## Created: November 2011
 ## Version: 0.1
 
-function scaled = __modred_check_order__ (equil)
+function scaled = __modred_check_equil__ (equil)
 
   if (isscalar (equil))
     scaled = ! logical (equil);

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

Revision: 9298
          http://octave.svn.sourceforge.net/octave/?rev=9298&view=rev
Author:   paramaniac
Date:     2011-12-07 13:39:16 +0000 (Wed, 07 Dec 2011)
Log Message:
-----------
control-devel: add fwcfconred

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/test_sb16cd.m
    trunk/octave-forge/extra/control-devel/inst/cfconred.m
    trunk/octave-forge/extra/control-devel/inst/fwcfconred.m
    trunk/octave-forge/extra/control-devel/inst/test_devel.m

Modified: trunk/octave-forge/extra/control-devel/devel/test_sb16cd.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_sb16cd.m	2011-12-07 13:20:49 UTC (rev 9297)
+++ trunk/octave-forge/extra/control-devel/devel/test_sb16cd.m	2011-12-07 13:39:16 UTC (rev 9298)
@@ -87,6 +87,9 @@
 [ac, bc, cc] = slsb16cd (a, b, c, d, dico, ncr, ordsel, jobd, jobmr, \
                              f, g, jobcf, tol)
 
+Go = ss (a, b, c, d);
+[Kr, Info] = fwcfconred (Go, f, g, 2, "method", "bfsr", "cf", "right")
+
 %{
  SB16CD EXAMPLE PROGRAM RESULTS
 

Modified: trunk/octave-forge/extra/control-devel/inst/cfconred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/cfconred.m	2011-12-07 13:20:49 UTC (rev 9297)
+++ trunk/octave-forge/extra/control-devel/inst/cfconred.m	2011-12-07 13:39:16 UTC (rev 9298)
@@ -16,10 +16,10 @@
 ## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
 
 ## -*- texinfo -*-
-## @deftypefn{Function File} {[@var{Kr}, @var{info}] =} conred (@var{Go}, @var{F}, @var{G}, @dots{})
-## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} conred (@var{Go}, @var{F}, @var{G}, @var{nr}, @dots{})
-## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} conred (@var{Go}, @var{F}, @var{G}, @var{opt}, @dots{})
-## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} conred (@var{Go}, @var{F}, @var{G}, @var{nr}, @var{opt}, @dots{})
+## @deftypefn{Function File} {[@var{Kr}, @var{info}] =} cfconred (@var{Go}, @var{F}, @var{G}, @dots{})
+## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} cfconred (@var{Go}, @var{F}, @var{G}, @var{nr}, @dots{})
+## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} cfconred (@var{Go}, @var{F}, @var{G}, @var{opt}, @dots{})
+## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} cfconred (@var{Go}, @var{F}, @var{G}, @var{nr}, @var{opt}, @dots{})
 ##
 ## Coprime factor reduction for state-feedback-observer based controllers.
 ##
@@ -247,4 +247,4 @@
 %! Me = [Ae, Be; Ce, De];
 %!
 %!assert (Mo, Me, 1e-4);
-%!assert (Info.hsv, HSVe, 1e-4);
\ No newline at end of file
+%!assert (Info.hsv, HSVe, 1e-4);

Modified: trunk/octave-forge/extra/control-devel/inst/fwcfconred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/fwcfconred.m	2011-12-07 13:20:49 UTC (rev 9297)
+++ trunk/octave-forge/extra/control-devel/inst/fwcfconred.m	2011-12-07 13:39:16 UTC (rev 9298)
@@ -16,10 +16,10 @@
 ## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
 
 ## -*- texinfo -*-
-## @deftypefn{Function File} {[@var{Kr}, @var{info}] =} conred (@var{Go}, @var{F}, @var{G}, @dots{})
-## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} conred (@var{Go}, @var{F}, @var{G}, @var{nr}, @dots{})
-## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} conred (@var{Go}, @var{F}, @var{G}, @var{opt}, @dots{})
-## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} conred (@var{Go}, @var{F}, @var{G}, @var{nr}, @var{opt}, @dots{})
+## @deftypefn{Function File} {[@var{Kr}, @var{info}] =} fwcfconred (@var{Go}, @var{F}, @var{G}, @dots{})
+## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} fwcfconred (@var{Go}, @var{F}, @var{G}, @var{nr}, @dots{})
+## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} fwcfconred (@var{Go}, @var{F}, @var{G}, @var{opt}, @dots{})
+## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} fwcfconred (@var{Go}, @var{F}, @var{G}, @var{nr}, @var{opt}, @dots{})
 ##
 ## Coprime factor reduction for state-feedback-observer based controllers.
 ##
@@ -122,7 +122,7 @@
   tol1 = 0.0;
   tol2 = 0.0;
   jobcf = 0;
-  jobmr = 2;                                       # balancing-free BTA
+  jobmr = 1;                                       # balancing-free BTA
   equil = scaled && scaledc;
   ordsel = 1;
   ncr = 0;
@@ -203,38 +203,34 @@
 %!
 %! Go = ss (A, B, C, D);  % "scaled", false
 %!
-%! F = [  4.4721e-002  6.6105e-001  4.6986e-003  3.6014e-001  1.0325e-001 -3.7541e-002 -4.2685e-002  3.2873e-002 ];
+%! F = [  4.472135954999638e-002    6.610515358414598e-001    4.698598960657579e-003  3.601363251422058e-001    1.032530880771415e-001   -3.754055214487997e-002  -4.268536964759344e-002    3.287284547842979e-002 ];
 %!
-%! G = [  4.1089e-001
-%!        8.6846e-002
-%!        3.8523e-004
-%!       -3.6194e-003
-%!       -8.8037e-003
-%!        8.4205e-003
-%!        1.2349e-003
-%!        4.2632e-003 ];
+%! G = [  4.108939884667451e-001
+%!        8.684600000000012e-002
+%!        3.852317308197148e-004
+%!       -3.619366874815911e-003
+%!       -8.803722876359955e-003
+%!        8.420521094001852e-003
+%!        1.234944428038507e-003
+%!        4.263205617645322e-003 ];
 %!
 %! [Kr, Info] = fwcfconred (Go, F, G, 2, "method", "bfsr", "cf", "right");
 %! [Ao, Bo, Co, Do] = ssdata (Kr);
 %!
-%! Ae = [  0.5946  -0.7336   0.1914  -0.3368
-%!         0.5960  -0.0184  -0.1088   0.0207
-%!         1.2253   0.2043   0.1009  -1.4948
-%!        -0.0330  -0.0243   1.3440   0.0035 ];
+%! Ae = [  -0.4334   0.4884
+%!         -0.1950  -0.1093 ];
 %!
-%! Be = [  0.0015
-%!        -0.0202
-%!         0.0159
-%!        -0.0544 ];
+%! Be = [  -0.4231
+%!         -0.1785 ];
 %!
-%! Ce = [  0.3534   0.0274   0.0337  -0.0320 ];
+%! Ce = [  -0.0326  -0.2307 ];
 %!
 %! De = [  0.0000 ];
 %!
-%! HSVe = [  4.9078   4.8745   3.8455   3.7811   1.2289   1.1785   0.5176   0.1148 ].';
+%! HSVe = [  3.3073   0.7274   0.1124   0.0784   0.0242   0.0182   0.0101   0.0094 ].';
 %!
 %! Mo = [Ao, Bo; Co, Do];
 %! Me = [Ae, Be; Ce, De];
 %!
 %!assert (Mo, Me, 1e-4);
-%!assert (Info.hsv, HSVe, 1e-4);
\ No newline at end of file
+%!assert (Info.hsv, HSVe, 1e-4);

Modified: trunk/octave-forge/extra/control-devel/inst/test_devel.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/test_devel.m	2011-12-07 13:20:49 UTC (rev 9297)
+++ trunk/octave-forge/extra/control-devel/inst/test_devel.m	2011-12-07 13:39:16 UTC (rev 9298)
@@ -5,6 +5,10 @@
 test bstmodred
 test btamodred
 test hnamodred
+## test spamodred  # TODO: create test case
 
 ## controller order reduction
 test btaconred
+test cfconred
+test fwcfconred
+## test spaconred  # TODO: create test case
\ No newline at end of file

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Revision: 9379
          http://octave.svn.sourceforge.net/octave/?rev=9379&view=rev
Author:   paramaniac
Date:     2011-12-14 15:38:00 +0000 (Wed, 14 Dec 2011)
Log Message:
-----------
control-devel: rename state-feedback and observer gain matrices for consistency and to match B.D.O. Anderson's 1989 Automatica paper on controller reduction

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/cfconred.m
    trunk/octave-forge/extra/control-devel/inst/fwcfconred.m
    trunk/octave-forge/extra/control-devel/src/slsb16bd.cc
    trunk/octave-forge/extra/control-devel/src/slsb16cd.cc

Modified: trunk/octave-forge/extra/control-devel/inst/cfconred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/cfconred.m	2011-12-13 23:17:59 UTC (rev 9378)
+++ trunk/octave-forge/extra/control-devel/inst/cfconred.m	2011-12-14 15:38:00 UTC (rev 9379)
@@ -16,21 +16,21 @@
 ## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
 
 ## -*- texinfo -*-
-## @deftypefn{Function File} {[@var{Kr}, @var{info}] =} cfconred (@var{Go}, @var{F}, @var{G}, @dots{})
-## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} cfconred (@var{Go}, @var{F}, @var{G}, @var{ncr}, @dots{})
-## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} cfconred (@var{Go}, @var{F}, @var{G}, @var{opt}, @dots{})
-## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} cfconred (@var{Go}, @var{F}, @var{G}, @var{ncr}, @var{opt}, @dots{})
+## @deftypefn{Function File} {[@var{Kr}, @var{info}] =} cfconred (@var{G}, @var{F}, @var{L}, @dots{})
+## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} cfconred (@var{G}, @var{F}, @var{L}, @var{ncr}, @dots{})
+## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} cfconred (@var{G}, @var{F}, @var{L}, @var{opt}, @dots{})
+## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} cfconred (@var{G}, @var{F}, @var{L}, @var{ncr}, @var{opt}, @dots{})
 ##
 ## Reduction of state-feedback-observer based controller by coprime factorization (CF). 
 ##
 ## @strong{Inputs}
 ## @table @var
-## @item Go
+## @item G
 ## LTI model of the open-loop plant (A,B,C,D).
 ## It has m inputs, p outputs and n states.
 ## @item F
 ## Stabilizing state feedback matrix (m-by-n).
-## @item G
+## @item L
 ## Stabilizing observer gain matrix (n-by-p).
 ## @item ncr
 ## The desired order of the resulting reduced order controller @var{Kr}.
@@ -69,13 +69,13 @@
 ## Created: December 2011
 ## Version: 0.1
 
-function [Kr, info] = cfconred (Go, F, G, varargin)
+function [Kr, info] = cfconred (G, F, L, varargin)
 
   if (nargin < 3)
     print_usage ();
   endif
 
-  if (! isa (Go, "lti"))
+  if (! isa (G, "lti"))
     error ("cfconred: first argument must be an LTI system");
   endif
 
@@ -83,19 +83,19 @@
     error ("cfconred: second argument must be a real matrix");
   endif
   
-  if (! is_real_matrix (G))
+  if (! is_real_matrix (L))
     error ("cfconred: third argument must be a real matrix");
   endif
 
-  if (nargin > 3)                                  # cfconred (Go, F, G, ...)
-    if (is_real_scalar (varargin{1}))              # cfconred (Go, F, G, nr)
+  if (nargin > 3)                                  # cfconred (G, F, L, ...)
+    if (is_real_scalar (varargin{1}))              # cfconred (G, F, L, nr)
       varargin = horzcat (varargin(2:end), {"order"}, varargin(1));
     endif
-    if (isstruct (varargin{1}))                    # cfconred (Go, F, G, opt, ...), cfconred (Go, F, G, nr, opt, ...)
+    if (isstruct (varargin{1}))                    # cfconred (G, F, L, opt, ...), cfconred (G, F, L, nr, opt, ...)
       varargin = horzcat (__opt2cell__ (varargin{1}), varargin(2:end));
     endif
-    ## order placed at the end such that nr from cfconred (Go, F, G, nr, ...)
-    ## and cfconred (Go, F, G, nr, opt, ...) overrides possible nr's from
+    ## order placed at the end such that nr from cfconred (G, F, L, nr, ...)
+    ## and cfconred (G, F, L, nr, opt, ...) overrides possible nr's from
     ## key/value-pairs and inside opt struct (later keys override former keys,
     ## nr > key/value > opt)
   endif
@@ -106,12 +106,12 @@
     error ("cfconred: keys and values must come in pairs");
   endif
 
-  [a, b, c, d, tsam, scaled] = ssdata (Go);
-  [p, m] = size (Go);
+  [a, b, c, d, tsam, scaled] = ssdata (G);
+  [p, m] = size (G);
   n = rows (a);
   [mf, nf] = size (F);
-  [ng, pg] = size (G);
-  dt = isdt (Go);
+  [nl, pl] = size (L);
+  dt = isdt (G);
   jobd = any (d(:));
 
   if (mf != m || nf != n)
@@ -119,9 +119,9 @@
            mf, nf, p, m, n);
   endif
 
-  if (ng != n || pg != p)
+  if (nl != n || pl != p)
     error ("cfconred: dimensions of observer matrix (%dx%d) and plant (%dx%d, %d states) don't match", \
-           ng, pg, p, m, n);
+           nl, pl, p, m, n);
   endif
 
   ## default arguments
@@ -183,7 +183,8 @@
 
   ## perform model order reduction
   [acr, bcr, ccr, dcr, ncr, hsv] = slsb16bd (a, b, c, d, dt, equil, ncr, ordsel, jobd, jobmr, \
-                                             F, G, jobcf, tol1, tol2);
+                                             -F, -L, jobcf, tol1, tol2);
+  ## A - B*F --> A + B*F  ;    A - L*C --> A + L*C
 
   ## assemble reduced order controller
   Kr = ss (acr, bcr, ccr, dcr, tsam);
@@ -217,20 +218,20 @@
 %!
 %! D =  [  0.0 ];
 %!
-%! Go = ss (A, B, C, D);  % "scaled", false
+%! G = ss (A, B, C, D);  % "scaled", false
 %!
-%! F = [  4.4721e-002  6.6105e-001  4.6986e-003  3.6014e-001  1.0325e-001 -3.7541e-002 -4.2685e-002  3.2873e-002 ];
+%! F = -[  4.4721e-002  6.6105e-001  4.6986e-003  3.6014e-001  1.0325e-001 -3.7541e-002 -4.2685e-002  3.2873e-002 ];
 %!
-%! G = [  4.1089e-001
-%!        8.6846e-002
-%!        3.8523e-004
-%!       -3.6194e-003
-%!       -8.8037e-003
-%!        8.4205e-003
-%!        1.2349e-003
-%!        4.2632e-003 ];
+%! L = -[  4.1089e-001
+%!         8.6846e-002
+%!         3.8523e-004
+%!        -3.6194e-003
+%!        -8.8037e-003
+%!         8.4205e-003
+%!         1.2349e-003
+%!         4.2632e-003 ];
 %!
-%! [Kr, Info] = cfconred (Go, F, G, 4, "method", "bfsr-bta", "cf", "left");
+%! [Kr, Info] = cfconred (G, F, L, 4, "method", "bfsr-bta", "cf", "left");
 %! [Ao, Bo, Co, Do] = ssdata (Kr);
 %!
 %! Ae = [  0.5946  -0.7336   0.1914  -0.3368

Modified: trunk/octave-forge/extra/control-devel/inst/fwcfconred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/fwcfconred.m	2011-12-13 23:17:59 UTC (rev 9378)
+++ trunk/octave-forge/extra/control-devel/inst/fwcfconred.m	2011-12-14 15:38:00 UTC (rev 9379)
@@ -16,21 +16,21 @@
 ## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
 
 ## -*- texinfo -*-
-## @deftypefn{Function File} {[@var{Kr}, @var{info}] =} fwcfconred (@var{Go}, @var{F}, @var{G}, @dots{})
-## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} fwcfconred (@var{Go}, @var{F}, @var{G}, @var{ncr}, @dots{})
-## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} fwcfconred (@var{Go}, @var{F}, @var{G}, @var{opt}, @dots{})
-## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} fwcfconred (@var{Go}, @var{F}, @var{G}, @var{ncr}, @var{opt}, @dots{})
+## @deftypefn{Function File} {[@var{Kr}, @var{info}] =} fwcfconred (@var{G}, @var{F}, @var{L}, @dots{})
+## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} fwcfconred (@var{G}, @var{F}, @var{L}, @var{ncr}, @dots{})
+## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} fwcfconred (@var{G}, @var{F}, @var{L}, @var{opt}, @dots{})
+## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} fwcfconred (@var{G}, @var{F}, @var{L}, @var{ncr}, @var{opt}, @dots{})
 ##
 ## Reduction of state-feedback-observer based controller by frequency-weighted coprime factorization (FW CF). 
 ##
 ## @strong{Inputs}
 ## @table @var
-## @item Go
+## @item G
 ## LTI model of the open-loop plant (A,B,C,D).
 ## It has m inputs, p outputs and n states.
 ## @item F
 ## Stabilizing state feedback matrix (m-by-n).
-## @item G
+## @item L
 ## Stabilizing observer gain matrix (n-by-p).
 ## @item ncr
 ## The desired order of the resulting reduced order controller @var{Kr}.
@@ -69,13 +69,13 @@
 ## Created: December 2011
 ## Version: 0.1
 
-function [Kr, info] = fwcfconred (Go, F, G, varargin)
+function [Kr, info] = fwcfconred (G, F, L, varargin)
 
   if (nargin < 3)
     print_usage ();
   endif
 
-  if (! isa (Go, "lti"))
+  if (! isa (G, "lti"))
     error ("cfconred: first argument must be an LTI system");
   endif
 
@@ -83,19 +83,19 @@
     error ("cfconred: second argument must be a real matrix");
   endif
   
-  if (! is_real_matrix (G))
+  if (! is_real_matrix (L))
     error ("cfconred: third argument must be a real matrix");
   endif
 
-  if (nargin > 3)                                  # fwcfconred (Go, F, G, ...)
-    if (is_real_scalar (varargin{1}))              # fwcfconred (Go, F, G, nr)
+  if (nargin > 3)                                  # fwcfconred (G, F, L, ...)
+    if (is_real_scalar (varargin{1}))              # fwcfconred (G, F, L, nr)
       varargin = horzcat (varargin(2:end), {"order"}, varargin(1));
     endif
-    if (isstruct (varargin{1}))                    # fwcfconred (Go, F, G, opt, ...), fwcfconred (Go, F, G, nr, opt, ...)
+    if (isstruct (varargin{1}))                    # fwcfconred (G, F, L, opt, ...), fwcfconred (G, F, L, nr, opt, ...)
       varargin = horzcat (__opt2cell__ (varargin{1}), varargin(2:end));
     endif
-    ## order placed at the end such that nr from fwcfconred (Go, F, G, nr, ...)
-    ## and fwcfconred (Go, F, G, nr, opt, ...) overrides possible nr's from
+    ## order placed at the end such that nr from fwcfconred (G, F, L, nr, ...)
+    ## and fwcfconred (G, F, L, nr, opt, ...) overrides possible nr's from
     ## key/value-pairs and inside opt struct (later keys override former keys,
     ## nr > key/value > opt)
   endif
@@ -106,12 +106,12 @@
     error ("cfconred: keys and values must come in pairs");
   endif
 
-  [a, b, c, d, tsam, scaled] = ssdata (Go);
-  [p, m] = size (Go);
+  [a, b, c, d, tsam, scaled] = ssdata (G);
+  [p, m] = size (G);
   n = rows (a);
   [mf, nf] = size (F);
-  [ng, pg] = size (G);
-  dt = isdt (Go);
+  [nl, pl] = size (L);
+  dt = isdt (G);
   jobd = any (d(:));
 
   if (mf != m || nf != n)
@@ -119,9 +119,9 @@
            mf, nf, p, m, n);
   endif
 
-  if (ng != n || pg != p)
+  if (nl != n || pl != p)
     error ("cfconred: dimensions of observer matrix (%dx%d) and plant (%dx%d, %d states) don't match", \
-           ng, pg, p, m, n);
+           nl, pl, p, m, n);
   endif
 
   ## default arguments
@@ -173,7 +173,8 @@
 
   ## perform model order reduction
   [acr, bcr, ccr, ncr, hsv] = slsb16cd (a, b, c, d, dt, ncr, ordsel, jobd, jobmr, \
-                                        F, G, jobcf, tol1);
+                                        -F, -L, jobcf, tol1);
+  ## A - B*F --> A + B*F  ;    A - L*C --> A + L*C
 
   ## assemble reduced order controller
   Kr = ss (acr, bcr, ccr, [], tsam);
@@ -207,20 +208,20 @@
 %!
 %! D =  [  0.0 ];
 %!
-%! Go = ss (A, B, C, D);  % "scaled", false
+%! G = ss (A, B, C, D);  % "scaled", false
 %!
-%! F = [  4.472135954999638e-002    6.610515358414598e-001    4.698598960657579e-003  3.601363251422058e-001    1.032530880771415e-001   -3.754055214487997e-002  -4.268536964759344e-002    3.287284547842979e-002 ];
+%! F = -[  4.472135954999638e-002    6.610515358414598e-001    4.698598960657579e-003  3.601363251422058e-001    1.032530880771415e-001   -3.754055214487997e-002  -4.268536964759344e-002    3.287284547842979e-002 ];
 %!
-%! G = [  4.108939884667451e-001
-%!        8.684600000000012e-002
-%!        3.852317308197148e-004
-%!       -3.619366874815911e-003
-%!       -8.803722876359955e-003
-%!        8.420521094001852e-003
-%!        1.234944428038507e-003
-%!        4.263205617645322e-003 ];
+%! L = -[  4.108939884667451e-001
+%!         8.684600000000012e-002
+%!         3.852317308197148e-004
+%!        -3.619366874815911e-003
+%!        -8.803722876359955e-003
+%!         8.420521094001852e-003
+%!         1.234944428038507e-003
+%!         4.263205617645322e-003 ];
 %!
-%! [Kr, Info] = fwcfconred (Go, F, G, 2, "method", "bfsr", "cf", "right");
+%! [Kr, Info] = fwcfconred (G, F, L, 2, "method", "bfsr", "cf", "right");
 %! [Ao, Bo, Co, Do] = ssdata (Kr);
 %!
 %! Ae = [  -0.4334   0.4884

Modified: trunk/octave-forge/extra/control-devel/src/slsb16bd.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slsb16bd.cc	2011-12-13 23:17:59 UTC (rev 9378)
+++ trunk/octave-forge/extra/control-devel/src/slsb16bd.cc	2011-12-14 15:38:00 UTC (rev 9379)
@@ -230,14 +230,14 @@
 
         static const char* err_msg[] = {
             "0: OK",
-            "1: the reduction of A+G*C to a real Schur form "
+            "1: the reduction of A-L*C to a real Schur form "
                 "failed",
-            "2: the matrix A+G*C is not stable (if DICO = 'C'), "
+            "2: the matrix A-L*C is not stable (if DICO = 'C'), "
                 "or not convergent (if DICO = 'D')",
             "3: the computation of Hankel singular values failed",
-            "4: the reduction of A+B*F to a real Schur form "
+            "4: the reduction of A-B*F to a real Schur form "
                 "failed",
-            "5: the matrix A+B*F is not stable (if DICO = 'C'), "
+            "5: the matrix A-B*F is not stable (if DICO = 'C'), "
                 "or not convergent (if DICO = 'D')"};
 
         static const char* warn_msg[] = {

Modified: trunk/octave-forge/extra/control-devel/src/slsb16cd.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slsb16cd.cc	2011-12-13 23:17:59 UTC (rev 9378)
+++ trunk/octave-forge/extra/control-devel/src/slsb16cd.cc	2011-12-14 15:38:00 UTC (rev 9379)
@@ -196,8 +196,8 @@
         static const char* err_msg[] = {
             "0: OK",
             "1: eigenvalue computation failure",
-            "2: the matrix A+G*C is not stable",
-            "3: the matrix A+B*F is not stable",
+            "2: the matrix A-L*C is not stable",
+            "3: the matrix A-B*F is not stable",
             "4: the Lyapunov equation for computing the "
                 "observability Grammian is (nearly) singular",
             "5: the Lyapunov equation for computing the "

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Revision: 9407
          http://octave.svn.sourceforge.net/octave/?rev=9407&view=rev
Author:   paramaniac
Date:     2011-12-16 07:21:08 +0000 (Fri, 16 Dec 2011)
Log Message:
-----------
control-devel: add options to index, minor doc improvements

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/INDEX
    trunk/octave-forge/extra/control-devel/inst/options.m

Modified: trunk/octave-forge/extra/control-devel/INDEX
===================================================================
--- trunk/octave-forge/extra/control-devel/INDEX	2011-12-16 06:49:42 UTC (rev 9406)
+++ trunk/octave-forge/extra/control-devel/INDEX	2011-12-16 07:21:08 UTC (rev 9407)
@@ -20,3 +20,5 @@
   cfconred
   fwcfconred
   spaconred
+Miscellaneous
+  options

Modified: trunk/octave-forge/extra/control-devel/inst/options.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/options.m	2011-12-16 06:49:42 UTC (rev 9406)
+++ trunk/octave-forge/extra/control-devel/inst/options.m	2011-12-16 07:21:08 UTC (rev 9407)
@@ -17,7 +17,7 @@
 
 ## -*- texinfo -*-
 ## @deftypefn{Function File} {@var{opt} =} options (@var{"key1"}, @var{value1}, @var{"key2"}, @var{value2}, @dots{})
-## Create options struct @var{opt} from a number of property and value pairs.
+## Create options struct @var{opt} from a number of key and value pairs.
 ## For use with order reduction commands.
 ##
 ## @strong{Inputs}
@@ -45,9 +45,16 @@
 ##     method = spa
 ##     tol =  1.0000e-06
 ## 
-## octave:2> 
 ## @end group
 ## @end example
+## @example
+## @group
+## octave:2> save filename opt
+## octave:3> # save the struct 'opt' to file 'filename' for later use
+## octave:4> load filename
+## octave:5> # load struct 'opt' from file 'filename'
+## @end group
+## @end example
 ##
 ## @end deftypefn
 

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Revision: 9425
          http://octave.svn.sourceforge.net/octave/?rev=9425&view=rev
Author:   paramaniac
Date:     2011-12-17 17:43:49 +0000 (Sat, 17 Dec 2011)
Log Message:
-----------
control-devel: change default cf from left to right

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/anderson.m
    trunk/octave-forge/extra/control-devel/inst/fwcfconred.m

Modified: trunk/octave-forge/extra/control-devel/devel/anderson.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/anderson.m	2011-12-17 17:20:52 UTC (rev 9424)
+++ trunk/octave-forge/extra/control-devel/devel/anderson.m	2011-12-17 17:43:49 UTC (rev 9425)
@@ -37,4 +37,6 @@
 
 F = lqr (G, Q, R)
 L = lqr (G.', W, V).'
-%[~, L] = kalman (G, W, V)
\ No newline at end of file
+%[~, L] = kalman (G, W, V)
+
+[Kr, info] = fwcfconred (G, F, L, "cf", "right")
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/inst/fwcfconred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/fwcfconred.m	2011-12-17 17:20:52 UTC (rev 9424)
+++ trunk/octave-forge/extra/control-devel/inst/fwcfconred.m	2011-12-17 17:43:49 UTC (rev 9425)
@@ -79,9 +79,9 @@
 ## to be used as follows:
 ## @table @var
 ## @item 'left', 'l'
-## Use left coprime factorization.  Default method.
+## Use left coprime factorization.
 ## @item 'right', 'r'
-## Use right coprime factorization.
+## Use right coprime factorization.  Default method.
 ## @end table
 ##
 ## @item 'tol1'
@@ -158,8 +158,7 @@
 
   ## default arguments
   tol1 = 0.0;
-  tol2 = 0.0;
-  jobcf = 0;
+  jobcf = 1;
   jobmr = 1;                                       # balancing-free BTA
   equil = scaled && scaledc;
   ordsel = 1;

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Revision: 9448
          http://octave.svn.sourceforge.net/octave/?rev=9448&view=rev
Author:   paramaniac
Date:     2011-12-21 14:18:52 +0000 (Wed, 21 Dec 2011)
Log Message:
-----------
control-devel: add property to specify feedback sign of controllers to be reduced

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/madievski.m
    trunk/octave-forge/extra/control-devel/inst/__conred_sb16ad__.m
    trunk/octave-forge/extra/control-devel/inst/__modred_check_gram__.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/inst/__conred_check_feedback_sign__.m

Modified: trunk/octave-forge/extra/control-devel/devel/madievski.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/madievski.m	2011-12-21 10:06:36 UTC (rev 9447)
+++ trunk/octave-forge/extra/control-devel/devel/madievski.m	2011-12-21 14:18:52 UTC (rev 9448)
@@ -52,9 +52,8 @@
 
 K = ss (Ac, Bc, Cc, Dc);
 
-Kr = btaconred (P, -K, 4, 'weight', 'both')
+Kr = btaconred (P, K, 4, 'weight', 'both', 'feedback', '-')
 
-% TODO: change feedback sign to match negative feedback controller in btaconred, spaconred
 
 tau = 0.1;
 Kd = c2d (K, tau);
@@ -82,5 +81,4 @@
 bode (Ld)
 
 figure (5)
-step (feedback (P*-Kr), 100)
-% step (feedback (P*Kr, '+'), 100)
+step (feedback (P*Kr), 100)

Added: trunk/octave-forge/extra/control-devel/inst/__conred_check_feedback_sign__.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/__conred_check_feedback_sign__.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/inst/__conred_check_feedback_sign__.m	2011-12-21 14:18:52 UTC (rev 9448)
@@ -0,0 +1,40 @@
+## Copyright (C) 2011   Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## check the feedback sign.
+
+## Author: Lukas Reichlin <lukas.reichlin@...>
+## Created: December 2011
+## Version: 0.1
+
+function negfb = __conred_check_feedback_sign__ (fbsign, key = "feedback")
+
+  if (! ischar (fbsign))
+    error ("conred: key '%s' requires string value", key);
+  endif
+
+  switch (fbsign)
+    case "+"
+      negfb = false;
+    case "-"
+      negfb = true;
+    otherwise
+      error ("conred: key '%s' has an invalid value", key);
+  endswitch
+
+endfunction
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/inst/__conred_sb16ad__.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/__conred_sb16ad__.m	2011-12-21 10:06:36 UTC (rev 9447)
+++ trunk/octave-forge/extra/control-devel/inst/__conred_sb16ad__.m	2011-12-21 14:18:52 UTC (rev 9448)
@@ -87,6 +87,7 @@
   equil = scaled && scaledc;
   ordsel = 1;
   ncr = 0;
+  negfb = false;                            # positive feedback controller
 
 
   ## handle keys and values
@@ -139,6 +140,9 @@
       case {"equil", "equilibrate", "equilibration", "scale", "scaling"}
         scaled = __modred_check_equil__ (val);
 
+      case "feedback"
+        negfb = __conred_check_feedback_sign__ (val, "feedback");
+
       otherwise
         warning ("%sconred: invalid property name '%s' ignored", method, key);
     endswitch
@@ -157,8 +161,13 @@
   else
     error ("%smodred: invalid jobmr option"); # this should never happen
   endif
+
+  ## handle negative feedback controllers
+  if (negfb)
+    [ac, bc, cc, dc] = ssdata (-K);
+  endif
+
   
-  
   ## perform model order reduction
   [acr, bcr, ccr, dcr, ncr, hsvc, ncs] = slsb16ad (a, b, c, d, dt, equil, ncr, ordsel, alpha, jobmr, \
                                                    ac, bc, cc, dc, \
@@ -167,6 +176,11 @@
   ## assemble reduced order controller
   Kr = ss (acr, bcr, ccr, dcr, tsamc);
 
+  ## handle negative feedback controllers
+  if (negfb)
+    Kr = -Kr;
+  endif
+
   ## assemble info struct  
   info = struct ("ncr", ncr, "ncs", ncs, "hsvc", hsvc);
 

Modified: trunk/octave-forge/extra/control-devel/inst/__modred_check_gram__.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/__modred_check_gram__.m	2011-12-21 10:06:36 UTC (rev 9447)
+++ trunk/octave-forge/extra/control-devel/inst/__modred_check_gram__.m	2011-12-21 14:18:52 UTC (rev 9448)
@@ -25,7 +25,7 @@
 function job = __modred_check_gram__ (choice, key)
 
   if (! ischar (choice))
-    error ("modred: key '%s' requires string value", %s);
+    error ("modred: key '%s' requires string value", key);
   endif
   
   switch (tolower (choice (1)))
@@ -34,7 +34,7 @@
     case "e"    # enhanced
       job = 1;
     otherwise
-      error ("modred: key '%s' has an invalid value", %s);
+      error ("modred: key '%s' has an invalid value", key);
   endswitch
 
 endfunction
\ No newline at end of file

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Revision: 9484
          http://octave.svn.sourceforge.net/octave/?rev=9484&view=rev
Author:   paramaniac
Date:     2011-12-29 22:49:10 +0000 (Thu, 29 Dec 2011)
Log Message:
-----------
control-devel: apply CDFs fix for octave 3.6.0 compatibility from the control package

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/makefile_conred.m
    trunk/octave-forge/extra/control-devel/devel/makefile_ident.m
    trunk/octave-forge/extra/control-devel/devel/makefile_modred.m
    trunk/octave-forge/extra/control-devel/src/Makefile

Modified: trunk/octave-forge/extra/control-devel/devel/makefile_conred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/makefile_conred.m	2011-12-29 22:22:18 UTC (rev 9483)
+++ trunk/octave-forge/extra/control-devel/devel/makefile_conred.m	2011-12-29 22:49:10 UTC (rev 9484)
@@ -18,20 +18,26 @@
           AB09DD.f AB07ND.f TB01LD.f AB05QD.f SB03OU.f \
           MA02AD.f MB03QX.f select.f MB01YD.f MB01ZD.f \
           SB03OT.f MB04OY.f MB03QD.f MB04ND.f MB03QY.f \
-          SB03OR.f SB03OY.f SB04PX.f MB04NY.f SB03OV.f
+          SB03OR.f SB03OY.f SB04PX.f MB04NY.f SB03OV.f \
+          "$(mkoctfile -p LAPACK_LIBS)" \
+          "$(mkoctfile -p BLAS_LIBS)"
 
 mkoctfile slsb16bd.cc \
           SB16BD.f AB09AD.f AB09BD.f SB08GD.f SB08HD.f \
           TB01ID.f AB09AX.f MA02GD.f AB09BX.f TB01WD.f \
           MA02DD.f MB03UD.f select.f AB09DD.f SB03OU.f \
           MA02AD.f SB03OT.f MB04ND.f MB04OD.f SB03OR.f \
-          SB03OY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f
+          SB03OY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f \
+          "$(mkoctfile -p LAPACK_LIBS)" \
+          "$(mkoctfile -p BLAS_LIBS)"
 
 mkoctfile slsb16cd.cc \
           SB16CD.f SB16CY.f AB09IX.f SB03OD.f MB02UD.f \
           AB09DD.f MA02AD.f MB03UD.f select.f SB03OU.f \
           MB01SD.f SB03OT.f MB04ND.f MB04OD.f SB03OR.f \
-          SB03OY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f
+          SB03OY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f \
+          "$(mkoctfile -p LAPACK_LIBS)" \
+          "$(mkoctfile -p BLAS_LIBS)"
 
 system ("rm *.o");
 cd (homedir);

Modified: trunk/octave-forge/extra/control-devel/devel/makefile_ident.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/makefile_ident.m	2011-12-29 22:22:18 UTC (rev 9483)
+++ trunk/octave-forge/extra/control-devel/devel/makefile_ident.m	2011-12-29 22:49:10 UTC (rev 9484)
@@ -15,7 +15,10 @@
 ## preprocess the input-output data
 mkoctfile IB01AD.f IB01MD.f IB01ND.f IB01OD.f IB01MY.f \
           MB04OD.f MB03UD.f MB04ID.f MA02AD.f MB03OD.f \
-          MB04IY.f IB01OY.f MA02ED.f MA02FD.f MB04OY.f
+          MB04IY.f IB01OY.f MA02ED.f MA02FD.f MB04OY.f \
+          "$(mkoctfile -p LAPACK_LIBS)" \
+          "$(mkoctfile -p BLAS_LIBS)" \
+          "$(mkoctfile -p FLIBS)"
 
 ## estimating system matrices, Kalman gain, and covariances
 mkoctfile IB01BD.f IB01PD.f MA02AD.f SB02MT.f SB02RD.f \
@@ -25,19 +28,26 @@
           MB02PD.f MB01SD.f MB04KD.f MB03UD.f MB04OD.f \
           MB04OY.f MB01VD.f select.f MB01UD.f SB03SY.f \
           MB01RX.f SB03MX.f SB03SX.f MB01RY.f SB03QY.f \
-          SB03QX.f SB03MY.f SB04PX.f SB03MV.f SB03MW.f
+          SB03QX.f SB03MY.f SB04PX.f SB03MV.f SB03MW.f \
+          "$(mkoctfile -p LAPACK_LIBS)" \
+          "$(mkoctfile -p BLAS_LIBS)"
 
 ## estimating the initial state
 mkoctfile IB01CD.f TB01WD.f IB01RD.f IB01QD.f select.f \
           MB01TD.f MA02AD.f MB04OD.f MB04OY.f MB02UD.f \
-          MB03UD.f MB01SD.f
+          MB03UD.f MB01SD.f \
+          "$(mkoctfile -p LAPACK_LIBS)" \
+          "$(mkoctfile -p BLAS_LIBS)" \
+          "$(mkoctfile -p FLIBS)"
 
 ## fit state-space model to frequency response data
 mkoctfile slsb10yd.cc \
           SB10YD.f DG01MD.f AB04MD.f SB10ZP.f AB07ND.f \
           MC01PD.f TD04AD.f TD03AY.f TB01PD.f TB01XD.f \
           AB07MD.f TB01UD.f TB01ID.f MB01PD.f MB03OY.f \
-          MB01QD.f
+          MB01QD.f \
+          "$(mkoctfile -p LAPACK_LIBS)" \
+          "$(mkoctfile -p BLAS_LIBS)"
 
 system ("rm *.o");
 cd (homedir);

Modified: trunk/octave-forge/extra/control-devel/devel/makefile_modred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/makefile_modred.m	2011-12-29 22:22:18 UTC (rev 9483)
+++ trunk/octave-forge/extra/control-devel/devel/makefile_modred.m	2011-12-29 22:49:10 UTC (rev 9484)
@@ -18,7 +18,9 @@
           SB03OU.f MA02AD.f MB03QX.f select.f SB03OT.f \
           SB02MR.f SB02MS.f MB03QD.f SB02MU.f SB02MV.f \
           SB02MW.f MB04ND.f MB04OD.f MB03QY.f SB03OR.f \
-          SB03OY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f
+          SB03OY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f \
+          "$(mkoctfile -p LAPACK_LIBS)" \
+          "$(mkoctfile -p BLAS_LIBS)"
 
 mkoctfile slab09id.cc \
           AB09ID.f TB01PD.f SB08DD.f TB01ID.f TB01KD.f \
@@ -28,7 +30,9 @@
           MA02BD.f MB03OY.f MB03QX.f MB01PD.f select.f \
           MB01YD.f MB04NY.f MB01ZD.f SB03OT.f MB04OX.f \
           MB04OY.f MB03QD.f SB03OY.f MB03QY.f MB01QD.f \
-          SB03OR.f SB03OV.f SB04PX.f
+          SB03OR.f SB03OV.f SB04PX.f \
+          "$(mkoctfile -p LAPACK_LIBS)" \
+          "$(mkoctfile -p BLAS_LIBS)"
 
 mkoctfile slab09jd.cc \
           AB09JD.f TB01ID.f TB01KD.f AB07ND.f AB09JV.f \
@@ -38,9 +42,10 @@
           MB03PY.f MA02DD.f MB03UD.f MB03QX.f select.f \
           SB04PX.f SB03OU.f MB03QD.f MB03QY.f SB03OT.f \
           MB04ND.f MB04OD.f SB03OR.f SB03OY.f MB04NY.f \
-          MB04OY.f SB03OV.f
+          MB04OY.f SB03OV.f \
+          "$(mkoctfile -p LAPACK_LIBS)" \
+          "$(mkoctfile -p BLAS_LIBS)"
 
-
 system ("rm *.o");
 cd (homedir);
 

Modified: trunk/octave-forge/extra/control-devel/src/Makefile
===================================================================
--- trunk/octave-forge/extra/control-devel/src/Makefile	2011-12-29 22:22:18 UTC (rev 9483)
+++ trunk/octave-forge/extra/control-devel/src/Makefile	2011-12-29 22:49:10 UTC (rev 9484)
@@ -1,3 +1,7 @@
+LAPACK_LIBS = $$(mkoctfile -p LAPACK_LIBS)
+BLAS_LIBS = $$(mkoctfile -p BLAS_LIBS)
+FLIBS = $$(mkoctfile -p FLIBS)
+
 all: slab09hd.oct slab09id.oct slab09jd.oct slsb16ad.oct slsb16bd.oct \
      slsb16cd.oct slsb10yd.oct
 
@@ -13,7 +17,8 @@
               SB03OU.f MA02AD.f MB03QX.f select.f SB03OT.f \
               SB02MR.f SB02MS.f MB03QD.f SB02MU.f SB02MV.f \
               SB02MW.f MB04ND.f MB04OD.f MB03QY.f SB03OR.f \
-              SB03OY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f
+              SB03OY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f \
+              ${LAPACK_LIBS} ${BLAS_LIBS}
 
 # balanced truncation & singular perturbation approximation model reduction
 slab09id.oct: slab09id.cc
@@ -25,7 +30,8 @@
               MA02BD.f MB03OY.f MB03QX.f MB01PD.f select.f \
               MB01YD.f MB04NY.f MB01ZD.f SB03OT.f MB04OX.f \
               MB04OY.f MB03QD.f SB03OY.f MB03QY.f MB01QD.f \
-              SB03OR.f SB03OV.f SB04PX.f
+              SB03OR.f SB03OV.f SB04PX.f \
+              ${LAPACK_LIBS} ${BLAS_LIBS}
 
 # hankel-norm approximation model reduction
 slab09jd.oct: slab09jd.cc
@@ -37,7 +43,8 @@
               MB03PY.f MA02DD.f MB03UD.f MB03QX.f select.f \
               SB04PX.f SB03OU.f MB03QD.f MB03QY.f SB03OT.f \
               MB04ND.f MB04OD.f SB03OR.f SB03OY.f MB04NY.f \
-              MB04OY.f SB03OV.f
+              MB04OY.f SB03OV.f \
+              ${LAPACK_LIBS} ${BLAS_LIBS}
 
 # balanced truncation & singular perturbation approximation controller reduction
 slsb16ad.oct: slsb16ad.cc
@@ -47,7 +54,8 @@
               AB09DD.f AB07ND.f TB01LD.f AB05QD.f SB03OU.f \
               MA02AD.f MB03QX.f select.f MB01YD.f MB01ZD.f \
               SB03OT.f MB04OY.f MB03QD.f MB04ND.f MB03QY.f \
-              SB03OR.f SB03OY.f SB04PX.f MB04NY.f SB03OV.f
+              SB03OR.f SB03OY.f SB04PX.f MB04NY.f SB03OV.f \
+              ${LAPACK_LIBS} ${BLAS_LIBS}	
 
 # coprime factorization state-feedback controller reduction
 slsb16bd.oct: slsb16bd.cc
@@ -56,7 +64,8 @@
               TB01ID.f AB09AX.f MA02GD.f AB09BX.f TB01WD.f \
               MA02DD.f MB03UD.f select.f AB09DD.f SB03OU.f \
               MA02AD.f SB03OT.f MB04ND.f MB04OD.f SB03OR.f \
-              SB03OY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f
+              SB03OY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f \
+              ${LAPACK_LIBS} ${BLAS_LIBS}
 
 # frequency-weighted coprime factorization state-feedback controller reduction
 slsb16cd.oct: slsb16cd.cc
@@ -64,7 +73,8 @@
               SB16CD.f SB16CY.f AB09IX.f SB03OD.f MB02UD.f \
               AB09DD.f MA02AD.f MB03UD.f select.f SB03OU.f \
               MB01SD.f SB03OT.f MB04ND.f MB04OD.f SB03OR.f \
-              SB03OY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f
+              SB03OY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f \
+              ${LAPACK_LIBS} ${BLAS_LIBS}
 
 # fit state-space model to frequency response data
 slsb10yd.oct: slsb10yd.cc
@@ -72,7 +82,8 @@
               SB10YD.f DG01MD.f AB04MD.f SB10ZP.f AB07ND.f \
               MC01PD.f TD04AD.f TD03AY.f TB01PD.f TB01XD.f \
               AB07MD.f TB01UD.f TB01ID.f MB01PD.f MB03OY.f \
-              MB01QD.f
+              MB01QD.f \
+              ${LAPACK_LIBS} ${BLAS_LIBS}
 
 clean:
 	rm *.o core octave-core *.oct *~

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Revision: 9548
          http://octave.svn.sourceforge.net/octave/?rev=9548&view=rev
Author:   paramaniac
Date:     2012-01-21 10:54:45 +0000 (Sat, 21 Jan 2012)
Log Message:
-----------
control-devel: doc fixes

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/pdfdoc/control-devel.tex
    trunk/octave-forge/extra/control-devel/inst/fitfrd.m

Modified: trunk/octave-forge/extra/control-devel/devel/pdfdoc/control-devel.tex
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/pdfdoc/control-devel.tex	2012-01-20 15:42:58 UTC (rev 9547)
+++ trunk/octave-forge/extra/control-devel/devel/pdfdoc/control-devel.tex	2012-01-21 10:54:45 UTC (rev 9548)
@@ -15,7 +15,7 @@
 @author Lukas F. Reichlin
 @page
 @vskip 0pt plus 1filll
-Copyright @copyright{} 2009-2011, Lukas F. Reichlin @email{lukas.reichlin@...}
+Copyright @copyright{} 2009-2012, Lukas F. Reichlin @email{lukas.reichlin@...}
 
 This manual is generated automatically from the texinfo help strings
 of the package's functions.
@@ -43,8 +43,8 @@
 @item Pole placement techniques as well as @tex $ H_2 $ @end tex
 and @tex $ H_{\infty} $ @end tex
 synthesis methods.
-@... Overloaded operators due to the use of the object-oriented features
-introduced with Octave 3.2.
+@item Frequency-weighted model and controller reduction.
+@item Overloaded operators due to the use of classes introduced with Octave 3.2.
 @item Support for descriptor state-space models and non-proper transfer functions.
 @item Improved @acronym{MATLAB} compatibility.
 @end itemize

Modified: trunk/octave-forge/extra/control-devel/inst/fitfrd.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/fitfrd.m	2012-01-20 15:42:58 UTC (rev 9547)
+++ trunk/octave-forge/extra/control-devel/inst/fitfrd.m	2012-01-21 10:54:45 UTC (rev 9548)
@@ -27,12 +27,16 @@
 ## LTI model containing frequency response data of a SISO system.
 ## @item n
 ## The desired order of the system to be fitted.  @code{n <= length(dat.w)}.
-## @item flag = 0
+## @item flag
+## The flag controls whether the returned system is stable and minimum-phase.
+## @table @var
+## @item 0
 ## The system zeros and poles are not constrained.  Default value.
-## @item flag = 1
+## @item 1
 ## The system zeros and poles will have negative real parts in the
 ## continuous-time case, or moduli less than 1 in the discrete-time case.
 ## @end table
+## @end table
 ##
 ## @strong{Outputs}
 ## @table @var

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Revision: 9628
          http://octave.svn.sourceforge.net/octave/?rev=9628&view=rev
Author:   paramaniac
Date:     2012-02-15 19:39:36 +0000 (Wed, 15 Feb 2012)
Log Message:
-----------
control-devel: work on iddata class (3)

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/@iddata/iddata.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/test_iddata.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/display.m

Added: trunk/octave-forge/extra/control-devel/devel/test_iddata.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_iddata.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-02-15 19:39:36 UTC (rev 9628)
@@ -0,0 +1,3 @@
+dat = iddata ((1:10).', (21:30).')
+
+a = iddata ({(1:10).', (21:30).'}, {(31:40).', (41:50).'})
\ No newline at end of file

Added: trunk/octave-forge/extra/control-devel/inst/@iddata/display.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/display.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/display.m	2012-02-15 19:39:36 UTC (rev 9628)
@@ -0,0 +1,96 @@
+## Copyright (C) 2012   Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## Display routine for iddata objects.
+
+## Author: Lukas Reichlin <lukas.reichlin@...>
+## Created: February 2012
+## Version: 0.1
+
+function display (dat)
+
+  datname = inputname (1);
+  [outname, p] = __labels__ (dat.outname, "y");
+  [inname, m] = __labels__ (dat.inname, "u");
+  [exname, e] = __labels__ (dat.exname, "exp");
+  
+  [n, p, m, e] = size (dat);
+
+  disp ("");
+
+  if (! isempty (sys.e))
+    __disp_mat__ (sys.e, [sysname, ".e"], stname, stname);
+  endif
+
+  if (! isempty (sys.a))
+    __disp_mat__ (sys.a, [sysname, ".a"], stname, stname);
+    __disp_mat__ (sys.b, [sysname, ".b"], stname, inname);
+    __disp_mat__ (sys.c, [sysname, ".c"], outname, stname);
+  endif
+
+  __disp_mat__ (sys.d, [sysname, ".d"], outname, inname);
+
+  display (sys.lti);  # display sampling time
+
+  if (tsam == -2)
+    disp ("Static gain.");
+  elseif (tsam == 0)
+    disp ("Continuous-time model.");
+  else
+    disp ("Discrete-time model.");
+  endif
+
+endfunction
+
+
+function __disp_mat__ (m, mname, rname, cname)
+
+  MAX_LEN = 12;       # max length of row name and column name
+  [mrows, mcols] = size (m);
+
+  row_name = strjust (strvcat (" ", rname), "left");
+  row_name = row_name(:, 1 : min (MAX_LEN, end));
+  row_name = horzcat (repmat (" ", mrows+1, 3), row_name);
+
+  mat = cell (1, mcols);
+  
+  for k = 1 : mcols
+    cname{k} = cname{k}(:, 1 : min (MAX_LEN, end));
+    acol = vertcat (cname(k), cellstr (deblank (num2str (m(:, k), 4))));
+    mat{k} = strjust (strvcat (acol{:}), "right");
+  endfor
+
+  lcols = cellfun (@columns, mat);
+  lcols_max = 2 + max (horzcat (lcols, 1));
+
+  for k = 1 : mcols
+    mat{k} = horzcat (repmat (" ", mrows+1, lcols_max-lcols(k)), mat{k});
+  endfor
+
+  tsize = terminal_size ();
+  dispcols = max (1, floor ((tsize(2) - columns (row_name)) / lcols_max));
+  disprows = max (1, ceil (mcols / dispcols));
+
+  disp ([mname, " ="]);
+
+  for k = 1 : disprows
+    disp (horzcat (row_name, mat{1+(k-1)*dispcols : min (mcols, k*dispcols)}));
+    disp ("");
+  endfor
+
+endfunction
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/iddata.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/iddata.m	2012-02-15 19:02:46 UTC (rev 9627)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/iddata.m	2012-02-15 19:39:36 UTC (rev 9628)
@@ -1,3 +1,57 @@
+## Copyright (C) 2011, 2012   Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn{Function File} {@var{dat} =} iddata (@var{y}, @var{u})
+## @deftypefnx{Function File} {@var{dat} =} iddata (@var{y}, @var{u}, @var{tsam})
+## Fit frequency response data with a state-space system.
+## If requested, the returned system is stable and minimum-phase.
+##
+## @strong{Inputs}
+## @table @var
+## @item dat
+## LTI model containing frequency response data of a SISO system.
+## @item n
+## The desired order of the system to be fitted.  @code{n <= length(dat.w)}.
+## @item flag
+## The flag controls whether the returned system is stable and minimum-phase.
+## @table @var
+## @item 0
+## The system zeros and poles are not constrained.  Default value.
+## @item 1
+## The system zeros and poles will have negative real parts in the
+## continuous-time case, or moduli less than 1 in the discrete-time case.
+## @end table
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item sys
+## State-space model of order @var{n}, fitted to frequency response data @var{dat}.
+## @item n
+## The order of the obtained system.  The value of @var{n}
+## could only be modified if inputs @code{n > 0} and @code{flag = 1}.
+## @end table
+##
+## @strong{Algorithm}@*
+## Uses SLICOT SB10YD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
+## @end deftypefn
+
 ## Author: Lukas Reichlin <lukas.reichlin@...>
 ## Created: October 2011
 ## Version: 0.1
@@ -11,6 +65,7 @@
     print_usage ();
   endif
 
+  ## TODO: individual tsam for each experiment
   if (! issample (tsam, -1))
     error ("iddata: invalid sampling time");
   endif

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Revision: 9641
          http://octave.svn.sourceforge.net/octave/?rev=9641&view=rev
Author:   paramaniac
Date:     2012-02-21 14:23:31 +0000 (Tue, 21 Feb 2012)
Log Message:
-----------
control-devel: minor changes

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/test_iddata.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/display.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/iddata.m

Modified: trunk/octave-forge/extra/control-devel/devel/test_iddata.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-02-20 21:33:59 UTC (rev 9640)
+++ trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-02-21 14:23:31 UTC (rev 9641)
@@ -1,3 +1,5 @@
 dat = iddata ((1:10).', (21:30).')
 
-a = iddata ({(1:10).', (21:30).'}, {(31:40).', (41:50).'})
\ No newline at end of file
+a = iddata ({(1:10).', (21:30).'}, {(31:40).', (41:50).'})
+
+b = iddata ({(1:10).', (21:30).'}, [])
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/display.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/display.m	2012-02-20 21:33:59 UTC (rev 9640)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/display.m	2012-02-21 14:23:31 UTC (rev 9641)
@@ -38,10 +38,14 @@
 
   disp ("");
   disp (str);
+  disp ("");
   
   disp (__col2str__ (exname, "Experiment"));
-  disp (__col2str__ (outname, "Output Channel"));
-  disp (__col2str__ (inname, "Input Channel"));
+  disp ("");
+  disp (__col2str__ (outname, "Outputs"));
+  disp ("");
+  disp (__col2str__ (inname, "Inputs"));
+  disp ("");
   
 %{
   str = strjust (strvcat (exname), "left");
@@ -63,7 +67,7 @@
 
   len = rows (col);
   str = strjust (strvcat (col), "left");
-  str = [repmat("  ", len, 1), str];
+  str = [repmat("   ", len, 1), str];
   str = strvcat (title, str);
 
 endfunction

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/iddata.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/iddata.m	2012-02-20 21:33:59 UTC (rev 9640)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/iddata.m	2012-02-21 14:23:31 UTC (rev 9641)
@@ -61,7 +61,7 @@
   if (nargin == 1 && isa (y, "iddata"))
     dat = y;
     return;
-  elseif (nargin < 2)
+  elseif (nargin < 1)
     print_usage ();
   endif
 
@@ -109,3 +109,11 @@
   endif
 
 endfunction
+
+
+%!error (iddata);
+%!error (iddata ((1:10).', (1:11).'));
+%!warning (iddata (1:10));
+%!warning (iddata (1:10, 1:10));
+
+

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

Revision: 9642
          http://octave.svn.sourceforge.net/octave/?rev=9642&view=rev
Author:   paramaniac
Date:     2012-02-21 19:27:53 +0000 (Tue, 21 Feb 2012)
Log Message:
-----------
control-devel: add get/set methods to iddata class

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/test_iddata.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/iddata.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/inst/@iddata/__property_names__.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/get.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/plot.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/set.m
    trunk/octave-forge/extra/control-devel/inst/__adjust_iddata__.m

Modified: trunk/octave-forge/extra/control-devel/devel/test_iddata.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-02-21 14:23:31 UTC (rev 9641)
+++ trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-02-21 19:27:53 UTC (rev 9642)
@@ -2,4 +2,6 @@
 
 a = iddata ({(1:10).', (21:30).'}, {(31:40).', (41:50).'})
 
-b = iddata ({(1:10).', (21:30).'}, [])
\ No newline at end of file
+b = iddata ({(1:10).', (21:30).'}, [])
+
+c = iddata ({(1:10).', (21:40).'}, {(31:40).', (41:60).'})
\ No newline at end of file

Added: trunk/octave-forge/extra/control-devel/inst/@iddata/__property_names__.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/__property_names__.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/__property_names__.m	2012-02-21 19:27:53 UTC (rev 9642)
@@ -0,0 +1,57 @@
+## Copyright (C) 2012   Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} {[@var{props}, @var{vals}] =} __property_names__ (@var{sys})
+## Return the list of properties as well as the assignable values for an LTI object sys.
+## @end deftypefn
+
+## Author: Lukas Reichlin <lukas.reichlin@...>
+## Created: February 2012
+## Version: 0.1
+
+function [props, vals] = __property_names__ (dat)
+
+  ## cell vector of iddata-specific properties
+  props = {"y";
+           "outname";
+           "outunit";
+           "u";
+           "inname";
+           "inunit";
+           "tsam";
+           "timeunit";
+           "exname";
+           "name";
+           "notes";
+           "userdata"};
+
+  ## cell vector of lti-specific assignable values
+  vals = {"p-by-1 cell vector of matrices";
+          "p-by-1 cell vector of strings";
+          "p-by-1 cell vector of strings";
+          "m-by-1 cell vector of matrices";
+          "m-by-1 cell vector of strings";
+          "m-by-1 cell vector of strings";
+          "scalar (sample time in seconds)";
+          "string";
+          "e-by-1 cell vector of strings";
+          "string";
+          "string or cell of strings";
+          "any data type"};
+
+endfunction
\ No newline at end of file

Added: trunk/octave-forge/extra/control-devel/inst/@iddata/get.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/get.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/get.m	2012-02-21 19:27:53 UTC (rev 9642)
@@ -0,0 +1,73 @@
+## Copyright (C) 2012   Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} get (@var{sys})
+## @deftypefnx {Function File} {@var{value} =} get (@var{sys}, @var{"property"})
+## Access property values of LTI objects.
+## @end deftypefn
+
+## Author: Lukas Reichlin <lukas.reichlin@...>
+## Created: February 2012
+## Version: 0.1
+
+function varargout = get (dat, varargin)
+
+  if (nargin == 1)
+    [props, vals] = __property_names__ (dat);
+    nrows = numel (props);
+    str = strjust (strvcat (props), "right");
+    str = horzcat (repmat ("   ", nrows, 1), str, repmat (":  ", nrows, 1), strvcat (vals));
+    disp (str);
+  else
+    for k = 1 : (nargin-1)
+      prop = lower (varargin{k});
+
+      switch (prop)
+        case {"y", "outdata", "outputdata"}
+          val = dat.y;
+        case {"u", "indata", "inputdata"}
+          val = dat.u;
+        case {"outname", "outputname"}
+          val = dat.outname;
+        case {"inname", "inputname"}
+          val = dat.inname;
+        case {"outunit", "outputunit"}
+          val = dat.outunit;
+        case {"inunit", "inputunit"}
+          val = dat.inunit;
+        case {"tsam", "ts"}
+          val = dat.tsam;
+        case {"timeunit"}
+          val = dat.timeunit
+        case {"exname", "experimentname"}
+          val = dat.exname;
+        case "name"
+          val = dat.name;
+        case "notes"
+          val = dat.notes;
+        case "userdata"
+          val = dat.userdata;
+        otherwise
+          error ("iddata: get: invalid property name '%s'", varargin{k});
+      endswitch
+
+      varargout{k} = val;
+    endfor
+  endif
+
+endfunction
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/iddata.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/iddata.m	2012-02-21 14:23:31 UTC (rev 9641)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/iddata.m	2012-02-21 19:27:53 UTC (rev 9642)
@@ -92,25 +92,6 @@
 endfunction
 
 
-function [y, u] = __adjust_iddata__ (y, u)
-
-  if (iscell (y))
-    y = reshape (y, [], 1);
-  else
-    y = {y};
-  endif
-  
-  if (isempty (u))
-    u = [];     # avoid [](nx0) and the like
-  elseif (iscell (u))
-    u = reshape (u, [], 1);
-  else
-    u = {u};
-  endif
-
-endfunction
-
-
 %!error (iddata);
 %!error (iddata ((1:10).', (1:11).'));
 %!warning (iddata (1:10));

Added: trunk/octave-forge/extra/control-devel/inst/@iddata/plot.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/plot.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/plot.m	2012-02-21 19:27:53 UTC (rev 9642)
@@ -0,0 +1,23 @@
+function plot (dat)
+
+  [n, p, m, e] = size (dat)
+
+  if (m == 0)  # time series
+    for k = 1 : e
+      plot (dat.y{k})
+      hold on
+    endfor
+  else         # inputs present
+    for k = 1 : e
+      subplot (2, 1, 1)
+      plot (dat.y{k})
+      hold on
+      subplot (2, 1, 2)
+      stairs (dat.u{k})
+      hold on
+    endfor
+  endif
+  
+  hold off
+
+endfunction
\ No newline at end of file

Added: trunk/octave-forge/extra/control-devel/inst/@iddata/set.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/set.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/set.m	2012-02-21 19:27:53 UTC (rev 9642)
@@ -0,0 +1,127 @@
+## Copyright (C) 2012   Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} set (@var{sys})
+## @deftypefnx {Function File} set (@var{sys}, @var{"property"}, @var{value}, @dots{})
+## @deftypefnx {Function File} {@var{retsys} =} set (@var{sys}, @var{"property"}, @var{value}, @dots{})
+## Set or modify properties of LTI objects.
+## If no return argument @var{retsys} is specified, the modified LTI object is stored
+## in input argument @var{sys}.  @command{set} can handle multiple properties in one call:
+## @code{set (sys, 'prop1', val1, 'prop2', val2, 'prop3', val3)}.
+## @code{set (sys)} prints a list of the object's property names.
+## @end deftypefn
+
+## Author: Lukas Reichlin <lukas.reichlin@...>
+## Created: February 2012
+## Version: 0.1
+
+function retdat = set (dat, varargin)
+
+  if (nargin == 1)       # set (dat), dat = set (dat)
+
+    [props, vals] = __property_names__ (dat);
+    nrows = numel (props);
+
+    str = strjust (strvcat (props), "right");
+    str = horzcat (repmat ("   ", nrows, 1), str, repmat (":  ", nrows, 1), strvcat (vals));
+
+    disp (str);
+
+    if (nargout != 0)    # function dat = set (dat, varargin)
+      retdat = dat;      # would lead to unwanted output when using
+    endif                # set (dat)
+
+  else                   # set (dat, "prop1", val1, ...), sys = set (dat, "prop1", val1, ...)
+
+    if (rem (nargin-1, 2))
+      error ("iddata: set: properties and values must come in pairs");
+    endif
+
+    [n, p, m, e] = size (dat);
+
+    for k = 1 : 2 : (nargin-1)
+      prop = lower (varargin{k});
+      val = varargin{k+1};
+
+      switch (prop)
+        case {"y", "outdata", "outputdata"}
+          val = __adjust_iddata__ (val, dat.u);
+          __iddata_dim__ (val, dat.u);
+          dat.y = val;
+        case {"u", "indata", "inputdata"}
+          [~, val] = __adjust_iddata__ (dat.y, val);
+          __iddata_dim__ (dat.y, val);
+          dat.u = val;
+        case {"outname", "outputname"}
+          dat.outname = __adjust_labels__ (val, p);
+        case {"inname", "inputname"}
+          dat.inname = __adjust_labels__ (val, m);
+        case {"outunit", "outputunit"}
+          dat.outunit = __adjust_labels__ (val, p);
+        case {"inunit", "inputunit"}
+          dat.inunit = __adjust_labels__ (val, m);
+        case {"tsam", "ts"}
+          dat.tsam;
+        case {"timeunit"}
+          dat.timeunit
+        case {"exname", "experimentname"}
+          dat.exname = __adjust_labels__ (val, e);
+
+        case {"tsam", "ts"}
+          if (issample (val, -1))
+            sys.tsam = val;
+            warning ("lti: set: use the editing of property '%s' with caution", prop);
+            warning ("          it may lead to corrupted models");
+          else
+            error ("lti: set: invalid sampling time");
+          endif
+          ## TODO: use of c2d, d2c and d2d if tsam changes?
+
+        case "name"
+          if (ischar (val))
+            sys.name = val;
+          else
+            error ("lti: set: property 'name' requires a string");
+          endif
+
+        case "notes"
+          if (iscellstr (val))
+            sys.notes = val;
+          elseif (ischar (val))
+            sys.notes = {val};
+          else
+            error ("lti: set: property 'notes' requires string or cell of strings");
+          endif
+
+        case "userdata"
+          sys.userdata = val;
+
+        otherwise
+          error ("iddata: set: invalid property name '%s'", varargin{k});
+      endswitch
+    endfor
+
+    if (nargout == 0)    # set (sys, "prop1", val1, ...)
+      assignin ("caller", inputname (1), dat);
+    else                 # dat = set (dat, "prop1", val1, ...)
+      retdat = dat;
+    endif
+
+  endif
+
+endfunction
\ No newline at end of file

Added: trunk/octave-forge/extra/control-devel/inst/__adjust_iddata__.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/__adjust_iddata__.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/inst/__adjust_iddata__.m	2012-02-21 19:27:53 UTC (rev 9642)
@@ -0,0 +1,38 @@
+## Copyright (C) 2012   Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+## Author: Lukas Reichlin <lukas.reichlin@...>
+## Created: February 2012
+## Version: 0.1
+
+function [y, u] = __adjust_iddata__ (y, u)
+
+  if (iscell (y))
+    y = reshape (y, [], 1);
+  else
+    y = {y};
+  endif
+  
+  if (isempty (u))
+    u = [];     # avoid [](nx0) and the like
+  elseif (iscell (u))
+    u = reshape (u, [], 1);
+  else
+    u = {u};
+  endif
+
+endfunction

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

Revision: 9646
          http://octave.svn.sourceforge.net/octave/?rev=9646&view=rev
Author:   paramaniac
Date:     2012-02-22 10:03:24 +0000 (Wed, 22 Feb 2012)
Log Message:
-----------
control-devel: improve dimension checks of set arguments

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/test_iddata.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/set.m

Modified: trunk/octave-forge/extra/control-devel/devel/test_iddata.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-02-21 20:48:08 UTC (rev 9645)
+++ trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-02-22 10:03:24 UTC (rev 9646)
@@ -4,4 +4,10 @@
 
 b = iddata ({(1:10).', (21:30).'}, [])
 
-c = iddata ({(1:10).', (21:40).'}, {(31:40).', (41:60).'})
\ No newline at end of file
+c = iddata ({(1:10).', (21:40).'}, {(31:40).', (41:60).'})
+
+x = c;
+%x.y = {}
+
+%x.u = []
+x.u = x.y
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/set.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/set.m	2012-02-21 20:48:08 UTC (rev 9645)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/set.m	2012-02-22 10:03:24 UTC (rev 9646)
@@ -42,11 +42,11 @@
 
     disp (str);
 
-    if (nargout != 0)    # function dat = set (dat, varargin)
-      retdat = dat;      # would lead to unwanted output when using
-    endif                # set (dat)
+    if (nargout != 0)       # function dat = set (dat, varargin)
+      retdat = dat;         # would lead to unwanted output when using
+    endif                   # set (dat)
 
-  else                   # set (dat, "prop1", val1, ...), sys = set (dat, "prop1", val1, ...)
+  else                      # set (dat, "prop1", val1, ...), dat = set (dat, "prop1", val1, ...)
 
     if (rem (nargin-1, 2))
       error ("iddata: set: properties and values must come in pairs");
@@ -61,11 +61,20 @@
       switch (prop)
         case {"y", "outdata", "outputdata"}
           val = __adjust_iddata__ (val, dat.u);
-          __iddata_dim__ (val, dat.u);
+          [pval, ~, eval] = __iddata_dim__ (val, dat.u);
+          if (pval != p)
+            error ("iddata: set: argument has %d instead of %d outputs", pval, p);
+          endif
+          if (eval != e)    # iddata_dim is not sufficient if dat.u = []
+            error ("iddata: set: argument has %d instead of %d experiments", eval, e);
+          endif
           dat.y = val;
         case {"u", "indata", "inputdata"}
           [~, val] = __adjust_iddata__ (dat.y, val);
-          __iddata_dim__ (dat.y, val);
+          [~, mval] = __iddata_dim__ (dat.y, val);
+          if (mval != m)
+            error ("iddata: set: argument has %d instead of %d inputs", mval, m);
+          endif
           dat.u = val;
         case {"outname", "outputname"}
           dat.outname = __adjust_labels__ (val, p);
@@ -116,7 +125,7 @@
       endswitch
     endfor
 
-    if (nargout == 0)    # set (sys, "prop1", val1, ...)
+    if (nargout == 0)    # set (dat, "prop1", val1, ...)
       assignin ("caller", inputname (1), dat);
     else                 # dat = set (dat, "prop1", val1, ...)
       retdat = dat;

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

Revision: 9649
          http://octave.svn.sourceforge.net/octave/?rev=9649&view=rev
Author:   paramaniac
Date:     2012-02-22 16:37:14 +0000 (Wed, 22 Feb 2012)
Log Message:
-----------
control-devel: reorganize makefile

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/makefile_modred.m
    trunk/octave-forge/extra/control-devel/src/Makefile

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/src/slicot.tar.gz

Removed Paths:
-------------
    trunk/octave-forge/extra/control-devel/src/AB04MD.f
    trunk/octave-forge/extra/control-devel/src/AB05PD.f
    trunk/octave-forge/extra/control-devel/src/AB05QD.f
    trunk/octave-forge/extra/control-devel/src/AB07MD.f
    trunk/octave-forge/extra/control-devel/src/AB07ND.f
    trunk/octave-forge/extra/control-devel/src/AB08MD.f
    trunk/octave-forge/extra/control-devel/src/AB08NX.f
    trunk/octave-forge/extra/control-devel/src/AB09AD.f
    trunk/octave-forge/extra/control-devel/src/AB09AX.f
    trunk/octave-forge/extra/control-devel/src/AB09BD.f
    trunk/octave-forge/extra/control-devel/src/AB09BX.f
    trunk/octave-forge/extra/control-devel/src/AB09CX.f
    trunk/octave-forge/extra/control-devel/src/AB09DD.f
    trunk/octave-forge/extra/control-devel/src/AB09HD.f
    trunk/octave-forge/extra/control-devel/src/AB09HY.f
    trunk/octave-forge/extra/control-devel/src/AB09ID.f
    trunk/octave-forge/extra/control-devel/src/AB09IX.f
    trunk/octave-forge/extra/control-devel/src/AB09IY.f
    trunk/octave-forge/extra/control-devel/src/AB09JD.f
    trunk/octave-forge/extra/control-devel/src/AB09JV.f
    trunk/octave-forge/extra/control-devel/src/AB09JW.f
    trunk/octave-forge/extra/control-devel/src/AB09JX.f
    trunk/octave-forge/extra/control-devel/src/AG07BD.f
    trunk/octave-forge/extra/control-devel/src/DG01MD.f
    trunk/octave-forge/extra/control-devel/src/IB01AD.f
    trunk/octave-forge/extra/control-devel/src/IB01BD.f
    trunk/octave-forge/extra/control-devel/src/IB01CD.f
    trunk/octave-forge/extra/control-devel/src/IB01MD.f
    trunk/octave-forge/extra/control-devel/src/IB01MY.f
    trunk/octave-forge/extra/control-devel/src/IB01ND.f
    trunk/octave-forge/extra/control-devel/src/IB01OD.f
    trunk/octave-forge/extra/control-devel/src/IB01OY.f
    trunk/octave-forge/extra/control-devel/src/IB01PD.f
    trunk/octave-forge/extra/control-devel/src/IB01PX.f
    trunk/octave-forge/extra/control-devel/src/IB01PY.f
    trunk/octave-forge/extra/control-devel/src/IB01QD.f
    trunk/octave-forge/extra/control-devel/src/IB01RD.f
    trunk/octave-forge/extra/control-devel/src/MA02AD.f
    trunk/octave-forge/extra/control-devel/src/MA02BD.f
    trunk/octave-forge/extra/control-devel/src/MA02DD.f
    trunk/octave-forge/extra/control-devel/src/MA02ED.f
    trunk/octave-forge/extra/control-devel/src/MA02FD.f
    trunk/octave-forge/extra/control-devel/src/MA02GD.f
    trunk/octave-forge/extra/control-devel/src/MB01PD.f
    trunk/octave-forge/extra/control-devel/src/MB01QD.f
    trunk/octave-forge/extra/control-devel/src/MB01RU.f
    trunk/octave-forge/extra/control-devel/src/MB01RX.f
    trunk/octave-forge/extra/control-devel/src/MB01RY.f
    trunk/octave-forge/extra/control-devel/src/MB01SD.f
    trunk/octave-forge/extra/control-devel/src/MB01TD.f
    trunk/octave-forge/extra/control-devel/src/MB01UD.f
    trunk/octave-forge/extra/control-devel/src/MB01VD.f
    trunk/octave-forge/extra/control-devel/src/MB01WD.f
    trunk/octave-forge/extra/control-devel/src/MB01YD.f
    trunk/octave-forge/extra/control-devel/src/MB01ZD.f
    trunk/octave-forge/extra/control-devel/src/MB02PD.f
    trunk/octave-forge/extra/control-devel/src/MB02QY.f
    trunk/octave-forge/extra/control-devel/src/MB02UD.f
    trunk/octave-forge/extra/control-devel/src/MB03OD.f
    trunk/octave-forge/extra/control-devel/src/MB03OY.f
    trunk/octave-forge/extra/control-devel/src/MB03PY.f
    trunk/octave-forge/extra/control-devel/src/MB03QD.f
    trunk/octave-forge/extra/control-devel/src/MB03QX.f
    trunk/octave-forge/extra/control-devel/src/MB03QY.f
    trunk/octave-forge/extra/control-devel/src/MB03UD.f
    trunk/octave-forge/extra/control-devel/src/MB04ID.f
    trunk/octave-forge/extra/control-devel/src/MB04IY.f
    trunk/octave-forge/extra/control-devel/src/MB04KD.f
    trunk/octave-forge/extra/control-devel/src/MB04ND.f
    trunk/octave-forge/extra/control-devel/src/MB04NY.f
    trunk/octave-forge/extra/control-devel/src/MB04OD.f
    trunk/octave-forge/extra/control-devel/src/MB04OX.f
    trunk/octave-forge/extra/control-devel/src/MB04OY.f
    trunk/octave-forge/extra/control-devel/src/MC01PD.f
    trunk/octave-forge/extra/control-devel/src/SB01FY.f
    trunk/octave-forge/extra/control-devel/src/SB02MD.f
    trunk/octave-forge/extra/control-devel/src/SB02MR.f
    trunk/octave-forge/extra/control-devel/src/SB02MS.f
    trunk/octave-forge/extra/control-devel/src/SB02MT.f
    trunk/octave-forge/extra/control-devel/src/SB02MU.f
    trunk/octave-forge/extra/control-devel/src/SB02MV.f
    trunk/octave-forge/extra/control-devel/src/SB02MW.f
    trunk/octave-forge/extra/control-devel/src/SB02ND.f
    trunk/octave-forge/extra/control-devel/src/SB02QD.f
    trunk/octave-forge/extra/control-devel/src/SB02RD.f
    trunk/octave-forge/extra/control-devel/src/SB02RU.f
    trunk/octave-forge/extra/control-devel/src/SB02SD.f
    trunk/octave-forge/extra/control-devel/src/SB03MV.f
    trunk/octave-forge/extra/control-devel/src/SB03MW.f
    trunk/octave-forge/extra/control-devel/src/SB03MX.f
    trunk/octave-forge/extra/control-devel/src/SB03MY.f
    trunk/octave-forge/extra/control-devel/src/SB03OD.f
    trunk/octave-forge/extra/control-devel/src/SB03OR.f
    trunk/octave-forge/extra/control-devel/src/SB03OT.f
    trunk/octave-forge/extra/control-devel/src/SB03OU.f
    trunk/octave-forge/extra/control-devel/src/SB03OV.f
    trunk/octave-forge/extra/control-devel/src/SB03OY.f
    trunk/octave-forge/extra/control-devel/src/SB03QX.f
    trunk/octave-forge/extra/control-devel/src/SB03QY.f
    trunk/octave-forge/extra/control-devel/src/SB03SX.f
    trunk/octave-forge/extra/control-devel/src/SB03SY.f
    trunk/octave-forge/extra/control-devel/src/SB04PX.f
    trunk/octave-forge/extra/control-devel/src/SB04PY.f
    trunk/octave-forge/extra/control-devel/src/SB08CD.f
    trunk/octave-forge/extra/control-devel/src/SB08DD.f
    trunk/octave-forge/extra/control-devel/src/SB08GD.f
    trunk/octave-forge/extra/control-devel/src/SB08HD.f
    trunk/octave-forge/extra/control-devel/src/SB10YD.f
    trunk/octave-forge/extra/control-devel/src/SB10ZP.f
    trunk/octave-forge/extra/control-devel/src/SB16AD.f
    trunk/octave-forge/extra/control-devel/src/SB16AY.f
    trunk/octave-forge/extra/control-devel/src/SB16BD.f
    trunk/octave-forge/extra/control-devel/src/SB16CD.f
    trunk/octave-forge/extra/control-devel/src/SB16CY.f
    trunk/octave-forge/extra/control-devel/src/TB01ID.f
    trunk/octave-forge/extra/control-devel/src/TB01KD.f
    trunk/octave-forge/extra/control-devel/src/TB01LD.f
    trunk/octave-forge/extra/control-devel/src/TB01PD.f
    trunk/octave-forge/extra/control-devel/src/TB01UD.f
    trunk/octave-forge/extra/control-devel/src/TB01WD.f
    trunk/octave-forge/extra/control-devel/src/TB01XD.f
    trunk/octave-forge/extra/control-devel/src/TD03AY.f
    trunk/octave-forge/extra/control-devel/src/TD04AD.f
    trunk/octave-forge/extra/control-devel/src/delctg.f
    trunk/octave-forge/extra/control-devel/src/select.f

Modified: trunk/octave-forge/extra/control-devel/devel/makefile_modred.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/makefile_modred.m	2012-02-22 15:13:45 UTC (rev 9648)
+++ trunk/octave-forge/extra/control-devel/devel/makefile_modred.m	2012-02-22 16:37:14 UTC (rev 9649)
@@ -13,36 +13,17 @@
 cd (srcdir);
 
 mkoctfile slab09hd.cc \
-          AB09HD.f TB01ID.f AB04MD.f TB01KD.f AB09HY.f \
-          AB09IX.f MB03UD.f SB02MD.f AB09DD.f TB01LD.f \
-          SB03OU.f MA02AD.f MB03QX.f select.f SB03OT.f \
-          SB02MR.f SB02MS.f MB03QD.f SB02MU.f SB02MV.f \
-          SB02MW.f MB04ND.f MB04OD.f MB03QY.f SB03OR.f \
-          SB03OY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f \
+          slicotlibrary.a \
           "$(mkoctfile -p LAPACK_LIBS)" \
           "$(mkoctfile -p BLAS_LIBS)"
 
 mkoctfile slab09id.cc \
-          AB09ID.f TB01PD.f SB08DD.f TB01ID.f TB01KD.f \
-          AB09IX.f AB09IY.f SB08CD.f MB04ND.f TB01XD.f \
-          MB04OD.f MB01WD.f MB03UD.f AB07MD.f SB01FY.f \
-          AB09DD.f TB01LD.f SB03OU.f TB01UD.f MA02AD.f \
-          MA02BD.f MB03OY.f MB03QX.f MB01PD.f select.f \
-          MB01YD.f MB04NY.f MB01ZD.f SB03OT.f MB04OX.f \
-          MB04OY.f MB03QD.f SB03OY.f MB03QY.f MB01QD.f \
-          SB03OR.f SB03OV.f SB04PX.f \
+          slicotlibrary.a \
           "$(mkoctfile -p LAPACK_LIBS)" \
           "$(mkoctfile -p BLAS_LIBS)"
 
 mkoctfile slab09jd.cc \
-          AB09JD.f TB01ID.f TB01KD.f AB07ND.f AB09JV.f \
-          AB09JW.f AB09CX.f AG07BD.f AB08MD.f AB04MD.f \
-          TB01LD.f delctg.f SB04PY.f AB09AX.f AB08NX.f \
-          MB01SD.f AB09JX.f MA02AD.f TB01WD.f MB03OY.f \
-          MB03PY.f MA02DD.f MB03UD.f MB03QX.f select.f \
-          SB04PX.f SB03OU.f MB03QD.f MB03QY.f SB03OT.f \
-          MB04ND.f MB04OD.f SB03OR.f SB03OY.f MB04NY.f \
-          MB04OY.f SB03OV.f \
+          slicotlibrary.a \
           "$(mkoctfile -p LAPACK_LIBS)" \
           "$(mkoctfile -p BLAS_LIBS)"
 

Deleted: trunk/octave-forge/extra/control-devel/src/AB04MD.f
===================================================================
--- trunk/octave-forge/extra/control-devel/src/AB04MD.f	2012-02-22 15:13:45 UTC (rev 9648)
+++ trunk/octave-forge/extra/control-devel/src/AB04MD.f	2012-02-22 16:37:14 UTC (rev 9649)
@@ -1,345 +0,0 @@
-      SUBROUTINE AB04MD( TYPE, N, M, P, ALPHA, BETA, A, LDA, B, LDB, C,
-     $                   LDC, D, LDD, IWORK, DWORK, LDWORK, INFO )
-C
-C     SLICOT RELEASE 5.0.
-C
-C     Copyright (c) 2002-2009 NICONET e.V.
-C
-C     This program is free software: you can redistribute it and/or
-C     modify it under the terms of the GNU General Public License as
-C     published by the Free Software Foundation, either version 2 of
-C     the License, or (at your option) any later version.
-C
-C     This program is distributed in the hope that it will be useful,
-C     but WITHOUT ANY WARRANTY; without even the implied warranty of
-C     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-C     GNU General Public License for more details.
-C
-C     You should have received a copy of the GNU General Public License
-C     along with this program.  If not, see
-C     <http://www.gnu.org/licenses/>.
-C
-C     PURPOSE
-C
-C     To perform a transformation on the parameters (A,B,C,D) of a
-C     system, which is equivalent to a bilinear transformation of the
-C     corresponding transfer function matrix.
-C
-C     ARGUMENTS
-C
-C     Mode Parameters
-C
-C     TYPE    CHARACTER*1
-C             Indicates the type of the original system and the
-C             transformation to be performed as follows:
-C             = 'D':  discrete-time   -> continuous-time;
-C             = 'C':  continuous-time -> discrete-time.
-C
-C     Input/Output Parameters
-C
-C     N       (input) INTEGER
-C             The order of the state matrix A.  N >= 0.
-C
-C     M       (input) INTEGER
-C             The number of system inputs.  M >= 0.
-C
-C     P       (input) INTEGER
-C             The number of system outputs.  P >= 0.
-C
-C     ALPHA,  (input) DOUBLE PRECISION
-C     BETA    Parameters specifying the bilinear transformation.
-C             Recommended values for stable systems: ALPHA = 1,
-C             BETA = 1.  ALPHA <> 0, BETA <> 0.
-C
-C     A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-C             On entry, the leading N-by-N part of this array must
-C             contain the state matrix A of the original system.
-C             On exit, the leading N-by-N part of this array contains
-C                              _
-C             the state matrix A of the transformed system.
-C
-C     LDA     INTEGER
-C             The leading dimension of array A.  LDA >= MAX(1,N).
-C
-C     B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-C             On entry, the leading N-by-M part of this array must
-C             contain the input matrix B of the original system.
-C             On exit, the leading N-by-M part of this array contains
-C                              _
-C             the input matrix B of the transformed system.
-C
-C     LDB     INTEGER
-C             The leading dimension of array B.  LDB >= MAX(1,N).
-C
-C     C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-C             On entry, the leading P-by-N part of this array must
-C             contain the output matrix C of the original system.
-C             On exit, the leading P-by-N part of this array contains
-C                               _
-C             the output matrix C of the transformed system.
-C
-C     LDC     INTEGER
-C             The leading dimension of array C.  LDC >= MAX(1,P).
-C
-C     D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-C             On entry, the leading P-by-M part of this array must
-C             contain the input/output matrix D for the original system.
-C             On exit, the leading P-by-M part of this array contains
-C                                     _
-C             the input/output matrix D of the transformed system.
-C
-C     LDD     INTEGER
-C             The leading dimension of array D.  LDD >= MAX(1,P).
-C
-C     Workspace
-C
-C     IWORK   INTEGER array, dimension (N)
-C
-C     DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-C             On exit, if INFO = 0, DWORK(1) returns the optimal value
-C             of LDWORK.
-C
-C     LDWORK  INTEGER
-C             The length of the array DWORK.  LDWORK >= MAX(1,N).
-C             For optimum performance LDWORK >= MAX(1,N*NB), where NB
-C             is the optimal blocksize.
-C
-C     Error Indicator
-C
-C     INFO    INTEGER
-C             = 0:  successful exit;
-C             < 0:  if INFO = -i, the i-th argument had an illegal
-C                   value;
-C             = 1:  if the matrix (ALPHA*I + A) is exactly singular;
-C             = 2:  if the matrix  (BETA*I - A) is exactly singular.
-C
-C     METHOD
-C
-C     The parameters of the discrete-time system are transformed into
-C     the parameters of the continuous-time system (TYPE = 'D'), or
-C     vice-versa (TYPE = 'C') by the transformation:
-C
-C     1.  Discrete -> continuous
-C         _                     -1
-C         A = beta*(alpha*I + A)  * (A - alpha*I)
-C         _                                     -1
-C         B = sqrt(2*alpha*beta) * (alpha*I + A)  * B
-C         _                                         -1
-C         C = sqrt(2*alpha*beta) * C * (alpha*I + A)
-C         _                        -1
-C         D = D - C * (alpha*I + A)  * B
-C
-C     which is equivalent to the bilinear transformation
-C
-C                       z - alpha
-C         z -> s = beta ---------  .
-C                       z + alpha
-C
-C     of one transfer matrix onto the other.
-C
-C     2.  Continuous -> discrete
-C         _                     -1
-C         A = alpha*(beta*I - A)  * (beta*I + A)
-C         _                                    -1
-C         B = sqrt(2*alpha*beta) * (beta*I - A)  * B
-C         _                                        -1
-C         C = sqrt(2*alpha*beta) * C * (beta*I - A)
-C         _                       -1
-C         D = D + C * (beta*I - A)  * B
-C
-C     which is equivalent to the bilinear transformation
-C
-C                      beta + s
-C       s -> z = alpha -------- .
-C                      beta - s
-C
-C     of one transfer matrix onto the other.
-C
-C     REFERENCES
-C
-C     [1] Al-Saggaf, U.M. and Franklin, G.F.
-C         Model reduction via balanced realizations: a extension and
-C         frequency weighting techniques.
-C         IEEE Trans. Autom. Contr., AC-33, pp. 687-692, 1988.
-C
-C     NUMERICAL ASPECTS
-C                                                      3
-C     The time taken is approximately proportional to N .
-C     The accuracy depends mainly on the condition number of the matrix
-C     to be inverted.
-C
-C     CONTRIBUTORS
-C
-C     Release 3.0: V. Sima, Katholieke Univ. Leuven, Belgium, and
-C                  A. Varga, German Aerospace Research Establishment,
-C                  Oberpfaffenhofen, Germany, Nov. 1996.
-C     Supersedes Release 2.0 routine AB04AD by W. van der Linden, and
-C     A.J. Geurts, Technische Hogeschool Eindhoven, Holland.
-C
-C     REVISIONS
-C
-C     -
-C
-C     KEYWORDS
-C
-C     Bilinear transformation, continuous-time system, discrete-time
-C     system, state-space model.
-C
-C     ******************************************************************
-C
-C     .. Parameters ..
-      DOUBLE PRECISION  ZERO, ONE, TWO
-      PARAMETER         ( ZERO=0.0D0, ONE=1.0D0, TWO=2.0D0 )
-C     .. Scalar Arguments ..
-      CHARACTER         TYPE
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDWORK, M, N, P
-      DOUBLE PRECISION  ALPHA, BETA
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DWORK(*)
-C     .. Local Scalars ..
-      LOGICAL           LTYPE
-      INTEGER           I, IP
-      DOUBLE PRECISION  AB2, PALPHA, PBETA, SQRAB2
-C     .. External Functions ..
-      LOGICAL           LSAME
-      EXTERNAL          LSAME
-C     .. External Subroutines ..
-      EXTERNAL          DGEMM, DGETRF, DGETRS, DGETRI, DLASCL, DSCAL,
-     $                  DSWAP, XERBLA
-C     .. Intrinsic Functions ..
-      INTRINSIC         ABS, MAX, SIGN, SQRT
-C     .. Executable Statements ..
-C
-      INFO = 0
-      LTYPE = LSAME( TYPE, 'D' )
-C
-C     Test the input scalar arguments.
-C
-      IF( .NOT.LTYPE .AND. .NOT.LSAME( TYPE, 'C' ) ) THEN
-         INFO = -1
-      ELSE IF( N.LT.0 ) THEN
-         INFO = -2
-      ELSE IF( M.LT.0 ) THEN
-         INFO = -3
-      ELSE IF( P.LT.0 ) THEN
-         INFO = -4
-      ELSE IF( ALPHA.EQ.ZERO ) THEN
-         INFO = -5
-      ELSE IF( BETA.EQ.ZERO ) THEN
-         INFO = -6
-      ELSE IF( LDA.LT.MAX( 1, N ) ) THEN
-         INFO = -8
-      ELSE IF( LDB.LT.MAX( 1, N ) ) THEN
-         INFO = -10
-      ELSE IF( LDC.LT.MAX( 1, P ) ) THEN
-         INFO = -12
-      ELSE IF( LDD.LT.MAX( 1, P ) ) THEN
-         INFO = -14
-      ELSE IF( LDWORK.LT.MAX( 1, N ) ) THEN
-         INFO = -17
-      END IF
-C
-      IF ( INFO.NE.0 ) THEN
-C
-C        Error return.
-C
-         CALL XERBLA( 'AB04MD', -INFO )
-         RETURN
-      END IF
-C
-C     Quick return if possible.
-C
-      IF ( MAX( N, M, P ).EQ.0 )
-     $   RETURN
-C
-C     (Note: Comments in the code beginning "Workspace:" describe the
-C     minimal amount of real workspace needed at that point in the
-C     code, as well as the preferred amount for good performance.
-C     NB refers to the optimal block size for the immediately
-C     following subroutine, as returned by ILAENV.)
-C
-      IF (LTYPE) THEN
-C
-C        Discrete-time to continuous-time with (ALPHA, BETA).
-C
-         PALPHA = ALPHA
-         PBETA = BETA
-      ELSE
-C
-C        Continuous-time to discrete-time with (ALPHA, BETA) is
-C        equivalent with discrete-time to continuous-time with
-C        (-BETA, -ALPHA), if B and C change the sign.
-C
-         PALPHA = -BETA
-         PBETA = -ALPHA
-      END IF
-C
-      AB2 = PALPHA*PBETA*TWO
-      SQRAB2 = SIGN( SQRT( ABS( AB2 ) ), PALPHA )
-C                          -1
-C     Compute (alpha*I + A)  .
-C
-      DO 10 I = 1, N
-         A(I,I)  =  A(I,I) + PALPHA
-   10 CONTINUE
-C
-      CALL DGETRF( N, N, A, LDA, IWORK, INFO )
-C
-      IF (INFO.NE.0) THEN
-C
-C        Error return.
-C
-         IF (LTYPE) THEN
-            INFO = 1
-         ELSE
-            INFO = 2
-         END IF
-         RETURN
-      END IF
-C                         -1
-C     Compute  (alpha*I+A)  *B.
-C
-      CALL DGETRS( 'No transpose', N, M, A, LDA, IWORK, B, LDB, INFO )
-C                               -1
-C     Compute  D - C*(alpha*I+A)  *B.
-C
-      CALL DGEMM( 'No transpose', 'No transpose', P, M, N, -ONE, C,
-     $            LDC, B, LDB, ONE, D, LDD )
-C
-C     Scale B by  sqrt(2*alpha*beta).
-C
-      CALL DLASCL( 'General', 0, 0, ONE, SQRAB2, N, M, B, LDB, INFO )
-C                                                -1
-C     Compute  sqrt(2*alpha*beta)*C*(alpha*I + A)  .
-C
-      CALL DTRSM( 'Right', 'Upper', 'No transpose', 'Non-unit', P, N,
-     $            SQRAB2, A, LDA, C, LDC )
-C
-      CALL DTRSM( 'Right', 'Lower', 'No transpose', 'Unit', P, N, ONE,
-     $            A, LDA, C, LDC )
-C
-C     Apply column interchanges to the solution matrix.
-C
-      DO 20 I = N-1, 1, -1
-         IP = IWORK(I)
-         IF ( IP.NE.I )
-     $      CALL DSWAP( P, C(1,I), 1, C(1,IP), 1 )
-  20  CONTINUE
-C                               -1
-C     Compute beta*(alpha*I + A)  *(A - alpha*I) as
-C                                        -1
-C     beta*I - 2*alpha*beta*(alpha*I + A)  .
-C
-C     Workspace: need N;  prefer N*NB.
-C
-      CALL DGETRI( N, A, LDA, IWORK, DWORK, LDWORK, INFO )
-C
-      DO 30 I = 1, N
-         CALL DSCAL(N, -AB2, A(1,I), 1)
-         A(I,I) = A(I,I) + PBETA
-   30 CONTINUE
-C
-      RETURN
-C *** Last line of AB04MD ***
-      END

Deleted: trunk/octave-forge/extra/control-devel/src/AB05PD.f
===================================================================
--- trunk/octave-forge/extra/control-devel/src/AB05PD.f	2012-02-22 15:13:45 UTC (rev 9648)
+++ trunk/octave-forge/extra/control-devel/src/AB05PD.f	2012-02-22 16:37:14 UTC (rev 9649)
@@ -1,385 +0,0 @@
-      SUBROUTINE AB05PD( OVER, N1, M, P, N2, ALPHA, A1, LDA1, B1, LDB1,
-     $                   C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2, C2,
-     $                   LDC2, D2, LDD2, N, A, LDA, B, LDB, C, LDC, D,
-     $                   LDD, INFO)
-C
-C     SLICOT RELEASE 5.0.
-C
-C     Copyright (c) 2002-2009 NICONET e.V.
-C
-C     This program is free software: you can redistribute it and/or
-C     modify it under the terms of the GNU General Public License as
-C     published by the Free Software Foundation, either version 2 of
-C     the License, or (at your option) any later version.
-C
-C     This program is distributed in the hope that it will be useful,
-C     but WITHOUT ANY WARRANTY; without even the implied warranty of
-C     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-C     GNU General Public License for more details.
-C
-C     You should have received a copy of the GNU General Public License
-C     along with this program.  If not, see
-C     <http://www.gnu.org/licenses/>.
-C
-C     PURPOSE
-C
-C     To compute the state-space model G = (A,B,C,D) corresponding to
-C     the sum G = G1 + alpha*G2, where G1 = (A1,B1,C1,D1) and
-C     G2 = (A2,B2,C2,D2).  G, G1, and G2 are the transfer-function
-C     matrices of the corresponding state-space models.
-C
-C     ARGUMENTS
-C
-C     Mode Parameters
-C
-C     OVER    CHARACTER*1
-C             Indicates whether the user wishes to overlap pairs of
-C             arrays, as follows:
-C             = 'N':  Do not overlap;
-C             = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
-C                     C1 and C, and D1 and D, i.e. the same name is
-C                     effectively used for each pair (for all pairs)
-C                     in the routine call.  In this case, setting
-C                     LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD
-C                     will give maximum efficiency.
-C
-C     Input/Output Parameters
-C
-C     N1      (input) INTEGER
-C             The number of state variables in the first system, i.e.
-C             the order of the matrix A1, the number of rows of B1 and
-C             the number of columns of C1.  N1 >= 0.
-C
-C     M       (input) INTEGER
-C             The number of input variables of the two systems, i.e. the
-C             number of columns of matrices B1, D1, B2 and D2.  M >= 0.
-C
-C     P       (input) INTEGER
-C             The number of output variables of the two systems, i.e.
-C             the number of rows of matrices C1, D1, C2 and D2.  P >= 0.
-C
-C     N2      (input) INTEGER
-C             The number of state variables in the second system, i.e.
-C             the order of the matrix A2, the number of rows of B2 and
-C             the number of columns of C2.  N2 >= 0.
-C
-C     ALPHA   (input) DOUBLE PRECISION
-C             The coefficient multiplying G2.
-C
-C     A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
-C             The leading N1-by-N1 part of this array must contain the
-C             state transition matrix A1 for the first system.
-C
-C     LDA1    INTEGER
-C             The leading dimension of array A1.  LDA1 >= MAX(1,N1).
-C
-C     B1      (input) DOUBLE PRECISION array, dimension (LDB1,M)
-C             The leading N1-by-M part of this array must contain the
-C             input/state matrix B1 for the first system.
-C
-C     LDB1    INTEGER
-C             The leading dimension of array B1.  LDB1 >= MAX(1,N1).
-C
-C     C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
-C             The leading P-by-N1 part of this array must contain the
-C             state/output matrix C1 for the first system.
-C
-C     LDC1    INTEGER
-C             The leading dimension of array C1.
-C             LDC1 >= MAX(1,P) if N1 > 0.
-C             LDC1 >= 1 if N1 = 0.
-C
-C     D1      (input) DOUBLE PRECISION array, dimension (LDD1,M)
-C             The leading P-by-M part of this array must contain the
-C             input/output matrix D1 for the first system.
-C
-C     LDD1    INTEGER
-C             The leading dimension of array D1.  LDD1 >= MAX(1,P).
-C
-C     A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
-C             The leading N2-by-N2 part of this array must contain the
-C             state transition matrix A2 for the second system.
-C
-C     LDA2    INTEGER
-C             The leading dimension of array A2.  LDA2 >= MAX(1,N2).
-C
-C     B2      (input) DOUBLE PRECISION array, dimension (LDB2,M)
-C             The leading N2-by-M part of this array must contain the
-C             input/state matrix B2 for the second system.
-C
-C     LDB2    INTEGER
-C             The leading dimension of array B2.  LDB2 >= MAX(1,N2).
-C
-C     C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
-C             The leading P-by-N2 part of this array must contain the
-C             state/output matrix C2 for the second system.
-C
-C     LDC2    INTEGER
-C             The leading dimension of array C2.
-C             LDC2 >= MAX(1,P) if N2 > 0.
-C             LDC2 >= 1 if N2 = 0.
-C
-C     D2      (input) DOUBLE PRECISION array, dimension (LDD2,M)
-C             The leading P-by-M part of this array must contain the
-C             input/output matrix D2 for the second system.
-C
-C     LDD2    INTEGER
-C             The leading dimension of array D2.  LDD2 >= MAX(1,P).
-C
-C     N       (output) INTEGER
-C             The number of state variables (N1 + N2) in the resulting
-C             system, i.e. the order of the matrix A, the number of rows
-C             of B and the number of columns of C.
-C
-C     A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
-C             The leading N-by-N part of this array contains the state
-C             transition matrix A for the resulting system.
-C             The array A can overlap A1 if OVER = 'O'.
-C
-C     LDA     INTEGER
-C             The leading dimension of array A.  LDA >= MAX(1,N1+N2).
-C
-C     B       (output) DOUBLE PRECISION array, dimension (LDB,M)
-C             The leading N-by-M part of this array contains the
-C             input/state matrix B for the resulting system.
-C             The array B can overlap B1 if OVER = 'O'.
-C
-C     LDB     INTEGER
-C             The leading dimension of array B.  LDB >= MAX(1,N1+N2).
-C
-C     C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
-C             The leading P-by-N part of this array contains the
-C             state/output matrix C for the resulting system.
-C             The array C can overlap C1 if OVER = 'O'.
-C
-C     LDC     INTEGER
-C             The leading dimension of array C.
-C             LDC >= MAX(1,P) if N1+N2 > 0.
-C             LDC >= 1 if N1+N2 = 0.
-C
-C     D       (output) DOUBLE PRECISION array, dimension (LDD,M)
-C             The leading P-by-M part of this array contains the
-C             input/output matrix D for the resulting system.
-C             The array D can overlap D1 if OVER = 'O'.
-C
-C     LDD     INTEGER
-C             The leading dimension of array D.  LDD >= MAX(1,P).
-C
-C     Error Indicator
-C
-C     INFO    INTEGER
-C             = 0:  successful exit;
-C             < 0:  if INFO = -i, the i-th argument had an illegal
-C                   value.
-C
-C     METHOD
-C
-C     The matrices of the resulting systems are determined as:
-C
-C           ( A1   0  )             ( B1 )
-C       A = (         ) ,       B = (    ) ,
-C           ( 0    A2 )             ( B2 )
-C
-C       C = ( C1  alpha*C2 ) ,  D = D1 + alpha*D2 .
-C
-C     REFERENCES
-C
-C     None
-C
-C     NUMERICAL ASPECTS
-C
-C     None
-C
-C     CONTRIBUTORS
-C
-C     A. Varga, German Aerospace Research Establishment,
-C     Oberpfaffenhofen, Germany, and V. Sima, Katholieke Univ. Leuven,
-C     Belgium, Nov. 1996.
-C
-C     REVISIONS
-C
-C     V. Sima, Research Institute for Informatics, Bucharest, July 2003,
-C     Feb. 2004.
-C
-C     KEYWORDS
-C
-C     Multivariable system, state-space model, state-space
-C     representation.
-C
-C     ******************************************************************
-C
-C     .. Parameters ..
-      DOUBLE PRECISION  ZERO, ONE
-      PARAMETER         ( ZERO=0.0D0, ONE = 1.0D0 )
-C     .. Scalar Arguments ..
-      CHARACTER         OVER
-      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
-     $                  LDC1, LDC2, LDD, LDD1, LDD2, M, N, N1, N2, P
-      DOUBLE PRECISION  ALPHA
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
-     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
-     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*)
-C     .. Local Scalars ..
-      LOGICAL           LOVER
-      INTEGER           I, J, N1P1
-C     .. External Functions ..
-      LOGICAL           LSAME
-      EXTERNAL          LSAME
-C     .. External Subroutines ..
-      EXTERNAL          DAXPY, DLACPY, DLASCL, DLASET, XERBLA
-C     .. Intrinsic Functions ..
-      INTRINSIC         MAX, MIN
-C     .. Executable Statements ..
-C
-      LOVER = LSAME( OVER, 'O' )
-      N = N1 + N2
-      INFO = 0
-C
-C     Test the input scalar arguments.
-C
-      IF( .NOT.LOVER .AND. .NOT.LSAME( OVER, 'N' ) ) THEN
-         INFO = -1
-      ELSE IF( N1.LT.0 ) THEN
-         INFO = -2
-      ELSE IF( M.LT.0 ) THEN
-         INFO = -3
-      ELSE IF( P.LT.0 ) THEN
-         INFO = -4
-      ELSE IF( N2.LT.0 ) THEN
-         INFO = -5
-      ELSE IF( LDA1.LT.MAX( 1, N1 ) ) THEN
-         INFO = -8
-      ELSE IF( LDB1.LT.MAX( 1, N1 ) ) THEN
-         INFO = -10
-      ELSE IF( ( N1.GT.0 .AND. LDC1.LT.MAX( 1, P ) ) .OR.
-     $         ( N1.EQ.0 .AND. LDC1.LT.1 ) ) THEN
-         INFO = -12
-      ELSE IF( LDD1.LT.MAX( 1, P ) ) THEN
-         INFO = -14
-      ELSE IF( LDA2.LT.MAX( 1, N2 ) ) THEN
-         INFO = -16
-      ELSE IF( LDB2.LT.MAX( 1, N2 ) ) THEN
-         INFO = -18
-      ELSE IF( ( N2.GT.0 .AND. LDC2.LT.MAX( 1, P ) ) .OR.
-     $         ( N2.EQ.0 .AND. LDC2.LT.1 ) ) THEN
-         INFO = -20
-      ELSE IF( LDD2.LT.MAX( 1, P ) ) THEN
-         INFO = -22
-      ELSE IF( LDA.LT.MAX( 1, N ) ) THEN
-         INFO = -25
-      ELSE IF( LDB.LT.MAX( 1, N ) ) THEN
-         INFO = -27
-      ELSE IF( ( N.GT.0 .AND. LDC.LT.MAX( 1, P ) ) .OR.
-     $         ( N.EQ.0 .AND. LDC.LT.1 ) ) THEN
-         INFO = -29
-      ELSE IF( LDD.LT.MAX( 1, P ) ) THEN
-         INFO = -31
-      END IF
-C
-      IF ( INFO.NE.0 ) THEN
-C
-C        Error return.
-C
-         CALL XERBLA( 'AB05PD', -INFO )
-         RETURN
-      END IF
-C
-C     Quick return if possible.
-C
-      IF ( MAX( N, MIN( M, P ) ).EQ.0 )
-     $   RETURN
-C
-      N1P1 = N1 + 1
-C
-C                       ( A1   0  )
-C     Construct     A = (         ) .
-C                       ( 0    A2 )
-C
-      IF ( LOVER .AND. LDA1.LE.LDA ) THEN
-         IF ( LDA1.LT.LDA ) THEN
-C
-            DO 20 J = N1, 1, -1
-               DO 10 I = N1, 1, -1
-                  A(I,J) = A1(I,J)
-   10          CONTINUE
-   20       CONTINUE
-C
-         END IF
-      ELSE
-         CALL DLACPY( 'F', N1, N1, A1, LDA1, A, LDA )
-      END IF
-C
-      IF ( N2.GT.0 ) THEN
-         CALL DLASET( 'F', N1, N2, ZERO, ZERO, A(1,N1P1), LDA )
-         CALL DLASET( 'F', N2, N1, ZERO, ZERO, A(N1P1,1), LDA )
-         CALL DLACPY( 'F', N2, N2, A2, LDA2, A(N1P1,N1P1), LDA )
-      END IF
-C
-C                        ( B1 )
-C     Construct      B = (    ) .
-C                        ( B2 )
-C
-      IF ( LOVER .AND. LDB1.LE.LDB ) THEN
-         IF ( LDB1.LT.LDB ) THEN
-C
-            DO 40 J = M, 1, -1
-               DO 30 I = N1, 1, -1
-                  B(I,J) = B1(I,J)
-   30          CONTINUE
-   40       CONTINUE
-C
-         END IF
-      ELSE
-         CALL DLACPY( 'F', N1, M, B1, LDB1, B, LDB )
-      END IF
-C
-      IF ( N2.GT.0 )
-     $   CALL DLACPY( 'F', N2, M, B2, LDB2, B(N1P1,1), LDB )
-C
-C     Construct      C = ( C1 alpha*C2 ) .
-C
-      IF ( LOVER .AND. LDC1.LE.LDC ) THEN
-         IF ( LDC1.LT.LDC ) THEN
-C
-            DO 60 J = N1, 1, -1
-               DO 50 I = P, 1, -1
-                  C(I,J) = C1(I,J)
-   50          CONTINUE
-   60       CONTINUE
-C
-         END IF
-      ELSE
-         CALL DLACPY( 'F', P, N1, C1, LDC1, C, LDC )
-      END IF
-C
-      IF ( N2.GT.0 ) THEN
-         CALL DLACPY( 'F', P, N2, C2, LDC2, C(1,N1P1), LDC )
-         IF ( ALPHA.NE.ONE )
-     $      CALL DLASCL( 'G', 0, 0, ONE, ALPHA, P, N2, C(1,N1P1), LDC,
-     $                   INFO )
-      END IF
-C
-C     Construct       D = D1 + alpha*D2 .
-C
-      IF ( LOVER .AND. LDD1.LE.LDD ) THEN
-         IF ( LDD1.LT.LDD ) THEN
-C
-            DO 80 J = M, 1, -1
-               DO 70 I = P, 1, -1
-                  D(I,J) = D1(I,J)
-   70          CONTINUE
-   80       CONTINUE
-C
-         END IF
-      ELSE
-         CALL DLACPY( 'F', P, M, D1, LDD1, D, LDD )
-      END IF
-C
-      DO 90 J = 1, M
-         CALL DAXPY( P, ALPHA, D2(1,J), 1, D(1,J), 1 )
-   90 CONTINUE
-C
-      RETURN
-C *** Last line of AB05PD ***
-      END

Deleted: trunk/octave-forge/extra/control-devel/src/AB05QD.f
===================================================================
--- trunk/octave-forge/extra/control-devel/src/AB05QD.f	2012-02-22 15:13:45 UTC (rev 9648)
+++ trunk/octave-forge/extra/control-devel/src/AB05QD.f	2012-02-22 16:37:14 UTC (rev 9649)
@@ -1,419 +0,0 @@
-      SUBROUTINE AB05QD( OVER, N1, M1, P1, N2, M2, P2, A1, LDA1, B1,
-     $                   LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2,
-     $                   C2, LDC2, D2, LDD2, N, M, P, A, LDA, B, LDB,
-     $                   C, LDC, D, LDD, INFO )
-C
-C     SLICOT RELEASE 5.0.
-C
-C     Copyright (c) 2002-2009 NICONET e.V.
-C
-C     This program is free software: you can redistribute it and/or
-C     modify it under the terms of the GNU General Public License as
-C     published by the Free Software Foundation, either version 2 of
-C     the License, or (at your option) any later version.
-C
-C     This program is distributed in the hope that it will be useful,
-C     but WITHOUT ANY WARRANTY; without even the implied warranty of
-C     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-C     GNU General Public License for more details.
-C
-C     You should have received a copy of the GNU General Public License
-C     along with this program.  If not, see
-C     <http://www.gnu.org/licenses/>.
-C
-C     PURPOSE
-C
-C     To append two systems G1 and G2 in state-space form together.
-C     If G1 = (A1,B1,C1,D1) and G2 = (A2,B2,C2,D2) are the state-space
-C     models of the given two systems having the transfer-function
-C     matrices G1 and G2, respectively, this subroutine constructs the
-C     state-space model G = (A,B,C,D) which corresponds to the
-C     transfer-function matrix
-C
-C                           ( G1 0  )
-C                       G = (       )
-C                           ( 0  G2 )
-C
-C     ARGUMENTS
-C
-C     Mode Parameters
-C
-C     OVER    CHARACTER*1
-C             Indicates whether the user wishes to overlap pairs of
-C             arrays, as follows:
-C             = 'N':  Do not overlap;
-C             = 'O':  Overlap pairs of arrays: A1 and A, B1 and B,
-C                     C1 and C, and D1 and D, i.e. the same name is
-C                     effectively used for each pair (for all pairs)
-C                     in the routine call.  In this case, setting
-C                     LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD
-C                     will give maximum efficiency.
-C
-C     Input/Output Parameters
-C
-C     N1      (input) INTEGER
-C             The number of state variables in the first system, i.e.
-C             the order of the matrix A1, the number of rows of B1 and
-C             the number of columns of C1.  N1 >= 0.
-C
-C     M1      (input) INTEGER
-C             The number of input variables in the first system, i.e.
-C             the number of columns of matrices B1 and D1.  M1 >= 0.
-C
-C     P1      (input) INTEGER
-C             The number of output variables in the first system, i.e.
-C             the number of rows of matrices C1 and D1.  P1 >= 0.
-C
-C     N2      (input) INTEGER
-C             The number of state variables in the second system, i.e.
-C             the order of the matrix A2, the number of rows of B2 and
-C             the number of columns of C2.  N2 >= 0.
-C
-C     M2      (input) INTEGER
-C             The number of input variables in the second system, i.e.
-C             the number of columns of matrices B2 and D2.  M2 >= 0.
-C
-C     P2      (input) INTEGER
-C             The number of output variables in the second system, i.e.
-C             the number of rows of matrices C2 and D2.  P2 >= 0.
-C
-C     A1      (input) DOUBLE PRECISION array, dimension (LDA1,N1)
-C             The leading N1-by-N1 part of this array must contain the
-C             state transition matrix A1 for the first system.
-C
-C     LDA1    INTEGER
-C             The leading dimension of array A1.  LDA1 >= MAX(1,N1).
-C
-C     B1      (input) DOUBLE PRECISION array, dimension (LDB1,M1)
-C             The leading N1-by-M1 part of this array must contain the
-C             input/state matrix B1 for the first system.
-C
-C     LDB1    INTEGER
-C             The leading dimension of array B1.  LDB1 >= MAX(1,N1).
-C
-C     C1      (input) DOUBLE PRECISION array, dimension (LDC1,N1)
-C             The leading P1-by-N1 part of this array must contain the
-C             state/output matrix C1 for the first system.
-C
-C     LDC1    INTEGER
-C             The leading dimension of array C1.
-C             LDC1 >= MAX(1,P1) if N1 > 0.
-C             LDC1 >= 1 if N1 = 0.
-C
-C     D1      (input) DOUBLE PRECISION array, dimension (LDD1,M1)
-C             The leading P1-by-M1 part of this array must contain the
-C             input/output matrix D1 for the first system.
-C
-C     LDD1    INTEGER
-C             The leading dimension of array D1.  LDD1 >= MAX(1,P1).
-C
-C     A2      (input) DOUBLE PRECISION array, dimension (LDA2,N2)
-C             The leading N2-by-N2 part of this array must contain the
-C             state transition matrix A2 for the second system.
-C
-C     LDA2    INTEGER
-C             The leading dimension of array A2.  LDA2 >= MAX(1,N2).
-C
-C     B2      (input) DOUBLE PRECISION array, dimension (LDB2,M2)
-C             The leading N2-by-M2 part of this array must contain the
-C             input/state matrix B2 for the second system.
-C
-C     LDB2    INTEGER
-C             The leading dimension of array B2.  LDB2 >= MAX(1,N2).
-C
-C     C2      (input) DOUBLE PRECISION array, dimension (LDC2,N2)
-C             The leading P2-by-N2 part of this array must contain the
-C             state/output matrix C2 for the second system.
-C
-C     LDC2    INTEGER
-C             The leading dimension of array C2.
-C             LDC2 >= MAX(1,P2) if N2 > 0.
-C             LDC2 >= 1 if N2 = 0.
-C
-C     D2      (input) DOUBLE PRECISION array, dimension (LDD2,M2)
-C             The leading P2-by-M2 part of this array must contain the
-C             input/output matrix D2 for the second system.
-C
-C     LDD2    INTEGER
-C             The leading dimension of array D2.  LDD2 >= MAX(1,P2).
-C
-C     N       (output) INTEGER
-C             The number of state variables (N1 + N2) in the resulting
-C             system, i.e. the order of the matrix A, the number of rows
-C             of B and the number of columns of C.
-C
-C     M       (output) INTEGER
-C             The number of input variables (M1 + M2) in the resulting
-C             system, i.e. the number of columns of B and D.
-C
-C     P       (output) INTEGER
-C             The number of output variables (P1 + P2) of the resulting
-C             system, i.e. the number of rows of C and D.
-C
-C     A       (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
-C             The leading N-by-N part of this array contains the state
-C             transition matrix A for the resulting system.
-C             The array A can overlap A1 if OVER = 'O'.
-C
-C     LDA     INTEGER
-C             The leading dimension of array A.  LDA >= MAX(1,N1+N2).
-C
-C     B       (output) DOUBLE PRECISION array, dimension (LDB,M1+M2)
-C             The leading N-by-M part of this array contains the
-C             input/state matrix B for the resulting system.
-C             The array B can overlap B1 if OVER = 'O'.
-C
-C     LDB     INTEGER
-C             The leading dimension of array B.  LDB >= MAX(1,N1+N2).
-C
-C     C       (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
-C             The leading P-by-N part of this array contains the
-C             state/output matrix C for the resulting system.
-C             The array C can overlap C1 if OVER = 'O'.
-C
-C     LDC     INTEGER
-C             The leading dimension of array C.
-C             LDC >= MAX(1,P1+P2) if N1+N2 > 0.
-C             LDC >= 1 if N1+N2 = 0.
-C
-C     D       (output) DOUBLE PRECISION array, dimension (LDD,M1+M2)
-C             The leading P-by-M part of this array contains the
-C             input/output matrix D for the resulting system.
-C             The array D can overlap D1 if OVER = 'O'.
-C
-C     LDD     INTEGER
-C             The leading dimension of array D.  LDD >= MAX(1,P1+P2).
-C
-C     Error Indicator
-C
-C     INFO    INTEGER
-C             = 0:  successful exit;
-C             < 0:  if INFO = -i, the i-th argument had an illegal
-C                   value.
-C
-C     METHOD
-C
-C     The matrices of the resulting systems are determined as:
-C
-C           ( A1   0  )         ( B1  0  )
-C       A = (         ) ,   B = (        ) ,
-C           ( 0    A2 )         ( 0   B2 )
-C
-C           ( C1   0  )         ( D1  0  )
-C       C = (         ) ,   D = (        ) .
-C           ( 0    C2 )         ( 0   D2 )
-C
-C     REFERENCES
-C
-C     None
-C
-C     CONTRIBUTORS
-C
-C     A. Varga, German Aerospace Research Establishment,
-C     Oberpfaffenhofen, Germany, and V. Sima, Katholieke Univ. Leuven,
-C     Belgium, Nov. 1996.
-C
-C     REVISIONS
-C
-C     V. Sima, Research Institute for Informatics, Bucharest, Feb. 2004.
-C
-C     KEYWORDS
-C
-C     Multivariable system, state-space model, state-space
-C     representation.
-C
-C     ******************************************************************
-C
-C     .. Parameters ..
-      DOUBLE PRECISION  ZERO
-      PARAMETER         ( ZERO=0.0D0 )
-C     .. Scalar Arguments ..
-      CHARACTER         OVER
-      INTEGER           INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
-     $                  LDC1, LDC2, LDD, LDD1, LDD2, M, M1, M2, N, N1,
-     $                  N2, P, P1, P2
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
-     $                  B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
-     $                  C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*)
-C     .. Local Scalars ..
-      LOGICAL           LOVER
-      INTEGER           I, J
-C     .. External Functions ..
-      LOGICAL           LSAME
-      EXTERNAL          LSAME
-C     .. External Subroutines ..
-      EXTERNAL          DLACPY, DLASET, XERBLA
-C     .. Intrinsic Functions ..
-      INTRINSIC         MAX, MIN
-C     .. Executable Statements ..
-C
-      LOVER = LSAME( OVER, 'O' )
-      N = N1 + N2
-      M = M1 + M2
-      P = P1 + P2
-      INFO = 0
-C
-C     Test the input scalar arguments.
-C
-      IF( .NOT.LOVER .AND. .NOT.LSAME( OVER, 'N' ) ) THEN
-         INFO = -1
-      ELSE IF( N1.LT.0 ) THEN
-         INFO = -2
-      ELSE IF( M1.LT.0 ) THEN
-         INFO = -3
-      ELSE IF( P1.LT.0 ) THEN
-         INFO = -4
-      ELSE IF( N2.LT.0 ) THEN
-         INFO = -5
-      ELSE IF( M2.LT.0 ) THEN
-         INFO = -6
-      ELSE IF( P2.LT.0 ) THEN
-         INFO = -7
-      ELSE IF( LDA1.LT.MAX( 1, N1 ) ) THEN
-         INFO = -9
-      ELSE IF( LDB1.LT.MAX( 1, N1 ) ) THEN
-         INFO = -11
-      ELSE IF( ( N1.GT.0 .AND. LDC1.LT.MAX( 1, P1 ) ) .OR.
-     $         ( N1.EQ.0 .AND. LDC1.LT.1 ) ) THEN
-         INFO = -13
-      ELSE IF( LDD1.LT.MAX( 1, P1 ) ) THEN
-         INFO = -15
-      ELSE IF( LDA2.LT.MAX( 1, N2 ) ) THEN
-         INFO = -17
-      ELSE IF( LDB2.LT.MAX( 1, N2 ) ) THEN
-         INFO = -19
-      ELSE IF( ( N2.GT.0 .AND. LDC2.LT.MAX( 1, P2 ) ) .OR.
-     $         ( N2.EQ.0 .AND. LDC2.LT.1 ) ) THEN
-         INFO = -21
-      ELSE IF( LDD2.LT.MAX( 1, P2 ) ) THEN
-         INFO = -23
-      ELSE IF( LDA.LT.MAX( 1, N ) ) THEN
-         INFO = -28
-      ELSE IF( LDB.LT.MAX( 1, N ) ) THEN
-         INFO = -30
-      ELSE IF( ( N.GT.0 .AND. LDC.LT.MAX( 1, P ) ) .OR.
-     $         ( N.EQ.0 .AND. LDC.LT.1 ) ) THEN
-         INFO = -32
-      ELSE IF( LDD.LT.MAX( 1, P ) ) THEN
-         INFO = -34
-      END IF
-C
-      IF ( INFO.NE.0 ) THEN
-C
-C        Error return.
-C
-         CALL XERBLA( 'AB05QD', -INFO )
-         RETURN
-      END IF
-C
-C     Quick return if possible.
-C
-      IF ( MAX( N, MIN( M, P ) ).EQ.0 )
-     $   RETURN
-C                       ( A1   0  )
-C     Construct     A = (         ) .
-C                       ( 0    A2 )
-C
-      IF ( LOVER .AND. LDA1.LE.LDA ) THEN
-         IF ( LDA1.LT.LDA ) THEN
-C
-            DO 20 J = N1, 1, -1
-               DO 10 I = N1, 1, -1
-                  A(I,J) = A1(I,J)
-   10          CONTINUE
-   20       CONTINUE
-C
-         END IF
-      ELSE
-         CALL DLACPY( 'F', N1, N1, A1, LDA1, A, LDA )
-      END IF
-C
-      IF ( N2.GT.0 ) THEN
-         CALL DLASET( 'F', N1, N2, ZERO, ZERO, A(1,N1+1), LDA )
-         CALL DLASET( 'F', N2, N1, ZERO, ZERO, A(N1+1,1), LDA )
-         CALL DLACPY( 'F', N2, N2, A2, LDA2, A(N1+1,N1+1), LDA )
-      END IF
-C
-C                        ( B1  0  )
-C     Construct      B = (        ) .
-C                        ( 0   B2 )
-C
-      IF ( LOVER .AND. LDB1.LE.LDB ) THEN
-         IF ( LDB1.LT.LDB ) THEN
-C
-            DO 40 J = M1, 1, -1
-               DO 30 I = N1, 1, -1
-                  B(I,J) = B1(I,J)
-   30          CONTINUE
-   40       CONTINUE
-C
-         END IF
-      ELSE
-         CALL DLACPY( 'F', N1, M1, B1, LDB1, B, LDB )
-      END IF
-C
-      IF ( M2.GT.0 )
-     $   CALL DLASET( 'F', N1, M2, ZERO, ZERO, B(1,M1+1), LDB )
-      IF ( N2.GT.0 ) THEN
-         CALL DLASET( 'F', N2, M1, ZERO, ZERO, B(N1+1,1), LDB )
-         IF ( M2.GT.0 )
-     $      CALL DLACPY( 'F', N2, M2, B2, LDB2, B(N1+1,M1+1), LDB )
-      END IF
-C
-C                         ( C1   0  )
-C     Construct      C =  (         ) .
-C                         ( 0    C2 )
-C
-      IF ( LOVER .AND. LDC1.LE.LDC ) THEN
-         IF ( LDC1.LT.LDC ) THEN
-C
-            DO 60 J = N1, 1, -1
-               DO 50 I = P1, 1, -1
-                  C(I,J) = C1(I,J)
-   50          CONTINUE
-   60       CONTINUE
-C
-         END IF
-      ELSE
-         CALL DLACPY( 'F', P1, N1, C1, LDC1, C, LDC )
-      END IF
-C
-      IF ( N2.GT.0 )
-     $   CALL DLASET( 'F', P1, N2, ZERO, ZERO, C(1,N1+1), LDC )
-      IF ( P2.GT.0 ) THEN
-         IF ( N1.GT.0 )
-     $      CALL DLASET( 'F', P2, N1, ZERO, ZERO, C(P1+1,1), LDC )
-         IF ( N2.GT.0 )
-     $      CALL DLACPY( 'F', P2, N2, C2, LDC2, C(P1+1,N1+1), LDC )
-      END IF
-C
-C                          ( D1  0  )
-C     Construct       D =  (        ) .
-C                          ( 0   D2 )
-C
-      IF ( LOVER .AND. LDD1.LE.LDD ) THEN
-         IF ( LDD1.LT.LDD ) THEN
-C
-            DO 80 J = M1, 1, -1
-               DO 70 I = P1, 1, -1
-                  D(I,J) = D1(I,J)
-   70          CONTINUE
-   80       CONTINUE
-C
-         END IF
-      ELSE
-         CALL DLACPY( 'F', P1, M1, D1, LDD1, D, LDD )
-      END IF
-C
-      IF ( M2.GT.0 )
-     $   CALL DLASET( 'F', P1, M2, ZERO, ZERO, D(1,M1+1), LDD )
-      IF ( P2.GT.0 ) THEN
-         CALL DLASET( 'F', P2, M1, ZERO, ZERO, D(P1+1,1), LDD )
-         IF ( M2.GT.0 )
-     $      CALL DLACPY( 'F', P2, M2, D2, LDD2, D(P1+1,M1+1), LDD )
-      END IF
-C
-      RETURN
-C *** Last line of AB05QD ***
-      END

Deleted: trunk/octave-forge/extra/control-devel/src/AB07MD.f
===================================================================
--- trunk/octave-forge/extra/control-devel/src/AB07MD.f	2012-02-22 15:13:45 UTC (rev 9648)
+++ trunk/octave-forge/extra/control-devel/src/AB07MD.f	2012-02-22 16:37:14 UTC (rev 9649)
@@ -1,224 +0,0 @@
-      SUBROUTINE AB07MD( JOBD, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   INFO )
-C
-C     SLICOT RELEASE 5.0.
-C
-C     Copyright (c) 2002-2009 NICONET e.V.
-C
-C     This program is free software: you can redistribute it and/or
-C     modify it under the terms of the GNU General Public License as
-C     published by the Free Software Foundation, either version 2 of
-C     the License, or (at your option) any later version.
-C
-C     This program is distributed in the hope that it will be useful,
-C     but WITHOUT ANY WARRANTY; without even the implied warranty of
-C     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-C     GNU General Public License for more details.
-C
-C     You should have received a copy of the GNU General Public License
-C     along with this program.  If not, see
-C     <http://www.gnu.org/licenses/>.
-C
-C     PURPOSE
-C
-C     To find the dual of a given state-space representation.
-C
-C     ARGUMENTS
-C
-C     Mode Parameters
-C
-C     JOBD    CHARACTER*1
-C             Specifies whether or not a non-zero matrix D appears in
-C             the given state space model:
-C             = 'D':  D is present;
-C             = 'Z':  D is assumed a zero matrix.
-C
-C     Input/Output Parameters
-C
-C     N       (input) INTEGER
-C             The order of the state-space representation.  N >= 0.
-C
-C     M       (input) INTEGER
-C             The number of system inputs.  M >= 0.
-C
-C     P       (input) INTEGER
-C             The number of system outputs.  P >= 0.
-C
-C     A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-C             On entry, the leading N-by-N part of this array must
-C             contain the original state dynamics matrix A.
-C             On exit, the leading N-by-N part of this array contains
-C             the dual state dynamics matrix A'.
-C
-C     LDA     INTEGER
-C             The leading dimension of array A.  LDA >= MAX(1,N).
-C
-C     B       (input/output) DOUBLE PRECISION array, dimension
-C             (LDB,MAX(M,P))
-C             On entry, the leading N-by-M part of this array must
-C             contain the original input/state matrix B.
-C             On exit, the leading N-by-P part of this array contains
-C             the dual input/state matrix C'.
-C
-C     LDB     INTEGER
-C             The leading dimension of array B.  LDB >= MAX(1,N).
-C
-C     C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-C             On entry, the leading P-by-N part of this array must
-C             contain the original state/output matrix C.
-C             On exit, the leading M-by-N part of this array contains
-C             the dual state/output matrix B'.
-C
-C     LDC     INTEGER
-C             The leading dimension of array C.
-C             LDC >= MAX(1,M,P) if N > 0.
-C             LDC >= 1 if N = 0.
-C
-C     D       (input/output) DOUBLE PRECISION array, dimension
-C             (LDD,MAX(M,P))
-C             On entry, if JOBD = 'D', the leading P-by-M part of this
-C             array must contain the original direct transmission
-C             matrix D.
-C             On exit, if JOBD = 'D', the leading M-by-P part of this
-C             array contains the dual direct transmission matrix D'.
-C             The array D is not referenced if JOBD = 'Z'.
-C
-C     LDD     INTEGER
-C             The leading dimension of array D.
-C             LDD >= MAX(1,M,P) if JOBD = 'D'.
-C             LDD >= 1 if JOBD = 'Z'.
-C
-C     Error Indicator
-C
-C     INFO    INTEGER
-C             = 0:  successful exit;
-C             < 0:  if INFO = -i, the i-th argument had an illegal
-C                   value.
-C
-C     METHOD
-C
-C     If the given state-space representation is the M-input/P-output
-C     (A,B,C,D), its dual is simply the P-input/M-output (A',C',B',D').
-C
-C     REFERENCES
-C
-C     None
-C
-C     NUMERICAL ASPECTS
-C
-C     None
-C
-C     CONTRIBUTOR
-C
-C     Release 3.0: V. Sima, Katholieke Univ. Leuven, Belgium, Dec. 1996.
-C     Supersedes Release 2.0 routine AB07AD by T.W.C.Williams, Kingston
-C     Polytechnic, United Kingdom, March 1982.
-C
-C     REVISIONS
-C
-C     V. Sima, Research Institute for Informatics, Bucharest, Feb. 2004.
-C
-C     KEYWORDS
-C
-C     Dual system, state-space model, state-space representation.
-C
-C     ******************************************************************
-C
-C     .. Scalar Arguments ..
-      CHARACTER         JOBD
-      INTEGER           INFO, LDA, LDB, LDC, LDD, M, N, P
-C     .. Array Arguments ..
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*)
-C     .. Local Scalars ..
-      LOGICAL           LJOBD
-      INTEGER           J, MINMP, MPLIM
-C     .. External functions ..
-      LOGICAL           LSAME
-      EXTERNAL          LSAME
-C     .. External subroutines ..
-      EXTERNAL          DCOPY, DSWAP, XERBLA
-C     .. Intrinsic Functions ..
-      INTRINSIC         MAX, MIN
-C     .. Executable Statements ..
-C
-      INFO = 0
-      LJOBD = LSAME( JOBD, 'D' )
-      MPLIM = MAX( M, P )
-      MINMP = MIN( M, P )
-C
-C     Test the input scalar arguments.
-C
-      IF( .NOT.LJOBD .AND. .NOT.LSAME( JOBD, 'Z' )  ) THEN
-         INFO = -1
-      ELSE IF( N.LT.0 ) THEN
-         INFO = -2
-      ELSE IF( M.LT.0 ) THEN
-         INFO = -3
-      ELSE IF( P.LT.0 ) THEN
-         INFO = -4
-      ELSE IF( LDA.LT.MAX( 1, N ) ) THEN
-         INFO = -6
-      ELSE IF( LDB.LT.MAX( 1, N ) ) THEN
-         INFO = -8
-      ELSE IF( ( N.GT.0 .AND. LDC.LT.MAX( 1, MPLIM ) ) .OR.
-     $         ( N.EQ.0 .AND. LDC.LT.1 ) ) THEN
-         INFO = -10
-      ELSE IF( ( LJOBD .AND. LDD.LT.MAX( 1, MPLIM ) ) .OR.
-     $    ( .NOT.LJOBD .AND. LDD.LT.1 ) ) THEN
-         INFO = -12
-      END IF
-C
-      IF ( INFO.NE.0 ) THEN
-C
-C        Error return.
-C
-         CALL XERBLA( 'AB07MD', -INFO )
-         RETURN
-      END IF
-C
-C     Quick return if possible.
-C
-      IF ( MAX( N, MINMP ).EQ.0 )
-     $   RETURN
-C
-      IF ( N.GT.0 ) THEN
-C
-C        Transpose A, if non-scalar.
-C
-         DO 10 J = 1, N - 1
-            CALL DSWAP( N-J, A(J+1,J), 1, A(J,J+1), LDA )
-   10    CONTINUE
-C
-C        Replace B by C' and C by B'.
-C
-         DO 20 J = 1, MPLIM
-            IF ( J.LE.MINMP ) THEN
-               CALL DSWAP( N, B(1,J), 1, C(J,1), LDC )
-            ELSE IF ( J.GT.P ) THEN
-               CALL DCOPY( N, B(1,J), 1, C(J,1), LDC )
-            ELSE
-               CALL DCOPY( N, C(J,1), LDC, B(1,J), 1 )
-            END IF
-   20    CONTINUE
-C
-      END IF
-C
-      IF ( LJOBD .AND. MINMP.GT.0 ) THEN
-C
-C        Transpose D, if non-scalar.
-C
-         DO 30 J = 1, MPLIM
-            IF ( J.LT.MINMP ) THEN
-               CALL DSWAP( MINMP-J, D(J+1,J), 1, D(J,J+1), LDD )
-            ELSE IF ( J.GT.P ) THEN
-               CALL DCOPY( P, D(1,J), 1, D(J,1), LDD )
-            ELSE IF ( J.GT.M ) THEN
-               CALL DCOPY( M, D(J,1), LDD, D(1,J), 1 )
-            END IF
-   30    CONTINUE
-C
-      END IF
-C
-      RETURN
-C *** Last line of AB07MD ***
-      END

Deleted: trunk/octave-forge/extra/control-devel/src/AB07ND.f
===================================================================
--- trunk/octave-forge/extra/control-devel/src/AB07ND.f	2012-02-22 15:13:45 UTC (rev 9648)
+++ trunk/octave-forge/extra/control-devel/src/AB07ND.f	2012-02-22 16:37:14 UTC (rev 9649)
@@ -1,303 +0,0 @@
-      SUBROUTINE AB07ND( N, M, A, LDA, B, LDB, C, LDC, D, LDD, RCOND,
-     $                   IWORK, DWORK, LDWORK, INFO )
-C
-C     SLICOT RELEASE 5.0.
-C
-C     Copyright (c) 2002-2009 NICONET e.V.
-C
-C     This program is free software: you can redistribute it and/or
-C     modify it under the terms of the GNU General Public License as
-C     published by the Free Software Foundation, either version 2 of
-C     the License, or (at your option) any later version.
-C
-C     This program is distributed in the hope that it will be useful,
-C     but WITHOUT ANY WARRANTY; without even the implied warranty of
-C     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-C     GNU General Public License for more details.
-C
-C     You should have received a copy of the GNU General Public License
-C     along with this program.  If not, see
-C     <http://www.gnu.org/licenses/>.
-C
-C     PURPOSE
-C
-C     To compute the inverse (Ai,Bi,Ci,Di) of a given system (A,B,C,D).
-C
-C     ARGUMENTS
-C
-C     Input/Output Parameters
-C
-C     N       (input) INTEGER
-C             The order of the state matrix A.  N >= 0.
-C
-C     M       (input) INTEGER
-C             The number of system inputs and outputs.  M >= 0.
-C
-C     A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-C             On entry, the leading N-by-N part of this array must
-C             contain the state matrix A of the original system.
-C             On exit, the leading N-by-N part of this array contains
-C             the state matrix Ai of the inverse system.
-C
-C     LDA     INTEGER
-C             The leading dimension of the array A.  LDA >= MAX(1,N).
-C
-C     B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-C             On entry, the leading N-by-M part of this array must
-C             contain the input matrix B of the original system.
-C             On exit, the leading N-by-M part of this array contains
-C             the input matrix Bi of the inverse system.
-C
-C     LDB     INTEGER
-C             The leading dimension of the array B.  LDB >= MAX(1,N).
-C
-C     C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-C             On entry, the leading M-by-N part of this array must
-C             contain the output matrix C of the original system.
-C             On exit, the leading M-by-N part of this array contains
-C             the output matrix Ci of the inverse system.
-C
-C     LDC     INTEGER
-C             The leading dimension of the array C.  LDC >= MAX(1,M).
-C
-C     D       (input/output) DOUBLE PRECISION array, dimension (LDD,M)
-C             On entry, the leading M-by-M part of this array must
-C             contain the feedthrough matrix D of the original system.
-C             On exit, the leading M-by-M part of this array contains
-C             the feedthrough matrix Di of the inverse system.
-C
-C     LDD     INTEGER
-C             The leading dimension of the array D.  LDD >= MAX(1,M).
-C
-C     RCOND   (output) DOUBLE PRECISION
-C             The estimated reciprocal condition number of the
-C             feedthrough matrix D of the original system.
-C
-C     Workspace
-C
-C     IWORK   INTEGER array, dimension (2*M)
-C
-C     DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-C             On exit, if INFO = 0 or M+1, DWORK(1) returns the optimal
-C             value of LDWORK.
-C
-C     LDWORK  INTEGER
-C             The length of the array DWORK.  LDWORK >= MAX(1,4*M).
-C             For good performance, LDWORK should be larger.
-C
-C     Error Indicator
-C
-C     INFO    INTEGER
-C             = 0:  successful exit;
-C             < 0:  if INFO = -i, the i-th argument had an illegal
-C                   value;
-C             = i:  the matrix D is exactly singular; the (i,i) diagonal
-C                   element is zero, i <= M; RCOND was set to zero;
-C             = M+1:  the matrix D is numerically singular, i.e., RCOND
-C                   is less than the relative machine precision, EPS
-C                   (see LAPACK Library routine DLAMCH). The
-C                   calculations have been completed, but the results
-C                   could be very inaccurate.
-C
-C     METHOD
-C
-C     The matrices of the inverse system are computed with the formulas:
-C                   -1              -1         -1           -1
-C       Ai = A - B*D  *C,  Bi = -B*D  ,  Ci = D  *C,  Di = D  .
-C
-C     NUMERICAL ASPECTS
-C
-C     The accuracy depends mainly on the condition number of the matrix
-C     D to be inverted. The estimated reciprocal condition number is
-C     returned in RCOND.
-C
-C     CONTRIBUTORS
-C
-C     A. Varga, German Aerospace Center, Oberpfaffenhofen, March 2000.
-C     D. Sima, University of Bucharest, April 2000.
-C     V. Sima, Research Institute for Informatics, Bucharest, Apr. 2000.
-C     Based on the routine SYSINV, A. Varga, 1992.
-C
-C     REVISIONS
-C
-C     A. Varga, German Aerospace Center, Oberpfaffenhofen, July 2000.
-C
-C     KEYWORDS
-C
-C     Inverse system, state-space model, state-space representation.
-C
-C     ******************************************************************
-C
-C     .. Parameters ..
-      DOUBLE PRECISION   ZERO, ONE
-      PARAMETER          ( ZERO = 0.0D0, ONE = 1.0D0 )
-C     .. Scalar Arguments ..
-      DOUBLE PRECISION   RCOND
-      INTEGER            INFO, LDA, LDB, LDC, LDD, LDWORK, M, N
-C     .. Array Arguments ..
-      DOUBLE PRECISION   A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
-     $                   DWORK(*)
-      INTEGER            IWORK(*)
-C     .. Local Scalars ..
-      DOUBLE PRECISION   DNORM
-      INTEGER            BL, CHUNK, I, IERR, J, MAXWRK
-      LOGICAL            BLAS3, BLOCK
-C     .. External Functions ..
-      DOUBLE PRECISION   DLAMCH, DLANGE
-      INTEGER            ILAENV
-      EXTERNAL           DLAMCH, DLANGE, ILAENV
-C     .. External Subroutines ..
-      EXTERNAL           DCOPY, DGECON, DGEMM, DGEMV, DGETRF, DGETRI,
-     $                   DLACPY, XERBLA
-C     .. Intrinsic Functions ..
-      INTRINSIC          DBLE, MAX, MIN
-C     .. Executable Statements ..
-C
-      INFO = 0
-C
-C     Test the input scalar arguments.
-C
-      IF( N.LT.0 ) THEN
-         INFO = -1
-      ELSE IF( M.LT.0 ) THEN
-         INFO = -2
-      ELSE IF( LDA.LT.MAX( 1, N ) ) THEN
-         INFO = -4
-      ELSE IF( LDB.LT.MAX( 1, N ) ) THEN
-         INFO = -6
-      ELSE IF( LDC.LT.MAX( 1, M ) ) THEN
-         INFO = -8
-      ELSE IF( LDD.LT.MAX( 1, M ) ) THEN
-         INFO = -10
-      ELSE IF( LDWORK.LT.MAX( 1, 4*M ) ) THEN
-         INFO = -14
-      END IF
-C
-      IF ( INFO.NE.0 ) THEN
-C
-C        Error return.
-C
-         CALL XERBLA( 'AB07ND', -INFO )
-         RETURN
-      END IF
-C
-C     Quick return if possible.
-C
-      IF ( M.EQ.0 ) THEN
-         RCOND    = ONE
-         DWORK(1) = ONE
-         RETURN
-      END IF
-C
-C     Factorize D.
-C
-      CALL DGETRF( M, M, D, LDD, IWORK, INFO )
-      IF ( INFO.NE.0 ) THEN
-         RCOND = ZERO
-         RETURN
-      END IF
-C
-C     Compute the reciprocal condition number of the matrix D.
-C     Workspace: need   4*M.
-C     (Note: Comments in the code beginning "Workspace:" describe the
-C      minimal amount of workspace needed at that point in the code,
-C      as well as the preferred amount for good performance.
-C      NB refers to the optimal block size for the immediately
-C      following subroutine, as returned by ILAENV.)
-C
-      DNORM = DLANGE( '1-norm', M, M, D, LDD, DWORK )
-      CALL DGECON( '1-norm', M, D, LDD, DNORM, RCOND, DWORK, IWORK(M+1),
-     $             IERR )
-      IF ( RCOND.LT.DLAMCH( 'Epsilon' ) )
-     $   INFO = M + 1
-C                   -1
-C     Compute Di = D  .
-C     Workspace: need   M;
-C                prefer M*NB.
-C
-      MAXWRK = MAX( 4*M, M*ILAENV( 1, 'DGETRI', ' ', M, -1, -1, -1 ) )
-      CALL DGETRI( M, D, LDD, IWORK, DWORK, LDWORK, IERR )
-      IF ( N.GT.0 ) THEN
-         CHUNK = LDWORK / M
-         BLAS3 = CHUNK.GE.N .AND. M.GT.1
-         BLOCK = MIN( CHUNK, M ).GT.1
-C                          -1
-C        Compute  Bi = -B*D  .
-C
-         IF ( BLAS3 ) THEN
-C
-C           Enough workspace for a fast BLAS 3 algorithm.
-C
-            CALL DLACPY( 'Full', N, M, B, LDB, DWORK, N )
-            CALL DGEMM( 'NoTranspose', 'NoTranspose', N, M, M, -ONE,
-     $                  DWORK, N, D, LDD, ZERO, B, LDB )
-C
-         ELSE IF( BLOCK ) THEN
-C
-C           Use as many rows of B as possible.
-C
-            DO 10 I = 1, N, CHUNK
-               BL = MIN( N-I+1, CHUNK )
-               CALL DLACPY( 'Full', BL, M, B(I,1), LDB, DWORK, BL )
-               CALL DGEMM( 'NoTranspose', 'NoTranspose', BL, M, M, -ONE,
-     $                     DWORK, BL, D, LDD, ZERO, B(I,1), LDB )
-   10       CONTINUE
-C
-         ELSE
-C
-C           Use a BLAS 2 algorithm.
-C
-            DO 20 I = 1, N
-               CALL DCOPY( M, B(I,1), LDB, DWORK, 1 )
-               CALL DGEMV( 'Transpose', M, M, -ONE, D, LDD, DWORK, 1,
-     $                     ZERO, B(I,1), LDB )
-   20       CONTINUE
-C
-         END IF
-C
-C        Compute  Ai = A + Bi*C.
-C
-         CALL DGEMM( 'NoTranspose', 'NoTranspose', N, N, M, ONE, B, LDB,
-     $               C, LDC, ONE, A, LDA )
-C                        -1
-C        Compute  C <-- D  *C.
-C
-         IF ( BLAS3 ) THEN
-C
-C           Enough workspace for a fast BLAS 3 algorithm.
-C
-            CALL DLACPY( 'Full', M, N, C, LDC, DWORK, M )
-            CALL DGEMM( 'NoTranspose', 'NoTranspose', M, N, M, ONE,
-     $                  D, LDD, DWORK, M, ZERO, C, LDC )
-C
-         ELSE IF( BLOCK ) THEN
-C
-C           Use as many columns of C as possible.
-C
-            DO 30 J = 1, N, CHUNK
-               BL = MIN( N-J+1, CHUNK )
-               CALL DLACPY( 'Full', M, BL, C(1,J), LDC, DWORK, M )
-               CALL DGEMM( 'NoTranspose', 'NoTranspose', M, BL, M, ONE,
-     $                     D, LDD, DWORK, M, ZERO, C(1,J), LDC )
-   30       CONTINUE
-C
-         ELSE
-C
-C           Use a BLAS 2 algorithm.
-C
-            DO 40 J = 1, N
-               CALL DCOPY( M, C(1,J), 1, DWORK, 1 )
-               CALL DGEMV( 'NoTranspose', M, M, ONE, D, LDD, DWORK, 1,
-     $                     ZERO, C(1,J), 1 )
-   40       CONTINUE
-C
-         END IF
-      END IF
-C
-C     Return optimal workspace in DWORK(1).
-C
-      DWORK(1) = DBLE( MAX( MAXWRK, N*M ) )
-      RETURN
-C
-C *** Last line of AB07ND ***
-      END

Deleted: trunk/octave-forge/extra/control-devel/src/AB08MD.f
===================================================================
--- trunk/octave-forge/extra/control-devel/src/AB08MD.f	2012-02-22 15:13:45 UTC (rev 9648)
+++ trunk/octave-forge/extra/control-devel/src/AB08MD.f	2012-02-22 16:37:14 UTC (rev 9649)
@@ -1,299 +0,0 @@
-      SUBROUTINE AB08MD( EQUIL, N, M, P, A, LDA, B, LDB, C, LDC, D, LDD,
-     $                   RANK, TOL, IWORK, DWORK, LDWORK, INFO )
-C
-C     SLICOT RELEASE 5.0.
-C
-C     Copyright (c) 2002-2009 NICONET e.V.
-C
-C     This program is free software: you can redistribute it and/or
-C     modify it under the terms of the GNU General Public License as
-C     published by the Free Software Foundation, either version 2 of
-C     the License, or (at your option) any later version.
-C
-C     This program is distributed in the hope that it will be useful,
-C     but WITHOUT ANY WARRANTY; without even the implied warranty of
-C     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-C     GNU General Public License for more details.
-C
-C     You should have received a copy of the GNU General Public License
-C     along with this program.  If not, see
-C     <http://www.gnu.org/licenses/>.
-C
-C     PURPOSE
-C
-C     To compute the normal rank of the transfer-function matrix of a
-C     state-space model (A,B,C,D).
-C
-C     ARGUMENTS
-C
-C     Mode Parameters
-C
-C     EQUIL   CHARACTER*1
-C             Specifies whether the user wishes to balance the compound
-C             matrix (see METHOD) as follows:
-C             = 'S':  Perform balancing (scaling);
-C             = 'N':  Do not perform balancing.
-C
-C     Input/Output Parameters
-C
-C     N       (input) INTEGER
-C             The number of state variables, i.e., the order of the
-C             matrix A.  N >= 0.
-C
-C     M       (input) INTEGER
-C             The number of system inputs.  M >= 0.
-C
-C     P       (input) INTEGER
-C             The number of system outputs.  P >= 0.
-C
-C     A       (input) DOUBLE PRECISION array, dimension (LDA,N)
-C             The leading N-by-N part of this array must contain the
-C             state dynamics matrix A of the system.
-C
-C     LDA     INTEGER
-C             The leading dimension of array A.  LDA >= MAX(1,N).
-C
-C     B       (input) DOUBLE PRECISION array, dimension (LDB,M)
-C             The leading N-by-M part of this array must contain the
-C             input/state matrix B of the system.
-C
-C     LDB     INTEGER
-C             The leading dimension of array B.  LDB >= MAX(1,N).
-C
-C     C       (input) DOUBLE PRECISION array, dimension (LDC,N)
-C             The leading P-by-N part of this array must contain the
-C             state/output matrix C of the system.
-C
-C     LDC     INTEGER
-C             The leading dimension of array C.  LDC >= MAX(1,P).
-C
-C     D       (input) DOUBLE PRECISION array, dimension (LDD,M)
-C             The leading P-by-M part of this array must contain the
-C             direct transmission matrix D of the system.
-C
-C     LDD     INTEGER
-C             The leading dimension of array D.  LDD >= MAX(1,P).
-C
-C     RANK    (output) INTEGER
-C             The normal rank of the transfer-function matrix.
-C
-C     Tolerances
-C
-C     TOL     DOUBLE PRECISION
-C             A tolerance used in rank decisions to determine the
-C             effective rank, which is defined as the order of the
-C             largest leading (or trailing) triangular submatrix in the
-C             QR (or RQ) factorization with column (or row) pivoting
-C             whose estimated condition number is less than 1/TOL.
-C             If the user sets TOL to be less than SQRT((N+P)*(N+M))*EPS
-C             then the tolerance is taken as SQRT((N+P)*(N+M))*EPS,
-C             where EPS is the machine precision (see LAPACK Library
-C             Routine DLAMCH).
-C
-C     Workspace
-C
-C     IWORK   INTEGER array, dimension (2*N+MAX(M,P)+1)
-C
-C     DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-C             On exit, if INFO = 0, DWORK(1) returns the optimal value
-C             of LDWORK.
-C
-C     LDWORK  INTEGER
-C             The length of the array DWORK.
-C             LDWORK >= (N+P)*(N+M) +
-C                       MAX( MIN(P,M) + MAX(3*M-1,N), 1,
-C                            MIN(P,N) + MAX(3*P-1,N+P,N+M) )
-C             For optimum performance LDWORK should be larger.
-C
-C             If LDWORK = -1, then a workspace query is assumed;
-C             the routine only calculates the optimal size of the
-C             DWORK array, returns this value as the first entry of
-C             the DWORK array, and no error message related to LDWORK
-C             is issued by XERBLA.
-C
-C     Error Indicator
-C
-C     INFO    INTEGER
-C             = 0:  successful exit;
-C             < 0:  if INFO = -i, the i-th argument had an illegal
-C                   value.
-C
-C     METHOD
-C
-C     The routine reduces the (N+P)-by-(M+N) compound matrix (B  A)
-C                                                            (D  C)
-C
-C     to one with the same invariant zeros and with D of full row rank.
-C     The normal rank of the transfer-function matrix is the rank of D.
-C
-C     REFERENCES
-C
-C     [1] Svaricek, F.
-C         Computation of the Structural Invariants of Linear
-C         Multivariable Systems with an Extended Version of
-C         the Program ZEROS.
-C         System & Control Letters, 6, pp. 261-266, 1985.
-C
-C     [2] Emami-Naeini, A. and Van Dooren, P.
-C         Computation of Zeros of Linear Multivariable Systems.
-C         Automatica, 18, pp. 415-430, 1982.
-C
-C     NUMERICAL ASPECTS
-C
-C     The algorithm is backward stable (see [2] and [1]).
-C
-C     CONTRIBUTOR
-C
-C     A. Varga, German Aerospace Center, Oberpfaffenhofen, May 2001.
-C
-C     REVISIONS
-C
-C     V. Sima, Research Institute for Informatics, Bucharest, June 2001,
-C     Dec. 2003, Jan. 2009, Mar. 2009, Apr. 2009.
-C
-C     KEYWORDS
-C
-C     Multivariable system, orthogonal transformation,
-C     structural invariant.
-C
-C     ******************************************************************
-C
-C     .. Parameters ..
-      DOUBLE PRECISION  ZERO, ONE
-      PARAMETER         ( ZERO = 0.0D0, ONE = 1.0D0 )
-C     .. Scalar Arguments ..
-      CHARACTER         EQUIL
-      INTEGER           INFO, LDA, LDB, LDC, LDD, LDWORK, M, N, P, RANK
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*), DWORK(*)
-C     .. Local Scalars ..
-      LOGICAL           LEQUIL, LQUERY
-      INTEGER           I, KW, MU, NB, NINFZ, NKROL, NM, NP, NU, RO,
-     $                  SIGMA, WRKOPT
-      DOUBLE PRECISION  MAXRED, SVLMAX, THRESH, TOLER
-C     .. External Functions ..
-      LOGICAL           LSAME
-      DOUBLE PRECISION  DLAMCH, DLANGE
-      EXTERNAL          DLAMCH, DLANGE, LSAME
-C     .. External Subroutines ..
-      EXTERNAL          AB08NX, DLACPY, TB01ID, XERBLA
-C     .. Intrinsic Functions ..
-      INTRINSIC         DBLE, INT, MAX, MIN, SQRT
-C     .. Executable Statements ..
-C
-      NP = N + P
-      NM = N + M
-      INFO = 0
-      LEQUIL = LSAME( EQUIL, 'S' )
-      LQUERY = ( LDWORK.EQ.-1 )
-      WRKOPT = NP*NM
-C
-C     Test the input scalar arguments.
-C
-      IF( .NOT.LEQUIL .AND. .NOT.LSAME( EQUIL, 'N' ) ) THEN
-         INFO = -1
-      ELSE IF( N.LT.0 ) THEN
-         INFO = -2
-      ELSE IF( M.LT.0 ) THEN
-         INFO = -3
-      ELSE IF( P.LT.0 ) THEN
-         INFO = -4
-      ELSE IF( LDA.LT.MAX( 1, N ) ) THEN
-         INFO = -6
-      ELSE IF( LDB.LT.MAX( 1, N ) ) THEN
-         INFO = -8
-      ELSE IF( LDC.LT.MAX( 1, P ) ) THEN
-         INFO = -10
-      ELSE IF( LDD.LT.MAX( 1, P ) ) THEN
-         INFO = -12
-      ELSE
-         KW = WRKOPT + MAX( MIN( P, M ) + MAX( 3*M-1, N ), 1,
-     $                      MIN( P, N ) + MAX( 3*P-1, NP, NM ) )
-         IF( LQUERY ) THEN
-            SVLMAX = ZERO
-            NINFZ  = 0
-            CALL AB08NX( N, M, P, P, 0, SVLMAX, DWORK, MAX( 1, NP ),
-     $                   NINFZ, IWORK, IWORK, MU, NU, NKROL, TOL, IWORK,
-     $                   DWORK, -1, INFO )
-            WRKOPT = MAX( KW, WRKOPT + INT( DWORK(1) ) )
-         ELSE IF( LDWORK.LT.KW ) THEN
-            INFO = -17
-         END IF
-      END IF
-C
-      IF ( INFO.NE.0 ) THEN
-C
-C        Error return.
-C
-         CALL XERBLA( 'AB08MD', -INFO )
-         RETURN
-      ELSE IF( LQUERY ) THEN
-         DWORK(1) = WRKOPT
-         RETURN
-      END IF
-C
-C     Quick return if possible.
-C
-      IF ( MIN( M, P ).EQ.0 ) THEN
-         RANK = 0
-         DWORK(1) = ONE
-         RETURN
-      END IF
-C
-      DO 10 I = 1, 2*N+1
-         IWORK(I) = 0
-   10 CONTINUE
-C
-C     (Note: Comments in the code beginning "Workspace:" describe the
-C     minimal amount of real workspace needed at that point in the
-C     code, as well as the preferred amount for good performance.)
-C
-C     Construct the compound matrix  ( B  A ), dimension (N+P)-by-(M+N).
-C                                    ( D  C )
-C     Workspace: need   (N+P)*(N+M).
-C
-      CALL DLACPY( 'Full', N, M, B, LDB, DWORK, NP )
-      CALL DLACPY( 'Full', P, M, D, LDD, DWORK(N+1), NP )
-      CALL DLACPY( 'Full', N, N, A, LDA, DWORK(NP*M+1), NP )
-      CALL DLACPY( 'Full', P, N, C, LDC, DWORK(NP*M+N+1), NP )
-C
-C     If required, balance the compound matrix (default MAXRED).
-C     Workspace: need   N.
-C
-      KW = WRKOPT + 1
-      IF ( LEQUIL ) THEN
-         MAXRED = ZERO
-         CALL TB01ID( 'A', N, M, P, MAXRED, DWORK(NP*M+1), NP, DWORK,
-     $                NP, DWORK(NP*M+N+1), NP, DWORK(KW), INFO )
-         WRKOPT = WRKOPT + N
-      END IF
-C
-C     If required, set tolerance.
-C
-      THRESH = SQRT( DBLE( NP*NM ) )*DLAMCH( 'Precision' )
-      TOLER = TOL
-      IF ( TOLER.LT.THRESH ) TOLER = THRESH
-      SVLMAX = DLANGE( 'Frobenius', NP, NM, DWORK, NP, DWORK(KW) )
-C
-C     Reduce this system to one with the same invariant zeros and with
-C     D full row rank MU (the normal rank of the original system).
-C     Real workspace: need   (N+P)*(N+M) +
-C                            MAX( 1, MIN(P,M) + MAX(3*M-1,N),
-C                                    MIN(P,N) + MAX(3*P-1,N+P,N+M) );
-C                     prefer larger.
-C     Integer workspace: 2*N+MAX(M,P)+1.
-C
-      RO = P
-      SIGMA = 0
-      NINFZ = 0
-      CALL AB08NX( N, M, P, RO, SIGMA, SVLMAX, DWORK, NP, NINFZ, IWORK,
-     $             IWORK(N+1), MU, NU, NKROL, TOLER, IWORK(2*N+2),
-     $             DWORK(KW), LDWORK-KW+1, INFO )
-      RANK = MU
-C
-      DWORK(1) = MAX( WRKOPT, INT( DWORK(KW) ) + KW - 1 )
-      RETURN
-C *** Last line of AB08MD ***
-      END

Deleted: trunk/octave-forge/extra/control-devel/src/AB08NX.f
===================================================================
--- trunk/octave-forge/extra/control-devel/src/AB08NX.f	2012-02-22 15:13:45 UTC (rev 9648)
+++ trunk/octave-forge/extra/control-devel/src/AB08NX.f	2012-02-22 16:37:14 UTC (rev 9649)
@@ -1,446 +0,0 @@
-      SUBROUTINE AB08NX( N, M, P, RO, SIGMA, SVLMAX, ABCD, LDABCD,
-     $                   NINFZ, INFZ, KRONL, MU, NU, NKROL, TOL, IWORK,
-     $                   DWORK, LDWORK, INFO )
-C
-C     SLICOT RELEASE 5.0.
-C
-C     Copyright (c) 2002-2009 NICONET e.V.
-C
-C     This program is free software: you can redistribute it and/or
-C     modify it under the terms of the GNU General Public License as
-C     published by the Free Software Foundation, either version 2 of
-C     the License, or (at your option) any later version.
-C
-C     This program is distributed in the hope that it will be useful,
-C     but WITHOUT ANY WARRANTY; without even the implied warranty of
-C     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-C     GNU General Public License for more details.
-C
-C     You should have received a copy of the GNU General Public License
-C     along with this program.  If not, see
-C     <http://www.gnu.org/licenses/>.
-C
-C     PURPOSE
-C
-C     To extract from the (N+P)-by-(M+N) system
-C                  ( B  A )
-C                  ( D  C )
-C     an (NU+MU)-by-(M+NU) "reduced" system
-C                  ( B' A')
-C                  ( D' C')
-C     having the same transmission zeros but with D' of full row rank.
-C
-C     ARGUMENTS
-C
-C     Input/Output Parameters
-C
-C     N       (input) INTEGER
-C             The number of state variables.  N >= 0.
-C
-C     M       (input) INTEGER
-C             The number of system inputs.  M >= 0.
-C
-C     P       (input) INTEGER
-C             The number of system outputs.  P >= 0.
-C
-C     RO      (input/output) INTEGER
-C             On entry,
-C             = P     for the original system;
-C             = MAX(P-M, 0) for the pertransposed system.
-C             On exit, RO contains the last computed rank.
-C
-C     SIGMA   (input/output) INTEGER
-C             On entry,
-C             = 0  for the original system;
-C             = M  for the pertransposed system.
-C             On exit, SIGMA contains the last computed value sigma in
-C             the algorithm.
-C
-C     SVLMAX  (input) DOUBLE PRECISION
-C             During each reduction step, the rank-revealing QR
-C             factorization of a matrix stops when the estimated minimum
-C             singular value is smaller than TOL * MAX(SVLMAX,EMSV),
-C             where EMSV is the estimated maximum singular value.
-C             SVLMAX >= 0.
-C
-C     ABCD    (input/output) DOUBLE PRECISION array, dimension
-C             (LDABCD,M+N)
-C             On entry, the leading (N+P)-by-(M+N) part of this array
-C             must contain the compound input matrix of the system.
-C             On exit, the leading (NU+MU)-by-(M+NU) part of this array
-C             contains the reduced compound input matrix of the system.
-C
-C     LDABCD  INTEGER
-C             The leading dimension of array ABCD.
-C             LDABCD >= MAX(1,N+P).
-C
-C     NINFZ   (input/output) INTEGER
-C             On entry, the currently computed number of infinite zeros.
-C             It should be initialized to zero on the first call.
-C             NINFZ >= 0.
-C             On exit, the number of infinite zeros.
-C
-C     INFZ    (input/output) INTEGER array, dimension (N)
-C             On entry, INFZ(i) must contain the current number of
-C             infinite zeros of degree i, where i = 1,2,...,N, found in
-C             the previous call(s) of the routine. It should be
-C             initialized to zero on the first call.
-C             On exit, INFZ(i) contains the number of infinite zeros of
-C             degree i, where i = 1,2,...,N.
-C
-C     KRONL   (input/output) INTEGER array, dimension (N+1)
-C             On entry, this array must contain the currently computed
-C             left Kronecker (row) indices found in the previous call(s)
-C             of the routine. It should be initialized to zero on the
-C             first call.
-C             On exit, the leading NKROL elements of this array contain
-C             the left Kronecker (row) indices.
-C
-C     MU      (output) INTEGER
-C             The normal rank of the transfer function matrix of the
-C             original system.
-C
-C     NU      (output) INTEGER
-C             The dimension of the reduced system matrix and the number
-C             of (finite) invariant zeros if D' is invertible.
-C
-C     NKROL   (output) INTEGER
-C             The number of left Kronecker indices.
-C
-C     Tolerances
-C
-C     TOL     DOUBLE PRECISION
-C             A tolerance used in rank decisions to determine the
-C             effective rank, which is defined as the order of the
-C             largest leading (or trailing) triangular submatrix in the
-C             QR (or RQ) factorization with column (or row) pivoting
-C             whose estimated condition number is less than 1/TOL.
-C             NOTE that when SVLMAX > 0, the estimated ranks could be
-C             less than those defined above (see SVLMAX).
-C
-C     Workspace
-C
-C     IWORK   INTEGER array, dimension (MAX(M,P))
-C
-C     DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-C             On exit, if INFO = 0, DWORK(1) returns the optimal value
-C             of LDWORK.
-C
-C     LDWORK  INTEGER
-C             The length of the array DWORK.
-C             LDWORK >= MAX( 1, MIN(P,M) + MAX(3*M-1,N),
-C                               MIN(P,N) + MAX(3*P-1,N+P,N+M) ).
-C             For optimum performance LDWORK should be larger.
-C
-C             If LDWORK = -1, then a workspace query is assumed;
-C             the routine only calculates the optimal size of the
-C             DWORK array, returns this value as the first entry of
-C             the DWORK array, and no error message related to LDWORK
-C             is issued by XERBLA.
-C
-C     Error Indicator
-C
-C     INFO    INTEGER
-C             = 0:  successful exit;
-C             < 0:  if INFO = -i, the i-th argument had an illegal
-C                   value.
-C
-C     REFERENCES
-C
-C     [1] Svaricek, F.
-C         Computation of the Structural Invariants of Linear
-C         Multivariable Systems with an Extended Version of
-C         the Program ZEROS.
-C         System & Control Letters, 6, pp. 261-266, 1985.
-C
-C     [2] Emami-Naeini, A. and Van Dooren, P.
-C         Computation of Zeros of Linear Multivariable Systems.
-C         Automatica, 18, pp. 415-430, 1982.
-C
-C     NUMERICAL ASPECTS
-C
-C     The algorithm is backward stable.
-C
-C     CONTRIBUTOR
-C
-C     Release 3.0: V. Sima, Katholieke Univ. Leuven, Belgium, Nov. 1996.
-C     Supersedes Release 2.0 routine AB08BZ by F. Svaricek.
-C
-C     REVISIONS
-C
-C     V. Sima, Oct. 1997; Feb. 1998, Jan. 2009, Apr. 2009.
-C     A. Varga, May 1999; May 2001.
-C
-C     KEYWORDS
-C
-C     Generalized eigenvalue problem, Kronecker indices, multivariable
-C     system, orthogonal transformation, structural invariant.
-C
-C     ******************************************************************
-C
-C     .. Parameters ..
-      DOUBLE PRECISION  ZERO
-      PARAMETER         ( ZERO = 0.0D0 )
-C     .. Scalar Arguments ..
-      INTEGER           INFO, LDABCD, LDWORK, M, MU, N, NINFZ, NKROL,
-     $                  NU, P, RO, SIGMA
-      DOUBLE PRECISION  SVLMAX, TOL
-C     .. Array Arguments ..
-      INTEGER           INFZ(*), IWORK(*), KRONL(*)
-      DOUBLE PRECISION  ABCD(LDABCD,*), DWORK(*)
-C     .. Local Scalars ..
-      LOGICAL           LQUERY
-      INTEGER           I1, IK, IROW, ITAU, IZ, JWORK, MM1, MNTAU, MNU,
-     $                  MPM, NB, NP, RANK, RO1, TAU, WRKOPT
-      DOUBLE PRECISION  T
-C     .. Local Arrays ..
-      DOUBLE PRECISION  SVAL(3)
-C     .. External Functions ..
-      INTEGER           ILAENV
-      EXTERNAL          ILAENV
-C     .. External Subroutines ..
-      EXTERNAL          DLAPMT, DLARFG, DLASET, DLATZM, DORMQR, DORMRQ,
-     $                  MB03OY, MB03PY, XERBLA
-C     .. Intrinsic Functions ..
-      INTRINSIC         INT, MAX, MIN
-C     .. Executable Statements ..
-C
-      NP   = N + P
-      MPM  = MIN( P, M )
-      INFO = 0
-      LQUERY = ( LDWORK.EQ.-1 )
-C
-C     Test the input scalar arguments.
-C
-      IF( N.LT.0 ) THEN
-         INFO = -1
-      ELSE IF( M.LT.0 ) THEN
-         INFO = -2
-      ELSE IF( P.LT.0 ) THEN
-         INFO = -3
-      ELSE IF( RO.NE.P .AND. RO.NE.MAX( P-M, 0 ) ) THEN
-         INFO = -4
-      ELSE IF( SIGMA.NE.0 .AND. SIGMA.NE.M ) THEN
-         INFO = -5
-      ELSE IF( SVLMAX.LT.ZERO ) THEN
-         INFO = -6
-      ELSE IF( LDABCD.LT.MAX( 1, NP ) ) THEN
-         INFO = -8
-      ELSE IF( NINFZ.LT.0 ) THEN
-         INFO = -9
-      ELSE
-         JWORK = MAX( 1,      MPM + MAX( 3*M - 1, N ),
-     $                MIN( P, N ) + MAX( 3*P - 1, NP, N+M ) )
-         IF( LQUERY ) THEN
-            IF( M.GT.0 ) THEN
-               NB = MIN( 64, ILAENV( 1, 'DORMQR', 'LT', P, N, MPM,
-     $                               -1 ) )
-               WRKOPT = MAX( JWORK, MPM + MAX( 1, N )*NB )
-            ELSE
-               WRKOPT = JWORK
-            END IF
-            NB = MIN( 64, ILAENV( 1, 'DORMRQ', 'RT', NP, N, MIN( P, N ),
-     $                            -1 ) )
-            WRKOPT = MAX( WRKOPT, MIN( P, N ) + MAX( 1, NP )*NB )
-            NB = MIN( 64, ILAENV( 1, 'DORMRQ', 'LN', N, M+N,
-     $                            MIN( P, N ), -1 ) )
-            WRKOPT = MAX( WRKOPT, MIN( P, N ) + MAX( 1, M+N )*NB )
-         ELSE IF( LDWORK.LT.JWORK ) THEN
-            INFO = -18
-         END IF
-      END IF
-C
-      IF ( INFO.NE.0 ) THEN
-C
-C        Error return.
-C
-         CALL XERBLA( 'AB08NX', -INFO )
-         RETURN
-      ELSE IF( LQUERY ) THEN
-         DWORK(1) = WRKOPT
-         RETURN
-      END IF
-C
-      MU = P
-      NU = N
-C
-      IZ = 0
-      IK = 1
-      MM1 = M + 1
-      ITAU = 1
-      NKROL = 0
-      WRKOPT = 1
-C
-C     Main reduction loop:
-C
-C            M   NU                  M     NU
-C      NU  [ B   A ]           NU  [ B     A ]
-C      MU  [ D   C ]  -->    SIGMA [ RD   C1 ]   (SIGMA = rank(D) =
-C                             TAU  [ 0    C2 ]    row size of RD)
-C
-C                                    M   NU-RO  RO
-C                            NU-RO [ B1   A11  A12 ]
-C                     -->      RO  [ B2   A21  A22 ]  (RO = rank(C2) =
-C                            SIGMA [ RD   C11  C12 ]   col size of LC)
-C                             TAU  [ 0     0   LC  ]
-C
-C                                      M   NU-RO
-C                            NU-RO [ B1   A11 ]     NU := NU - RO
-C                                  [----------]     MU := RO + SIGMA
-C                     -->      RO  [ B2   A21 ]      D := [B2;RD]
-C                            SIGMA [ RD   C11 ]      C := [A21;C11]
-C
-   20 IF ( MU.EQ.0 )
-     $   GO TO 80
-C
-C     (Note: Comments in the code beginning "Workspace:" describe the
-C     minimal amount of real workspace needed at that point in the
-C     code, as well as the preferred amount for good performance.)
-C
-      RO1 = RO
-      MNU = M + NU
-      IF ( M.GT.0 ) THEN
-         IF ( SIGMA.NE.0 ) THEN
-            IROW = NU + 1
-C
-C           Compress rows of D.  First exploit triangular shape.
-C           Workspace: need   M+N-1.
-C
-            DO 40 I1 = 1, SIGMA
-               CALL DLARFG( RO+1, ABCD(IROW,I1), ABCD(IROW+1,I1), 1, T )
-               CALL DLATZM( 'L', RO+1, MNU-I1, ABCD(IROW+1,I1), 1, T,
-     $                      ABCD(IROW,I1+1), ABCD(IROW+1,I1+1), LDABCD,
-     $                      DWORK )
-               IROW = IROW + 1
-   40       CONTINUE
-            CALL DLASET( 'Lower', RO+SIGMA-1, SIGMA, ZERO, ZERO,
-     $                   ABCD(NU+2,1), LDABCD )
-         END IF
-C
-C        Continue with Householder with column pivoting.
-C
-C        The rank of D is the number of (estimated) singular values
-C        that are greater than TOL * MAX(SVLMAX,EMSV). This number
-C        includes the singular values of the first SIGMA columns.
-C        Integer workspace: need   M;
-C        Workspace: need   min(RO1,M) + 3*M - 1.  RO1 <= P.
-C
-         IF ( SIGMA.LT.M ) THEN
-            JWORK = ITAU + MIN( RO1, M )
-            I1    = SIGMA + 1
-            IROW  = NU + I1
-            CALL MB03OY( RO1, M-SIGMA, ABCD(IROW,I1), LDABCD, TOL,
-     $                   SVLMAX, RANK, SVAL, IWORK, DWORK(ITAU),
-     $                   DWORK(JWORK), INFO )
-            WRKOPT = MAX( WRKOPT, JWORK + 3*M - 2 )
-C
-C           Apply the column permutations to matrices B and part of D.
-C
-            CALL DLAPMT( .TRUE., NU+SIGMA, M-SIGMA, ABCD(1,I1), LDABCD,
-     $                   IWORK )
-C
-            IF ( RANK.GT.0 ) THEN
-C
-C              Apply the Householder transformations to the submatrix C.
-C              Workspace: need   min(RO1,M) + NU;
-C                         prefer min(RO1,M) + NU*NB.
-C
-               CALL DORMQR( 'Left', 'Transpose', RO1, NU, RANK,
-     $                      ABCD(IROW,I1), LDABCD, DWORK(ITAU),
-     $                      ABCD(IROW,MM1), LDABCD, DWORK(JWORK),
-     $                      LDWORK-JWORK+1, INFO )
-               WRKOPT = MAX( WRKOPT, INT( DWORK(JWORK) ) + JWORK - 1 )
-               IF ( RO1.GT.1 )
-     $            CALL DLASET( 'Lower', RO1-1, MIN( RO1-1, RANK ), ZERO,
-     $                         ZERO, ABCD(IROW+1,I1), LDABCD )
-               RO1 = RO1 - RANK
-            END IF
-         END IF
-      END IF
-C
-      TAU = RO1
-      SIGMA = MU - TAU
-C
-C     Determination of the orders of the infinite zeros.
-C
-      IF ( IZ.GT.0 ) THEN
-         INFZ(IZ) = INFZ(IZ) + RO - TAU
-         NINFZ = NINFZ + IZ*( RO - TAU )
-      END IF
-      IF ( RO1.EQ.0 )
-     $   GO TO 80
-      IZ = IZ + 1
-C
-      IF ( NU.LE.0 ) THEN
-         MU = SIGMA
-         NU = 0
-         RO = 0
-      ELSE
-C
-C        Compress the columns of C2 using RQ factorization with row
-C        pivoting, P * C2 = R * Q.
-C
-         I1 = NU + SIGMA + 1
-         MNTAU = MIN( TAU, NU )
-         JWORK = ITAU + MNTAU
-C
-C        The rank of C2 is the number of (estimated) singular values
-C        greater than TOL * MAX(SVLMAX,EMSV).
-C        Integer Workspace: need TAU;
-C        Workspace: need min(TAU,NU) + 3*TAU - 1.
-C
-         CALL MB03PY( TAU, NU, ABCD(I1,MM1), LDABCD, TOL, SVLMAX, RANK,
-     $                SVAL, IWORK, DWORK(ITAU), DWORK(JWORK), INFO )
-         WRKOPT = MAX( WRKOPT, JWORK + 3*TAU - 1 )
-         IF ( RANK.GT.0 ) THEN
-            IROW = I1 + TAU - RANK
-C
-C           Apply Q' to the first NU columns of [A; C1] from the right.
-C           Workspace: need   min(TAU,NU) + NU + SIGMA; SIGMA <= P;
-C                      prefer min(TAU,NU) + (NU  + SIGMA)*NB.
-C
-            CALL DORMRQ( 'Right', 'Transpose', I1-1, NU, RANK,
-     $                   ABCD(IROW,MM1), LDABCD, DWORK(MNTAU-RANK+1),
-     $                   ABCD(1,MM1), LDABCD, DWORK(JWORK),
-     $                   LDWORK-JWORK+1, INFO )
-            WRKOPT = MAX( WRKOPT, INT( DWORK(JWORK) ) + JWORK - 1 )
-C
-C           Apply Q to the first NU rows and M + NU columns of [ B  A ]
-C           from the left.
-C           Workspace: need   min(TAU,NU) + M + NU;
-C                      prefer min(TAU,NU) + (M + NU)*NB.
-C
-            CALL DORMRQ( 'Left', 'NoTranspose', NU, MNU, RANK,
-     $                   ABCD(IROW,MM1), LDABCD, DWORK(MNTAU-RANK+1),
-     $                   ABCD, LDABCD, DWORK(JWORK), LDWORK-JWORK+1,
-     $                   INFO )
-            WRKOPT = MAX( WRKOPT, INT( DWORK(JWORK) ) + JWORK - 1 )
-C
-            CALL DLASET( 'Full', RANK, NU-RANK, ZERO, ZERO,
-     $                   ABCD(IROW,MM1), LDABCD )
-            IF ( RANK.GT.1 )
-     $         CALL DLASET( 'Lower', RANK-1, RANK-1, ZERO, ZERO,
-     $                      ABCD(IROW+1,MM1+NU-RANK), LDABCD )
-         END IF
-C
-         RO = RANK
-      END IF
-C
-C     Determine the left Kronecker indices (row indices).
-C
-      KRONL(IK) = KRONL(IK) + TAU - RO
-      NKROL = NKROL + KRONL(IK)
-      IK = IK + 1
-C
-C     C and D are updated to [A21 ; C11] and [B2 ; RD].
-C
-      NU = NU - RO
-      MU = SIGMA + RO
-      IF ( RO.NE.0 )
-     $   GO TO 20
-C
-   80 CONTINUE
-      DWORK(1) = WRKOPT
-      RETURN
-C *** Last line of AB08NX ***
-      END

Deleted: trunk/octave-forge/extra/control-devel/src/AB09AD.f
===================================================================
--- trunk/octave-forge/extra/control-devel/src/AB09AD.f	2012-02-22 15:13:45 UTC (rev 9648)
+++ trunk/octave-forge/extra/control-devel/src/AB09AD.f	2012-02-22 16:37:14 UTC (rev 9649)
@@ -1,363 +0,0 @@
-      SUBROUTINE AB09AD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, A, LDA,
-     $                   B, LDB, C, LDC, HSV, TOL, IWORK, DWORK, LDWORK,
-     $                   IWARN, INFO )
-C
-C     SLICOT RELEASE 5.0.
-C
-C     Copyright (c) 2002-2009 NICONET e.V.
-C
-C     This program is free software: you can redistribute it and/or
-C     modify it under the terms of the GNU General Public License as
-C     published by the Free Software Foundation, either version 2 of
-C     the License, or (at your option) any later version.
-C
-C     This program is distributed in the hope that it will be useful,
-C     but WITHOUT ANY WARRANTY; without even the implied warranty of
-C     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-C     GNU General Public License for more details.
-C
-C     You should have received a copy of the GNU General Public License
-C     along with this program.  If not, see
-C     <http://www.gnu.org/licenses/>.
-C
-C     PURPOSE
-C
-C     To compute a reduced order model (Ar,Br,Cr) for a stable original
-C     state-space representation (A,B,C) by using either the square-root
-C     or the balancing-free square-root Balance & Truncate (B & T)
-C     model reduction method.
-C
-C     ARGUMENTS
-C
-C     Mode Parameters
-C
-C     DICO    CHARACTER*1
-C             Specifies the type of the original system as follows:
-C             = 'C':  continuous-time system;
-C             = 'D':  discrete-time system.
-C
-C     JOB     CHARACTER*1
-C             Specifies the model reduction approach to be used
-C             as follows:
-C             = 'B':  use the square-root Balance & Truncate method;
-C             = 'N':  use the balancing-free square-root
-C                     Balance & Truncate method.
-C
-C     EQUIL   CHARACTER*1
-C             Specifies whether the user wishes to preliminarily
-C             equilibrate the triplet (A,B,C) as follows:
-C             = 'S':  perform equilibration (scaling);
-C             = 'N':  do not perform equilibration.
-C
-C     ORDSEL  CHARACTER*1
-C             Specifies the order selection method as follows:
-C             = 'F':  the resulting order NR is fixed;
-C             = 'A':  the resulting order NR is automatically determined
-C                     on basis of the given tolerance TOL.
-C
-C     Input/Output Parameters
-C
-C     N       (input) INTEGER
-C             The order of the original state-space representation, i.e.
-C             the order of the matrix A.  N >= 0.
-C
-C     M       (input) INTEGER
-C             The number of system inputs.  M >= 0.
-C
-C     P       (input) INTEGER
-C             The number of system outputs.  P >= 0.
-C
-C     NR      (input/output) INTEGER
-C             On entry with ORDSEL = 'F', NR is the desired order of the
-C             resulting reduced order system.  0 <= NR <= N.
-C             On exit, if INFO = 0, NR is the order of the resulting
-C             reduced order model. NR is set as follows:
-C             if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
-C             is the desired order on entry and NMIN is the order of a
-C             minimal realization of the given system; NMIN is
-C             determined as the number of Hankel singular values greater
-C             than N*EPS*HNORM(A,B,C), where EPS is the machine
-C             precision (see LAPACK Library Routine DLAMCH) and
-C             HNORM(A,B,C) is the Hankel norm of the system (computed
-C             in HSV(1));
-C             if ORDSEL = 'A', NR is equal to the number of Hankel
-C             singular values greater than MAX(TOL,N*EPS*HNORM(A,B,C)).
-C
-C     A       (input/output) DOUBLE PRECISION array, dimension (LDA,N)
-C             On entry, the leading N-by-N part of this array must
-C             contain the state dynamics matrix A.
-C             On exit, if INFO = 0, the leading NR-by-NR part of this
-C             array contains the state dynamics matrix Ar of the reduced
-C             order system.
-C
-C     LDA     INTEGER
-C             The leading dimension of array A.  LDA >= MAX(1,N).
-C
-C     B       (input/output) DOUBLE PRECISION array, dimension (LDB,M)
-C             On entry, the leading N-by-M part of this array must
-C             contain the original input/state matrix B.
-C             On exit, if INFO = 0, the leading NR-by-M part of this
-C             array contains the input/state matrix Br of the reduced
-C             order system.
-C
-C     LDB     INTEGER
-C             The leading dimension of array B.  LDB >= MAX(1,N).
-C
-C     C       (input/output) DOUBLE PRECISION array, dimension (LDC,N)
-C             On entry, the leading P-by-N part of this array must
-C             contain the original state/output matrix C.
-C             On exit, if INFO = 0, the leading P-by-NR part of this
-C             array contains the state/output matrix Cr of the reduced
-C             order system.
-C
-C     LDC     INTEGER
-C             The leading dimension of array C.  LDC >= MAX(1,P).
-C
-C     HSV     (output) DOUBLE PRECISION array, dimension (N)
-C             If INFO = 0, it contains the Hankel singular values of
-C             the original system ordered decreasingly. HSV(1) is the
-C             Hankel norm of the system.
-C
-C     Tolerances
-C
-C     TOL     DOUBLE PRECISION
-C             If ORDSEL = 'A', TOL contains the tolerance for
-C             determining the order of reduced system.
-C             For model reduction, the recommended value is
-C             TOL = c*HNORM(A,B,C), where c is a constant in the
-C             interval [0.00001,0.001], and HNORM(A,B,C) is the
-C             Hankel-norm of the given system (computed in HSV(1)).
-C             For computing a minimal realization, the recommended
-C             value is TOL = N*EPS*HNORM(A,B,C), where EPS is the
-C             machine precision (see LAPACK Library Routine DLAMCH).
-C             This value is used by default if TOL <= 0 on entry.
-C             If ORDSEL = 'F', the value of TOL is ignored.
-C
-C     Workspace
-C
-C     IWORK   INTEGER array, dimension (LIWORK)
-C             LIWORK = 0, if JOB = 'B';
-C             LIWORK = N, if JOB = 'N'.
-C
-C     DWORK   DOUBLE PRECISION array, dimension (LDWORK)
-C             On exit, if INFO = 0, DWORK(1) returns the optimal value
-C             of LDWORK.
-C
-C     LDWORK  INTEGER
-C             The length of the array DWORK.
-C             LDWORK >= MAX(1,N*(2*N+MAX(N,M,P)+5)+N*(N+1)/2).
-C             For optimum performance LDWORK should be larger.
-C
-C     Warning Indicator
-C
-C     IWARN   INTEGER
-C             = 0:  no warning;
-C             = 1:  with ORDSEL = 'F', the selected order NR is greater
-C                   than the order of a minimal realization of the
-C                   given system. In this case, the resulting NR is
-C                   set automatically to a value corresponding to the
-C                   order of a minimal realization of the system.
-C
-C     Error Indicator
-C
-C     INFO    INTEGER
-C             = 0:  successful exit;
-C             < 0:  if INFO = -i, the i-th argument had an illegal
-C                   value;
-C             = 1:  the reduction of A to the real Schur form failed;
-C             = 2:  the state matrix A is not stable (if DICO = 'C')
-C                   or not convergent (if DICO = 'D');
-C             = 3:  the computation of Hankel singular values failed.
-C
-C     METHOD
-C
-C     Let be the stable linear system
-C
-C          d[x(t)] = Ax(t) + Bu(t)
-C          y(t)    = Cx(t)                               (1)
-C
-C     where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
-C     for a discrete-time system. The subroutine AB09AD determines for
-C     the given system (1), the matrices of a reduced order system
-C
-C          d[z(t)] = Ar*z(t) + Br*u(t)
-C          yr(t)   = Cr*z(t)                             (2)
-C
-C     such that
-C
-C           HSV(NR) <= INFNORM(G-Gr) <= 2*[HSV(NR+1) + ... + HSV(N)],
-C
-C     where G and Gr are transfer-function matrices of the systems
-C     (A,B,C) and (Ar,Br,Cr), respectively, and INFNORM(G) is the
-C     infinity-norm of G.
-C
-C     If JOB = 'B', the square-root Balance & Truncate method of [1]
-C     is used and, for DICO = 'C', the resulting model is balanced.
-C     By setting TOL <= 0, the routine can be used to compute balanced
-C     minimal state-space realizations of stable systems.
-C
-C     If JOB = 'N', the balancing-free square-root version of the
-C     Balance & Truncate method [2] is used.
-C     By setting TOL <= 0, the routine can be used to compute minimal
-C     state-space realizations of stable systems.
-C
-C     REFERENCES
-C
-C     [1] Tombs M.S. and Postlethwaite I.
-C         Truncated balanced realization of stable, non-minimal
-C         state-space systems.
-C         Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
-C
-C     [2] Varga A.
-C         Efficient minimal realization procedure based on balancing.
-C         Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
-C         A. El Moudui, P. Borne, S. G. Tzafestas (Eds.),
-C         Vol. 2, pp. 42-46.
-C
-C     NUMERICAL ASPECTS
-C
-C     The implemented methods rely on accuracy enhancing square-root or
-C     balancing-free square-root techniques.
-C                                         3
-C     The algorithms require less than 30N  floating point operations.
-C
-C     CONTRIBUTOR
-C
-C     C. Oara and A. Varga, German Aerospace Center,
-C     DLR Oberpfaffenhofen, March 1998.
-C     Based on the RASP routines SRBT and SRBFT.
-C
-C     REVISIONS
-C
-C     May 2, 1998.
-C     November 11, 1998, V. Sima, Research Institute for Informatics,
-C     Bucharest.
-C
-C     KEYWORDS
-C
-C     Balancing, minimal state-space representation, model reduction,
-C     multivariable system, state-space model.
-C
-C     ******************************************************************
-C
-C     .. Parameters ..
-      DOUBLE PRECISION  ONE, C100
-      PARAMETER         ( ONE = 1.0D0, C100 = 100.0D0 )
-C     .. Scalar Arguments ..
-      CHARACTER         DICO, EQUIL, JOB, ORDSEL
-      INTEGER           INFO, IWARN, LDA, LDB, LDC, LDWORK, M, N, NR, P
-      DOUBLE PRECISION  TOL
-C     .. Array Arguments ..
-      INTEGER           IWORK(*)
-      DOUBLE PRECISION  A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
-C     .. Local Scalars ..
-      LOGICAL           FIXORD
-      INTEGER           IERR, KI, KR, KT, KTI, KW, NN
-      DOUBLE PRECISION  MAXRED, WRKOPT
-C     .. External Functions ..
-      LOGICAL           LSAME
-      EXTERNAL          LSAME
-C     .. External Subroutines ..
-      EXTERNAL          AB09AX, TB01ID, TB01WD, XERBLA
-C     .. Intrinsic Functions ..
-      INTRINSIC         DBLE, MAX, MIN
-C     .. Executable Statements ..
-C
-      INFO   = 0
-      IWARN  = 0
-      FIXORD = LSAME( ORDSEL, 'F' )
-C
-C     Test the input scalar arguments.
-C
-      IF( .NOT. ( LSAME( DICO, 'C' ) .OR. LSAME( DICO, 'D' ) ) ) THEN
-         INFO = -1
-      ELSE IF( .NOT. ( LSAME( JOB, 'B' ) .OR. LSAME( JOB, 'N' ) ) ) THEN
-         INFO = -2
-      ELSE IF( .NOT. ( LSAME( EQUIL, 'S' ) .OR.
-     $                 LSAME( EQUIL, 'N' ) ) ) THEN
-         INFO = -3
-      ELSE IF( .NOT. ( FIXORD .OR. LSAME( ORDSEL, 'A' ) ) ) THEN
-         INFO = -4
-      ELSE IF( N.LT.0 ) THEN
-         INFO = -5
-      ELSE IF( M.LT.0 ) THEN
-         INFO = -6
-      ELSE IF( P.LT.0 ) THEN
-         INFO = -7
-      ELSE IF( FIXORD .AND. ( NR.LT.0 .OR. NR.GT.N ) ) THEN
-         INFO = -8
-      ELSE IF( LDA.LT.MAX( 1, N ) ) THEN
-         INFO = -10
-      ELSE IF( LDB.LT.MAX( 1, N ) ) THEN
-         INFO = -12
-      ELSE IF( LDC.LT.MAX( 1, P ) ) THEN
-         INFO = -14
-      ELSE IF( LDWORK.LT.MAX( 1, N*( 2*N + MAX( N, M, P ) + 5 ) +
-     $                         ( N*( N + 1 ) )/2 ) ) THEN
-         INFO = -19
-      END IF
-C
-      IF( INFO.NE.0 ) THEN
-C
-C        Error return.
-C
-         CALL XERBLA( 'AB09AD', -INFO )
-         RETURN
-      END IF
-C
-C     Quick return if possible.
-C
-      IF( MIN( N, M, P ).EQ.0 .OR. ( FIXORD .AND. NR.EQ.0 ) ) THEN
-         NR = 0
-         DWORK(1) = ONE
-         RETURN
-      END IF
-C
-C     Allocate working storage.
-C
-      NN = N*N
-      KT = 1
-      KR = KT + NN
-      KI = KR + N
-      KW = KI + N
-C
-      IF( LSAME( EQUIL, 'S' ) ) THEN
-C
-C        Scale simultaneously the matrices A, B and C:
-C        A <- inv(D)*A*D,  B <- inv(D)*B and C <- C*D, where D is a
-C        diagonal matrix.
-C
-         MAXRED = C100
-         CALL TB01ID( 'A', N, M, P, MAXRED, A, LDA, B, LDB, C, LDC,
-     $                DWORK, INFO )
-      END IF
-C
-C     Reduce A to the real Schur form using an orthogonal similarity
-C     transformation A <- T'*A*T and apply the transformation to
-C     B and C: B <- T'*B and C <- C*T.
-C
-      CALL TB01WD( N, M, P, A, LDA, B, LDB, C, LDC, DWORK(KT), N,
-     $             DWORK(KR), DWORK(KI), DWORK(KW), LDWORK-KW+1, IERR )
-      IF( IERR.NE.0 ) THEN
-         INFO = 1
-         RETURN
-      END IF
-C
-      WRKOPT = DWORK(KW) + DBLE( KW-1 )
-      KTI = KT  + NN
-      KW  = KTI + NN
-C
-      CALL AB09AX( DICO, JOB, ORDSEL, N, M, P, NR, A, LDA, B, LDB, C,
-     $             LDC, HSV, DWORK(KT), N, DWORK(KTI), N, TOL, IWORK,
-     $             DWORK(KW), LDWORK-KW+1, IWARN, IERR )
-C
-      IF( IERR.NE.0 ) THEN
-         INFO = IERR + 1
-         RETURN
-      END IF
-C
-      DWORK(1) = MAX( WRKOPT, DWORK(KW) + DBLE( KW-1 ) )
-C
-      RETURN
-C *** Last line of AB09AD ***
-      END

Deleted: trunk/octave-forge/extra/control-devel/src/AB09AX.f
===================================================================
--- trunk/octave-forge/extra/control-devel/src/AB09AX.f	2012-02-22 15:13:45 UTC (rev 9648)
+++ trunk/octave-forge/extra/control-devel/src/AB09AX.f	2012-02-22 16:37:14 UTC (rev 9649)
@@ -1,564 +0,0 @@
-      SUBROUTINE AB09AX( DICO, JOB, ORDSEL, N, M, P, NR, A, LDA, B, LDB,
-     $                   C, LDC, HSV, T, LDT, TI, LDTI, TOL, IWORK,
-     $                   DWORK, LDWORK, IWARN, INFO )
-C
-C     SLICOT RELEASE 5.0.
-C
-C     Copyright (c) 2002-2009 NICONET e.V.
-C

@@ Diff output truncated at 100000 characters. @@
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Revision: 9651
          http://octave.svn.sourceforge.net/octave/?rev=9651&view=rev
Author:   paramaniac
Date:     2012-02-22 17:51:18 +0000 (Wed, 22 Feb 2012)
Log Message:
-----------
control-devel: minor changes in makefiles

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/makefile_devel.m
    trunk/octave-forge/extra/control-devel/src/Makefile

Modified: trunk/octave-forge/extra/control-devel/devel/makefile_devel.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/makefile_devel.m	2012-02-22 16:59:44 UTC (rev 9650)
+++ trunk/octave-forge/extra/control-devel/devel/makefile_devel.m	2012-02-22 17:51:18 UTC (rev 9651)
@@ -7,6 +7,16 @@
 ##        * run makefile_devel
 ## ==============================================================================
 
-makefile_conred
-makefile_ident
-makefile_modred
\ No newline at end of file
+homedir = pwd ();
+develdir = fileparts (which ("makefile_devel"));
+srcdir = [develdir, "/../src"];
+cd (srcdir);
+
+%makefile_conred
+%makefile_ident
+%makefile_modred
+
+system ("make clean");
+system ("make -j4 all");
+
+cd (homedir);
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/src/Makefile
===================================================================
--- trunk/octave-forge/extra/control-devel/src/Makefile	2012-02-22 16:59:44 UTC (rev 9650)
+++ trunk/octave-forge/extra/control-devel/src/Makefile	2012-02-22 17:51:18 UTC (rev 9651)
@@ -16,7 +16,7 @@
 	mkoctfile *.f \
 	${LAPACK_LIBS} ${BLAS_LIBS} ${FLIBS}
 	ar -r slicotlibrary.a *.o
-	rm *.o *.f *.oct
+	rm -rf *.o *.f *.oct slicot
 
 # balanced stochastic truncation model reduction
 slab09hd.oct: slab09hd.cc slicotlibrary.a
@@ -54,4 +54,4 @@
               ${LAPACK_LIBS} ${BLAS_LIBS}
 
 clean:
-	rm -f *.o core octave-core *.oct *~ *.a *.f
+	rm -rf *.o core octave-core *.oct *~ *.a *.f slicot

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Revision: 9717
          http://octave.svn.sourceforge.net/octave/?rev=9717&view=rev
Author:   paramaniac
Date:     2012-02-28 12:44:16 +0000 (Tue, 28 Feb 2012)
Log Message:
-----------
control-devel: reorganize makefile, similar to control package

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/DESCRIPTION
    trunk/octave-forge/extra/control-devel/Makefile
    trunk/octave-forge/extra/control-devel/devel/makefile_devel.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/iddata.m
    trunk/octave-forge/extra/control-devel/src/Makefile
    trunk/octave-forge/extra/control-devel/src/common.cc
    trunk/octave-forge/extra/control-devel/src/slib01ad.cc

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/src/common.h
    trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc
    trunk/octave-forge/extra/control-devel/src/readme

Modified: trunk/octave-forge/extra/control-devel/DESCRIPTION
===================================================================
--- trunk/octave-forge/extra/control-devel/DESCRIPTION	2012-02-28 07:48:47 UTC (rev 9716)
+++ trunk/octave-forge/extra/control-devel/DESCRIPTION	2012-02-28 12:44:16 UTC (rev 9717)
@@ -1,11 +1,11 @@
 Name: Control-Devel
-Version: 0.1.50
-Date: 2011-10-16
+Version: 0.1.51
+Date: 2012-02-28
 Author: Lukas Reichlin <lukas.reichlin@...>
 Maintainer: Lukas Reichlin <lukas.reichlin@...>
 Title: Control Systems Developer's Playground
 Description: SLICOT system identification plus model and controller reduction
-Depends: octave (>= 3.3.90), control (>= 2.2.0), control (< 2.4.0)
+Depends: octave (>= 3.6.0), control (>= 2.3.49), control (< 2.4.0)
 Autoload: yes
 License: GPL version 3 or later
 Url: http://octave.sf.net, http://www.slicot.org

Modified: trunk/octave-forge/extra/control-devel/Makefile
===================================================================
--- trunk/octave-forge/extra/control-devel/Makefile	2012-02-28 07:48:47 UTC (rev 9716)
+++ trunk/octave-forge/extra/control-devel/Makefile	2012-02-28 12:44:16 UTC (rev 9717)
@@ -1,6 +1,6 @@
 sinclude ../../Makeconf
 
-PKG_FILES = COPYING DESCRIPTION INDEX $(wildcard inst/*)
+PKG_FILES = COPYING DESCRIPTION INDEX INFO $(wildcard inst/*)
 SUBDIRS = doc/
 
 .PHONY: $(SUBDIRS)

Modified: trunk/octave-forge/extra/control-devel/devel/makefile_devel.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/makefile_devel.m	2012-02-28 07:48:47 UTC (rev 9716)
+++ trunk/octave-forge/extra/control-devel/devel/makefile_devel.m	2012-02-28 12:44:16 UTC (rev 9717)
@@ -12,10 +12,7 @@
 srcdir = [develdir, "/../src"];
 cd (srcdir);
 
-%makefile_conred
-%makefile_ident
-%makefile_modred
-
+## system ("make realclean");  # recompile slicotlibrary.a
 system ("make clean");
 system ("make -j4 all");
 system ("rm *.o");

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/iddata.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/iddata.m	2012-02-28 07:48:47 UTC (rev 9716)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/iddata.m	2012-02-28 12:44:16 UTC (rev 9717)
@@ -76,6 +76,7 @@
   dat = struct ("y", {y}, "outname", {outname}, "outunit", {outname},
                 "u", {u}, "inname", {inname}, "inunit", {inname},
                 "tsam", {tsam}, "timeunit", {""},
+                "timedomain", true,
                 "expname", {expname},
                 "name", "", "notes", {{}}, "userdata", []);
 

Modified: trunk/octave-forge/extra/control-devel/src/Makefile
===================================================================
--- trunk/octave-forge/extra/control-devel/src/Makefile	2012-02-28 07:48:47 UTC (rev 9716)
+++ trunk/octave-forge/extra/control-devel/src/Makefile	2012-02-28 12:44:16 UTC (rev 9717)
@@ -1,3 +1,5 @@
+OCTAVE ?= octave
+
 LAPACK_LIBS := $(shell mkoctfile -p LAPACK_LIBS)
 BLAS_LIBS := $(shell mkoctfile -p BLAS_LIBS)
 FLIBS := $(shell mkoctfile -p FLIBS)
@@ -2,57 +4,22 @@
 
-all: slab09hd.oct slab09id.oct slab09jd.oct slsb16ad.oct slsb16bd.oct \
-     slsb16cd.oct slsb10yd.oct
+all: devel_slicot_functions.oct
 
-# TODO: leading and trailing underscores for sl* functions
-#       (__sl*__.oct) would be nice, but this can be an issue
-#       for fortran compilers.
-
+# unpack and compile SLICOT library
 slicotlibrary.a: slicot.tar.gz
 	tar -xzf slicot.tar.gz
 	mv slicot/src/*.f .
 	mv slicot/src_aux/*.f .
-	mkoctfile *.f \
-	${LAPACK_LIBS} ${BLAS_LIBS} ${FLIBS}
+	mkoctfile -c *.f
 	ar -r slicotlibrary.a *.o
-	rm -rf *.o *.f AB01MD.oct slicot
+	rm -rf *.o *.f slicot
 
-# balanced stochastic truncation model reduction
-slab09hd.oct: slab09hd.cc slicotlibrary.a
-	mkoctfile slab09hd.cc slicotlibrary.a \
-              ${LAPACK_LIBS} ${BLAS_LIBS}
+# slicot functions
+devel_slicot_functions.oct: devel_slicot_functions.cc slicotlibrary.a
+	mkoctfile devel_slicot_functions.cc common.cc slicotlibrary.a \
+              ${LAPACK_LIBS} ${BLAS_LIBS} ${FLIBS}
 
-# balanced truncation & singular perturbation approximation model reduction
-slab09id.oct: slab09id.cc slicotlibrary.a
-	mkoctfile slab09id.cc slicotlibrary.a \
-              ${LAPACK_LIBS} ${BLAS_LIBS}
-
-# hankel-norm approximation model reduction
-slab09jd.oct: slab09jd.cc slicotlibrary.a
-	mkoctfile slab09jd.cc slicotlibrary.a \
-              ${LAPACK_LIBS} ${BLAS_LIBS}
-
-# balanced truncation & singular perturbation approximation controller reduction
-slsb16ad.oct: slsb16ad.cc slicotlibrary.a
-	mkoctfile slsb16ad.cc slicotlibrary.a \
-              ${LAPACK_LIBS} ${BLAS_LIBS}
-
-# coprime factorization state-feedback controller reduction
-slsb16bd.oct: slsb16bd.cc slicotlibrary.a
-	mkoctfile slsb16bd.cc slicotlibrary.a \
-              ${LAPACK_LIBS} ${BLAS_LIBS}
-
-# frequency-weighted coprime factorization state-feedback controller reduction
-slsb16cd.oct: slsb16cd.cc slicotlibrary.a
-	mkoctfile slsb16cd.cc slicotlibrary.a \
-              ${LAPACK_LIBS} ${BLAS_LIBS}
-
-# fit state-space model to frequency response data
-slsb10yd.oct: slsb10yd.cc slicotlibrary.a
-	mkoctfile slsb10yd.cc slicotlibrary.a \
-              ${LAPACK_LIBS} ${BLAS_LIBS}
-
 clean:
-	rm -rf *.o core octave-core *.oct *~ *.a *.f slicot
+	rm -rf *.o core octave-core *.oct *~ *.f slicot
 
 realclean: clean
-	rm -rf *.a
+	rm -rf *.a
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/src/common.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/common.cc	2012-02-28 07:48:47 UTC (rev 9716)
+++ trunk/octave-forge/extra/control-devel/src/common.cc	2012-02-28 12:44:16 UTC (rev 9717)
@@ -26,6 +26,8 @@
 */
 
 
+#include <octave/oct.h>
+
 int max (int a, int b)
 {
     if (a > b)

Added: trunk/octave-forge/extra/control-devel/src/common.h
===================================================================
--- trunk/octave-forge/extra/control-devel/src/common.h	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/src/common.h	2012-02-28 12:44:16 UTC (rev 9717)
@@ -0,0 +1,40 @@
+/*
+
+Copyright (C) 2012   Lukas F. Reichlin
+
+This file is part of LTI Syncope.
+
+LTI Syncope is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+LTI Syncope is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+Common code for oct-files.
+
+Author: Lukas Reichlin <lukas.reichlin@...>
+Created: February 2012
+Version: 0.1
+
+*/
+
+#ifndef COMMON_H
+#define COMMON_H
+
+int max (int a, int b);
+int max (int a, int b, int c);
+int max (int a, int b, int c, int d);
+int max (int a, int b, int c, int d, int e);
+int min (int a, int b);
+void error_msg (const char name[], int index, int max, const char* msg[]);
+void warning_msg (const char name[], int index, int max, const char* msg[]);
+void warning_msg (const char name[], int index, int max, const char* msg[], int offset);
+
+#endif

Added: trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc	2012-02-28 12:44:16 UTC (rev 9717)
@@ -0,0 +1 @@
+#include "slib01ad.cc"  // preprocess the input-output data

Added: trunk/octave-forge/extra/control-devel/src/readme
===================================================================
--- trunk/octave-forge/extra/control-devel/src/readme	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/src/readme	2012-02-28 12:44:16 UTC (rev 9717)
@@ -0,0 +1,69 @@
+SLICOT Library Root Directory
+-----------------------------
+
+SLICOT - Subroutine Library In COntrol Theory - is a general purpose basic
+mathematical library for control theoretical computations.  The library
+provides tools to perform essential system analysis and synthesis tasks.
+The main emphasis in SLICOT is on numerical reliability of implemented
+algorithms and the numerical robustness and efficiency of routines.
+Providing algorithmic flexibility and the use of rigorous implementation
+and documentation standards are other SLICOT features.
+
+The SLICOT Library is available as standard Fortran 77 code in double
+precision.  Each user-callable subroutine for control computations is
+accompanied by an example program which illustrates the use of the
+subroutine and can act as a template for the user's own routines.
+
+The SLICOT Library is organized by chapters, sections and subsections.
+The following chapters are currently included:
+
+A : Analysis Routines
+B : Benchmark and Test Problems
+D : Data Analysis
+F : Filtering
+I : Identification
+M : Mathematical Routines
+N : Nonlinear Systems
+    (not yet available, except for some auxiliary routines for Wiener systems)
+S : Synthesis Routines
+T : Transformation Routines
+U : Utility Routines
+
+SLICOT Library Root Directory contains few, basic files for the SLICOT Library
+distribution and generation.  When distributed, SLICOT software comes with
+several filled-in subdirectories (benchmark_data, doc, examples, examples77,
+src, and src_aux), and five files in this root
+directory:
+- this file, readme,
+- the file Installation.txt, describing the SLICOT software installation,
+- the main SLICOT Library documentation index, libindex.html, and
+- two template files for building the object library and executable programs,
+  make.inc and makefile,
+- GNU GENERAL PUBLIC LICENSE Version 2 text file.
+The last two files might need few changes for being adapted to the specific
+platform used.  Details about installing/updating the SLICOT software are
+given in the file Installation.txt.
+
+After software installation, this directory will also contain the library 
+file slicot.a or slicot.lib, for Unix or Windows platforms, respectively.
+The library file could then be linked in applications programs, as usual.
+Specific examples are contained in the directories examples and examples77.
+The on-line documentation of the SLICOT user's callable routines is
+accessible via the main SLICOT Library documentation index, libindex.html.
+This file also contains a link to the documentation of the lower-level,
+support routines.
+
+The SLICOT Library is built on LAPACK (Linear Algebra PACKage) and BLAS
+(Basic Linear Algebra Subprograms) collections.  Therefore, these
+packages should be available on the platform used.
+
+Basic References:
+
+1. P. Benner, V. Mehrmann, V. Sima, S. Van Huffel, and A. Varga,
+   "SLICOT - A Subroutine Library in Systems and Control Theory",
+   Applied and Computational Control, Signals, and Circuits
+   (Birkhauser), Vol. 1, Ch. 10, pp. 505-546, 1999.
+
+2. S. Van Huffel, V. Sima, A. Varga, S. Hammarling, and F. Delebecque,
+   "Development of High Performance Numerical Software for Control",
+   IEEE Control Systems Magazine, Vol. 24, Nr. 1, Feb., pp. 60-76, 2004.

Modified: trunk/octave-forge/extra/control-devel/src/slib01ad.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slib01ad.cc	2012-02-28 07:48:47 UTC (rev 9716)
+++ trunk/octave-forge/extra/control-devel/src/slib01ad.cc	2012-02-28 12:44:16 UTC (rev 9717)
@@ -29,7 +29,7 @@
 
 #include <octave/oct.h>
 #include <f77-fcn.h>
-#include "common.cc"
+#include "common.h"
 
 extern "C"
 { 
@@ -50,7 +50,8 @@
                   double* DWORK, int& LDWORK,
                   int& IWARN, int& INFO);
 }
-     
+
+// PKG_ADD: autoload ("slib01ad", "devel_slicot_functions.oct");
 DEFUN_DLD (slib01ad, args, nargout,
    "-*- texinfo -*-\n\
 Slicot IB01AD Release 5.0\n\

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Revision: 9718
          http://octave.svn.sourceforge.net/octave/?rev=9718&view=rev
Author:   paramaniac
Date:     2012-02-28 14:11:38 +0000 (Tue, 28 Feb 2012)
Log Message:
-----------
control-devel: work on iddata display routine

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/test_iddata.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/display.m

Modified: trunk/octave-forge/extra/control-devel/devel/test_iddata.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-02-28 12:44:16 UTC (rev 9717)
+++ trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-02-28 14:11:38 UTC (rev 9718)
@@ -10,4 +10,6 @@
 %x.y = {}
 
 %x.u = []
-x.u = x.y
\ No newline at end of file
+x.u = x.y
+
+d = iddata ({(1:10).', (21:25).'}, {(31:40).', (41:45).'})

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/display.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/display.m	2012-02-28 12:44:16 UTC (rev 9717)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/display.m	2012-02-28 14:11:38 UTC (rev 9718)
@@ -40,11 +40,11 @@
   disp (str);
   disp ("");
   
-  disp (__col2str__ (expname, "Experiment"));
+  disp (horzcat (__col2str__ (expname, "Experiment"), __vec2str__ (n, "Samples"), __vec2str__ (cell2mat (dat.tsam), "Sampling Interval")));
   disp ("");
-  disp (__col2str__ (outname, "Outputs"));
+  disp (horzcat (__col2str__ (outname, "Outputs"), __col2str__ (dat.outunit, "Unit (if specified)")));
   disp ("");
-  disp (__col2str__ (inname, "Inputs"));
+  disp (horzcat (__col2str__ (inname, "Inputs"), __col2str__ (dat.inunit, "Unit (if specified)")));
   disp ("");
   
 %{
@@ -71,3 +71,29 @@
   str = strvcat (title, str);
 
 endfunction
+
+
+function str = __vec2str__ (vec, title)
+
+  vec = vec(:);
+  tmp = isfinite (vec);
+  tmp = abs (vec(tmp & vec != 0));
+  if (isempty (tmp) || min (tmp) < 1e-3 || max (tmp) > 1e4)
+    str = arrayfun (@(x) sprintf ("   %.3e", x), vec, "uniformoutput", false);
+  elseif (all (floor (tmp) == tmp))
+    str = arrayfun (@(x) sprintf ("   %d", x), vec, "uniformoutput", false);
+  else
+    str = arrayfun (@(x) sprintf ("   %.4f", x), vec, "uniformoutput", false);
+  endif
+  str = strjust (char (str), "right");
+  %str = [repmat("   ", len, 1), str];
+  str = strvcat (title, str);
+  
+  %if (nargin > 1)
+  %  str = [str, repmat(post, length (vec), 1)];
+  %endif
+
+endfunction
+
+
+

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Revision: 9722
          http://octave.svn.sourceforge.net/octave/?rev=9722&view=rev
Author:   paramaniac
Date:     2012-02-29 10:07:16 +0000 (Wed, 29 Feb 2012)
Log Message:
-----------
control-devel: remove cruft

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/test_iddata.m
    trunk/octave-forge/extra/control-devel/src/Makefile

Modified: trunk/octave-forge/extra/control-devel/devel/test_iddata.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-02-29 10:06:52 UTC (rev 9721)
+++ trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-02-29 10:07:16 UTC (rev 9722)
@@ -13,3 +13,5 @@
 x.u = x.y
 
 d = iddata ({(1:10).', (21:25).'}, {(31:40).', (41:45).'})
+
+e = iddata ({(1:10).', (21:25).', (21:125).'}, {(31:40).', (41:45).', (41:145).'})

Modified: trunk/octave-forge/extra/control-devel/src/Makefile
===================================================================
--- trunk/octave-forge/extra/control-devel/src/Makefile	2012-02-29 10:06:52 UTC (rev 9721)
+++ trunk/octave-forge/extra/control-devel/src/Makefile	2012-02-29 10:07:16 UTC (rev 9722)
@@ -1,5 +1,3 @@
-OCTAVE ?= octave
-
 LAPACK_LIBS := $(shell mkoctfile -p LAPACK_LIBS)
 BLAS_LIBS := $(shell mkoctfile -p BLAS_LIBS)
 FLIBS := $(shell mkoctfile -p FLIBS)

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Revision: 9742
          http://octave.svn.sourceforge.net/octave/?rev=9742&view=rev
Author:   paramaniac
Date:     2012-03-04 15:58:30 +0000 (Sun, 04 Mar 2012)
Log Message:
-----------
control-devel: draft code for iddata cat method

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/test_iddata.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/subsasgn.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m

Modified: trunk/octave-forge/extra/control-devel/devel/test_iddata.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-03-04 15:21:59 UTC (rev 9741)
+++ trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-03-04 15:58:30 UTC (rev 9742)
@@ -15,3 +15,18 @@
 d = iddata ({(1:10).', (21:25).'}, {(31:40).', (41:45).'})
 
 e = iddata ({(1:10).', (21:25).', (21:125).'}, {(31:40).', (41:45).', (41:145).'})
+
+
+oy = ones (200, 5);
+ou = ones (200, 4);
+y = repmat ({oy}, 6, 1);
+u = repmat ({ou}, 6, 1);
+
+f = iddata (y, u)
+%{
+f.expname = strseq ("experiment", 1:6)
+f.expname(2) = "value 1"
+f.expname{2} = "value 2"
+%}
+
+cat (4, f, f, f)
\ No newline at end of file

Added: trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m	2012-03-04 15:58:30 UTC (rev 9742)
@@ -0,0 +1,60 @@
+## Copyright (C) 2012   Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} {@var{dat} =} cat (@var{dim}, @var{dat1}, @var{dat2}, @dots{})
+## Concatenation of iddata objects along dimension @var{dim}.
+## @end deftypefn
+
+## Author: Lukas Reichlin <lukas.reichlin@...>
+## Created: March 2012
+## Version: 0.1
+
+function dat = cat (dim, varargin)
+
+  switch (dim)
+    case 1      # add samples; p, m, e identical
+      %[~, p, m, e]
+      %nvec = cellfun (@size
+      [~, p, m, e] = cellfun (@size, varargin, "uniformoutput", false)
+      
+      %y = cellfun (@(dat) vertcat (dat.y) 
+      %dat = cellfun (@iddata, varargin)
+      #y = cellfun (@vertcat
+      
+      ycell = cellfun (@(dat) dat.y, varargin, "uniformoutput", false)
+
+
+
+      %varargin{:}.y
+      %varargin(:).y
+    case 2      # horzcat, same outputs; 
+    
+    case 3      # vertcat, same inputs
+    
+    case 4      # add experiments
+      tmp = cellfun (@iddata, varargin);
+      
+      y = vertcat (tmp.y);
+      u = vertcat (tmp.u);
+      
+      dat = iddata (y, u);
+      
+  
+  endswitch
+
+endfunction
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/subsasgn.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/subsasgn.m	2012-03-04 15:21:59 UTC (rev 9741)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/subsasgn.m	2012-03-04 15:58:30 UTC (rev 9742)
@@ -26,12 +26,19 @@
 function dat = subsasgn (dat, idx, val)
 
   switch (idx(1).type)
-    case "."
-      if (length (idx) == 1)
+    case "()"                                                   # dat(...) = val
+      if (length (idx(1).subs) == 1 && isa (val, "iddata"))     # dat(x) = dat, required by cat for ...
+        dat(idx.subs{:}) = val;                                 # dat = cellfun (@iddata, varargin)
+      else                                                      # dat(...) = val, general case
+        error ("iddata: subsasgn type not implemented yet");
+      endif
+
+    case "."                                                    # dat.y... = val
+      if (length (idx) == 1)                                    # dat.y = val
         dat = set (dat, idx.subs, val);
-      else
-        prop = idx(1).subs;
-        dat = set (dat, prop, subsasgn (get (dat, prop), idx(2:end), val));
+      else                                                      # dat.y(...) = val, dat.expname{3} = val
+        key = idx(1).subs;
+        dat = set (dat, key, subsasgn (get (dat, key), idx(2:end), val));
       endif
     otherwise
       error ("iddata: subsasgn: invalid subscripted assignment type");

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Revision: 9743
          http://octave.svn.sourceforge.net/octave/?rev=9743&view=rev
Author:   paramaniac
Date:     2012-03-04 17:35:42 +0000 (Sun, 04 Mar 2012)
Log Message:
-----------
control-devel: more draft code for iddata cat method

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/test_iddata.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m

Modified: trunk/octave-forge/extra/control-devel/devel/test_iddata.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-03-04 15:58:30 UTC (rev 9742)
+++ trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-03-04 17:35:42 UTC (rev 9743)
@@ -29,4 +29,12 @@
 f.expname{2} = "value 2"
 %}
 
-cat (4, f, f, f)
\ No newline at end of file
+%cat (4, f, f, f)
+
+%cat (1, f, f)
+
+u = iddata ({(1:10).', (21:30).'}, {(41:50).', (61:70).'});
+v = iddata ({(11:20).', (31:40).'}, {(51:60).', (71:80).'});
+
+
+w = cat (1, u, v)
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m	2012-03-04 15:58:30 UTC (rev 9742)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m	2012-03-04 17:35:42 UTC (rev 9743)
@@ -30,16 +30,20 @@
     case 1      # add samples; p, m, e identical
       %[~, p, m, e]
       %nvec = cellfun (@size
-      [~, p, m, e] = cellfun (@size, varargin, "uniformoutput", false)
+      %[~, p, m, e] = cellfun (@size, varargin, "uniformoutput", false)
       
       %y = cellfun (@(dat) vertcat (dat.y) 
       %dat = cellfun (@iddata, varargin)
       #y = cellfun (@vertcat
       
-      ycell = cellfun (@(dat) dat.y, varargin, "uniformoutput", false)
+      #ycell = cellfun (@(dat) dat.y, varargin, "uniformoutput", false)
 
+      tmp = cellfun (@iddata, varargin);
+      y = cellfun (@vertcat, tmp.y, "uniformoutput", false);
+      u = cellfun (@vertcat, tmp.u, "uniformoutput", false);
+      
+      dat = iddata (y, u);
 
-
       %varargin{:}.y
       %varargin(:).y
     case 2      # horzcat, same outputs; 

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Revision: 9744
          http://octave.svn.sourceforge.net/octave/?rev=9744&view=rev
Author:   paramaniac
Date:     2012-03-04 22:17:45 +0000 (Sun, 04 Mar 2012)
Log Message:
-----------
control-devel: catenation types for iddata class

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/iddata_merge.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/diff.m

Added: trunk/octave-forge/extra/control-devel/devel/iddata_merge.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/iddata_merge.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/iddata_merge.m	2012-03-04 22:17:45 UTC (rev 9744)
@@ -0,0 +1,14 @@
+%u = iddata ({(1:10).', (21:30).'}, {(41:50).', (61:70).'});
+%v = iddata ({(11:20).', (31:40).'}, {(51:60).', (71:80).'});
+
+oy = ones (200, 5);
+ou = ones (200, 4);
+y = repmat ({oy}, 6, 1);
+u = repmat ({ou}, 6, 1);
+
+u = iddata (y, u)
+v = u
+
+a = [u, v]
+b = [u; v]
+c = merge (u, v)
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m	2012-03-04 17:35:42 UTC (rev 9743)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m	2012-03-04 22:17:45 UTC (rev 9744)
@@ -26,39 +26,25 @@
 
 function dat = cat (dim, varargin)
 
-  switch (dim)
-    case 1      # add samples; p, m, e identical
-      %[~, p, m, e]
-      %nvec = cellfun (@size
-      %[~, p, m, e] = cellfun (@size, varargin, "uniformoutput", false)
-      
-      %y = cellfun (@(dat) vertcat (dat.y) 
-      %dat = cellfun (@iddata, varargin)
-      #y = cellfun (@vertcat
-      
-      #ycell = cellfun (@(dat) dat.y, varargin, "uniformoutput", false)
+  tmp = cellfun (@iddata, varargin);
 
-      tmp = cellfun (@iddata, varargin);
+  switch (dim)
+    case 1      # vertcat - catenate samples
       y = cellfun (@vertcat, tmp.y, "uniformoutput", false);
       u = cellfun (@vertcat, tmp.u, "uniformoutput", false);
-      
-      dat = iddata (y, u);
-
-      %varargin{:}.y
-      %varargin(:).y
-    case 2      # horzcat, same outputs; 
     
-    case 3      # vertcat, same inputs
+    case 2      # horzcat - catenate channels;
+      y = cellfun (@horzcat, tmp.y, "uniformoutput", false);
+      u = cellfun (@horzcat, tmp.u, "uniformoutput", false);
     
-    case 4      # add experiments
-      tmp = cellfun (@iddata, varargin);
-      
+    case 3      # merge - catenate experiments
       y = vertcat (tmp.y);
       u = vertcat (tmp.u);
-      
-      dat = iddata (y, u);
-      
-  
+    
+    otherwise
+      error ("iddata: cat: '%s' is an invalid dimension", num2str (dim));
   endswitch
+  
+  dat = iddata (y, u);
 
 endfunction
\ No newline at end of file

Added: trunk/octave-forge/extra/control-devel/inst/@iddata/diff.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/diff.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/diff.m	2012-03-04 22:17:45 UTC (rev 9744)
@@ -0,0 +1,32 @@
+## Copyright (C) 2012   Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} {@var{dat} =} cat (@var{dim}, @var{dat1}, @var{dat2}, @dots{})
+## Concatenation of iddata objects along dimension @var{dim}.
+## @end deftypefn
+
+## Author: Lukas Reichlin <lukas.reichlin@...>
+## Created: March 2012
+## Version: 0.1
+
+function dat = diff (dat, k)
+
+  dat.y = cellfun (@(y) diff (y, k), dat.y, "uniformoutput", false);
+  dat.u = cellfun (@(u) diff (u, k), dat.u, "uniformoutput", false);
+
+endfunction
\ No newline at end of file

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Revision: 9748
          http://octave.svn.sourceforge.net/octave/?rev=9748&view=rev
Author:   paramaniac
Date:     2012-03-05 17:48:09 +0000 (Mon, 05 Mar 2012)
Log Message:
-----------
control-devel: fix bug

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/test_iddata.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m

Modified: trunk/octave-forge/extra/control-devel/devel/test_iddata.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-03-05 17:32:53 UTC (rev 9747)
+++ trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-03-05 17:48:09 UTC (rev 9748)
@@ -37,4 +37,6 @@
 v = iddata ({(11:20).', (31:40).'}, {(51:60).', (71:80).'});
 
 
-w = cat (1, u, v)
\ No newline at end of file
+w = cat (1, u, v)
+
+cat (3, d, e)
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m	2012-03-05 17:32:53 UTC (rev 9747)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m	2012-03-05 17:48:09 UTC (rev 9748)
@@ -48,7 +48,6 @@
     case 3      # merge - catenate experiments
       check_outputs (p);
       check_inputs (m);
-      check_samples (n);
 
       y = vertcat (tmp.y);
       u = vertcat (tmp.u);
@@ -95,8 +94,8 @@
 function check_samples (n)
 
   if (numel (n) > 1 && ! isequal (n{:}))
-    error ("iddata: cat: number of samples don't match [%s]", \
-           num2str (cell2mat (n), "%d "));
+    error ("iddata: cat: number of samples don't match %s", \
+           mat2str (vertcat (n{:}), 10));
   endif
 
 endfunction

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Revision: 9763
          http://octave.svn.sourceforge.net/octave/?rev=9763&view=rev
Author:   paramaniac
Date:     2012-03-07 12:45:17 +0000 (Wed, 07 Mar 2012)
Log Message:
-----------
control-devel: doc fixes

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/INDEX
    trunk/octave-forge/extra/control-devel/inst/@iddata/horzcat.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/merge.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/vertcat.m

Modified: trunk/octave-forge/extra/control-devel/INDEX
===================================================================
--- trunk/octave-forge/extra/control-devel/INDEX	2012-03-07 12:34:04 UTC (rev 9762)
+++ trunk/octave-forge/extra/control-devel/INDEX	2012-03-07 12:45:17 UTC (rev 9763)
@@ -1,11 +1,16 @@
 control-devel >> Control Theory
 Examples
 Experimental Data Handling
+  iddata
+  @iddata/cat
+  @iddata/diff
   @iddata/get
-  iddata
+  @iddata/horzcat
+  @iddata/merge
   @iddata/plot
   @iddata/set
   @iddata/size
+  @iddata/vertcat
 System Identification
   fitfrd
   moesp

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/horzcat.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/horzcat.m	2012-03-07 12:34:04 UTC (rev 9762)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/horzcat.m	2012-03-07 12:45:17 UTC (rev 9763)
@@ -16,7 +16,8 @@
 ## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
 
 ## -*- texinfo -*-
-## @deftypefn {Function File} {@var{dat} =} horzcat (@var{dat1}, @var{dat2}, @dots{})
+## @deftypefn {Function File} {@var{dat} =} [@var{dat1}, @var{dat2}, @dots{}]
+## @deftypefnx {Function File} {@var{dat} =} horzcat (@var{dat1}, @var{dat2}, @dots{})
 ## Horizontal concatenation of iddata datasets.
 ## The outputs and inputs are concatenated in the following way:
 ## @code{dat.y@...@} = [dat1.y@...@}, dat2.y@...@}, @dots{}]}

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/merge.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/merge.m	2012-03-07 12:34:04 UTC (rev 9762)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/merge.m	2012-03-07 12:45:17 UTC (rev 9763)
@@ -16,7 +16,7 @@
 ## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
 
 ## -*- texinfo -*-
-## @deftypefn {Function File} {@var{dat} =} vertcat (@var{dat1}, @var{dat2}, @dots{})
+## @deftypefn {Function File} {@var{dat} =} merge (@var{dat1}, @var{dat2}, @dots{})
 ## Concatenate experiments of iddata datasets.
 ## The experiments are concatenated in the following way:
 ## @code{dat.y = [dat1.y; dat2.y; @dots{}]}

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/vertcat.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/vertcat.m	2012-03-07 12:34:04 UTC (rev 9762)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/vertcat.m	2012-03-07 12:45:17 UTC (rev 9763)
@@ -16,7 +16,8 @@
 ## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
 
 ## -*- texinfo -*-
-## @deftypefn {Function File} {@var{dat} =} vertcat (@var{dat1}, @var{dat2}, @dots{})
+## @deftypefn {Function File} {@var{dat} =} [@var{dat1}; @var{dat2}; @dots{}]
+## @deftypefnx {Function File} {@var{dat} =} vertcat (@var{dat1}, @var{dat2}, @dots{})
 ## Vertical concatenation of iddata datasets.
 ## The samples are concatenated in the following way:
 ## @code{dat.y@...@} = [dat1.y@...@}; dat2.y@...@}; @dots{}]}

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Revision: 9767
          http://octave.svn.sourceforge.net/octave/?rev=9767&view=rev
Author:   paramaniac
Date:     2012-03-07 17:06:48 +0000 (Wed, 07 Mar 2012)
Log Message:
-----------
control-devel: test for equal units when concatening datasets

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/test_iddata.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m

Modified: trunk/octave-forge/extra/control-devel/devel/test_iddata.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-03-07 14:50:15 UTC (rev 9766)
+++ trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-03-07 17:06:48 UTC (rev 9767)
@@ -39,4 +39,9 @@
 
 w = cat (1, u, v)
 
-cat (3, d, e)
\ No newline at end of file
+cat (3, d, e)
+
+
+un = iddata ({(1:10).', (21:30).'}, {(41:50).', (61:70).'}, [], "expname", strseq ("alpha", 1:2));
+vn = iddata ({(11:20).', (31:40).'}, {(51:60).', (71:80).'}, [], "expname", strseq ("beta", 1:2));
+n = [un; vn]

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m	2012-03-07 14:50:15 UTC (rev 9766)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m	2012-03-07 17:06:48 UTC (rev 9767)
@@ -31,23 +31,23 @@
 
   switch (dim)
     case 1      # vertcat - catenate samples
-      check_experiments (e);
-      check_outputs (p);
-      check_inputs (m);
+      check_experiments (tmp, e);
+      check_outputs (tmp, p);
+      check_inputs (tmp, m);
     
       y = cellfun (@vertcat, tmp.y, "uniformoutput", false);
       u = cellfun (@vertcat, tmp.u, "uniformoutput", false);
     
     case 2      # horzcat - catenate channels;
-      check_experiments (e);
+      check_experiments (tmp, e);
       check_samples (n);
 
       y = cellfun (@horzcat, tmp.y, "uniformoutput", false);
       u = cellfun (@horzcat, tmp.u, "uniformoutput", false);
     
     case 3      # merge - catenate experiments
-      check_outputs (p);
-      check_inputs (m);
+      check_outputs (tmp, p);
+      check_inputs (tmp, m);
 
       y = vertcat (tmp.y);
       u = vertcat (tmp.u);
@@ -61,33 +61,53 @@
 endfunction
 
 
-function check_experiments (e)
+function check_experiments (tmp, e)
 
-  if (numel (e) > 1 && ! isequal (e{:}))
+  if (numel (e) > 1 && ! isequal (e{:}))        # isequal doesn't work with less than 2 arguments
     error ("iddata: cat: number of experiments don't match [%s]", \
            num2str (cell2mat (e), "%d "));
   endif
+  
+  if (! compare_strings (tmp.expname))
+    warning ("iddata: cat: experiment names don't match")
+  endif
 
 endfunction
 
 
-function check_outputs (p)
+function check_outputs (tmp, p)
 
   if (numel (p) > 1 && ! isequal (p{:}))
     error ("iddata: cat: number of outputs don't match [%s]", \
            num2str (cell2mat (p), "%d "));
   endif
+  
+  if (! compare_strings (tmp.outname))
+    warning ("iddata: cat: output names don't match")
+  endif
 
+  if (! compare_strings (tmp.outunit))
+    warning ("iddata: cat: output units don't match")
+  endif
+
 endfunction
 
 
-function check_inputs (m)
+function check_inputs (tmp, m)
 
   if (numel (m) > 1 && ! isequal (m{:}))
     error ("iddata: cat: number of inputs don't match [%s]", \
            num2str (cell2mat (m), "%d "));
   endif
 
+  if (! compare_strings (tmp.inname))
+    warning ("iddata: cat: input names don't match")
+  endif
+
+  if (! compare_strings (tmp.inunit))
+    warning ("iddata: cat: input units don't match")
+  endif
+
 endfunction
 
 
@@ -101,4 +121,20 @@
 endfunction
 
 
+## kind of strcmp for more than two arguments
+## return true if all cells of strings are equal
+## and false otherwise
+function bool = compare_strings (str, varargin)
+
+  if (nargin > 1)
+    tmp = cellfun (@(x) strcmp (str, x), varargin, "uniformoutput", false);
+    tmp = cellfun (@all, tmp);
+    bool = all (tmp);
+  else
+    bool = true;
+  endif
+
+endfunction
+
+
 %!error (cat (1, iddata (1, 1), iddata ({2, 3}, {2, 3})));

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Revision: 9769
          http://octave.svn.sourceforge.net/octave/?rev=9769&view=rev
Author:   paramaniac
Date:     2012-03-07 17:40:03 +0000 (Wed, 07 Mar 2012)
Log Message:
-----------
control-devel: fix cat for time series

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/test_iddata.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m

Modified: trunk/octave-forge/extra/control-devel/devel/test_iddata.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-03-07 17:22:56 UTC (rev 9768)
+++ trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-03-07 17:40:03 UTC (rev 9769)
@@ -45,3 +45,6 @@
 un = iddata ({(1:10).', (21:30).'}, {(41:50).', (61:70).'}, [], "expname", strseq ("alpha", 1:2));
 vn = iddata ({(11:20).', (31:40).'}, {(51:60).', (71:80).'}, [], "expname", strseq ("beta", 1:2));
 n = [un; vn]
+cat (1, un)
+
+cat (1, b)

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m	2012-03-07 17:22:56 UTC (rev 9768)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m	2012-03-07 17:40:03 UTC (rev 9769)
@@ -30,22 +30,32 @@
   [n, p, m, e] = cellfun (@size, varargin, "uniformoutput", false);
 
   switch (dim)
-    case 1      # vertcat - catenate samples
+    case 1                                              # vertcat - catenate samples
       check_experiments (tmp, e);
       check_outputs (tmp, p);
       check_inputs (tmp, m);
     
       y = cellfun (@vertcat, tmp.y, "uniformoutput", false);
-      u = cellfun (@vertcat, tmp.u, "uniformoutput", false);
+
+      if (m{1} > 0)                                     # m(2:end) are equal, tested by check_inputs
+        u = cellfun (@vertcat, tmp.u, "uniformoutput", false);
+      else                                              # time series don't have inputs
+        u = [];
+      endif
     
-    case 2      # horzcat - catenate channels;
+    case 2                                              # horzcat - catenate channels
       check_experiments (tmp, e);
       check_samples (n);
 
       y = cellfun (@horzcat, tmp.y, "uniformoutput", false);
-      u = cellfun (@horzcat, tmp.u, "uniformoutput", false);
+      
+      if (m{1} > 0)
+        u = cellfun (@horzcat, tmp.u, "uniformoutput", false);
+      else
+        u = [];
+      endif
     
-    case 3      # merge - catenate experiments
+    case 3                                              # merge - catenate experiments
       check_outputs (tmp, p);
       check_inputs (tmp, m);
 
@@ -63,7 +73,7 @@
 
 function check_experiments (tmp, e)
 
-  if (numel (e) > 1 && ! isequal (e{:}))        # isequal doesn't work with less than 2 arguments
+  if (numel (e) > 1 && ! isequal (e{:}))                # isequal doesn't work with less than 2 arguments
     error ("iddata: cat: number of experiments don't match [%s]", \
            num2str (cell2mat (e), "%d "));
   endif

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Revision: 9772
          http://octave.svn.sourceforge.net/octave/?rev=9772&view=rev
Author:   paramaniac
Date:     2012-03-07 18:18:12 +0000 (Wed, 07 Mar 2012)
Log Message:
-----------
control-devel: work on cat (metadata)

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/test_iddata.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m

Modified: trunk/octave-forge/extra/control-devel/devel/test_iddata.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-03-07 18:14:30 UTC (rev 9771)
+++ trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-03-07 18:18:12 UTC (rev 9772)
@@ -47,4 +47,6 @@
 n = [un; vn]
 cat (1, un)
 
+cat (1, un, un, vn, vn, vn)
+
 cat (1, b)

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m	2012-03-07 18:14:30 UTC (rev 9771)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m	2012-03-07 18:18:12 UTC (rev 9772)
@@ -42,12 +42,19 @@
       check_experiments (tmp, e);
       check_samples (n);
 
+      outname = vertcat (tmp.outname);
+      outunit = vertcat (tmp.outunit);
+      inname = vertcat (tmp.inname);
+      inunit = vertcat (tmp.inunit);
+
       y = cellfun (@horzcat, tmp.y, "uniformoutput", false);
       u = cellfun (@horzcat, tmp.u, "uniformoutput", false);
 
     case 3                                              # merge - catenate experiments
       check_outputs (tmp, p);
       check_inputs (tmp, m);
+      
+      expname = vertcat (tmp.expname);
 
       y = vertcat (tmp.y);
       u = vertcat (tmp.u);
@@ -57,6 +64,9 @@
   endswitch
   
   dat = iddata (y, u);
+  
+  %dat.outname = tmp(1).outname;
+  %dat.outuni
 
 endfunction
 

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Revision: 9774
          http://octave.svn.sourceforge.net/octave/?rev=9774&view=rev
Author:   paramaniac
Date:     2012-03-07 19:09:25 +0000 (Wed, 07 Mar 2012)
Log Message:
-----------
control-devel: touch up cat (2)

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/test_iddata.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m

Modified: trunk/octave-forge/extra/control-devel/devel/test_iddata.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-03-07 18:46:36 UTC (rev 9773)
+++ trunk/octave-forge/extra/control-devel/devel/test_iddata.m	2012-03-07 19:09:25 UTC (rev 9774)
@@ -41,7 +41,9 @@
 
 cat (3, d, e)
 
+%cat (1, b, 4)
 
+
 un = iddata ({(1:10).', (21:30).'}, {(41:50).', (61:70).'}, [], "expname", strseq ("alpha", 1:2));
 vn = iddata ({(11:20).', (31:40).'}, {(51:60).', (71:80).'}, [], "expname", strseq ("beta", 1:2));
 n = [un; vn]
@@ -49,4 +51,5 @@
 
 cat (1, un, un, vn, vn, vn)
 
-cat (1, b)
+%dat = iddata (ones (100, 3));
+%dat2 = cat (1, dat, zeros (4, 3), dat)

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m	2012-03-07 18:46:36 UTC (rev 9773)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/cat.m	2012-03-07 19:09:25 UTC (rev 9774)
@@ -37,8 +37,13 @@
   endif
 
   ## store all datasets in a single struct 'tmp'
+  ## tmp is not a valid iddata set anymore,
+  ## but it doesn't matter, we want just a struct
   tmp = cellfun (@iddata, varargin);
   [n, p, m, e] = cellfun (@size, varargin, "uniformoutput", false);
+  
+  ## TODO: dat = iddata (ones (100, 3));
+  ##       dat = cat (1, dat, zeros (4, 3), dat)
 
   ## default values for metadata
   ## some of them are overwritten in the switch statement below
@@ -152,6 +157,8 @@
            mat2str (vertcat (n{:}), 10));
   endif
 
+  ## TODO: check sampling times
+
 endfunction
 
 

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Revision: 9858
          http://octave.svn.sourceforge.net/octave/?rev=9858&view=rev
Author:   paramaniac
Date:     2012-03-13 10:29:54 +0000 (Tue, 13 Mar 2012)
Log Message:
-----------
control-devel: quicksave draft code (2)

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/data_ib01ad.m
    trunk/octave-forge/extra/control-devel/src/slib01ad.cc

Modified: trunk/octave-forge/extra/control-devel/devel/data_ib01ad.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/data_ib01ad.m	2012-03-13 09:11:51 UTC (rev 9857)
+++ trunk/octave-forge/extra/control-devel/devel/data_ib01ad.m	2012-03-13 10:29:54 UTC (rev 9858)
@@ -1,5 +1,6 @@
 % IB01AD EXAMPLE PROGRAM DATA
 %  15     0     1     1  1000    0.0   -1.0     M     C     N     O     N     N
+%  nobr,  n,    m,    l, nsmp,   rcond, tol,    meth, alg,  jobd, batch,conct,ctrl
 
 U = [
    6.41

Modified: trunk/octave-forge/extra/control-devel/src/slib01ad.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slib01ad.cc	2012-03-13 09:11:51 UTC (rev 9857)
+++ trunk/octave-forge/extra/control-devel/src/slib01ad.cc	2012-03-13 10:29:54 UTC (rev 9858)
@@ -59,88 +59,116 @@
     int nargin = args.length ();
     octave_value_list retval;
     
-    if (nargin != 13)
+    if (nargin != 11)
     {
         print_usage ();
     }
     else
     {
         // arguments in
-        char dico;
+        char meth;
+        char alg;
         char jobd;
-        char jobmr;
-        char jobcf;
-        char ordsel;
+        char batch;
+        char conct;
+        char ctrl;
         
-        Matrix a = args(0).matrix_value ();
-        Matrix b = args(1).matrix_value ();
-        Matrix c = args(2).matrix_value ();
-        Matrix d = args(3).matrix_value ();
+        Matrix y = args(0).matrix_value ();
+        Matrix u = args(1).matrix_value ();
+        int nobr = args(2).int_value ();
         
-        const int idico = args(4).int_value ();
-        int ncr = args(5).int_value ();
-        const int iordsel = args(6).int_value ();
-        const int ijobd = args(7).int_value ();
-        const int ijobmr = args(8).int_value ();
-                       
-        Matrix f = args(9).matrix_value ();
-        Matrix g = args(10).matrix_value ();
+        const int imeth = args(3).int_value ();
+        const int ialg = args(4).int_value ();
+        const int ijobd = args(5).int_value ();
+        const int ibatch = args(6).int_value ();
+        const int iconct = args(7).int_value ();
+        const int ictrl = args(8).int_value ();
+        
+        double rcond = args(9).double_value ();
+        double tol = args(10).double_value ();
+        
 
-        const int ijobcf = args(11).int_value ();
-        double tol = args(12).double_value ();
-
-        if (idico == 0)
-            dico = 'C';
+        if (imeth == 0)
+            meth = 'M';
         else
-            dico = 'D';
+            meth = 'N';
 
-        if (iordsel == 0)
-            ordsel = 'F';
-        else
-            ordsel = 'A';
-
+        switch (ialg)
+        {
+            case 0:
+                alg = 'C';
+                break;
+            case 1:
+                alg = 'F';
+                break;
+            case 2:
+                alg = 'Q';
+                break;
+            default:
+                error ("slib01ad: argument 'alg' invalid");
+        }
+        
         if (ijobd == 0)
-            jobd = 'Z';
+            jobd = 'M';
         else
-            jobd = 'D';
-
-        if (ijobcf == 0)
-            jobcf = 'L';
-        else
-            jobcf = 'R';
-
-        switch (ijobmr)
+            jobd = 'N';
+        
+        switch (ibatch)
         {
             case 0:
-                jobmr = 'B';
+                batch = 'F';
                 break;
             case 1:
-                jobmr = 'F';
+                batch = 'I';
                 break;
+            case 2:
+                batch = 'L';
+                break;
+            case 3:
+                batch = 'O';
+                break;
             default:
-                error ("slib01ad: argument jobmr invalid");
+                error ("slib01ad: argument 'batch' invalid");
         }
 
+        if (iconct == 0)
+            conct = 'C';
+        else
+            conct = 'N';
 
-        int n = a.rows ();      // n: number of states
-        int m = b.columns ();   // m: number of inputs
-        int p = c.rows ();      // p: number of outputs
+        if (ictrl == 0)
+            ctrl = 'C';
+        else
+            ctrl = 'N';
 
-        int lda = max (1, n);
-        int ldb = max (1, n);
-        int ldc = max (1, p);
-        int ldd;
+
+        int m = u.columns ();   // m: number of inputs
+        int l = y.columns ();   // l: number of outputs
+        int nsmp = y.rows ();   // nsmp: number of samples
+        // y.rows == u.rows  is checked by iddata class
+        // TODO: check minimal nsmp size
         
-        if (jobd == 'Z')
-            ldd = 1;
-        else
-            ldd = max (1, p);
+        int ldu;
+        
+        if (m == 0)
+            ldu = 1;
+        else                    // m > 0
+            ldu = nsmp;
 
-        int ldf = max (1, m);
-        int ldg = max (1, n);
+        int ldy = nsmp;
 
         // arguments out
-        ColumnVector hsv (n);
+        int ldr;
+        
+        if (meth == 'M' && jobd == 'M')
+            ldr = max (2*(m+l)*nobr, 3*m*nobr);
+        else if (meth == 'N' || (meth == 'M' && jobd == 'N'))
+            ldr = 2*(m+l)*nobr;
+        else
+            error ("slib01ad: could not handle 'ldr' case");
+        
+        Matrix r (ldr, 2*(m+l)*nobr);
+        ColumnVector sv (l*nobr);
 
         // workspace
         int liwork;
@@ -220,7 +248,7 @@
                 "coefficient matrix"};
 
 
-        error_msg ("ident", info, 6, err_msg);
+        error_msg ("ident", info, 2, err_msg);
         warning_msg ("ident", iwarn, 5, warn_msg);
 
 

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Revision: 9922
          http://octave.svn.sourceforge.net/octave/?rev=9922&view=rev
Author:   paramaniac
Date:     2012-03-16 18:08:52 +0000 (Fri, 16 Mar 2012)
Log Message:
-----------
control-devel: finish oct-file for n4sid & moesp identification

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc
    trunk/octave-forge/extra/control-devel/src/slident.cc

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/test_slident.m

Added: trunk/octave-forge/extra/control-devel/devel/test_slident.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_slident.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/test_slident.m	2012-03-16 18:08:52 UTC (rev 9922)
@@ -0,0 +1,2090 @@
+% IB01AD EXAMPLE PROGRAM DATA
+%  15     0     1     1  1000    0.0   -1.0     M     C     N     O     N     N
+%  nobr,  n,    m,    l, nsmp,   rcond, tol,    meth, alg,  jobd, batch,conct,ctrl
+
+% IB01BD EXAMPLE PROGRAM DATA
+%  15     0     1     1  1000    0.0   -1.0     C     C     N     O     N     N     A     K
+
+
+U = [
+   6.41
+   3.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   6.41
+   3.41
+   3.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   6.41
+   6.41
+   6.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   6.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   6.41
+   6.41
+   6.41
+   3.41
+   3.41
+   3.41
+   3.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   3.41
+   3.41
+   3.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
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+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   3.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   3.41
+   3.41
+   6.41
+   6.41
+   6.41
+   3.41
+   3.41
+   3.41
+   3.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   6.41
+   3.41
+   3.41
+   3.41
+   3.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   3.41
+   3.41
+   3.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
+   6.41
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+   6.41
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+   6.41
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+   3.41
+   3.41
+   3.41
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+   6.41
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+   3.41
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+   3.41
+   6.41
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+   6.41
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+   6.41
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+   3.41
+   3.41
+   3.41
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+   6.41
+   6.41
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+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   3.41
+   6.41
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+   3.41
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+   3.41
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+   6.41
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+   6.41
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+   6.41
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+   3.41
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+   3.41
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+   3.41
+   3.41
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+   3.41
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+   6.41
+   3.41
+   3.41
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+   3.41
+   6.41
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+   3.41
+   6.41
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+   5.510909
+   5.640339
+   5.843029
+   5.974889
+   5.935819
+   5.821049
+   5.528009
+   5.171479
+   4.810059
+   4.453529
+   4.380269
+   4.565859
+   4.805179
+   5.125079
+   5.354629
+   5.589059
+   5.764879
+   5.923609
+   5.940709
+   5.857679
+   5.694059
+   5.486489
+   5.149499
+   4.844249
+   4.541439
+   4.267939
+   4.060369
+   3.960239
+   3.789299
+   3.642779
+   3.525569
+   3.498699
+   3.454749
+   3.408349
+   3.379049
+   3.376599
+   3.361949
+   3.359509
+   3.369279
+   3.398579
+   3.579289
+   3.948029
+   4.412009
+   4.585399
+   4.514579
+   4.343639
+   4.155599
+   3.984659
+   4.043269
+   4.307009
+   4.421779
+   4.353409
+   4.223979
+   4.053039
+   3.940709
+   3.838139
+   3.730689
+   3.652549
+   3.611039
+   3.564639
+   3.496259
+   3.462069
+   3.454749
+   3.425439
+   3.379049
+   3.432769
+   3.623249
+   3.974889
+   4.380269
+   4.714819
+   5.073799
+   5.369279
+   5.603709
+   5.745349
+   5.652549
+   5.401019
+   5.015189
+   4.709939
+   4.416899
+   4.236189
+   4.236189
+   4.248399
+   4.221539
+   4.297239
+   4.590279
+   4.893089
+   5.134849
+   5.427889
+   5.379049
+   5.364389
+   5.452309
+   5.567079
+   5.672089
+   5.769769
+   5.830819
+   5.923609
+   5.965129
+   6.057919
+   6.050599
+   6.072579
+   6.111649
+   6.070129
+   5.896749
+   5.755109
+   5.718479
+   5.821049
+   6.001759
+   6.001759
+   5.901629
+   5.557309
+   5.173919
+   4.800289
+   4.431549
+   4.194679
+   4.006639
+   3.850349
+   3.747789
+   3.642779
+   3.591499
+   3.569519
+   3.528009
+   3.537779
+   3.554869
+   3.493819
+   3.447419
+   3.440099
+   3.408349
+   3.410789
+   3.452309
+   3.681849
+   4.060369
+   4.441319
+   4.854019
+   5.154379
+   5.425439
+   5.596379
+   5.586619
+   5.354629
+   5.027399
+   4.863779
+   4.761219
+   4.570739
+   4.368059
+   4.397359
+   4.573189
+   4.841809
+   5.203219
+   5.452309
+   5.652549
+   5.855239
+   5.906519
+   5.952919
+   5.828369
+   5.791739
+   5.799069
+   5.813719
+   5.877209
+   5.955359
+   5.781979
+   5.518239
+   5.127519
+   4.763659
+   4.492599
+   4.233749
+   4.011519
+   3.855239
+   3.691619
+   3.635459
+   3.818609
+   4.155599
+   4.590279
+   4.988329
+   5.076239
+   4.907739
+   4.648889
+   4.377829
+   4.216649
+   4.287469
+   4.590279
+   4.846689
+   5.139729
+   5.388809
+   5.689179
+   5.884539
+   6.043269
+   6.170259
+   6.211769
+   6.250839
+   6.209329
+   6.013969
+   5.701389
+   5.469399
+   5.479169
+   5.557309
+   5.728249
+   5.882099
+   5.984659
+   5.901629
+   5.581729
+   5.371719
+   5.418119
+   5.510909
+   5.667199
+   5.791739
+   5.698949
+   5.484049
+   5.154379
+   4.980999
+   5.061589
+   5.195899
+   5.359509
+   5.615919
+   5.762439
+   5.857679
+   5.948029
+   5.835699
+   5.706269
+   5.498699
+   5.188569
+   5.117749
+   5.191009
+   5.315549
+   5.532889
+   5.444979
+   5.396139
+   5.274039
+   5.027399
+   4.744129
+   4.668419
+   4.651329
+   4.514579
+   4.267939
+   4.260609
+   4.263049
+   4.189789
+   4.277699
+   4.600049
+   4.932159
+   5.283809
+   5.528009
+   5.740459
+   5.874769
+   5.955359
+   5.991989
+   5.845469
+   5.528009
+   5.061589
+   4.734359
+   4.534109
+   4.534109
+   4.697729
+   4.744129
+   4.619579
+   4.643999
+   4.832039
+   5.132399
+   5.410789
+   5.625689
+   5.603709
+   5.315549
+   4.961459
+   4.619579
+   4.358289
+   4.155599
+   4.033499
+   3.886979
+   3.772209
+   3.640339
+   3.532889
+   3.435209
+   3.427889
+   3.422999
+   3.398579
+   3.603709
+   4.023729
+   4.451089
+   4.792969
+   4.902859
+   4.780759
+   4.590279
+   4.336309
+   4.145839
+   4.216649
+   4.433989
+   4.714819
+   5.098219
+   5.359509
+   5.569519
+   5.772209
+   5.921169
+   6.055479
+   5.962679
+   5.642779
+   5.435209
+   5.388809
+   5.537779
+   5.681849
+   5.701389
+   5.615919
+   5.667199
+   5.740459
+   5.803949
+   5.882099
+   5.950469
+   6.072579
+   6.148279
+   6.116529
+   6.177579
+   6.201999
+   6.206889
+   5.991989
+   5.564639
+   5.178799
+   4.998089
+   5.051819
+   5.232529
+   5.484049
+   5.686739
+   5.899189
+   5.869889
+   5.977339
+   6.053039
+   6.079899
+   6.128739
+   6.079899
+   6.167809
+   6.194679
+   6.236189
+   6.053039
+   5.652549
+   5.274039
+   4.858899
+   4.534109
+   4.455969
+   4.619579
+   4.866229
+   5.117749
+   5.166589
+   5.056699
+   5.002979
+   5.098219
+   5.325319
+   5.567079
+   5.466959
+   5.252059
+   4.946809
+   4.880879
+   4.980999
+   5.225199
+   5.459629
+   5.723369
+   5.791739
+   5.906519
+   5.991989
+   5.835699
+   5.528009
+   5.142169
+   4.775869
+   4.490159
+   4.236189
+   4.023729
+   3.886979
+   3.752669
+   3.681849
+   3.806399
+   4.145839
+   4.600049
+   5.002979
+   5.303339
+   5.552429
+   5.615919
+   5.523119
+   5.611039
+   5.713599
+   5.845469
+   5.899189
+   5.994429
+   6.092109
+   6.092109
+   6.143389
+   6.153159
+   6.233749
+   6.187349
+   6.013969
+   5.835699
+   5.774649
+   5.686739
+   5.537779
+   5.327759
+   5.054259
+   4.700169
+   4.394919
+   4.180019
+   4.043269
+   3.877209
+   3.752669
+   3.728249
+   3.869889
+   4.206889
+   4.355849
+   4.426669
+   4.453529
+   4.521899
+   4.392479
+   4.155599
+   3.965129
+   3.877209
+   3.970009
+   4.258169
+   4.421779
+   4.336309
+   4.299679
+   4.392479
+   4.675749
+   4.761219
+   4.658659
+   4.490159
+   4.307009
+   4.126299
+   3.972449
+   4.077459
+   4.372939
+   4.741679
+   5.088449
+   5.186129
+   5.037169
+   4.785639
+   4.563419
+   4.534109
+   4.705049
+   4.741679
+   4.648889
+   4.431549
+   4.238629
+   4.065249
+   3.943149
+   3.811279
+   3.691619
+   3.652549
+   3.825929
+   4.223979
+   4.424219
+   4.429109
+   4.319219
+   4.138509
+   3.965129
+   3.886979
+   3.801509
+   3.701389
+   3.640339
+   3.767319
+   4.150719
+   4.648889
+   4.990769
+   5.088449
+   5.022509
+   4.783199
+   4.685519
+   4.665979
+   4.707499
+   4.912619
+   5.195899
+   5.415679
+   5.623249
+   5.740459
+   5.899189
+   5.928499
+   6.050599
+   6.153159
+   5.965129
+   5.586619
+   5.381489
+   5.371719
+   5.486489
+   5.567079
+   5.821049
+   5.913839
+   5.994429
+   6.011519
+   5.999309
+   6.018849
+   5.821049
+   5.728249
+   5.740459
+   5.764879
+   5.882099
+   5.926049
+   5.750229
+   5.415679
+   4.995649
+   4.861339
+   4.902859
+   5.103099
+   5.364389
+   5.596379
+   5.752669
+   5.845469
+   5.928499
+   6.006639
+   5.840579
+   5.518239
+   5.173919
+   4.739239
+   4.458409
+   4.426669
+   4.602489
+   4.822269
+   5.183689
+   5.430329
+   5.652549
+   5.821049
+   5.706269
+   5.369279
+   5.027399
+   4.705049
+   4.414459
+   4.145839
+   3.965129
+   4.033499
+   4.372939
+   4.683079
+];
+
+dat = iddata (Y, U)
+
+% IB01AD EXAMPLE PROGRAM DATA
+%  15     0     1     1  1000    0.0   -1.0     M     C     N     O     N     N
+%  nobr,  n,    m,    l, nsmp,   rcond, tol,    meth, alg,  jobd, batch,conct,ctrl
+
+% IB01BD EXAMPLE PROGRAM DATA
+%  15     0     1     1  1000    0.0   -1.0     C     C     N     O     N     N     A     K
+
+nobr = 15;
+meth = 2;
+alg = 0;
+jobd = 1;
+batch = 3;
+conct = 1;
+ctrl = 1;
+rcond = 0.0;
+tol = -1.0;
+
+[a, b, c, d, q, ry, s, k] = slident (Y, U, nobr, meth, alg, jobd, batch, conct, ctrl, rcond, tol);
+
+n
+sv
+
+%{
+ IB01AD EXAMPLE PROGRAM RESULTS
+
+ The order of the system is     4
+ The singular values are 
+  69.8841  14.9963   3.6675   1.9677   0.3000   0.2078   0.1651   0.1373
+   0.1133   0.1059   0.0856   0.0784   0.0733   0.0678   0.0571
+   
+   
+ IB01BD EXAMPLE PROGRAM RESULTS
+
+
+ The system state matrix A is 
+   0.8924   0.3887   0.1285   0.1716
+  -0.0837   0.6186  -0.6273  -0.4582
+   0.0052   0.1307   0.6685  -0.6755
+   0.0055   0.0734  -0.2148   0.4788
+
+ The system output matrix C is 
+  -0.4442   0.6663   0.3961   0.4102
+
+ The system input matrix B is 
+  -0.2142
+  -0.1968
+   0.0525
+   0.0361
+
+ The system input-output matrix D is 
+  -0.0041
+
+ The Kalman gain matrix K is 
+  -1.9513
+  -0.1867
+   0.6348
+  -0.3486
+
+ The state covariance matrix Q is 
+   0.0052   0.0005  -0.0017   0.0009
+   0.0005   0.0000  -0.0002   0.0001
+  -0.0017  -0.0002   0.0006  -0.0003
+   0.0009   0.0001  -0.0003   0.0002
+
+ The output covariance matrix Ry is 
+   0.0012
+
+ The state-output cross-covariance matrix S is 
+  -0.0025
+  -0.0002
+   0.0008
+  -0.0005
+
+%}

Modified: trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc	2012-03-16 15:03:53 UTC (rev 9921)
+++ trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc	2012-03-16 18:08:52 UTC (rev 9922)
@@ -1,2 +1,2 @@
-#include "slib01ad.cc"  // preprocess the input-output data
+// #include "slib01ad.cc"  // preprocess the input-output data
 #include "slident.cc"   // system identification

Modified: trunk/octave-forge/extra/control-devel/src/slident.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident.cc	2012-03-16 15:03:53 UTC (rev 9921)
+++ trunk/octave-forge/extra/control-devel/src/slident.cc	2012-03-16 18:08:52 UTC (rev 9922)
@@ -79,7 +79,7 @@
     int nargin = args.length ();
     octave_value_list retval;
     
-    if (nargin != 12)
+    if (nargin != 11)
     {
         print_usage ();
     }
@@ -92,6 +92,8 @@
         char batch;
         char conct;
         char ctrl;
+        char metha;
+        char jobda;
         
         Matrix y = args(0).matrix_value ();
         Matrix u = args(1).matrix_value ();
@@ -106,13 +108,23 @@
         
         double rcond = args(9).double_value ();
         double tol = args(10).double_value ();
-        double tolb = args(11).double_value ();
-        
+        double tolb = args(9).double_value ();      // tolb = rcond
 
-        if (imeth == 0)
-            meth = 'M';
-        else
-            meth = 'N';
+            
+        switch (imeth)
+        {
+            case 0:
+                meth = 'M';
+                metha = 'M';
+            case 1:
+                meth = 'N';
+                metha = 'N';
+            case 3:
+                meth = 'C';
+                metha = 'N';    // no typo here
+            default:
+                error ("slib01ad: argument 'meth' invalid");
+        }
 
         switch (ialg)
         {
@@ -129,7 +141,9 @@
                 error ("slib01ad: argument 'alg' invalid");
         }
         
-        if (ijobd == 0)
+        if (meth == 'C')
+            jobd = 'N';
+        else if (ijobd == 0)
             jobd = 'M';
         else
             jobd = 'N';
@@ -182,9 +196,9 @@
         int n;
         int ldr;
         
-        if (meth == 'M' && jobd == 'M')
+        if (metha == 'M' && jobd == 'M')
             ldr = max (2*(m+l)*nobr, 3*m*nobr);
-        else if (meth == 'N' || (meth == 'M' && jobd == 'N'))
+        else if (metha == 'N' || (metha == 'M' && jobd == 'N'))
             ldr = 2*(m+l)*nobr;
         else
             error ("slib01ad: could not handle 'ldr' case");
@@ -195,7 +209,7 @@
         // workspace
         int liwork;
 
-        if (meth == 'N')            // if METH = 'N'
+        if (metha == 'N')            // if METH = 'N'
             liwork = (m+l)*nobr;
         else if (alg == 'F')        // if METH = 'M' and ALG = 'F'
             liwork = m+l;
@@ -205,8 +219,6 @@
         // TODO: Handle 'k' for DWORK
 
         int ldwork;
-
-        ldwork = 0;
         
         if (alg == 'C')
         {
@@ -217,7 +229,7 @@
                 else    // (conct == 'N')
                     ldwork = 1;
             }
-            else if (meth == 'M')   // && (batch == 'L' || batch == 'O')
+            else if (metha == 'M')   // && (batch == 'L' || batch == 'O')
             {
                 if (conct == 'C' && batch == 'L')
                     ldwork = max ((4*nobr-2)*(m+l), 5*l*nobr);
@@ -233,44 +245,11 @@
         }
         else if (alg == 'F')
         {
-/*
-For the second LDWORK case, code and documentation don't match:
-doc line 276: BATCH = 'F', 'I'
-code line 586: BATCH = 'F', 'I', 'O'
-The third case with BATCH = 'O' is never reached.
-
-
-IB01AD.f Lines 273-279:
-C             LDWORK >= (M+L)*2*NOBR*(M+L+3), if ALG = 'F',
-C                             BATCH <> 'O' and CONCT = 'C';
-C             LDWORK >= (M+L)*2*NOBR*(M+L+1), if ALG = 'F',
-C                             BATCH = 'F', 'I' and CONCT = 'N';
-C             LDWORK >= (M+L)*4*NOBR*(M+L+1)+(M+L)*2*NOBR, if ALG = 'F',
-C                             BATCH = 'L' and CONCT = 'N', or
-C                             BATCH = 'O';
-
-
-IB01AD.f Lines 499-500:
-      ONEBCH = LSAME( BATCH, 'O' )
-      FIRST  = LSAME( BATCH, 'F' ) .OR. ONEBCH
-
-
-IB01AD.f Lines 583-591:
-            ELSE IF ( FQRALG ) THEN
-               IF ( .NOT.ONEBCH .AND. CONNEC ) THEN
-                  MINWRK = NR*( M + L + 3 )
-               ELSE IF ( FIRST .OR. INTERM ) THEN       // (batch = F || O) || batch = I
-                  MINWRK = NR*( M + L + 1 )                              ^
-               ELSE                                                      |
-                  MINWRK = 2*NR*( M + L + 1 ) + NR                      ??? 
-               END IF
-            ELSE
-*/
             if (batch != 'O' && conct == 'C')
                 ldwork = (m+l)*2*nobr*(m+l+3);
-            else if (batch == 'F' || batch == 'O' || batch == 'I')  // && conct == 'N'
+            else if (batch == 'F' || batch == 'I')  // && conct == 'N'
                 ldwork = (m+l)*2*nobr*(m+l+1);
-            else    // (batch == 'L' && conct == 'N')
+            else    // (batch == 'L' || '0' && conct == 'N')
                 ldwork = (m+l)*4*nobr*(m+l+1)+(m+l)*2*nobr;
         }
         else    // (alg == 'Q')
@@ -283,7 +262,7 @@
             }
             else if (ldr >= ns && batch == 'O')
             {
-                if (meth == 'M')
+                if (metha == 'M')
                     ldwork = max (4*(m+l)*nobr, 5*l*nobr);
                 else    // (meth == 'N')
                     ldwork = 5*(m+l)*nobr + 1;
@@ -321,7 +300,7 @@
 
         // SLICOT routine IB01AD
         F77_XFCN (ib01ad, IB01AD,
-                 (meth, alg, jobd,
+                 (metha, alg, jobd,
                   batch, conct, ctrl,
                   nobr, m, l,
                   nsmp,

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

Revision: 9923
          http://octave.svn.sourceforge.net/octave/?rev=9923&view=rev
Author:   paramaniac
Date:     2012-03-16 18:23:51 +0000 (Fri, 16 Mar 2012)
Log Message:
-----------
control-devel: fix silly mistakes, identification works and computes slicot test case correctly

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/test_slident.m
    trunk/octave-forge/extra/control-devel/src/slident.cc

Modified: trunk/octave-forge/extra/control-devel/devel/test_slident.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_slident.m	2012-03-16 18:08:52 UTC (rev 9922)
+++ trunk/octave-forge/extra/control-devel/devel/test_slident.m	2012-03-16 18:23:51 UTC (rev 9923)
@@ -2031,10 +2031,10 @@
 rcond = 0.0;
 tol = -1.0;
 
-[a, b, c, d, q, ry, s, k] = slident (Y, U, nobr, meth, alg, jobd, batch, conct, ctrl, rcond, tol);
+[a, b, c, d, q, ry, s, k] = slident (Y, U, nobr, meth, alg, jobd, batch, conct, ctrl, rcond, tol)
 
-n
-sv
+%n
+%sv
 
 %{
  IB01AD EXAMPLE PROGRAM RESULTS

Modified: trunk/octave-forge/extra/control-devel/src/slident.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident.cc	2012-03-16 18:08:52 UTC (rev 9922)
+++ trunk/octave-forge/extra/control-devel/src/slident.cc	2012-03-16 18:23:51 UTC (rev 9923)
@@ -116,12 +116,15 @@
             case 0:
                 meth = 'M';
                 metha = 'M';
+                break;
             case 1:
                 meth = 'N';
                 metha = 'N';
-            case 3:
+                break;
+            case 2:
                 meth = 'C';
                 metha = 'N';    // no typo here
+                break;
             default:
                 error ("slib01ad: argument 'meth' invalid");
         }

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Revision: 9931
          http://octave.svn.sourceforge.net/octave/?rev=9931&view=rev
Author:   paramaniac
Date:     2012-03-17 08:50:48 +0000 (Sat, 17 Mar 2012)
Log Message:
-----------
control-devel: integrate Slicot IB01CD

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/src/slident.cc

Removed Paths:
-------------
    trunk/octave-forge/extra/control-devel/devel/makefile_ident.m

Deleted: trunk/octave-forge/extra/control-devel/devel/makefile_ident.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/makefile_ident.m	2012-03-17 07:20:50 UTC (rev 9930)
+++ trunk/octave-forge/extra/control-devel/devel/makefile_ident.m	2012-03-17 08:50:48 UTC (rev 9931)
@@ -1,54 +0,0 @@
-## ==============================================================================
-## Developer Makefile for OCT-files
-## ==============================================================================
-## USAGE: * fetch control-devel from Octave-Forge by svn
-##        * add control-devel/inst, control-devel/src and control-devel/devel
-##          to your Octave path (by an .octaverc file)
-##        * run makefile_ident
-## ==============================================================================
-
-homedir = pwd ();
-develdir = fileparts (which ("makefile_ident"));
-srcdir = [develdir, "/../src"];
-cd (srcdir);
-
-## preprocess the input-output data
-mkoctfile IB01AD.f IB01MD.f IB01ND.f IB01OD.f IB01MY.f \
-          MB04OD.f MB03UD.f MB04ID.f MA02AD.f MB03OD.f \
-          MB04IY.f IB01OY.f MA02ED.f MA02FD.f MB04OY.f \
-          "$(mkoctfile -p LAPACK_LIBS)" \
-          "$(mkoctfile -p BLAS_LIBS)" \
-          "$(mkoctfile -p FLIBS)"
-
-## estimating system matrices, Kalman gain, and covariances
-mkoctfile IB01BD.f IB01PD.f MA02AD.f SB02MT.f SB02RD.f \
-          SB02ND.f MB02UD.f MA02ED.f IB01PY.f MB03OD.f \
-          MB02QY.f IB01PX.f SB02MS.f SB02RU.f SB02SD.f \
-          MB01RU.f SB02QD.f SB02MV.f SB02MW.f SB02MR.f \
-          MB02PD.f MB01SD.f MB04KD.f MB03UD.f MB04OD.f \
-          MB04OY.f MB01VD.f select.f MB01UD.f SB03SY.f \
-          MB01RX.f SB03MX.f SB03SX.f MB01RY.f SB03QY.f \
-          SB03QX.f SB03MY.f SB04PX.f SB03MV.f SB03MW.f \
-          "$(mkoctfile -p LAPACK_LIBS)" \
-          "$(mkoctfile -p BLAS_LIBS)"
-
-## estimating the initial state
-mkoctfile IB01CD.f TB01WD.f IB01RD.f IB01QD.f select.f \
-          MB01TD.f MA02AD.f MB04OD.f MB04OY.f MB02UD.f \
-          MB03UD.f MB01SD.f \
-          "$(mkoctfile -p LAPACK_LIBS)" \
-          "$(mkoctfile -p BLAS_LIBS)" \
-          "$(mkoctfile -p FLIBS)"
-
-## fit state-space model to frequency response data
-mkoctfile slsb10yd.cc \
-          SB10YD.f DG01MD.f AB04MD.f SB10ZP.f AB07ND.f \
-          MC01PD.f TD04AD.f TD03AY.f TB01PD.f TB01XD.f \
-          AB07MD.f TB01UD.f TB01ID.f MB01PD.f MB03OY.f \
-          MB01QD.f \
-          "$(mkoctfile -p LAPACK_LIBS)" \
-          "$(mkoctfile -p BLAS_LIBS)"
-
-system ("rm *.o");
-cd (homedir);
-

Modified: trunk/octave-forge/extra/control-devel/src/slident.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident.cc	2012-03-17 07:20:50 UTC (rev 9930)
+++ trunk/octave-forge/extra/control-devel/src/slident.cc	2012-03-17 08:50:48 UTC (rev 9931)
@@ -556,7 +556,75 @@
 ////////////////////////////////////////////////////////////////////////////////////
 //      SLICOT IB01CD - estimating the initial state                              //
 ////////////////////////////////////////////////////////////////////////////////////
+/*
+        // arguments in
+        char jobx0 = 'X';
+        char comuse = 'U';
+        char jobbd = 'D';
+        
+        // arguments out
+        int ldv = max (1, n);
+        
+        ColumnVector x0 (n);
+        Matrix (ldv, n);
+        
+        // workspace
+        int liwork_c = n;     // if  JOBX0 = 'X'  and  COMUSE <> 'C'
+        int ldwork_c;
+        
+        ldwork_c = ldw1 + n*( n + m + l ) + max (5*n, ldw1, min (ldw2, ldw3))
+        
+        
+        // I can't find a definition for parameter 't' 
+        
+C             The length of the array DWORK.
+C             LDWORK >= 2,  if  JOBX0 = 'N'  and  COMUSE <> 'C',  or
+C                           if  max( N, M ) = 0.
+C             Otherwise,
+C             LDWORK >= LDW1 + N*( N + M + L ) +
+C                              max( 5*N, LDW1, min( LDW2, LDW3 ) ),
+C             where, if  COMUSE = 'C',  then
+C             LDW1 = 2,          if  M = 0  or   JOB = 'B',
+C             LDW1 = 3,          if  M > 0  and  JOB = 'D',
+C             LDWa = t*L*(r + 1) + max( N + max( d, f ), 6*r ),
+C             LDW2 = LDWa,       if  M = 0  or  JOB = 'B',
+C             LDW2 = max( LDWa, t*L*(r + 1) + 2*M*M + 6*M ),
+C                                if  M > 0  and JOB = 'D',
+C             LDWb = (b + r)*(r + 1) +
+C                     max( q*(r + 1) + N*N*M + c + max( d, f ), 6*r ),
+C             LDW3 = LDWb,       if  M = 0  or  JOB = 'B',
+C             LDW3 = max( LDWb, (b + r)*(r + 1) + 2*M*M + 6*M ),
+C                                if  M > 0  and JOB = 'D',
+C                r = N*M + a,
+C                a = 0,                  if  JOBX0 = 'N',
+C                a = N,                  if  JOBX0 = 'X';
+C                b = 0,                  if  JOB   = 'B',
+C                b = L*M,                if  JOB   = 'D';
+C                c = 0,                  if  JOBX0 = 'N',
+C                c = L*N,                if  JOBX0 = 'X';
+C                d = 0,                  if  JOBX0 = 'N',
+C                d = 2*N*N + N,          if  JOBX0 = 'X';
+C                f = 2*r,                if  JOB   = 'B'   or  M = 0,
+C                f = M + max( 2*r, M ),  if  JOB   = 'D'  and  M > 0;
+C                q = b + r*L;
+C             and, if  JOBX0 = 'X'  and  COMUSE <> 'C',  then
+C             LDW1 = 2,
+C             LDW2 = t*L*(N + 1) + 2*N + max( 2*N*N, 4*N ),
+C             LDW3 = N*(N + 1) + 2*N + max( q*(N + 1) + 2*N*N + L*N,
+C                                           4*N ),
+C                q = N*L.
+C             For good performance,  LDWORK  should be larger.
 
+        
+        
+        OCTAVE_LOCAL_BUFFER (int, iwork_c, liwork_c);
+        OCTAVE_LOCAL_BUFFER (double, dwork_c, ldwork_c);
+
+        // error indicators
+        int iwarn_c = 0;
+        int info_c = 0;
+        
+
         // SLICOT routine IB01CD
         F77_XFCN (ib01cd, IB01CD,
                  (jobx0, comuse, job***,
@@ -603,6 +671,7 @@
 
         error_msg ("ident", info_c, 2, err_msg_c);
         warning_msg ("ident", iwarn_c, 6, warn_msg_c);
+*/        
         
         // return values
         retval(0) = a;
@@ -614,6 +683,8 @@
         retval(5) = ry;
         retval(6) = s;
         retval(7) = k;
+        
+        //retval(8) = x0;
         //retval(0) = octave_value (n);
         //retval(1) = r;
         //retval(2) = sv;

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Revision: 9936
          http://octave.svn.sourceforge.net/octave/?rev=9936&view=rev
Author:   paramaniac
Date:     2012-03-17 16:00:05 +0000 (Sat, 17 Mar 2012)
Log Message:
-----------
control-devel: check results with assert

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/test_slident.m
    trunk/octave-forge/extra/control-devel/src/slident.cc

Modified: trunk/octave-forge/extra/control-devel/devel/test_slident.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_slident.m	2012-03-17 12:41:13 UTC (rev 9935)
+++ trunk/octave-forge/extra/control-devel/devel/test_slident.m	2012-03-17 16:00:05 UTC (rev 9936)
@@ -2033,6 +2033,48 @@
 
 [a, b, c, d, q, ry, s, k] = slident (Y, U, nobr, meth, alg, jobd, batch, conct, ctrl, rcond, tol)
 
+
+ae = [  0.8924   0.3887   0.1285   0.1716
+       -0.0837   0.6186  -0.6273  -0.4582
+        0.0052   0.1307   0.6685  -0.6755
+        0.0055   0.0734  -0.2148   0.4788 ];
+
+ce = [ -0.4442   0.6663   0.3961   0.4102 ];
+
+be = [ -0.2142
+       -0.1968
+        0.0525
+        0.0361 ];
+
+de = [ -0.0041 ];
+
+ke = [ -1.9513
+       -0.1867
+        0.6348
+       -0.3486 ];
+
+qe = [  0.0052   0.0005  -0.0017   0.0009
+        0.0005   0.0000  -0.0002   0.0001
+       -0.0017  -0.0002   0.0006  -0.0003
+        0.0009   0.0001  -0.0003   0.0002 ];
+
+rye = [ 0.0012 ];
+
+se = [ -0.0025
+       -0.0002
+        0.0008
+       -0.0005 ];
+       
+assert (a, ae, 1e-4);
+assert (b, be, 1e-4);
+assert (c, ce, 1e-4);
+assert (d, de, 1e-4);
+assert (k, ke, 1e-4);
+assert (q, qe, 1e-4);
+assert (ry, rye, 1e-4);
+assert (s, se, 1e-4);
+
+
 %n
 %sv
 

Modified: trunk/octave-forge/extra/control-devel/src/slident.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident.cc	2012-03-17 12:41:13 UTC (rev 9935)
+++ trunk/octave-forge/extra/control-devel/src/slident.cc	2012-03-17 16:00:05 UTC (rev 9936)
@@ -556,6 +556,11 @@
 ////////////////////////////////////////////////////////////////////////////////////
 //      SLICOT IB01CD - estimating the initial state                              //
 ////////////////////////////////////////////////////////////////////////////////////
+
+// TODO: use only one iwork and dwork for all three slicot routines
+//       ldwork = max (ldwork_a, ldwork_b, ldwork_c)
+
+
 /*
         // arguments in
         char jobx0 = 'X';

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Revision: 9970
          http://octave.svn.sourceforge.net/octave/?rev=9970&view=rev
Author:   paramaniac
Date:     2012-03-19 16:16:49 +0000 (Mon, 19 Mar 2012)
Log Message:
-----------
control-devel: calculate initial state vector

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/test_slident.m
    trunk/octave-forge/extra/control-devel/src/slident.cc

Modified: trunk/octave-forge/extra/control-devel/devel/test_slident.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_slident.m	2012-03-19 15:35:53 UTC (rev 9969)
+++ trunk/octave-forge/extra/control-devel/devel/test_slident.m	2012-03-19 16:16:49 UTC (rev 9970)
@@ -2031,7 +2031,7 @@
 rcond = 0.0;
 tol = -1.0;
 
-[a, b, c, d, q, ry, s, k] = slident (Y, U, nobr, meth, alg, jobd, batch, conct, ctrl, rcond, tol)
+[a, b, c, d, q, ry, s, k, x0] = slident (Y, U, nobr, meth, alg, jobd, batch, conct, ctrl, rcond, tol)
 
 
 ae = [  0.8924   0.3887   0.1285   0.1716
@@ -2077,23 +2077,27 @@
 
 
 
-figure (1)
-plot (Y)
+% figure (1)
+% plot (Y)
 
 P = ss (a, b, c, d, 1);
 
-figure (2)
-lsim (P, U)
-%lsim (P, U, [], x0)  % initial values dependent on realization, IB01BD != IB01CD
+% figure (2)
+% lsim (P, U)
+% lsim (P, U, [], x0)  % initial values dependent on realization, IB01BD != IB01CD
 
 
-[y, t] = lsim (P, U);
+% [y, t] = lsim (P, U);
+[y, t] = lsim (P, U, [], x0);
 
+
 figure (3)
 plot (t, Y, 'b', t, y, 'r')
 legend ('y measured', 'y simulated', 'location', 'southeast')
-axis tight
+%axis tight
 
+% print -depsc2 ident.eps
+
 %n
 %sv
 

Modified: trunk/octave-forge/extra/control-devel/src/slident.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident.cc	2012-03-19 15:35:53 UTC (rev 9969)
+++ trunk/octave-forge/extra/control-devel/src/slident.cc	2012-03-19 16:16:49 UTC (rev 9970)
@@ -561,7 +561,6 @@
 //       ldwork = max (ldwork_a, ldwork_b, ldwork_c)
 
 
-/*
         // arguments in
         char jobx0 = 'X';
         char comuse = 'U';
@@ -571,57 +570,19 @@
         int ldv = max (1, n);
         
         ColumnVector x0 (n);
-        Matrix (ldv, n);
+        Matrix v (ldv, n);
         
         // workspace
         int liwork_c = n;     // if  JOBX0 = 'X'  and  COMUSE <> 'C'
         int ldwork_c;
-        
-        ldwork_c = ldw1 + n*( n + m + l ) + max (5*n, ldw1, min (ldw2, ldw3))
-        
-        
-        // I can't find a definition for parameter 't' 
-        
-C             The length of the array DWORK.
-C             LDWORK >= 2,  if  JOBX0 = 'N'  and  COMUSE <> 'C',  or
-C                           if  max( N, M ) = 0.
-C             Otherwise,
-C             LDWORK >= LDW1 + N*( N + M + L ) +
-C                              max( 5*N, LDW1, min( LDW2, LDW3 ) ),
-C             where, if  COMUSE = 'C',  then
-C             LDW1 = 2,          if  M = 0  or   JOB = 'B',
-C             LDW1 = 3,          if  M > 0  and  JOB = 'D',
-C             LDWa = t*L*(r + 1) + max( N + max( d, f ), 6*r ),
-C             LDW2 = LDWa,       if  M = 0  or  JOB = 'B',
-C             LDW2 = max( LDWa, t*L*(r + 1) + 2*M*M + 6*M ),
-C                                if  M > 0  and JOB = 'D',
-C             LDWb = (b + r)*(r + 1) +
-C                     max( q*(r + 1) + N*N*M + c + max( d, f ), 6*r ),
-C             LDW3 = LDWb,       if  M = 0  or  JOB = 'B',
-C             LDW3 = max( LDWb, (b + r)*(r + 1) + 2*M*M + 6*M ),
-C                                if  M > 0  and JOB = 'D',
-C                r = N*M + a,
-C                a = 0,                  if  JOBX0 = 'N',
-C                a = N,                  if  JOBX0 = 'X';
-C                b = 0,                  if  JOB   = 'B',
-C                b = L*M,                if  JOB   = 'D';
-C                c = 0,                  if  JOBX0 = 'N',
-C                c = L*N,                if  JOBX0 = 'X';
-C                d = 0,                  if  JOBX0 = 'N',
-C                d = 2*N*N + N,          if  JOBX0 = 'X';
-C                f = 2*r,                if  JOB   = 'B'   or  M = 0,
-C                f = M + max( 2*r, M ),  if  JOB   = 'D'  and  M > 0;
-C                q = b + r*L;
-C             and, if  JOBX0 = 'X'  and  COMUSE <> 'C',  then
-C             LDW1 = 2,
-C             LDW2 = t*L*(N + 1) + 2*N + max( 2*N*N, 4*N ),
-C             LDW3 = N*(N + 1) + 2*N + max( q*(N + 1) + 2*N*N + L*N,
-C                                           4*N ),
-C                q = N*L.
-C             For good performance,  LDWORK  should be larger.
+        int t = nsmp;
+   
+        int ldw1_c = 2;
+        int ldw2_c = t*l*(n + 1) + 2*n + max (2*n*n, 4*n);
+        int ldw3_c = n*(n + 1) + 2*n + max (n*l*(n + 1) + 2*n*n + l*n, 4*n);
 
+        ldwork_c = ldw1_c + n*( n + m + l ) + max (5*n, ldw1_c, min (ldw2_c, ldw3_c));
         
-        
         OCTAVE_LOCAL_BUFFER (int, iwork_c, liwork_c);
         OCTAVE_LOCAL_BUFFER (double, dwork_c, ldwork_c);
 
@@ -632,7 +593,7 @@
 
         // SLICOT routine IB01CD
         F77_XFCN (ib01cd, IB01CD,
-                 (jobx0, comuse, job***,
+                 (jobx0, comuse, jobbd,
                   n, m, l,
                   nsmp,
                   a.fortran_vec (), lda,
@@ -676,7 +637,7 @@
 
         error_msg ("ident", info_c, 2, err_msg_c);
         warning_msg ("ident", iwarn_c, 6, warn_msg_c);
-*/        
+      
         
         // return values
         retval(0) = a;
@@ -689,7 +650,7 @@
         retval(6) = s;
         retval(7) = k;
         
-        //retval(8) = x0;
+        retval(8) = x0;
         //retval(0) = octave_value (n);
         //retval(1) = r;
         //retval(2) = sv;

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Revision: 9976
          http://octave.svn.sourceforge.net/octave/?rev=9976&view=rev
Author:   paramaniac
Date:     2012-03-20 10:36:50 +0000 (Tue, 20 Mar 2012)
Log Message:
-----------
control-devel: first steps to fix crash with DaISy data

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/destillation.m
    trunk/octave-forge/extra/control-devel/src/slident.cc

Modified: trunk/octave-forge/extra/control-devel/devel/destillation.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/destillation.m	2012-03-20 09:37:44 UTC (rev 9975)
+++ trunk/octave-forge/extra/control-devel/devel/destillation.m	2012-03-20 10:36:50 UTC (rev 9976)
@@ -63,7 +63,16 @@
 Y_dest_n30=Y(:,10:12);
 
 
-dat = iddata (Y_dest, Y_dest)
+dat = iddata (Y_dest, U_dest)
 
-[sys, x0] = ident (dat, 15)  % nobr? 5, 90, ?
+[sys, x0] = ident (dat, 5)  % nobr? 5, 90, ?
 
+
+[y, t] = lsim (sys, U_dest, [], x0);
+
+figure (1)
+plot (t, Y_dest, 'b')
+%plot (t, Y_dest, 'b', t, y, 'r')
+legend ('y measured', 'y simulated', 'location', 'southeast')
+
+

Modified: trunk/octave-forge/extra/control-devel/src/slident.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident.cc	2012-03-20 09:37:44 UTC (rev 9975)
+++ trunk/octave-forge/extra/control-devel/src/slident.cc	2012-03-20 10:36:50 UTC (rev 9976)
@@ -206,6 +206,17 @@
         // y.rows == u.rows  is checked by iddata class
         // TODO: check minimal nsmp size
         
+        if (batch == 'O')
+        {
+            if (nsmp < 2*(m+l+1)*nobr - 1)
+                error ("slident: require NSMP >= 2*(M+L+1)*NOBR - 1");
+        }
+        else
+        {
+            if (nsmp < 2*nobr)
+                error ("slident: require NSMP >= 2*NOBR");
+        }
+        
         int ldu;
         
         if (m == 0)
@@ -299,6 +310,11 @@
                 ldwork = 6*(m+l)*nobr;
             }
         }
+////////////////////////////////////////////////////////////////////
+// TO BE REMOVED !!!
+////////////////////////////////////////////////////////////////////        
+ldwork = 100000;
+////////////////////////////////////////////////////////////////////
 
 /*
 IB01AD.f Lines 291-195:

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Revision: 9977
          http://octave.svn.sourceforge.net/octave/?rev=9977&view=rev
Author:   paramaniac
Date:     2012-03-20 13:11:38 +0000 (Tue, 20 Mar 2012)
Log Message:
-----------
control-devel: first steps to fix crash with DaISy data (2)

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/destillation.m
    trunk/octave-forge/extra/control-devel/devel/ident.m
    trunk/octave-forge/extra/control-devel/src/slident.cc

Modified: trunk/octave-forge/extra/control-devel/devel/destillation.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/destillation.m	2012-03-20 10:36:50 UTC (rev 9976)
+++ trunk/octave-forge/extra/control-devel/devel/destillation.m	2012-03-20 13:11:38 UTC (rev 9977)
@@ -65,10 +65,11 @@
 
 dat = iddata (Y_dest, U_dest)
 
-[sys, x0] = ident (dat, 5)  % nobr? 5, 90, ?
+[sys, x0] = ident (dat) %, 5)  % nobr? 5, 90, ?
 
 
 [y, t] = lsim (sys, U_dest, [], x0);
+%[y, t] = lsim (sys, U_dest);
 
 figure (1)
 plot (t, Y_dest, 'b')

Modified: trunk/octave-forge/extra/control-devel/devel/ident.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/ident.m	2012-03-20 10:36:50 UTC (rev 9976)
+++ trunk/octave-forge/extra/control-devel/devel/ident.m	2012-03-20 13:11:38 UTC (rev 9977)
@@ -6,11 +6,18 @@
   jobd = 1;
   batch = 3;
   conct = 1;
-  ctrl = 1;
+  ctrl = 0; %1;
   rcond = 0.0;
   tol = -1.0;
+  
+  [n, l, m, e] = size (dat);
+  
+  nsmp = n(1)
+  nobr = fix ((nsmp+1)/(2*(m+l+1)))
+  % nsmp >= 2*(m+l+1)*nobr - 1
+  % nobr <= (nsmp+1)/(2*(m+l+1))
 
-  [a, b, c, d, q, ry, s, k, x0] = slident (dat.y{1}, dat.u{1}, nobr, meth, alg, jobd, batch, conct, ctrl, rcond, tol)
+  [a, b, c, d, q, ry, s, k, x0] = slident (dat.y{1}, dat.u{1}, nobr, meth, alg, jobd, batch, conct, ctrl, rcond, tol);
 
   sys = ss (a, b, c, d, -1);
 

Modified: trunk/octave-forge/extra/control-devel/src/slident.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident.cc	2012-03-20 10:36:50 UTC (rev 9976)
+++ trunk/octave-forge/extra/control-devel/src/slident.cc	2012-03-20 13:11:38 UTC (rev 9977)
@@ -313,7 +313,7 @@
 ////////////////////////////////////////////////////////////////////
 // TO BE REMOVED !!!
 ////////////////////////////////////////////////////////////////////        
-ldwork = 100000;
+ldwork = 1000000;
 ////////////////////////////////////////////////////////////////////
 
 /*

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

Revision: 9989
          http://octave.svn.sourceforge.net/octave/?rev=9989&view=rev
Author:   paramaniac
Date:     2012-03-21 10:21:26 +0000 (Wed, 21 Mar 2012)
Log Message:
-----------
control-devel: first steps towards an interface for ident function (2)

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/destillation.m
    trunk/octave-forge/extra/control-devel/devel/glass_furnace.m
    trunk/octave-forge/extra/control-devel/devel/ident.m
    trunk/octave-forge/extra/control-devel/devel/test_slident.m
    trunk/octave-forge/extra/control-devel/src/slident.cc

Modified: trunk/octave-forge/extra/control-devel/devel/destillation.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/destillation.m	2012-03-21 09:48:12 UTC (rev 9988)
+++ trunk/octave-forge/extra/control-devel/devel/destillation.m	2012-03-21 10:21:26 UTC (rev 9989)
@@ -65,7 +65,7 @@
 
 dat = iddata (Y_dest, U_dest)
 
-[sys, x0] = ident (dat, 5)    % s=5, n=4
+[sys, x0] = ident (dat, 5, 4)    % s=5, n=4
 
 
 [y, t] = lsim (sys, U_dest, [], x0);

Modified: trunk/octave-forge/extra/control-devel/devel/glass_furnace.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/glass_furnace.m	2012-03-21 09:48:12 UTC (rev 9988)
+++ trunk/octave-forge/extra/control-devel/devel/glass_furnace.m	2012-03-21 10:21:26 UTC (rev 9989)
@@ -47,7 +47,7 @@
 
 dat = iddata (Y, U)
 
-[sys, x0] = ident (dat, 10)     % s=10, n=5
+[sys, x0] = ident (dat, 10, 5)     % s=10, n=5
 
 
 [y, t] = lsim (sys, U, [], x0);

Modified: trunk/octave-forge/extra/control-devel/devel/ident.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/ident.m	2012-03-21 09:48:12 UTC (rev 9988)
+++ trunk/octave-forge/extra/control-devel/devel/ident.m	2012-03-21 10:21:26 UTC (rev 9989)
@@ -18,6 +18,7 @@
     nsmp = ns(1);
     nobr = fix ((nsmp+1)/(2*(m+l+1)));
     ctrl = 0;  # confirm system order estimate
+    n = 0;
     % nsmp >= 2*(m+l+1)*nobr - 1
     % nobr <= (nsmp+1)/(2*(m+l+1))
   elseif (isempty (s))
@@ -25,11 +26,11 @@
     nsmp = ns(1);
     nobr = fix ((nsmp+1)/(2*(m+l+1)));
     nobr = min (nobr, s);
-    %% ctrl = 1;  # no confirmation
-    ctrl = 0; % setting of n not yet possible
+    ctrl = 1;  # no confirmation
   elseif (isempty (n))
     nobr = s;
     ctrl = 0;  # confirm system order estimate
+    n = 0;
   else         # s & n non-empty
     nsmp = ns(1);
     nobr = fix ((nsmp+1)/(2*(m+l+1)));
@@ -37,6 +38,7 @@
       error ("ident: s > nobr");
     endif
     nobr = s;
+    ctrl = 1;
     ## TODO: specify n for IB01BD
   endif
   
@@ -45,7 +47,7 @@
   % nsmp >= 2*(m+l+1)*nobr - 1
   % nobr <= (nsmp+1)/(2*(m+l+1))
 %nobr = 10
-  [a, b, c, d, q, ry, s, k, x0] = slident (dat.y{1}, dat.u{1}, nobr, meth, alg, jobd, batch, conct, ctrl, rcond, tol);
+  [a, b, c, d, q, ry, s, k, x0] = slident (dat.y{1}, dat.u{1}, nobr, n, meth, alg, jobd, batch, conct, ctrl, rcond, tol);
 
   sys = ss (a, b, c, d, -1);
 

Modified: trunk/octave-forge/extra/control-devel/devel/test_slident.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_slident.m	2012-03-21 09:48:12 UTC (rev 9988)
+++ trunk/octave-forge/extra/control-devel/devel/test_slident.m	2012-03-21 10:21:26 UTC (rev 9989)
@@ -2030,8 +2030,9 @@
 ctrl = 1;
 rcond = 0.0;
 tol = -1.0;
+n = 0;
 
-[a, b, c, d, q, ry, s, k, x0] = slident (Y, U, nobr, meth, alg, jobd, batch, conct, ctrl, rcond, tol)
+[a, b, c, d, q, ry, s, k, x0] = slident (Y, U, nobr, n, meth, alg, jobd, batch, conct, ctrl, rcond, tol)
 
 
 ae = [  0.8924   0.3887   0.1285   0.1716
@@ -2090,6 +2091,7 @@
 % [y, t] = lsim (P, U);
 [y, t] = lsim (P, U, [], x0);
 
+err = norm (Y - y, 1) / norm (Y, 1)
 
 figure (3)
 plot (t, Y, 'b', t, y, 'r')

Modified: trunk/octave-forge/extra/control-devel/src/slident.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident.cc	2012-03-21 09:48:12 UTC (rev 9988)
+++ trunk/octave-forge/extra/control-devel/src/slident.cc	2012-03-21 10:21:26 UTC (rev 9989)
@@ -95,7 +95,7 @@
     int nargin = args.length ();
     octave_value_list retval;
     
-    if (nargin != 11)
+    if (nargin != 12)
     {
         print_usage ();
     }
@@ -118,17 +118,18 @@
         Matrix y = args(0).matrix_value ();
         Matrix u = args(1).matrix_value ();
         int nobr = args(2).int_value ();
+        int nuser = args(3).int_value ();
         
-        const int imeth = args(3).int_value ();
-        const int ialg = args(4).int_value ();
-        const int ijobd = args(5).int_value ();
-        const int ibatch = args(6).int_value ();
-        const int iconct = args(7).int_value ();
-        const int ictrl = args(8).int_value ();
+        const int imeth = args(4).int_value ();
+        const int ialg = args(5).int_value ();
+        const int ijobd = args(6).int_value ();
+        const int ibatch = args(7).int_value ();
+        const int iconct = args(8).int_value ();
+        const int ictrl = args(9).int_value ();
         
-        double rcond = args(9).double_value ();
-        double tol = args(10).double_value ();
-        double tolb = args(9).double_value ();      // tolb = rcond
+        double rcond = args(10).double_value ();
+        double tol = args(11).double_value ();
+        double tolb = args(10).double_value ();      // tolb = rcond
 
             
         switch (imeth)
@@ -395,6 +396,14 @@
         int rs = 2*(m+l)*nobr;
         r.resize (rs, rs);
         
+        if (nuser > 0)
+        {
+            if (nuser < nobr)
+                n = nuser;
+            else
+                error ("ident: 'nuser' invalid");
+        }
+        
 ////////////////////////////////////////////////////////////////////////////////////
 //      SLICOT IB01BD - estimating system matrices, Kalman gain, and covariances  //
 ////////////////////////////////////////////////////////////////////////////////////

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

Revision: 10050
          http://octave.svn.sourceforge.net/octave/?rev=10050&view=rev
Author:   paramaniac
Date:     2012-03-25 14:41:48 +0000 (Sun, 25 Mar 2012)
Log Message:
-----------
control-devel: change ldwork size, CamelCase for examples

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/src/slident.cc

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/Destillation.m
    trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m
    trunk/octave-forge/extra/control-devel/devel/PowerPlant.m

Removed Paths:
-------------
    trunk/octave-forge/extra/control-devel/devel/destillation.m
    trunk/octave-forge/extra/control-devel/devel/glass_furnace.m
    trunk/octave-forge/extra/control-devel/devel/power_plant.m

Copied: trunk/octave-forge/extra/control-devel/devel/Destillation.m (from rev 10049, trunk/octave-forge/extra/control-devel/devel/destillation.m)
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/Destillation.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/Destillation.m	2012-03-25 14:41:48 UTC (rev 10050)
@@ -0,0 +1,81 @@
+%{
+This file describes the data in the destill.dat file.
+1. Contributed by:
+	Peter Van Overschee
+	K.U.Leuven - ESAT - SISTA
+	K. Mercierlaan 94
+	3001 Heverlee
+	Peter.Vanoverschee@...
+2. Process/Description:
+	Data of a simulation (not real !) related to the identification
+   	of an ethane-ethylene destillationcolumn. The series consists of 4
+	series: 
+		U_dest, Y_dest: 	without noise (original series)
+		U_dest_n10, Y_dest_n10:	10 percent additive white noise
+		U_dest_n20, Y_dest_n20: 20 percent additive white noise
+		U_dest_n30, Y_dest_n30:	30 percent additive white noise
+3. Sampling time 
+	15 min.
+4. Number of samples: 
+	90 samples
+5. Inputs:
+	a. ratio between the reboiler duty and the feed flow
+   	b. ratio between the reflux rate and the feed flow
+   	c. ratio between the distillate and the feed flow
+   	d. input ethane composition
+   	e. top pressure
+6. Outputs:
+	a. top ethane composition
+	b. bottom ethylene composition
+   	c. top-bottom differential pressure.
+7. References:
+	R.P. Guidorzi, M.P. Losito, T. Muratori, The range error test in the
+	structural identification of linear multivariable systems,
+   	IEEE transactions on automatic control, Vol AC-27, pp 1044-1054, oct.
+   	1982.
+8. Known properties/peculiarities
+	
+9. Some MATLAB-code to retrieve the data
+	!gunzip destill.dat.Z
+	load destill.dat
+	U=destill(:,1:20);
+	Y=destill(:,21:32);
+	U_dest=U(:,1:5);
+	U_dest_n10=U(:,6:10);
+	U_dest_n20=U(:,11:15);	
+	U_dest_n30=U(:,16:20);
+	Y_dest=Y(:,1:3);
+	Y_dest_n10=Y(:,4:6);
+	Y_dest_n20=Y(:,7:9);
+	Y_dest_n30=Y(:,10:12);
+%}
+
+load destill.dat
+U=destill(:,1:20);
+Y=destill(:,21:32);
+U_dest=U(:,1:5);
+U_dest_n10=U(:,6:10);
+U_dest_n20=U(:,11:15);	
+U_dest_n30=U(:,16:20);
+Y_dest=Y(:,1:3);
+Y_dest_n10=Y(:,4:6);
+Y_dest_n20=Y(:,7:9);
+Y_dest_n30=Y(:,10:12);
+
+
+dat = iddata (Y_dest, U_dest)
+
+[sys, x0] = ident (dat, 5, 4)    % s=5, n=4
+
+
+[y, t] = lsim (sys, U_dest, [], x0);
+%[y, t] = lsim (sys, U_dest);
+
+err = norm (Y_dest - y, 1) / norm (Y_dest, 1)
+
+figure (1)
+plot (t, Y_dest, 'b')
+%plot (t, Y_dest, 'b', t, y, 'r')
+legend ('y measured', 'y simulated', 'location', 'southeast')
+
+

Copied: trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m (from rev 10049, trunk/octave-forge/extra/control-devel/devel/glass_furnace.m)
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m	2012-03-25 14:41:48 UTC (rev 10050)
@@ -0,0 +1,66 @@
+%{
+This file describes the data in the glassfurnace.dat file.
+1. Contributed by:
+	Peter Van Overschee
+	K.U.Leuven - ESAT - SISTA
+	K. Mercierlaan 94
+	3001 Heverlee
+	Peter.Vanoverschee@...
+2. Process/Description:
+	Data of a glassfurnace (Philips)
+3. Sampling time 
+	
+4. Number of samples: 
+	1247 samples
+5. Inputs:
+	a. heating input
+   	b. cooling input
+   	c. heating input
+6. Outputs:
+	a. 6 outputs from temperature sensors in a cross section of the 
+	furnace
+7. References:
+	a. Van Overschee P., De Moor B., N4SID : Subspace Algorithms for 
+	the Identification of Combined Deterministic-Stochastic Systems, 
+	Automatica, Special Issue on Statistical Signal Processing and Control, 
+	Vol. 30, No. 1, 1994, pp. 75-93
+	b.  Van Overschee P., "Subspace identification : Theory, 
+	Implementation, Application" , Ph.D. Thesis, K.U.Leuven, February 1995. 
+8. Known properties/peculiarities
+	
+9. Some MATLAB-code to retrieve the data
+	!gunzip glassfurnace.dat.Z
+	load glassfurnace.dat
+      T=glassfurnace(:,1);
+	U=glassfurnace(:,2:4);
+	Y=glassfurnace(:,5:10);
+
+%}
+
+clear all, close all, clc
+
+load glassfurnace.dat
+T=glassfurnace(:,1);
+U=glassfurnace(:,2:4);
+Y=glassfurnace(:,5:10);
+
+
+dat = iddata (Y, U)
+
+[sys, x0] = ident (dat, 10, 5)     % s=10, n=5
+
+
+[y, t] = lsim (sys, U, [], x0);
+
+err = norm (Y - y, 1) / norm (Y, 1)
+
+figure (1)
+p = columns (Y);
+for k = 1 : p
+  subplot (3, 2, k)
+  plot (t, Y(:,k), 'b', t, y(:,k), 'r')
+endfor
+%title ('DaISy: Glass Furnace')
+%legend ('y measured', 'y simulated', 'location', 'southeast')
+
+

Copied: trunk/octave-forge/extra/control-devel/devel/PowerPlant.m (from rev 10049, trunk/octave-forge/extra/control-devel/devel/power_plant.m)
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/PowerPlant.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/PowerPlant.m	2012-03-25 14:41:48 UTC (rev 10050)
@@ -0,0 +1,80 @@
+%{
+This file describes the data in the powerplant.dat file.
+1. Contributed by:
+	Peter Van Overschee
+	K.U.Leuven - ESAT - SISTA
+	K. Mercierlaan 94
+	3001 Heverlee
+	Peter.Vanoverschee@...
+2. Process/Description:
+	data of a power plant (Pont-sur-Sambre (France)) of 120 MW
+3. Sampling time 
+	1228.8 sec
+4. Number of samples: 
+	200 samples
+5. Inputs:
+	1. gas flow
+   	2. turbine valves opening
+   	3. super heater spray flow
+   	4. gas dampers
+   	5. air flow
+6. Outputs:
+	1. steam pressure
+   	2. main stem temperature
+   	3. reheat steam temperature
+7. References:
+	a. R.P. Guidorzi, P. Rossi, Identification of a power plant from normal
+   	operating records. Automatic control theory and applications (Canada,
+   	Vol 2, pp 63-67, sept 1974.
+	b. Moonen M., De Moor B., Vandenberghe L., Vandewalle J., On- and
+	off-line identification of linear state-space models, International
+	Journal of Control, Vol. 49, Jan. 1989, pp.219-232
+8. Known properties/peculiarities
+	
+9. Some MATLAB-code to retrieve the data
+	!gunzip powerplant.dat.Z
+	load powerplant.dat
+	U=powerplant(:,1:5);
+	Y=powerplant(:,6:8);
+	Yr=powerplant(:,9:11);
+
+%}
+
+clear all, close all, clc
+
+load powerplant.dat
+U=powerplant(:,1:5);
+Y=powerplant(:,6:8);
+Yr=powerplant(:,9:11);
+
+inname = {'gas flow',
+          'turbine valves opening',
+          'super heater spray flow',
+          'gas dampers',
+          'air flow'};
+
+outname = {'steam pressure',
+           'main steam temperature',
+           'reheat steam temperature'};
+           
+tsam = 1228.8;
+
+dat = iddata (Y, U, tsam, 'outname', outname, 'inname', inname)
+
+[sys, x0] = ident (dat, 10, 8)     % s=10, n=8
+
+
+[y, t] = lsim (sys, U, [], x0);
+
+err = norm (Y - y, 1) / norm (Y, 1)
+
+figure (1)
+p = columns (Y);
+for k = 1 : p
+  subplot (3, 1, k)
+  plot (t, Y(:,k), 'b', t, y(:,k), 'r')
+endfor
+%title ('DaISy: Power Plant')
+%legend ('y measured', 'y simulated', 'location', 'southeast')
+
+

Deleted: trunk/octave-forge/extra/control-devel/devel/destillation.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/destillation.m	2012-03-25 09:01:46 UTC (rev 10049)
+++ trunk/octave-forge/extra/control-devel/devel/destillation.m	2012-03-25 14:41:48 UTC (rev 10050)
@@ -1,81 +0,0 @@
-%{
-This file describes the data in the destill.dat file.
-1. Contributed by:
-	Peter Van Overschee
-	K.U.Leuven - ESAT - SISTA
-	K. Mercierlaan 94
-	3001 Heverlee
-	Peter.Vanoverschee@...
-2. Process/Description:
-	Data of a simulation (not real !) related to the identification
-   	of an ethane-ethylene destillationcolumn. The series consists of 4
-	series: 
-		U_dest, Y_dest: 	without noise (original series)
-		U_dest_n10, Y_dest_n10:	10 percent additive white noise
-		U_dest_n20, Y_dest_n20: 20 percent additive white noise
-		U_dest_n30, Y_dest_n30:	30 percent additive white noise
-3. Sampling time 
-	15 min.
-4. Number of samples: 
-	90 samples
-5. Inputs:
-	a. ratio between the reboiler duty and the feed flow
-   	b. ratio between the reflux rate and the feed flow
-   	c. ratio between the distillate and the feed flow
-   	d. input ethane composition
-   	e. top pressure
-6. Outputs:
-	a. top ethane composition
-	b. bottom ethylene composition
-   	c. top-bottom differential pressure.
-7. References:
-	R.P. Guidorzi, M.P. Losito, T. Muratori, The range error test in the
-	structural identification of linear multivariable systems,
-   	IEEE transactions on automatic control, Vol AC-27, pp 1044-1054, oct.
-   	1982.
-8. Known properties/peculiarities
-	
-9. Some MATLAB-code to retrieve the data
-	!gunzip destill.dat.Z
-	load destill.dat
-	U=destill(:,1:20);
-	Y=destill(:,21:32);
-	U_dest=U(:,1:5);
-	U_dest_n10=U(:,6:10);
-	U_dest_n20=U(:,11:15);	
-	U_dest_n30=U(:,16:20);
-	Y_dest=Y(:,1:3);
-	Y_dest_n10=Y(:,4:6);
-	Y_dest_n20=Y(:,7:9);
-	Y_dest_n30=Y(:,10:12);
-%}
-
-load destill.dat
-U=destill(:,1:20);
-Y=destill(:,21:32);
-U_dest=U(:,1:5);
-U_dest_n10=U(:,6:10);
-U_dest_n20=U(:,11:15);	
-U_dest_n30=U(:,16:20);
-Y_dest=Y(:,1:3);
-Y_dest_n10=Y(:,4:6);
-Y_dest_n20=Y(:,7:9);
-Y_dest_n30=Y(:,10:12);
-
-
-dat = iddata (Y_dest, U_dest)
-
-[sys, x0] = ident (dat, 5, 4)    % s=5, n=4
-
-
-[y, t] = lsim (sys, U_dest, [], x0);
-%[y, t] = lsim (sys, U_dest);
-
-err = norm (Y_dest - y, 1) / norm (Y_dest, 1)
-
-figure (1)
-plot (t, Y_dest, 'b')
-%plot (t, Y_dest, 'b', t, y, 'r')
-legend ('y measured', 'y simulated', 'location', 'southeast')
-
-

Deleted: trunk/octave-forge/extra/control-devel/devel/glass_furnace.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/glass_furnace.m	2012-03-25 09:01:46 UTC (rev 10049)
+++ trunk/octave-forge/extra/control-devel/devel/glass_furnace.m	2012-03-25 14:41:48 UTC (rev 10050)
@@ -1,66 +0,0 @@
-%{
-This file describes the data in the glassfurnace.dat file.
-1. Contributed by:
-	Peter Van Overschee
-	K.U.Leuven - ESAT - SISTA
-	K. Mercierlaan 94
-	3001 Heverlee
-	Peter.Vanoverschee@...
-2. Process/Description:
-	Data of a glassfurnace (Philips)
-3. Sampling time 
-	
-4. Number of samples: 
-	1247 samples
-5. Inputs:
-	a. heating input
-   	b. cooling input
-   	c. heating input
-6. Outputs:
-	a. 6 outputs from temperature sensors in a cross section of the 
-	furnace
-7. References:
-	a. Van Overschee P., De Moor B., N4SID : Subspace Algorithms for 
-	the Identification of Combined Deterministic-Stochastic Systems, 
-	Automatica, Special Issue on Statistical Signal Processing and Control, 
-	Vol. 30, No. 1, 1994, pp. 75-93
-	b.  Van Overschee P., "Subspace identification : Theory, 
-	Implementation, Application" , Ph.D. Thesis, K.U.Leuven, February 1995. 
-8. Known properties/peculiarities
-	
-9. Some MATLAB-code to retrieve the data
-	!gunzip glassfurnace.dat.Z
-	load glassfurnace.dat
-      T=glassfurnace(:,1);
-	U=glassfurnace(:,2:4);
-	Y=glassfurnace(:,5:10);
-
-%}
-
-clear all, close all, clc
-
-load glassfurnace.dat
-T=glassfurnace(:,1);
-U=glassfurnace(:,2:4);
-Y=glassfurnace(:,5:10);
-
-
-dat = iddata (Y, U)
-
-[sys, x0] = ident (dat, 10, 5)     % s=10, n=5
-
-
-[y, t] = lsim (sys, U, [], x0);
-
-err = norm (Y - y, 1) / norm (Y, 1)
-
-figure (1)
-p = columns (Y);
-for k = 1 : p
-  subplot (3, 2, k)
-  plot (t, Y(:,k), 'b', t, y(:,k), 'r')
-endfor
-%title ('DaISy: Glass Furnace')
-%legend ('y measured', 'y simulated', 'location', 'southeast')
-
-

Deleted: trunk/octave-forge/extra/control-devel/devel/power_plant.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/power_plant.m	2012-03-25 09:01:46 UTC (rev 10049)
+++ trunk/octave-forge/extra/control-devel/devel/power_plant.m	2012-03-25 14:41:48 UTC (rev 10050)
@@ -1,80 +0,0 @@
-%{
-This file describes the data in the powerplant.dat file.
-1. Contributed by:
-	Peter Van Overschee
-	K.U.Leuven - ESAT - SISTA
-	K. Mercierlaan 94
-	3001 Heverlee
-	Peter.Vanoverschee@...
-2. Process/Description:
-	data of a power plant (Pont-sur-Sambre (France)) of 120 MW
-3. Sampling time 
-	1228.8 sec
-4. Number of samples: 
-	200 samples
-5. Inputs:
-	1. gas flow
-   	2. turbine valves opening
-   	3. super heater spray flow
-   	4. gas dampers
-   	5. air flow
-6. Outputs:
-	1. steam pressure
-   	2. main stem temperature
-   	3. reheat steam temperature
-7. References:
-	a. R.P. Guidorzi, P. Rossi, Identification of a power plant from normal
-   	operating records. Automatic control theory and applications (Canada,
-   	Vol 2, pp 63-67, sept 1974.
-	b. Moonen M., De Moor B., Vandenberghe L., Vandewalle J., On- and
-	off-line identification of linear state-space models, International
-	Journal of Control, Vol. 49, Jan. 1989, pp.219-232
-8. Known properties/peculiarities
-	
-9. Some MATLAB-code to retrieve the data
-	!gunzip powerplant.dat.Z
-	load powerplant.dat
-	U=powerplant(:,1:5);
-	Y=powerplant(:,6:8);
-	Yr=powerplant(:,9:11);
-
-%}
-
-clear all, close all, clc
-
-load powerplant.dat
-U=powerplant(:,1:5);
-Y=powerplant(:,6:8);
-Yr=powerplant(:,9:11);
-
-inname = {'gas flow',
-          'turbine valves opening',
-          'super heater spray flow',
-          'gas dampers',
-          'air flow'};
-
-outname = {'steam pressure',
-           'main steam temperature',
-           'reheat steam temperature'};
-           
-tsam = 1228.8;
-
-dat = iddata (Y, U, tsam, 'outname', outname, 'inname', inname)
-
-[sys, x0] = ident (dat, 10, 8)     % s=10, n=8
-
-
-[y, t] = lsim (sys, U, [], x0);
-
-err = norm (Y - y, 1) / norm (Y, 1)
-
-figure (1)
-p = columns (Y);
-for k = 1 : p
-  subplot (3, 1, k)
-  plot (t, Y(:,k), 'b', t, y(:,k), 'r')
-endfor
-%title ('DaISy: Power Plant')
-%legend ('y measured', 'y simulated', 'location', 'southeast')
-
-

Modified: trunk/octave-forge/extra/control-devel/src/slident.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident.cc	2012-03-25 09:01:46 UTC (rev 10049)
+++ trunk/octave-forge/extra/control-devel/src/slident.cc	2012-03-25 14:41:48 UTC (rev 10050)
@@ -314,7 +314,8 @@
 ////////////////////////////////////////////////////////////////////
 // TO BE REMOVED !!!
 ////////////////////////////////////////////////////////////////////        
-ldwork = 1000000;
+ldwork *= 2;
+//ldwork = 1000000;
 ////////////////////////////////////////////////////////////////////
 
 /*

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

Revision: 10093
          http://octave.svn.sourceforge.net/octave/?rev=10093&view=rev
Author:   paramaniac
Date:     2012-03-29 15:07:17 +0000 (Thu, 29 Mar 2012)
Log Message:
-----------
control-devel: debugging stuff for ib01ad

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/@iddata/set.m
    trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/PowerPlantTest.m
    trunk/octave-forge/extra/control-devel/devel/identtest.m
    trunk/octave-forge/extra/control-devel/src/slitest.cc

Added: trunk/octave-forge/extra/control-devel/devel/PowerPlantTest.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/PowerPlantTest.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/PowerPlantTest.m	2012-03-29 15:07:17 UTC (rev 10093)
@@ -0,0 +1,83 @@
+%{
+This file describes the data in the powerplant.dat file.
+1. Contributed by:
+	Peter Van Overschee
+	K.U.Leuven - ESAT - SISTA
+	K. Mercierlaan 94
+	3001 Heverlee
+	Peter.Vanoverschee@...
+2. Process/Description:
+	data of a power plant (Pont-sur-Sambre (France)) of 120 MW
+3. Sampling time 
+	1228.8 sec
+4. Number of samples: 
+	200 samples
+5. Inputs:
+	1. gas flow
+   	2. turbine valves opening
+   	3. super heater spray flow
+   	4. gas dampers
+   	5. air flow
+6. Outputs:
+	1. steam pressure
+   	2. main stem temperature
+   	3. reheat steam temperature
+7. References:
+	a. R.P. Guidorzi, P. Rossi, Identification of a power plant from normal
+   	operating records. Automatic control theory and applications (Canada,
+   	Vol 2, pp 63-67, sept 1974.
+	b. Moonen M., De Moor B., Vandenberghe L., Vandewalle J., On- and
+	off-line identification of linear state-space models, International
+	Journal of Control, Vol. 49, Jan. 1989, pp.219-232
+8. Known properties/peculiarities
+	
+9. Some MATLAB-code to retrieve the data
+	!gunzip powerplant.dat.Z
+	load powerplant.dat
+	U=powerplant(:,1:5);
+	Y=powerplant(:,6:8);
+	Yr=powerplant(:,9:11);
+
+%}
+
+clear all, close all, clc
+
+load powerplant.dat
+U=powerplant(:,1:5);
+Y=powerplant(:,6:8);
+Yr=powerplant(:,9:11);
+
+inname = {'gas flow',
+          'turbine valves opening',
+          'super heater spray flow',
+          'gas dampers',
+          'air flow'};
+
+outname = {'steam pressure',
+           'main steam temperature',
+           'reheat steam temperature'};
+           
+tsam = 1228.8;
+
+dat = iddata (Y, U, tsam, 'outname', outname, 'inname', inname);
+
+
+% ldwork = [401, 802, 1203, 1604]
+% warning: implicit conversion from real matrix to real scalar
+
+ldwork = [802, 1203, 1604]
+
+r = arrayfun (@(x) identtest (dat, 10, 8, x), ldwork, 'uniformoutput', false);
+
+     % s=10, n=8
+
+l = length (ldwork);
+
+err = cell (l-1, 1);
+
+for k = 2 : l
+  err(k-1) = norm (abs(r{1}) - abs(r{k}), 1);
+  % err(k-1) = norm (abs(abs(r{1}) - abs(r{k})), 1);
+endfor
+
+err

Added: trunk/octave-forge/extra/control-devel/devel/identtest.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/identtest.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/identtest.m	2012-03-29 15:07:17 UTC (rev 10093)
@@ -0,0 +1,52 @@
+function [r, sv, n] = identtest (dat, s = [], n = [], ldwork)
+
+
+
+  %nobr = 15;
+  meth = 2;
+  alg = 0;
+  jobd = 1;
+  batch = 3;
+  conct = 1;
+  ctrl = 0; %1;
+  rcond = 0.0;
+  tol = -1.0; % 0;
+  
+  [ns, l, m, e] = size (dat);
+  
+  if (isempty (s) && isempty (n))
+    nsmp = ns(1);
+    nobr = fix ((nsmp+1)/(2*(m+l+1)));
+    ctrl = 0;  # confirm system order estimate
+    n = 0;
+    % nsmp >= 2*(m+l+1)*nobr - 1
+    % nobr <= (nsmp+1)/(2*(m+l+1))
+  elseif (isempty (s))
+    s = min (2*n, n+10);
+    nsmp = ns(1);
+    nobr = fix ((nsmp+1)/(2*(m+l+1)));
+    nobr = min (nobr, s);
+    ctrl = 1;  # no confirmation
+  elseif (isempty (n))
+    nobr = s;
+    ctrl = 0;  # confirm system order estimate
+    n = 0;
+  else         # s & n non-empty
+    nsmp = ns(1);
+    nobr = fix ((nsmp+1)/(2*(m+l+1)));
+    if (s > nobr)
+      error ("ident: s > nobr");
+    endif
+    nobr = s;
+    ctrl = 1;
+    ## TODO: specify n for IB01BD
+  endif
+  
+  %nsmp = ns(1)
+  %nobr = fix ((nsmp+1)/(2*(m+l+1)))
+  % nsmp >= 2*(m+l+1)*nobr - 1
+  % nobr <= (nsmp+1)/(2*(m+l+1))
+%nobr = 10
+  [r, sv, n] = slitest (dat.y{1}, dat.u{1}, nobr, n, meth, alg, jobd, batch, conct, ctrl, rcond, tol, ldwork);
+
+endfunction

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/set.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/set.m	2012-03-29 14:33:05 UTC (rev 10092)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/set.m	2012-03-29 15:07:17 UTC (rev 10093)
@@ -84,8 +84,6 @@
           dat.outunit = __adjust_labels__ (val, p);
         case {"inunit", "inputunit"}
           dat.inunit = __adjust_labels__ (val, m);
-        case {"tsam", "ts"}
-          dat.tsam;
         case {"timeunit"}
           dat.timeunit
         case {"expname", "experimentname"}

Modified: trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc	2012-03-29 14:33:05 UTC (rev 10092)
+++ trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc	2012-03-29 15:07:17 UTC (rev 10093)
@@ -1,2 +1,3 @@
 // #include "slib01ad.cc"  // preprocess the input-output data
 #include "slident.cc"   // system identification
+#include "slitest.cc"   // debug system identification

Added: trunk/octave-forge/extra/control-devel/src/slitest.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slitest.cc	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/src/slitest.cc	2012-03-29 15:07:17 UTC (rev 10093)
@@ -0,0 +1,418 @@
+/*
+
+Copyright (C) 2012   Lukas F. Reichlin
+
+This file is part of LTI Syncope.
+
+LTI Syncope is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+LTI Syncope is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+SLICOT system identification
+Uses SLICOT IB01AD, IB01BD and IB01CD by courtesy of NICONET e.V.
+<http://www.slicot.org>
+
+Author: Lukas Reichlin <lukas.reichlin@...>
+Created: March 2012
+Version: 0.1
+
+*/
+
+#include <octave/oct.h>
+#include <f77-fcn.h>
+#include "common.h"
+
+extern "C"
+{ 
+    int F77_FUNC (ib01ad, IB01AD)
+                 (char& METH, char& ALG, char& JOBD,
+                  char& BATCH, char& CONCT, char& CTRL,
+                  int& NOBR, int& M, int& L,
+                  int& NSMP,
+                  double* U, int& LDU,
+                  double* Y, int& LDY,
+                  int& N,
+                  double* R, int& LDR,
+                  double* SV,
+                  double& RCOND, double& TOL,
+                  int* IWORK,
+                  double* DWORK, int& LDWORK,
+                  int& IWARN, int& INFO);
+
+    int F77_FUNC (ib01bd, IB01BD)
+                 (char& METH, char& JOB, char& JOBCK,
+                  int& NOBR, int& N, int& M, int& L,
+                  int& NSMPL,
+                  double* R, int& LDR,
+                  double* A, int& LDA,
+                  double* C, int& LDC,
+                  double* B, int& LDB,
+                  double* D, int& LDD,
+                  double* Q, int& LDQ,
+                  double* RY, int& LDRY,
+                  double* S, int& LDS,
+                  double* K, int& LDK,
+                  double& TOL,
+                  int* IWORK,
+                  double* DWORK, int& LDWORK,
+                  bool* BWORK,
+                  int& IWARN, int& INFO);
+
+    int F77_FUNC (ib01cd, IB01CD)
+                 (char& JOBX0, char& COMUSE, char& JOB,
+                  int& N, int& M, int& L,
+                  int& NSMP,
+                  double* A, int& LDA,
+                  double* B, int& LDB,
+                  double* C, int& LDC,
+                  double* D, int& LDD,
+                  double* U, int& LDU,
+                  double* Y, int& LDY,
+                  double* X0,
+                  double* V, int& LDV,
+                  double& TOL,
+                  int* IWORK,
+                  double* DWORK, int& LDWORK,
+                  int& IWARN, int& INFO);
+}
+
+// PKG_ADD: autoload ("slitest", "devel_slicot_functions.oct");
+DEFUN_DLD (slitest, args, nargout,
+   "-*- texinfo -*-\n\
+Slicot IB01AD Release 5.0\n\
+No argument checking.\n\
+For internal use only.")
+{
+    int nargin = args.length ();
+    octave_value_list retval;
+    
+    if (nargin != 13)
+    {
+        print_usage ();
+    }
+    else
+    {
+////////////////////////////////////////////////////////////////////////////////////
+//      SLICOT IB01AD - preprocess the input-output data                          //
+////////////////////////////////////////////////////////////////////////////////////
+
+        // arguments in
+        char meth;
+        char alg;
+        char jobd;
+        char batch;
+        char conct;
+        char ctrl;
+        char metha;
+        char jobda;
+        
+        Matrix y = args(0).matrix_value ();
+        Matrix u = args(1).matrix_value ();
+        int nobr = args(2).int_value ();
+        int nuser = args(3).int_value ();
+        
+        const int imeth = args(4).int_value ();
+        const int ialg = args(5).int_value ();
+        const int ijobd = args(6).int_value ();
+        const int ibatch = args(7).int_value ();
+        const int iconct = args(8).int_value ();
+        const int ictrl = args(9).int_value ();
+        
+        double rcond = args(10).double_value ();
+        double tol = args(11).double_value ();
+        double tolb = args(10).double_value ();      // tolb = rcond
+        
+        int ldwork = args(12).int_value ();
+
+            
+        switch (imeth)
+        {
+            case 0:
+                meth = 'M';
+                metha = 'M';
+                break;
+            case 1:
+                meth = 'N';
+                metha = 'N';
+                break;
+            case 2:
+                meth = 'C';
+                metha = 'N';    // no typo here
+                break;
+            default:
+                error ("slib01ad: argument 'meth' invalid");
+        }
+
+        switch (ialg)
+        {
+            case 0:
+                alg = 'C';
+                break;
+            case 1:
+                alg = 'F';
+                break;
+            case 2:
+                alg = 'Q';
+                break;
+            default:
+                error ("slib01ad: argument 'alg' invalid");
+        }
+        
+        if (meth == 'C')
+            jobd = 'N';
+        else if (ijobd == 0)
+            jobd = 'M';
+        else
+            jobd = 'N';
+        
+        switch (ibatch)
+        {
+            case 0:
+                batch = 'F';
+                break;
+            case 1:
+                batch = 'I';
+                break;
+            case 2:
+                batch = 'L';
+                break;
+            case 3:
+                batch = 'O';
+                break;
+            default:
+                error ("slib01ad: argument 'batch' invalid");
+        }
+
+        if (iconct == 0)
+            conct = 'C';
+        else
+            conct = 'N';
+
+        if (ictrl == 0)
+            ctrl = 'C';
+        else
+            ctrl = 'N';
+
+
+        int m = u.columns ();   // m: number of inputs
+        int l = y.columns ();   // l: number of outputs
+        int nsmp = y.rows ();   // nsmp: number of samples
+        // y.rows == u.rows  is checked by iddata class
+        // TODO: check minimal nsmp size
+        
+        if (batch == 'O')
+        {
+            if (nsmp < 2*(m+l+1)*nobr - 1)
+                error ("slident: require NSMP >= 2*(M+L+1)*NOBR - 1");
+        }
+        else
+        {
+            if (nsmp < 2*nobr)
+                error ("slident: require NSMP >= 2*NOBR");
+        }
+        
+        int ldu;
+        
+        if (m == 0)
+            ldu = 1;
+        else                    // m > 0
+            ldu = nsmp;
+
+        int ldy = nsmp;
+
+        // arguments out
+        int n;
+        int ldr;
+        
+        if (metha == 'M' && jobd == 'M')
+            ldr = max (2*(m+l)*nobr, 3*m*nobr);
+        else if (metha == 'N' || (metha == 'M' && jobd == 'N'))
+            ldr = 2*(m+l)*nobr;
+        else
+            error ("slib01ad: could not handle 'ldr' case");
+        
+        Matrix r (ldr, 2*(m+l)*nobr);
+        ColumnVector sv (l*nobr);
+
+        // workspace
+        int liwork;
+
+        if (metha == 'N')            // if METH = 'N'
+            liwork = (m+l)*nobr;
+        else if (alg == 'F')        // if METH = 'M' and ALG = 'F'
+            liwork = m+l;
+        else                        // if METH = 'M' and ALG = 'C' or 'Q'
+            liwork = 0;
+
+        // TODO: Handle 'k' for DWORK
+/*
+        int ldwork;
+        
+        if (alg == 'C')
+        {
+            if (batch == 'F' || batch == 'I')
+            {
+                if (conct == 'C')
+                    ldwork = (4*nobr-2)*(m+l);
+                else    // (conct == 'N')
+                    ldwork = 1;
+            }
+            else if (metha == 'M')   // && (batch == 'L' || batch == 'O')
+            {
+                if (conct == 'C' && batch == 'L')
+                    ldwork = max ((4*nobr-2)*(m+l), 5*l*nobr);
+                else if (jobd == 'M')
+                    ldwork = max ((2*m-1)*nobr, (m+l)*nobr, 5*l*nobr);
+                else    // (jobd == 'N')
+                    ldwork = 5*l*nobr;
+            }
+            else    // meth == 'N' && (batch == 'L' || batch == 'O')
+            {
+                ldwork = 5*(m+l)*nobr + 1;
+            }
+        }
+        else if (alg == 'F')
+        {
+            if (batch != 'O' && conct == 'C')
+                ldwork = (m+l)*2*nobr*(m+l+3);
+            else if (batch == 'F' || batch == 'I')  // && conct == 'N'
+                ldwork = (m+l)*2*nobr*(m+l+1);
+            else    // (batch == 'L' || '0' && conct == 'N')
+                ldwork = (m+l)*4*nobr*(m+l+1)+(m+l)*2*nobr;
+        }
+        else    // (alg == 'Q')
+        {
+            int ns = nsmp - 2*nobr + 1;
+            
+            if (ldr >= ns && batch == 'F')
+            {
+                ldwork = 4*(m+l)*nobr;
+            }
+            else if (ldr >= ns && batch == 'O')
+            {
+                if (metha == 'M')
+                    ldwork = max (4*(m+l)*nobr, 5*l*nobr);
+                else    // (meth == 'N')
+                    ldwork = 5*(m+l)*nobr + 1;
+            }
+            else if (conct == 'C' && (batch == 'I' || batch == 'L'))
+            {
+                ldwork = 4*(nobr+1)*(m+l)*nobr;
+            }
+            else    // if ALG = 'Q', (BATCH = 'F' or 'O', and LDR < NS), or (BATCH = 'I' or 'L' and CONCT = 'N')
+            {
+                ldwork = 6*(m+l)*nobr;
+            }
+        }
+////////////////////////////////////////////////////////////////////
+// TO BE REMOVED !!!
+////////////////////////////////////////////////////////////////////        
+ldwork *= 2;
+//ldwork = 1000000;
+////////////////////////////////////////////////////////////////////
+
+*/
+
+/*
+IB01AD.f Lines 291-195:
+c             the workspace used for alg = 'q' is
+c                       ldrwrk*2*(m+l)*nobr + 4*(m+l)*nobr,
+c             where ldrwrk = ldwork/(2*(m+l)*nobr) - 2; recommended
+c             value ldrwrk = ns, assuming a large enough cache size.
+c             for good performance,  ldwork  should be larger.
+
+somehow ldrwrk and ldwork must have been mixed up here
+
+*/
+
+
+        OCTAVE_LOCAL_BUFFER (int, iwork, liwork);
+        OCTAVE_LOCAL_BUFFER (double, dwork, ldwork);
+        
+        // error indicators
+        int iwarn = 0;
+        int info = 0;
+
+
+        // SLICOT routine IB01AD
+        F77_XFCN (ib01ad, IB01AD,
+                 (metha, alg, jobd,
+                  batch, conct, ctrl,
+                  nobr, m, l,
+                  nsmp,
+                  u.fortran_vec (), ldu,
+                  y.fortran_vec (), ldy,
+                  n,
+                  r.fortran_vec (), ldr,
+                  sv.fortran_vec (),
+                  rcond, tol,
+                  iwork,
+                  dwork, ldwork,
+                  iwarn, info));
+
+
+        if (f77_exception_encountered)
+            error ("ident: exception in SLICOT subroutine IB01AD");
+
+        static const char* err_msg[] = {
+            "0: OK",
+            "1: a fast algorithm was requested (ALG = 'C', or 'F') "
+                "in sequential data processing, but it failed; the "
+                "routine can be repeatedly called again using the "
+                "standard QR algorithm",
+            "2: the singular value decomposition (SVD) algorithm did "
+                "not converge"};
+
+        static const char* warn_msg[] = {
+            "0: OK",
+            "1: the number of 100 cycles in sequential data "
+                "processing has been exhausted without signaling "
+                "that the last block of data was get; the cycle "
+                "counter was reinitialized",
+            "2: a fast algorithm was requested (ALG = 'C' or 'F'), "
+                "but it failed, and the QR algorithm was then used "
+                "(non-sequential data processing)",
+            "3: all singular values were exactly zero, hence  N = 0 "
+                "(both input and output were identically zero)",
+            "4: the least squares problems with coefficient matrix "
+                "U_f,  used for computing the weighted oblique "
+                "projection (for METH = 'N'), have a rank-deficient "
+                "coefficient matrix",
+            "5: the least squares problem with coefficient matrix "
+                "r_1  [6], used for computing the weighted oblique "
+                "projection (for METH = 'N'), has a rank-deficient "
+                "coefficient matrix"};
+
+
+        error_msg ("ident", info, 2, err_msg);
+        warning_msg ("ident", iwarn, 5, warn_msg);
+
+
+        // resize
+        int rs = 2*(m+l)*nobr;
+        r.resize (rs, rs);
+        
+        if (nuser > 0)
+        {
+            if (nuser < nobr)
+                n = nuser;
+            else
+                error ("ident: 'nuser' invalid");
+        }
+        
+        retval(0) = r;
+        retval(1) = sv;
+        retval(2) = octave_value (n);
+    }
+    
+    return retval;
+}

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Revision: 10097
          http://octave.svn.sourceforge.net/octave/?rev=10097&view=rev
Author:   paramaniac
Date:     2012-03-29 15:33:41 +0000 (Thu, 29 Mar 2012)
Log Message:
-----------
control-devel: update debugging stuff for ib01ad

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/identtest.m
    trunk/octave-forge/extra/control-devel/src/slident.cc
    trunk/octave-forge/extra/control-devel/src/slitest.cc

Modified: trunk/octave-forge/extra/control-devel/devel/identtest.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/identtest.m	2012-03-29 15:21:47 UTC (rev 10096)
+++ trunk/octave-forge/extra/control-devel/devel/identtest.m	2012-03-29 15:33:41 UTC (rev 10097)
@@ -1,52 +1,5 @@
 function [r, sv, n] = identtest (dat, s = [], n = [], ldwork)
 
+  [r, sv, n] = slitest (dat.y{1}, dat.u{1}, s, ldwork);
 
-
-  %nobr = 15;
-  meth = 2;
-  alg = 0;
-  jobd = 1;
-  batch = 3;
-  conct = 1;
-  ctrl = 0; %1;
-  rcond = 0.0;
-  tol = -1.0; % 0;
-  
-  [ns, l, m, e] = size (dat);
-  
-  if (isempty (s) && isempty (n))
-    nsmp = ns(1);
-    nobr = fix ((nsmp+1)/(2*(m+l+1)));
-    ctrl = 0;  # confirm system order estimate
-    n = 0;
-    % nsmp >= 2*(m+l+1)*nobr - 1
-    % nobr <= (nsmp+1)/(2*(m+l+1))
-  elseif (isempty (s))
-    s = min (2*n, n+10);
-    nsmp = ns(1);
-    nobr = fix ((nsmp+1)/(2*(m+l+1)));
-    nobr = min (nobr, s);
-    ctrl = 1;  # no confirmation
-  elseif (isempty (n))
-    nobr = s;
-    ctrl = 0;  # confirm system order estimate
-    n = 0;
-  else         # s & n non-empty
-    nsmp = ns(1);
-    nobr = fix ((nsmp+1)/(2*(m+l+1)));
-    if (s > nobr)
-      error ("ident: s > nobr");
-    endif
-    nobr = s;
-    ctrl = 1;
-    ## TODO: specify n for IB01BD
-  endif
-  
-  %nsmp = ns(1)
-  %nobr = fix ((nsmp+1)/(2*(m+l+1)))
-  % nsmp >= 2*(m+l+1)*nobr - 1
-  % nobr <= (nsmp+1)/(2*(m+l+1))
-%nobr = 10
-  [r, sv, n] = slitest (dat.y{1}, dat.u{1}, nobr, n, meth, alg, jobd, batch, conct, ctrl, rcond, tol, ldwork);
-
 endfunction

Modified: trunk/octave-forge/extra/control-devel/src/slident.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident.cc	2012-03-29 15:21:47 UTC (rev 10096)
+++ trunk/octave-forge/extra/control-devel/src/slident.cc	2012-03-29 15:33:41 UTC (rev 10097)
@@ -113,7 +113,7 @@
         char conct;
         char ctrl;
         char metha;
-        char jobda;
+        char jobda; // ??? unused
         
         Matrix y = args(0).matrix_value ();
         Matrix u = args(1).matrix_value ();

Modified: trunk/octave-forge/extra/control-devel/src/slitest.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slitest.cc	2012-03-29 15:21:47 UTC (rev 10096)
+++ trunk/octave-forge/extra/control-devel/src/slitest.cc	2012-03-29 15:33:41 UTC (rev 10097)
@@ -95,7 +95,7 @@
     int nargin = args.length ();
     octave_value_list retval;
     
-    if (nargin != 13)
+    if (nargin != 4)
     {
         print_usage ();
     }
@@ -106,127 +106,36 @@
 ////////////////////////////////////////////////////////////////////////////////////
 
         // arguments in
-        char meth;
-        char alg;
-        char jobd;
-        char batch;
-        char conct;
-        char ctrl;
-        char metha;
-        char jobda;
+        char meth = 'N';  // <--- not used, use metha
+        char alg = 'C';
+        char jobd = 'N';
+        char batch = 'O';
         
+        char conct = 'N';
+        char ctrl = 'N';
+        
+        char metha = 'N';
+        
+         // ??? char jobda ;
+        
         Matrix y = args(0).matrix_value ();
         Matrix u = args(1).matrix_value ();
         int nobr = args(2).int_value ();
-        int nuser = args(3).int_value ();
         
-        const int imeth = args(4).int_value ();
-        const int ialg = args(5).int_value ();
-        const int ijobd = args(6).int_value ();
-        const int ibatch = args(7).int_value ();
-        const int iconct = args(8).int_value ();
-        const int ictrl = args(9).int_value ();
+        double rcond = 0.0;
+        double tol = -1.0;
         
-        double rcond = args(10).double_value ();
-        double tol = args(11).double_value ();
-        double tolb = args(10).double_value ();      // tolb = rcond
-        
-        int ldwork = args(12).int_value ();
+        int ldwork = args(3).int_value ();
 
-            
-        switch (imeth)
-        {
-            case 0:
-                meth = 'M';
-                metha = 'M';
-                break;
-            case 1:
-                meth = 'N';
-                metha = 'N';
-                break;
-            case 2:
-                meth = 'C';
-                metha = 'N';    // no typo here
-                break;
-            default:
-                error ("slib01ad: argument 'meth' invalid");
-        }
 
-        switch (ialg)
-        {
-            case 0:
-                alg = 'C';
-                break;
-            case 1:
-                alg = 'F';
-                break;
-            case 2:
-                alg = 'Q';
-                break;
-            default:
-                error ("slib01ad: argument 'alg' invalid");
-        }
-        
-        if (meth == 'C')
-            jobd = 'N';
-        else if (ijobd == 0)
-            jobd = 'M';
-        else
-            jobd = 'N';
-        
-        switch (ibatch)
-        {
-            case 0:
-                batch = 'F';
-                break;
-            case 1:
-                batch = 'I';
-                break;
-            case 2:
-                batch = 'L';
-                break;
-            case 3:
-                batch = 'O';
-                break;
-            default:
-                error ("slib01ad: argument 'batch' invalid");
-        }
 
-        if (iconct == 0)
-            conct = 'C';
-        else
-            conct = 'N';
-
-        if (ictrl == 0)
-            ctrl = 'C';
-        else
-            ctrl = 'N';
-
-
         int m = u.columns ();   // m: number of inputs
         int l = y.columns ();   // l: number of outputs
         int nsmp = y.rows ();   // nsmp: number of samples
         // y.rows == u.rows  is checked by iddata class
         // TODO: check minimal nsmp size
-        
-        if (batch == 'O')
-        {
-            if (nsmp < 2*(m+l+1)*nobr - 1)
-                error ("slident: require NSMP >= 2*(M+L+1)*NOBR - 1");
-        }
-        else
-        {
-            if (nsmp < 2*nobr)
-                error ("slident: require NSMP >= 2*NOBR");
-        }
-        
-        int ldu;
-        
-        if (m == 0)
-            ldu = 1;
-        else                    // m > 0
-            ldu = nsmp;
-
+                
+        int ldu = nsmp;
         int ldy = nsmp;
 
         // arguments out
@@ -322,19 +231,7 @@
 
 */
 
-/*
-IB01AD.f Lines 291-195:
-c             the workspace used for alg = 'q' is
-c                       ldrwrk*2*(m+l)*nobr + 4*(m+l)*nobr,
-c             where ldrwrk = ldwork/(2*(m+l)*nobr) - 2; recommended
-c             value ldrwrk = ns, assuming a large enough cache size.
-c             for good performance,  ldwork  should be larger.
 
-somehow ldrwrk and ldwork must have been mixed up here
-
-*/
-
-
         OCTAVE_LOCAL_BUFFER (int, iwork, liwork);
         OCTAVE_LOCAL_BUFFER (double, dwork, ldwork);
         
@@ -401,13 +298,6 @@
         int rs = 2*(m+l)*nobr;
         r.resize (rs, rs);
         
-        if (nuser > 0)
-        {
-            if (nuser < nobr)
-                n = nuser;
-            else
-                error ("ident: 'nuser' invalid");
-        }
         
         retval(0) = r;
         retval(1) = sv;

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Revision: 10098
          http://octave.svn.sourceforge.net/octave/?rev=10098&view=rev
Author:   paramaniac
Date:     2012-03-29 15:45:27 +0000 (Thu, 29 Mar 2012)
Log Message:
-----------
control-devel: update debugging stuff for ib01ad (2)

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/PowerPlantTest.m
    trunk/octave-forge/extra/control-devel/src/slitest.cc

Modified: trunk/octave-forge/extra/control-devel/devel/PowerPlantTest.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/PowerPlantTest.m	2012-03-29 15:33:41 UTC (rev 10097)
+++ trunk/octave-forge/extra/control-devel/devel/PowerPlantTest.m	2012-03-29 15:45:27 UTC (rev 10098)
@@ -77,6 +77,7 @@
 
 for k = 2 : l
   err(k-1) = norm (abs(r{1}) - abs(r{k}), 1);
+  % err(k-1) = norm (r{1} - r{k}, 1);
   % err(k-1) = norm (abs(abs(r{1}) - abs(r{k})), 1);
 endfor
 

Modified: trunk/octave-forge/extra/control-devel/src/slitest.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slitest.cc	2012-03-29 15:33:41 UTC (rev 10097)
+++ trunk/octave-forge/extra/control-devel/src/slitest.cc	2012-03-29 15:45:27 UTC (rev 10098)
@@ -106,15 +106,15 @@
 ////////////////////////////////////////////////////////////////////////////////////
 
         // arguments in
-        char meth = 'N';  // <--- not used, use metha
-        char alg = 'C';
-        char jobd = 'N';
+        char meth = 'M';  // <--- not used, use metha
+        char alg = 'Q';
+        char jobd = 'M';
         char batch = 'O';
         
         char conct = 'N';
         char ctrl = 'N';
         
-        char metha = 'N';
+        char metha = 'M';
         
          // ??? char jobda ;
         

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Revision: 10130
          http://octave.svn.sourceforge.net/octave/?rev=10130&view=rev
Author:   paramaniac
Date:     2012-04-02 11:36:12 +0000 (Mon, 02 Apr 2012)
Log Message:
-----------
control-devel: improve plot for multi-experiment iddata

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/PowerPlantTest.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/plot.m

Modified: trunk/octave-forge/extra/control-devel/devel/PowerPlantTest.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/PowerPlantTest.m	2012-04-02 11:34:53 UTC (rev 10129)
+++ trunk/octave-forge/extra/control-devel/devel/PowerPlantTest.m	2012-04-02 11:36:12 UTC (rev 10130)
@@ -65,7 +65,7 @@
 % ldwork = [401, 802, 1203, 1604]
 % warning: implicit conversion from real matrix to real scalar
 
-ldwork = [802, 1203, 1604]
+ldwork = [802, 1203, 1604, 3000, 10000]
 
 r = arrayfun (@(x) identtest (dat, 10, 8, x), ldwork, 'uniformoutput', false);
 

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/plot.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/plot.m	2012-04-02 11:34:53 UTC (rev 10129)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/plot.m	2012-04-02 11:36:12 UTC (rev 10130)
@@ -26,21 +26,32 @@
 
 function plot (dat)
 
-  [n, p, m, e] = size (dat)
+  [n, p, m, e] = size (dat);
+  expname = __labels__ (dat.expname, "exp");
 
   if (m == 0)  # time series
     for k = 1 : e
+      if (k > 1)
+        pause
+      endif
       plot (dat.y{k})
-      hold on
+      title (expname{k})
+      % hold on
     endfor
   else         # inputs present
     for k = 1 : e
+      if (k > 1)
+        pause
+      endif
       subplot (2, 1, 1)
       plot (dat.y{k})
-      hold on
+      title (expname{k})
+      legend (__labels__ (dat.outname, "y"){:})
+      % hold on
       subplot (2, 1, 2)
       stairs (dat.u{k})
-      hold on
+      legend (__labels__ (dat.inname, "u"){:})
+      % hold on
     endfor
   endif
   

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Revision: 10143
          http://octave.svn.sourceforge.net/octave/?rev=10143&view=rev
Author:   paramaniac
Date:     2012-04-04 09:19:42 +0000 (Wed, 04 Apr 2012)
Log Message:
-----------
control-devel: touch up fft method (3)

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/@iddata/fft.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/fixtest.m

Added: trunk/octave-forge/extra/control-devel/devel/fixtest.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/fixtest.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/fixtest.m	2012-04-04 09:19:42 UTC (rev 10143)
@@ -0,0 +1,34 @@
+% Extract FFT
+for N = 1:500
+
+  if (rem (N, 2))     % odd
+    n1 = (N+1)/2;
+  else                % even
+    n1 = N/2+1;
+  endif
+
+  n2 = fix (N/2) + 1;
+  
+  if (n1 != n2)
+    warning ("FFT %d: n1=%d, n2=%d", N, n1, n2);
+  endif
+  
+endfor
+
+
+% Frequency Vector
+for N = 1:500
+
+  if (rem (N, 2))     % odd
+    n1 = (N-1)/2;
+  else                % even
+    n1 = N/2;
+  endif
+
+  n2 = fix (N/2);
+  
+  if (n1 != n2)
+    warning ("W %d: n1=%d, n2=%d", N, n1, n2);
+  endif
+  
+endfor

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/fft.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/fft.m	2012-04-04 09:09:45 UTC (rev 10142)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/fft.m	2012-04-04 09:19:42 UTC (rev 10143)
@@ -53,6 +53,8 @@
   dat.y = cellfun (@(y, n) fft (y, n)(1:fix(n/2)+1, :) / sqrt (n), dat.y, n, "uniformoutput", false);
   dat.u = cellfun (@(u, n) fft (u, n)(1:fix(n/2)+1, :) / sqrt (n), dat.u, n, "uniformoutput", false);
   
+  % w = (0:fix(n/2)) * (2*pi/tsam/n)
+  
   dat.timedomain = false;
 
 %  dat.y = cellfun (@(y) fft (y, n), dat.y, "uniformoutput", false);

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Revision: 10184
          http://octave.svn.sourceforge.net/octave/?rev=10184&view=rev
Author:   paramaniac
Date:     2012-04-11 07:20:44 +0000 (Wed, 11 Apr 2012)
Log Message:
-----------
control-devel: fix corner case in detrend method (set experiments with only 1 sample to zero)

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/@iddata/detrend.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/test_frd2iddata.m

Added: trunk/octave-forge/extra/control-devel/devel/test_frd2iddata.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_frd2iddata.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/test_frd2iddata.m	2012-04-11 07:20:44 UTC (rev 10184)
@@ -0,0 +1,15 @@
+sys = ss (-2,3,4,5)
+
+H = idfrd (sys)
+
+H.frequency
+H.responsedata
+
+
+dat = iddata (H)
+dat.y
+H.responsedata
+
+dat.u           % alles 1!
+dat.frequency
+H.frequency
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/detrend.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/detrend.m	2012-04-11 05:23:52 UTC (rev 10183)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/detrend.m	2012-04-11 07:20:44 UTC (rev 10184)
@@ -38,9 +38,18 @@
     error ("iddata: detrend: second argument must be a positve integer");
   endif
 
+  [n, p, m] = size (dat);
+
   dat.y = cellfun (@(y) detrend (y, ord), dat.y, "uniformoutput", false);
   dat.u = cellfun (@(u) detrend (u, ord), dat.u, "uniformoutput", false);
 
+  ## if a MIMO experiment has only 1 sample, detrend works
+  ## row-wisely instead of column-wisely
+  ## therefore we set these experiments to zero
+  idx = (n == 1);
+  dat.y(idx) = zeros (1, p);
+  dat.u(idx) = zeros (1, m);
+
 endfunction
 
 

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Revision: 10263
          http://octave.svn.sourceforge.net/octave/?rev=10263&view=rev
Author:   paramaniac
Date:     2012-04-17 13:33:51 +0000 (Tue, 17 Apr 2012)
Log Message:
-----------
control-devel: add ifft method to iddata class

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/PowerPlantTest.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/fft.m
    trunk/octave-forge/extra/control-devel/src/slitest.cc

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/PowerPlantFFT.m
    trunk/octave-forge/extra/control-devel/inst/@iddata/ifft.m

Added: trunk/octave-forge/extra/control-devel/devel/PowerPlantFFT.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/PowerPlantFFT.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/PowerPlantFFT.m	2012-04-17 13:33:51 UTC (rev 10263)
@@ -0,0 +1,68 @@
+%{
+This file describes the data in the powerplant.dat file.
+1. Contributed by:
+	Peter Van Overschee
+	K.U.Leuven - ESAT - SISTA
+	K. Mercierlaan 94
+	3001 Heverlee
+	Peter.Vanoverschee@...
+2. Process/Description:
+	data of a power plant (Pont-sur-Sambre (France)) of 120 MW
+3. Sampling time 
+	1228.8 sec
+4. Number of samples: 
+	200 samples
+5. Inputs:
+	1. gas flow
+   	2. turbine valves opening
+   	3. super heater spray flow
+   	4. gas dampers
+   	5. air flow
+6. Outputs:
+	1. steam pressure
+   	2. main stem temperature
+   	3. reheat steam temperature
+7. References:
+	a. R.P. Guidorzi, P. Rossi, Identification of a power plant from normal
+   	operating records. Automatic control theory and applications (Canada,
+   	Vol 2, pp 63-67, sept 1974.
+	b. Moonen M., De Moor B., Vandenberghe L., Vandewalle J., On- and
+	off-line identification of linear state-space models, International
+	Journal of Control, Vol. 49, Jan. 1989, pp.219-232
+8. Known properties/peculiarities
+	
+9. Some MATLAB-code to retrieve the data
+	!gunzip powerplant.dat.Z
+	load powerplant.dat
+	U=powerplant(:,1:5);
+	Y=powerplant(:,6:8);
+	Yr=powerplant(:,9:11);
+
+%}
+
+clear all, close all, clc
+
+load powerplant.dat
+U=powerplant(:,1:5);
+Y=powerplant(:,6:8);
+Yr=powerplant(:,9:11);
+
+inname = {'gas flow',
+          'turbine valves opening',
+          'super heater spray flow',
+          'gas dampers',
+          'air flow'};
+
+outname = {'steam pressure',
+           'main steam temperature',
+           'reheat steam temperature'};
+           
+tsam = 1228.8;
+
+dat = iddata (Y, U, tsam, 'outputname', outname, 'inputname', inname)
+
+
+a = fft (dat)
+
+b = ifft (a)
+

Modified: trunk/octave-forge/extra/control-devel/devel/PowerPlantTest.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/PowerPlantTest.m	2012-04-17 12:03:41 UTC (rev 10262)
+++ trunk/octave-forge/extra/control-devel/devel/PowerPlantTest.m	2012-04-17 13:33:51 UTC (rev 10263)
@@ -65,7 +65,7 @@
 % ldwork = [401, 802, 1203, 1604]
 % warning: implicit conversion from real matrix to real scalar
 
-ldwork = [802, 1203, 1604, 3000, 10000]
+ldwork = [802, 1203, 1604, 3000, 1e4, 1e5]
 
 r = arrayfun (@(x) identtest (dat, 10, 8, x), ldwork, 'uniformoutput', false);
 

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/fft.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/fft.m	2012-04-17 12:03:41 UTC (rev 10262)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/fft.m	2012-04-17 13:33:51 UTC (rev 10263)
@@ -33,6 +33,10 @@
   if (nargin > 2)       # no need to test nargin == 0, this is handled by built-in fft
     print_usage ();
   endif
+  
+  if (! dat.timedomain)
+    return;
+  endif
 
   [x, ~, ~, e] = size (dat);
 

Added: trunk/octave-forge/extra/control-devel/inst/@iddata/ifft.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/ifft.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/ifft.m	2012-04-17 13:33:51 UTC (rev 10263)
@@ -0,0 +1,67 @@
+## Copyright (C) 2012   Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} {@var{dat} =} ifft (@var{dat})
+## @deftypefnx {Function File} {@var{dat} =} ifft (@var{dat}, @var{ord})
+## Detrend outputs and inputs of dataset @var{dat} by
+## removing the best fit of a polynomial of order @var{ord}.
+## If @var{ord} is not specified, default value 0 is taken.
+## This corresponds to removing a constant.
+## @end deftypefn
+
+## Author: Lukas Reichlin <lukas.reichlin@...>
+## Created: April 2012
+## Version: 0.1
+
+function dat = ifft (dat)
+
+  if (nargin > 1)       # no need to test nargin == 0, this is handled by built-in fft
+    print_usage ();
+  endif
+
+  if (dat.timedomain)
+    return;
+  endif
+
+  [x, ~, ~, e] = size (dat);
+
+  x = x(:);
+  n = num2cell (x);
+  %nconj = num2cell (x - ! rem (x, 2));
+  nconj = num2cell (x - rem (x, 2));
+
+
+  dat.y = cellfun (@(y, n, nconj) real (ifft ([y; conj(y(nconj:-1:2, :))], [], 1)) * sqrt (n+nconj), dat.y, n, nconj, "uniformoutput", false);
+  dat.u = cellfun (@(u, n, nconj) real (ifft ([u; conj(u(nconj:-1:2, :))], [], 1)) * sqrt (n+nconj), dat.u, n, nconj, "uniformoutput", false);
+
+  ## ifft (x, n, dim=1) because x could be a row vector (n=1)
+  
+  % dat.w = cellfun (@(n, tsam) (0:fix(n/2)).' * (2*pi/abs(tsam)/n), n, dat.tsam, "uniformoutput", false);
+  ## abs(tsam) because of -1 for undefined sampling times
+  dat.timedomain = true;
+
+endfunction
+
+
+%!shared DATD, Y, U
+%! Y = 1:10;
+%! U = 20:-2:1;
+%! DAT = iddata (Y, U);
+%! DATD = fft (DAT);
+%!assert (DATD.y{1}, Y, 1e-10);
+%!assert (DATD.u{1}, U, 1e-10);

Modified: trunk/octave-forge/extra/control-devel/src/slitest.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slitest.cc	2012-04-17 12:03:41 UTC (rev 10262)
+++ trunk/octave-forge/extra/control-devel/src/slitest.cc	2012-04-17 13:33:51 UTC (rev 10263)
@@ -134,6 +134,8 @@
         int nsmp = y.rows ();   // nsmp: number of samples
         // y.rows == u.rows  is checked by iddata class
         // TODO: check minimal nsmp size
+        if (nsmp < 2*nobr)
+            error ("slitest: nsmp < 2*nobr");
                 
         int ldu = nsmp;
         int ldy = nsmp;

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Revision: 10275
          http://octave.svn.sourceforge.net/octave/?rev=10275&view=rev
Author:   paramaniac
Date:     2012-04-18 08:53:07 +0000 (Wed, 18 Apr 2012)
Log Message:
-----------
control-devel: use larger ldwork as specified under further comments in slicot ib01ad

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/ident.m
    trunk/octave-forge/extra/control-devel/src/slident.cc

Modified: trunk/octave-forge/extra/control-devel/devel/ident.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/ident.m	2012-04-18 07:15:07 UTC (rev 10274)
+++ trunk/octave-forge/extra/control-devel/devel/ident.m	2012-04-18 08:53:07 UTC (rev 10275)
@@ -32,6 +32,7 @@
     ctrl = 0;  # confirm system order estimate
     n = 0;
   else         # s & n non-empty
+  disp ("======== hallo ===============")
     nsmp = ns(1);
     nobr = fix ((nsmp+1)/(2*(m+l+1)));
     if (s > nobr)

Modified: trunk/octave-forge/extra/control-devel/src/slident.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident.cc	2012-04-18 07:15:07 UTC (rev 10274)
+++ trunk/octave-forge/extra/control-devel/src/slident.cc	2012-04-18 08:53:07 UTC (rev 10275)
@@ -254,6 +254,7 @@
         // TODO: Handle 'k' for DWORK
 
         int ldwork;
+        int ns = nsmp - 2*nobr + 1;
         
         if (alg == 'C')
         {
@@ -289,7 +290,7 @@
         }
         else    // (alg == 'Q')
         {
-            int ns = nsmp - 2*nobr + 1;
+            // int ns = nsmp - 2*nobr + 1;
             
             if (ldr >= ns && batch == 'F')
             {
@@ -311,14 +312,26 @@
                 ldwork = 6*(m+l)*nobr;
             }
         }
-////////////////////////////////////////////////////////////////////
-// TO BE REMOVED !!!
-////////////////////////////////////////////////////////////////////        
-ldwork *= 2;
-//ldwork = 1000000;
-////////////////////////////////////////////////////////////////////
 
 /*
+IB01AD.f Lines 438-445
+C     FURTHER COMMENTS
+C
+C     For ALG = 'Q', BATCH = 'O' and LDR < NS, or BATCH <> 'O', the
+C     calculations could be rather inefficient if only minimal workspace
+C     (see argument LDWORK) is provided. It is advisable to provide as
+C     much workspace as possible. Almost optimal efficiency can be
+C     obtained for  LDWORK = (NS+2)*(2*(M+L)*NOBR),  assuming that the
+C     cache size is large enough to accommodate R, U, Y, and DWORK.
+*/
+
+// warning ("==================== ldwork before: %d =====================", ldwork);
+// ldwork = (ns+2)*(2*(m+l)*nobr);
+ldwork = max (ldwork, (ns+2)*(2*(m+l)*nobr));
+// warning ("==================== ldwork after: %d =====================", ldwork);
+
+
+/*
 IB01AD.f Lines 291-195:
 c             the workspace used for alg = 'q' is
 c                       ldrwrk*2*(m+l)*nobr + 4*(m+l)*nobr,

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Revision: 10333
          http://octave.svn.sourceforge.net/octave/?rev=10333&view=rev
Author:   paramaniac
Date:     2012-04-28 08:56:56 +0000 (Sat, 28 Apr 2012)
Log Message:
-----------
control-devel: minor changes for debugging

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/Destillation.m
    trunk/octave-forge/extra/control-devel/devel/ident.m
    trunk/octave-forge/extra/control-devel/src/slident.cc

Modified: trunk/octave-forge/extra/control-devel/devel/Destillation.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/Destillation.m	2012-04-27 14:16:16 UTC (rev 10332)
+++ trunk/octave-forge/extra/control-devel/devel/Destillation.m	2012-04-28 08:56:56 UTC (rev 10333)
@@ -50,6 +50,8 @@
 	Y_dest_n30=Y(:,10:12);
 %}
 
+clear all, close all, clc
+
 load destill.dat
 U=destill(:,1:20);
 Y=destill(:,21:32);

Modified: trunk/octave-forge/extra/control-devel/devel/ident.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/ident.m	2012-04-27 14:16:16 UTC (rev 10332)
+++ trunk/octave-forge/extra/control-devel/devel/ident.m	2012-04-28 08:56:56 UTC (rev 10333)
@@ -3,8 +3,8 @@
 
 
   %nobr = 15;
-  meth = 2;
-  alg = 0;
+  meth = 2; % 2    % geht: meth/alg  1/1, 
+  alg = 0; % 0     % geht nicht: meth/alg  0/1
   jobd = 1;
   batch = 3;
   conct = 1;

Modified: trunk/octave-forge/extra/control-devel/src/slident.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident.cc	2012-04-27 14:16:16 UTC (rev 10332)
+++ trunk/octave-forge/extra/control-devel/src/slident.cc	2012-04-28 08:56:56 UTC (rev 10333)
@@ -328,6 +328,7 @@
 // warning ("==================== ldwork before: %d =====================", ldwork);
 // ldwork = (ns+2)*(2*(m+l)*nobr);
 ldwork = max (ldwork, (ns+2)*(2*(m+l)*nobr));
+// ldwork *= 3;
 // warning ("==================== ldwork after: %d =====================", ldwork);
 
 
@@ -413,7 +414,10 @@
         if (nuser > 0)
         {
             if (nuser < nobr)
+            {
                 n = nuser;
+                // warning ("ident: nuser (%d) < nobr (%d), n = nuser", nuser, nobr);
+            }
             else
                 error ("ident: 'nuser' invalid");
         }
@@ -430,6 +434,9 @@
 
         int nsmpl = nsmp;
         
+        if (nsmpl < 2*(m+l)*nobr)
+            error ("slident: nsmpl (%d) < 2*(m+l)*nobr (%d)", nsmpl, nobr);
+        
         // arguments out
         int lda = max (1, n);
         int ldc = max (1, l);
@@ -463,7 +470,7 @@
         int ldw1;
         int ldw2;
         int ldw3;
-        
+/*        
         if (meth == 'M')
         {
             int ldw1a = max (2*(l*nobr-l)*n+2*n, (l*nobr-l)*n+n*n+7*n);
@@ -507,9 +514,57 @@
             ldw2 = l*nobr*n+m*nobr*(n+l)*(m*(n+l)+1)+ max ((n+l)*(n+l), 4*m*(n+l)+1);
 
         }
+*/
+
+            int ldw1ax = max (2*(l*nobr-l)*n+2*n, (l*nobr-l)*n+n*n+7*n);
+            int ldw1bx = max (2*(l*nobr-l)*n+n*n+7*n,
+                             (l*nobr-l)*n+n+6*m*nobr,
+                             (l*nobr-l)*n+n+max (l+m*nobr, l*nobr + max (3*l*nobr+1, m)));
+            int ldw1x = max (ldw1ax, ldw1bx);
             
+            int aw;
+            
+            if (m == 0 || job == 'C')
+                aw = n + n*n;
+            else
+                aw = 0;
+            
+            int ldw2x = l*nobr*n + max ((l*nobr-l)*n+aw+2*n+max(5*n,(2*m+l)*nobr+l), 4*(m*nobr+n)+1, m*nobr+2*n+l );
+
+
+
+            int ldw1y = l*nobr*n + max ((l*nobr-l)*n+2*n+(2*m+l)*nobr+l,
+                                   2*(l*nobr-l)*n+n*n+8*n,
+                                   n+4*(m*nobr+n)+1,
+                                   m*nobr+3*n+l);
+                int ldw2y;                   
+            if (m == 0 || job == 'C')
+                int ldw2y = 0;
+            else
+                int ldw2y = l*nobr*n+m*nobr*(n+l)*(m*(n+l)+1)+ max ((n+l)*(n+l), 4*m*(n+l)+1);
+
+
+            int ldw1az = max (2*(l*nobr-l)*n+2*n, (l*nobr-l)*n+n*n+7*n);
+            int ldw1bz = l*nobr*n + max ((l*nobr-l)*n+2*n+(2*m+l)*nobr+l,
+                                        2*(l*nobr-l)*n+n*n+8*n,
+                                        n+4*(m*nobr+n)+1,
+                                        m*nobr+3*n+l);
+                                        
+            int ldw1z = max (ldw1az, ldw1bz);
+                                        
+            int ldw2z = l*nobr*n+m*nobr*(n+l)*(m*(n+l)+1)+ max ((n+l)*(n+l), 4*m*(n+l)+1);
+
+
+        ldw1 = max (ldw1x, ldw1y, ldw1z);
+        ldw2 = max (ldw2x, ldw2y, ldw2z);
+
+
+            
         ldw3 = max(4*n*n + 2*n*l + l*l + max (3*l, n*l), 14*n*n + 12*n + 5);
         ldwork_b = max (ldw1, ldw2, ldw3);
+        
+        //
+        ldwork_b *= 3;
 
         OCTAVE_LOCAL_BUFFER (int, iwork_b, liwork_b);
         OCTAVE_LOCAL_BUFFER (double, dwork_b, ldwork_b);
@@ -690,6 +745,7 @@
         retval(7) = k;
         
         retval(8) = x0;
+        //retval(8) = ColumnVector (n);
         //retval(0) = octave_value (n);
         //retval(1) = r;
         //retval(2) = sv;

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Revision: 10351
          http://octave.svn.sourceforge.net/octave/?rev=10351&view=rev
Author:   paramaniac
Date:     2012-05-01 20:31:07 +0000 (Tue, 01 May 2012)
Log Message:
-----------
control-devel: compute pseudoinverse by SVD instead of \ operator

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/arx.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/test_arx.m

Removed Paths:
-------------
    trunk/octave-forge/extra/control-devel/inst/test_arx.m

Copied: trunk/octave-forge/extra/control-devel/devel/test_arx.m (from rev 10337, trunk/octave-forge/extra/control-devel/inst/test_arx.m)
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_arx.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/test_arx.m	2012-05-01 20:31:07 UTC (rev 10351)
@@ -0,0 +1,10 @@
+u = [    0;   0.5;     1;     1;     1;     1;     1 ];
+y = [    0;     0;  0.25;  0.62;  0.81;  0.90;  0.95 ];
+
+dat = iddata (y, u)
+
+sys = arx (dat, 1, 1)
+
+
+ysim = lsim (sys(1,1), u);
+

Modified: trunk/octave-forge/extra/control-devel/inst/arx.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/arx.m	2012-05-01 20:26:49 UTC (rev 10350)
+++ trunk/octave-forge/extra/control-devel/inst/arx.m	2012-05-01 20:31:07 UTC (rev 10351)
@@ -28,8 +28,22 @@
   PhiU = toeplitz (U(1:end-1, :), [U(1, :); zeros(nb-1, 1)]);
   Phi = [-PhiY, PhiU];
   
-  Theta = Phi \ Y(2:end, :);
+  Theta = Phi \ Y(2:end, :)                 # naive formula
   
+  ## solve linear least squares problem by pseudoinverse
+  ## the pseudoinverse is computed by singular value decomposition
+  ## M = U S V*  --->  M+ = V S+ U*
+  ## Th = Ph \ Y = Ph+ Y
+  ## Th = V S+ U' Y,   S+ = 1 ./ diag (S)
+  
+  [U, S, V] = svd (Phi, 0);                 # 0 for "economy size" decomposition, U overwrites input U
+  S = diag (S);                             # extract main diagonal
+  r = sum (S > eps*S(1));
+  V = V(:, 1:r);
+  S = S(1:r);
+  U = U(:, 1:r);
+  Theta = V * (S .\ (U' * Y(2:end, :)))     # U' is the conjugate transpose
+  
   A = [1; Theta(1:na)];     # a0 = 1, a1 = Theta(1), an = Theta(n)
   B = Theta(na+1:end);      # b0 = 0 (leading zeros are removed by tf, no need to add one)
   

Deleted: trunk/octave-forge/extra/control-devel/inst/test_arx.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/test_arx.m	2012-05-01 20:26:49 UTC (rev 10350)
+++ trunk/octave-forge/extra/control-devel/inst/test_arx.m	2012-05-01 20:31:07 UTC (rev 10351)
@@ -1,10 +0,0 @@
-u = [    0;   0.5;     1;     1;     1;     1;     1 ];
-y = [    0;     0;  0.25;  0.62;  0.81;  0.90;  0.95 ];
-
-dat = iddata (y, u)
-
-sys = arx (dat, 1, 1)
-
-
-ysim = lsim (sys(1,1), u);
-

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Revision: 10365
          http://octave.svn.sourceforge.net/octave/?rev=10365&view=rev
Author:   paramaniac
Date:     2012-05-05 13:03:58 +0000 (Sat, 05 May 2012)
Log Message:
-----------
control-devel: add some debug code

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m
    trunk/octave-forge/extra/control-devel/devel/PowerPlant.m
    trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/CDplayer_a.m
    trunk/octave-forge/extra/control-devel/devel/Destillation_a.m
    trunk/octave-forge/extra/control-devel/devel/GlassFurnace_a.m
    trunk/octave-forge/extra/control-devel/devel/PowerPlant_a.m
    trunk/octave-forge/extra/control-devel/devel/ident_a.m
    trunk/octave-forge/extra/control-devel/src/slident_a.cc
    trunk/octave-forge/extra/control-devel/src/slident_b.cc
    trunk/octave-forge/extra/control-devel/src/slident_c.cc

Added: trunk/octave-forge/extra/control-devel/devel/CDplayer_a.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/CDplayer_a.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/CDplayer_a.m	2012-05-05 13:03:58 UTC (rev 10365)
@@ -0,0 +1,67 @@
+%{
+Contributed by:
+	Favoreel
+	KULeuven
+	Departement Electrotechniek ESAT/SISTA
+Kardinaal Mercierlaan 94
+B-3001 Leuven
+Belgium
+	wouter.favoreel@...
+Description:
+	Data from the mechanical construction of a CD player arm.  
+	The inputs are the forces of the mechanical actuators
+  	while the outputs are related to the tracking accuracy of the arm.
+  	The data was measured in closed loop, and then through a two-step
+  	procedure converted to open loop equivalent data
+    	The inputs are highly colored.
+Sampling:
+Number:
+	2048
+Inputs:
+	u: forces of the mechanical actuators
+Outputs:
+	y: tracking accuracy of the arm
+References:
+  	We are grateful to R. de Callafon of the
+    	Mechanical Engineering Systems and Control group of Delft, who
+    	provided us with these data.
+	
+	- Van Den Hof P., Schrama R.J.P., An Indirect Method for Transfer 
+	  Function Estimation From Closed Loop Data. Automatica, Vol. 29, 
+	  no. 6, pp. 1523-1527, 1993.
+
+Properties: 
+Columns:
+	Column 1: input u1
+	Column 2: input u2
+	Column 1: output y1
+	Column 2: output y2
+Category:
+	mechanical systems
+
+%}
+
+close all, clc
+
+load CD_player_arm-1.dat
+U=CD_player_arm_1(:,1:2);
+Y=CD_player_arm_1(:,3:4);
+
+
+dat = iddata (Y, U)
+
+[sys, x0] = ident_a (dat, 15, 8)     % s=15, n=8
+
+
+[y, t] = lsim (sys, U, [], x0);
+
+err = norm (Y - y, 1) / norm (Y, 1)
+
+figure (1)
+p = columns (Y);
+for k = 1 : p
+  subplot (2, 1, k)
+  plot (t, Y(:,k), 'b', t, y(:,k), 'r')
+endfor
+
+

Added: trunk/octave-forge/extra/control-devel/devel/Destillation_a.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/Destillation_a.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/Destillation_a.m	2012-05-05 13:03:58 UTC (rev 10365)
@@ -0,0 +1,83 @@
+%{
+This file describes the data in the destill.dat file.
+1. Contributed by:
+	Peter Van Overschee
+	K.U.Leuven - ESAT - SISTA
+	K. Mercierlaan 94
+	3001 Heverlee
+	Peter.Vanoverschee@...
+2. Process/Description:
+	Data of a simulation (not real !) related to the identification
+   	of an ethane-ethylene destillationcolumn. The series consists of 4
+	series: 
+		U_dest, Y_dest: 	without noise (original series)
+		U_dest_n10, Y_dest_n10:	10 percent additive white noise
+		U_dest_n20, Y_dest_n20: 20 percent additive white noise
+		U_dest_n30, Y_dest_n30:	30 percent additive white noise
+3. Sampling time 
+	15 min.
+4. Number of samples: 
+	90 samples
+5. Inputs:
+	a. ratio between the reboiler duty and the feed flow
+   	b. ratio between the reflux rate and the feed flow
+   	c. ratio between the distillate and the feed flow
+   	d. input ethane composition
+   	e. top pressure
+6. Outputs:
+	a. top ethane composition
+	b. bottom ethylene composition
+   	c. top-bottom differential pressure.
+7. References:
+	R.P. Guidorzi, M.P. Losito, T. Muratori, The range error test in the
+	structural identification of linear multivariable systems,
+   	IEEE transactions on automatic control, Vol AC-27, pp 1044-1054, oct.
+   	1982.
+8. Known properties/peculiarities
+	
+9. Some MATLAB-code to retrieve the data
+	!gunzip destill.dat.Z
+	load destill.dat
+	U=destill(:,1:20);
+	Y=destill(:,21:32);
+	U_dest=U(:,1:5);
+	U_dest_n10=U(:,6:10);
+	U_dest_n20=U(:,11:15);	
+	U_dest_n30=U(:,16:20);
+	Y_dest=Y(:,1:3);
+	Y_dest_n10=Y(:,4:6);
+	Y_dest_n20=Y(:,7:9);
+	Y_dest_n30=Y(:,10:12);
+%}
+
+ close all, clc
+
+load destill.dat
+U=destill(:,1:20);
+Y=destill(:,21:32);
+U_dest=U(:,1:5);
+U_dest_n10=U(:,6:10);
+U_dest_n20=U(:,11:15);	
+U_dest_n30=U(:,16:20);
+Y_dest=Y(:,1:3);
+Y_dest_n10=Y(:,4:6);
+Y_dest_n20=Y(:,7:9);
+Y_dest_n30=Y(:,10:12);
+
+
+dat = iddata (Y_dest, U_dest)
+
+[sys, x0] = ident_a (dat, 5, 4)    % s=5, n=4
+
+
+[y, t] = lsim (sys, U_dest, [], x0);
+%[y, t] = lsim (sys, U_dest);
+
+err = norm (Y_dest - y, 1) / norm (Y_dest, 1)
+
+figure (1)
+%plot (t, Y_dest, 'b')
+plot (t, Y_dest, 'b', t, y, 'r')
+legend ('y measured', 'y simulated', 'location', 'southeast')
+
+

Modified: trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m	2012-05-05 06:48:41 UTC (rev 10364)
+++ trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m	2012-05-05 13:03:58 UTC (rev 10365)
@@ -37,8 +37,9 @@
 
 %}
 
-clear all, close all, clc
 
+close all, clc
+
 load glassfurnace.dat
 T=glassfurnace(:,1);
 U=glassfurnace(:,2:4);

Added: trunk/octave-forge/extra/control-devel/devel/GlassFurnace_a.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/GlassFurnace_a.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/GlassFurnace_a.m	2012-05-05 13:03:58 UTC (rev 10365)
@@ -0,0 +1,66 @@
+%{
+This file describes the data in the glassfurnace.dat file.
+1. Contributed by:
+	Peter Van Overschee
+	K.U.Leuven - ESAT - SISTA
+	K. Mercierlaan 94
+	3001 Heverlee
+	Peter.Vanoverschee@...
+2. Process/Description:
+	Data of a glassfurnace (Philips)
+3. Sampling time 
+	
+4. Number of samples: 
+	1247 samples
+5. Inputs:
+	a. heating input
+   	b. cooling input
+   	c. heating input
+6. Outputs:
+	a. 6 outputs from temperature sensors in a cross section of the 
+	furnace
+7. References:
+	a. Van Overschee P., De Moor B., N4SID : Subspace Algorithms for 
+	the Identification of Combined Deterministic-Stochastic Systems, 
+	Automatica, Special Issue on Statistical Signal Processing and Control, 
+	Vol. 30, No. 1, 1994, pp. 75-93
+	b.  Van Overschee P., "Subspace identification : Theory, 
+	Implementation, Application" , Ph.D. Thesis, K.U.Leuven, February 1995. 
+8. Known properties/peculiarities
+	
+9. Some MATLAB-code to retrieve the data
+	!gunzip glassfurnace.dat.Z
+	load glassfurnace.dat
+      T=glassfurnace(:,1);
+	U=glassfurnace(:,2:4);
+	Y=glassfurnace(:,5:10);
+
+%}
+
+ close all, clc
+
+load glassfurnace.dat
+T=glassfurnace(:,1);
+U=glassfurnace(:,2:4);
+Y=glassfurnace(:,5:10);
+
+
+dat = iddata (Y, U)
+
+[sys, x0] = ident_a (dat, 10, 5)     % s=10, n=5
+
+
+[y, t] = lsim (sys, U, [], x0);
+
+err = norm (Y - y, 1) / norm (Y, 1)
+
+figure (1)
+p = columns (Y);
+for k = 1 : p
+  subplot (3, 2, k)
+  plot (t, Y(:,k), 'b', t, y(:,k), 'r')
+endfor
+%title ('DaISy: Glass Furnace')
+%legend ('y measured', 'y simulated', 'location', 'southeast')
+
+

Modified: trunk/octave-forge/extra/control-devel/devel/PowerPlant.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/PowerPlant.m	2012-05-05 06:48:41 UTC (rev 10364)
+++ trunk/octave-forge/extra/control-devel/devel/PowerPlant.m	2012-05-05 13:03:58 UTC (rev 10365)
@@ -40,7 +40,7 @@
 
 %}
 
-clear all, close all, clc
+close all, clc
 
 load powerplant.dat
 U=powerplant(:,1:5);

Added: trunk/octave-forge/extra/control-devel/devel/PowerPlant_a.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/PowerPlant_a.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/PowerPlant_a.m	2012-05-05 13:03:58 UTC (rev 10365)
@@ -0,0 +1,81 @@
+%{
+This file describes the data in the powerplant.dat file.
+1. Contributed by:
+	Peter Van Overschee
+	K.U.Leuven - ESAT - SISTA
+	K. Mercierlaan 94
+	3001 Heverlee
+	Peter.Vanoverschee@...
+2. Process/Description:
+	data of a power plant (Pont-sur-Sambre (France)) of 120 MW
+3. Sampling time 
+	1228.8 sec
+4. Number of samples: 
+	200 samples
+5. Inputs:
+	1. gas flow
+   	2. turbine valves opening
+   	3. super heater spray flow
+   	4. gas dampers
+   	5. air flow
+6. Outputs:
+	1. steam pressure
+   	2. main stem temperature
+   	3. reheat steam temperature
+7. References:
+	a. R.P. Guidorzi, P. Rossi, Identification of a power plant from normal
+   	operating records. Automatic control theory and applications (Canada,
+   	Vol 2, pp 63-67, sept 1974.
+	b. Moonen M., De Moor B., Vandenberghe L., Vandewalle J., On- and
+	off-line identification of linear state-space models, International
+	Journal of Control, Vol. 49, Jan. 1989, pp.219-232
+8. Known properties/peculiarities
+	
+9. Some MATLAB-code to retrieve the data
+	!gunzip powerplant.dat.Z
+	load powerplant.dat
+	U=powerplant(:,1:5);
+	Y=powerplant(:,6:8);
+	Yr=powerplant(:,9:11);
+
+%}
+
+ close all, clc
+
+load powerplant.dat
+U=powerplant(:,1:5);
+Y=powerplant(:,6:8);
+Yr=powerplant(:,9:11);
+
+inname = {'gas flow',
+          'turbine valves opening',
+          'super heater spray flow',
+          'gas dampers',
+          'air flow'};
+
+outname = {'steam pressure',
+           'main steam temperature',
+           'reheat steam temperature'};
+           
+tsam = 1228.8;
+
+dat = iddata (Y, U, tsam, 'outname', outname, 'inname', inname)
+
+[sys, x0] = ident_a (dat, 10, 8)     % s=10, n=8
+
+
+[y, t] = lsim (sys, U, [], x0);
+
+err = norm (Y - y, 1) / norm (Y, 1)
+
+figure (1)
+p = columns (Y);
+for k = 1 : p
+  subplot (3, 1, k)
+  plot (t, Y(:,k), 'b', t, y(:,k), 'r')
+endfor
+%title ('DaISy: Power Plant')
+%legend ('y measured', 'y simulated', 'location', 'southeast')
+
+st = isstable (sys)
+

Added: trunk/octave-forge/extra/control-devel/devel/ident_a.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/ident_a.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/ident_a.m	2012-05-05 13:03:58 UTC (rev 10365)
@@ -0,0 +1,61 @@
+function [sys, x0] = ident_a (dat, s = [], nn = [])
+
+n=nn;
+
+  %nobr = 15;
+  meth = 2; % 2    % geht: meth/alg  1/1, 
+  alg = 0; % 0     % geht nicht: meth/alg  0/1
+  jobd = 1;
+  batch = 3;
+  conct = 1;
+  ctrl = 0; %1;
+  rcond = 0.0;
+  tol = -1.0; % 0;
+  
+  [ns, l, m, e] = size (dat);
+  
+  if (isempty (s) && isempty (n))
+    nsmp = ns(1);
+    nobr = fix ((nsmp+1)/(2*(m+l+1)));
+    ctrl = 0;  # confirm system order estimate
+    n = 0;
+    % nsmp >= 2*(m+l+1)*nobr - 1
+    % nobr <= (nsmp+1)/(2*(m+l+1))
+  elseif (isempty (s))
+    s = min (2*n, n+10);
+    nsmp = ns(1);
+    nobr = fix ((nsmp+1)/(2*(m+l+1)));
+    nobr = min (nobr, s);
+    ctrl = 1;  # no confirmation
+  elseif (isempty (n))
+    nobr = s;
+    ctrl = 0;  # confirm system order estimate
+    n = 0;
+  else         # s & n non-empty
+    nsmp = ns(1);
+    nobr = fix ((nsmp+1)/(2*(m+l+1)));
+    if (s > nobr)
+      error ("ident: s > nobr");
+    endif
+    nobr = s;
+    ctrl = 1;
+    ## TODO: specify n for IB01BD
+  endif
+  
+  %nsmp = ns(1)
+  %nobr = fix ((nsmp+1)/(2*(m+l+1)))
+  % nsmp >= 2*(m+l+1)*nobr - 1
+  % nobr <= (nsmp+1)/(2*(m+l+1))
+%nobr = 10
+  [r, sv, n] = slident_a (dat.y{1}, dat.u{1}, nobr, n, meth, alg, jobd, batch, conct, ctrl, rcond, tol);
+n
+n = nn;
+  [a, b, c, d, q, ry, s, k] = slident_b (dat.y{1}, dat.u{1}, nobr, n, meth, alg, jobd, batch, conct, ctrl, rcond, tol, \
+                                         r, sv, n);
+
+  x0 = slident_c (dat.y{1}, dat.u{1}, nobr, n, meth, alg, jobd, batch, conct, ctrl, rcond, tol, \
+                    a, b, c, d);
+
+  sys = ss (a, b, c, d, -1);
+
+endfunction

Modified: trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc	2012-05-05 06:48:41 UTC (rev 10364)
+++ trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc	2012-05-05 13:03:58 UTC (rev 10365)
@@ -1,3 +1,6 @@
 // #include "slib01ad.cc"  // preprocess the input-output data
 #include "slident.cc"   // system identification
 #include "slitest.cc"   // debug system identification
+#include "slident_a.cc"
+#include "slident_b.cc"
+#include "slident_c.cc"
\ No newline at end of file

Added: trunk/octave-forge/extra/control-devel/src/slident_a.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident_a.cc	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/src/slident_a.cc	2012-05-05 13:03:58 UTC (rev 10365)
@@ -0,0 +1,422 @@
+/*
+
+Copyright (C) 2012   Lukas F. Reichlin
+
+This file is part of LTI Syncope.
+
+LTI Syncope is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+LTI Syncope is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+SLICOT system identification
+Uses SLICOT IB01AD, IB01BD and IB01CD by courtesy of NICONET e.V.
+<http://www.slicot.org>
+
+Author: Lukas Reichlin <lukas.reichlin@...>
+Created: March 2012
+Version: 0.1
+
+*/
+
+#include <octave/oct.h>
+#include <f77-fcn.h>
+#include "common.h"
+
+extern "C"
+{ 
+    int F77_FUNC (ib01ad, IB01AD)
+                 (char& METH, char& ALG, char& JOBD,
+                  char& BATCH, char& CONCT, char& CTRL,
+                  int& NOBR, int& M, int& L,
+                  int& NSMP,
+                  double* U, int& LDU,
+                  double* Y, int& LDY,
+                  int& N,
+                  double* R, int& LDR,
+                  double* SV,
+                  double& RCOND, double& TOL,
+                  int* IWORK,
+                  double* DWORK, int& LDWORK,
+                  int& IWARN, int& INFO);
+
+    int F77_FUNC (ib01bd, IB01BD)
+                 (char& METH, char& JOB, char& JOBCK,
+                  int& NOBR, int& N, int& M, int& L,
+                  int& NSMPL,
+                  double* R, int& LDR,
+                  double* A, int& LDA,
+                  double* C, int& LDC,
+                  double* B, int& LDB,
+                  double* D, int& LDD,
+                  double* Q, int& LDQ,
+                  double* RY, int& LDRY,
+                  double* S, int& LDS,
+                  double* K, int& LDK,
+                  double& TOL,
+                  int* IWORK,
+                  double* DWORK, int& LDWORK,
+                  bool* BWORK,
+                  int& IWARN, int& INFO);
+
+    int F77_FUNC (ib01cd, IB01CD)
+                 (char& JOBX0, char& COMUSE, char& JOB,
+                  int& N, int& M, int& L,
+                  int& NSMP,
+                  double* A, int& LDA,
+                  double* B, int& LDB,
+                  double* C, int& LDC,
+                  double* D, int& LDD,
+                  double* U, int& LDU,
+                  double* Y, int& LDY,
+                  double* X0,
+                  double* V, int& LDV,
+                  double& TOL,
+                  int* IWORK,
+                  double* DWORK, int& LDWORK,
+                  int& IWARN, int& INFO);
+}
+
+// PKG_ADD: autoload ("slident_a", "devel_slicot_functions.oct");
+DEFUN_DLD (slident_a, args, nargout,
+   "-*- texinfo -*-\n\
+Slicot IB01AD Release 5.0\n\
+No argument checking.\n\
+For internal use only.")
+{
+    int nargin = args.length ();
+    octave_value_list retval;
+    
+    if (nargin != 12)
+    {
+        print_usage ();
+    }
+    else
+    {
+////////////////////////////////////////////////////////////////////////////////////
+//      SLICOT IB01AD - preprocess the input-output data                          //
+////////////////////////////////////////////////////////////////////////////////////
+
+        // arguments in
+        char meth;
+        char alg;
+        char jobd;
+        char batch;
+        char conct;
+        char ctrl;
+        char metha;
+        char jobda; // ??? unused
+        
+        Matrix y = args(0).matrix_value ();
+        Matrix u = args(1).matrix_value ();
+        int nobr = args(2).int_value ();
+        int nuser = args(3).int_value ();
+        
+        const int imeth = args(4).int_value ();
+        const int ialg = args(5).int_value ();
+        const int ijobd = args(6).int_value ();
+        const int ibatch = args(7).int_value ();
+        const int iconct = args(8).int_value ();
+        const int ictrl = args(9).int_value ();
+        
+        double rcond = args(10).double_value ();
+        double tol = args(11).double_value ();
+        double tolb = args(10).double_value ();      // tolb = rcond
+
+            
+        switch (imeth)
+        {
+            case 0:
+                meth = 'M';
+                metha = 'M';
+                break;
+            case 1:
+                meth = 'N';
+                metha = 'N';
+                break;
+            case 2:
+                meth = 'C';
+                metha = 'N';    // no typo here
+                break;
+            default:
+                error ("slib01ad: argument 'meth' invalid");
+        }
+
+        switch (ialg)
+        {
+            case 0:
+                alg = 'C';
+                break;
+            case 1:
+                alg = 'F';
+                break;
+            case 2:
+                alg = 'Q';
+                break;
+            default:
+                error ("slib01ad: argument 'alg' invalid");
+        }
+        
+        if (meth == 'C')
+            jobd = 'N';
+        else if (ijobd == 0)
+            jobd = 'M';
+        else
+            jobd = 'N';
+        
+        switch (ibatch)
+        {
+            case 0:
+                batch = 'F';
+                break;
+            case 1:
+                batch = 'I';
+                break;
+            case 2:
+                batch = 'L';
+                break;
+            case 3:
+                batch = 'O';
+                break;
+            default:
+                error ("slib01ad: argument 'batch' invalid");
+        }
+
+        if (iconct == 0)
+            conct = 'C';
+        else
+            conct = 'N';
+
+        if (ictrl == 0)
+            ctrl = 'C';
+        else
+            ctrl = 'N';
+
+
+        int m = u.columns ();   // m: number of inputs
+        int l = y.columns ();   // l: number of outputs
+        int nsmp = y.rows ();   // nsmp: number of samples
+        // y.rows == u.rows  is checked by iddata class
+        // TODO: check minimal nsmp size
+        
+        if (batch == 'O')
+        {
+            if (nsmp < 2*(m+l+1)*nobr - 1)
+                error ("slident: require NSMP >= 2*(M+L+1)*NOBR - 1");
+        }
+        else
+        {
+            if (nsmp < 2*nobr)
+                error ("slident: require NSMP >= 2*NOBR");
+        }
+        
+        int ldu;
+        
+        if (m == 0)
+            ldu = 1;
+        else                    // m > 0
+            ldu = nsmp;
+
+        int ldy = nsmp;
+
+        // arguments out
+        int n;
+        int ldr;
+        
+        if (metha == 'M' && jobd == 'M')
+            ldr = max (2*(m+l)*nobr, 3*m*nobr);
+        else if (metha == 'N' || (metha == 'M' && jobd == 'N'))
+            ldr = 2*(m+l)*nobr;
+        else
+            error ("slib01ad: could not handle 'ldr' case");
+        
+        Matrix r (ldr, 2*(m+l)*nobr);
+        ColumnVector sv (l*nobr);
+
+        // workspace
+        int liwork;
+
+        if (metha == 'N')            // if METH = 'N'
+            liwork = (m+l)*nobr;
+        else if (alg == 'F')        // if METH = 'M' and ALG = 'F'
+            liwork = m+l;
+        else                        // if METH = 'M' and ALG = 'C' or 'Q'
+            liwork = 0;
+
+        // TODO: Handle 'k' for DWORK
+
+        int ldwork;
+        int ns = nsmp - 2*nobr + 1;
+        
+        if (alg == 'C')
+        {
+            if (batch == 'F' || batch == 'I')
+            {
+                if (conct == 'C')
+                    ldwork = (4*nobr-2)*(m+l);
+                else    // (conct == 'N')
+                    ldwork = 1;
+            }
+            else if (metha == 'M')   // && (batch == 'L' || batch == 'O')
+            {
+                if (conct == 'C' && batch == 'L')
+                    ldwork = max ((4*nobr-2)*(m+l), 5*l*nobr);
+                else if (jobd == 'M')
+                    ldwork = max ((2*m-1)*nobr, (m+l)*nobr, 5*l*nobr);
+                else    // (jobd == 'N')
+                    ldwork = 5*l*nobr;
+            }
+            else    // meth == 'N' && (batch == 'L' || batch == 'O')
+            {
+                ldwork = 5*(m+l)*nobr + 1;
+            }
+        }
+        else if (alg == 'F')
+        {
+            if (batch != 'O' && conct == 'C')
+                ldwork = (m+l)*2*nobr*(m+l+3);
+            else if (batch == 'F' || batch == 'I')  // && conct == 'N'
+                ldwork = (m+l)*2*nobr*(m+l+1);
+            else    // (batch == 'L' || '0' && conct == 'N')
+                ldwork = (m+l)*4*nobr*(m+l+1)+(m+l)*2*nobr;
+        }
+        else    // (alg == 'Q')
+        {
+            // int ns = nsmp - 2*nobr + 1;
+            
+            if (ldr >= ns && batch == 'F')
+            {
+                ldwork = 4*(m+l)*nobr;
+            }
+            else if (ldr >= ns && batch == 'O')
+            {
+                if (metha == 'M')
+                    ldwork = max (4*(m+l)*nobr, 5*l*nobr);
+                else    // (meth == 'N')
+                    ldwork = 5*(m+l)*nobr + 1;
+            }
+            else if (conct == 'C' && (batch == 'I' || batch == 'L'))
+            {
+                ldwork = 4*(nobr+1)*(m+l)*nobr;
+            }
+            else    // if ALG = 'Q', (BATCH = 'F' or 'O', and LDR < NS), or (BATCH = 'I' or 'L' and CONCT = 'N')
+            {
+                ldwork = 6*(m+l)*nobr;
+            }
+        }
+
+/*
+IB01AD.f Lines 438-445
+C     FURTHER COMMENTS
+C
+C     For ALG = 'Q', BATCH = 'O' and LDR < NS, or BATCH <> 'O', the
+C     calculations could be rather inefficient if only minimal workspace
+C     (see argument LDWORK) is provided. It is advisable to provide as
+C     much workspace as possible. Almost optimal efficiency can be
+C     obtained for  LDWORK = (NS+2)*(2*(M+L)*NOBR),  assuming that the
+C     cache size is large enough to accommodate R, U, Y, and DWORK.
+*/
+
+// warning ("==================== ldwork before: %d =====================", ldwork);
+// ldwork = (ns+2)*(2*(m+l)*nobr);
+ldwork = max (ldwork, (ns+2)*(2*(m+l)*nobr));
+// ldwork *= 3;
+// warning ("==================== ldwork after: %d =====================", ldwork);
+
+
+/*
+IB01AD.f Lines 291-195:
+c             the workspace used for alg = 'q' is
+c                       ldrwrk*2*(m+l)*nobr + 4*(m+l)*nobr,
+c             where ldrwrk = ldwork/(2*(m+l)*nobr) - 2; recommended
+c             value ldrwrk = ns, assuming a large enough cache size.
+c             for good performance,  ldwork  should be larger.
+
+somehow ldrwrk and ldwork must have been mixed up here
+
+*/
+
+
+        OCTAVE_LOCAL_BUFFER (int, iwork, liwork);
+        OCTAVE_LOCAL_BUFFER (double, dwork, ldwork);
+        
+        // error indicators
+        int iwarn = 0;
+        int info = 0;
+
+
+        // SLICOT routine IB01AD
+        F77_XFCN (ib01ad, IB01AD,
+                 (metha, alg, jobd,
+                  batch, conct, ctrl,
+                  nobr, m, l,
+                  nsmp,
+                  u.fortran_vec (), ldu,
+                  y.fortran_vec (), ldy,
+                  n,
+                  r.fortran_vec (), ldr,
+                  sv.fortran_vec (),
+                  rcond, tol,
+                  iwork,
+                  dwork, ldwork,
+                  iwarn, info));
+
+
+        if (f77_exception_encountered)
+            error ("ident: exception in SLICOT subroutine IB01AD");
+
+        static const char* err_msg[] = {
+            "0: OK",
+            "1: a fast algorithm was requested (ALG = 'C', or 'F') "
+                "in sequential data processing, but it failed; the "
+                "routine can be repeatedly called again using the "
+                "standard QR algorithm",
+            "2: the singular value decomposition (SVD) algorithm did "
+                "not converge"};
+
+        static const char* warn_msg[] = {
+            "0: OK",
+            "1: the number of 100 cycles in sequential data "
+                "processing has been exhausted without signaling "
+                "that the last block of data was get; the cycle "
+                "counter was reinitialized",
+            "2: a fast algorithm was requested (ALG = 'C' or 'F'), "
+                "but it failed, and the QR algorithm was then used "
+                "(non-sequential data processing)",
+            "3: all singular values were exactly zero, hence  N = 0 "
+                "(both input and output were identically zero)",
+            "4: the least squares problems with coefficient matrix "
+                "U_f,  used for computing the weighted oblique "
+                "projection (for METH = 'N'), have a rank-deficient "
+                "coefficient matrix",
+            "5: the least squares problem with coefficient matrix "
+                "r_1  [6], used for computing the weighted oblique "
+                "projection (for METH = 'N'), has a rank-deficient "
+                "coefficient matrix"};
+
+
+        error_msg ("ident", info, 2, err_msg);
+        warning_msg ("ident", iwarn, 5, warn_msg);
+
+
+        // resize
+        int rs = 2*(m+l)*nobr;
+        r.resize (rs, rs);
+        
+        
+        // return values
+        retval(0) = r;
+        retval(1) = sv;
+        retval(2) = octave_value (n);
+    }
+    
+    return retval;
+}

Added: trunk/octave-forge/extra/control-devel/src/slident_b.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident_b.cc	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/src/slident_b.cc	2012-05-05 13:03:58 UTC (rev 10365)
@@ -0,0 +1,669 @@
+/*
+
+Copyright (C) 2012   Lukas F. Reichlin
+
+This file is part of LTI Syncope.
+
+LTI Syncope is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+LTI Syncope is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+SLICOT system identification
+Uses SLICOT IB01AD, IB01BD and IB01CD by courtesy of NICONET e.V.
+<http://www.slicot.org>
+
+Author: Lukas Reichlin <lukas.reichlin@...>
+Created: March 2012
+Version: 0.1
+
+*/
+
+#include <octave/oct.h>
+#include <f77-fcn.h>
+#include "common.h"
+
+extern "C"
+{ 
+    int F77_FUNC (ib01ad, IB01AD)
+                 (char& METH, char& ALG, char& JOBD,
+                  char& BATCH, char& CONCT, char& CTRL,
+                  int& NOBR, int& M, int& L,
+                  int& NSMP,
+                  double* U, int& LDU,
+                  double* Y, int& LDY,
+                  int& N,
+                  double* R, int& LDR,
+                  double* SV,
+                  double& RCOND, double& TOL,
+                  int* IWORK,
+                  double* DWORK, int& LDWORK,
+                  int& IWARN, int& INFO);
+
+    int F77_FUNC (ib01bd, IB01BD)
+                 (char& METH, char& JOB, char& JOBCK,
+                  int& NOBR, int& N, int& M, int& L,
+                  int& NSMPL,
+                  double* R, int& LDR,
+                  double* A, int& LDA,
+                  double* C, int& LDC,
+                  double* B, int& LDB,
+                  double* D, int& LDD,
+                  double* Q, int& LDQ,
+                  double* RY, int& LDRY,
+                  double* S, int& LDS,
+                  double* K, int& LDK,
+                  double& TOL,
+                  int* IWORK,
+                  double* DWORK, int& LDWORK,
+                  bool* BWORK,
+                  int& IWARN, int& INFO);
+
+    int F77_FUNC (ib01cd, IB01CD)
+                 (char& JOBX0, char& COMUSE, char& JOB,
+                  int& N, int& M, int& L,
+                  int& NSMP,
+                  double* A, int& LDA,
+                  double* B, int& LDB,
+                  double* C, int& LDC,
+                  double* D, int& LDD,
+                  double* U, int& LDU,
+                  double* Y, int& LDY,
+                  double* X0,
+                  double* V, int& LDV,
+                  double& TOL,
+                  int* IWORK,
+                  double* DWORK, int& LDWORK,
+                  int& IWARN, int& INFO);
+}
+
+// PKG_ADD: autoload ("slident_b", "devel_slicot_functions.oct");
+DEFUN_DLD (slident_b, args, nargout,
+   "-*- texinfo -*-\n\
+Slicot IB01AD Release 5.0\n\
+No argument checking.\n\
+For internal use only.")
+{
+    int nargin = args.length ();
+    octave_value_list retval;
+    
+    if (nargin != 15)
+    {
+        print_usage ();
+    }
+    else
+    {
+////////////////////////////////////////////////////////////////////////////////////
+//      SLICOT IB01AD - preprocess the input-output data                          //
+////////////////////////////////////////////////////////////////////////////////////
+
+        // arguments in
+        char meth;
+        char alg;
+        char jobd;
+        char batch;
+        char conct;
+        char ctrl;
+        char metha;
+        char jobda; // ??? unused
+        
+        Matrix y = args(0).matrix_value ();
+        Matrix u = args(1).matrix_value ();
+        int nobr = args(2).int_value ();
+        int nuser = args(3).int_value ();
+        
+        const int imeth = args(4).int_value ();
+        const int ialg = args(5).int_value ();
+        const int ijobd = args(6).int_value ();
+        const int ibatch = args(7).int_value ();
+        const int iconct = args(8).int_value ();
+        const int ictrl = args(9).int_value ();
+        
+        double rcond = args(10).double_value ();
+        double tol = args(11).double_value ();
+        double tolb = args(10).double_value ();      // tolb = rcond
+
+        Matrix r = args(12).matrix_value ();
+        Matrix sv = args(13).matrix_value ();
+        int n = args(14).int_value ();
+        
+            
+        switch (imeth)
+        {
+            case 0:
+                meth = 'M';
+                metha = 'M';
+                break;
+            case 1:
+                meth = 'N';
+                metha = 'N';
+                break;
+            case 2:
+                meth = 'C';
+                metha = 'N';    // no typo here
+                break;
+            default:
+                error ("slib01ad: argument 'meth' invalid");
+        }
+
+        switch (ialg)
+        {
+            case 0:
+                alg = 'C';
+                break;
+            case 1:
+                alg = 'F';
+                break;
+            case 2:
+                alg = 'Q';
+                break;
+            default:
+                error ("slib01ad: argument 'alg' invalid");
+        }
+        
+        if (meth == 'C')
+            jobd = 'N';
+        else if (ijobd == 0)
+            jobd = 'M';
+        else
+            jobd = 'N';
+        
+        switch (ibatch)
+        {
+            case 0:
+                batch = 'F';
+                break;
+            case 1:
+                batch = 'I';
+                break;
+            case 2:
+                batch = 'L';
+                break;
+            case 3:
+                batch = 'O';
+                break;
+            default:
+                error ("slib01ad: argument 'batch' invalid");
+        }
+
+        if (iconct == 0)
+            conct = 'C';
+        else
+            conct = 'N';
+
+        if (ictrl == 0)
+            ctrl = 'C';
+        else
+            ctrl = 'N';
+
+
+        int m = u.columns ();   // m: number of inputs
+        int l = y.columns ();   // l: number of outputs
+        int nsmp = y.rows ();   // nsmp: number of samples
+        // y.rows == u.rows  is checked by iddata class
+        // TODO: check minimal nsmp size
+        
+        if (batch == 'O')
+        {
+            if (nsmp < 2*(m+l+1)*nobr - 1)
+                error ("slident: require NSMP >= 2*(M+L+1)*NOBR - 1");
+        }
+        else
+        {
+            if (nsmp < 2*nobr)
+                error ("slident: require NSMP >= 2*NOBR");
+        }
+        
+        int ldu;
+        
+        if (m == 0)
+            ldu = 1;
+        else                    // m > 0
+            ldu = nsmp;
+
+        int ldy = nsmp;
+
+        // arguments out
+        //int n;
+        int ldr;
+        
+        if (metha == 'M' && jobd == 'M')
+            ldr = max (2*(m+l)*nobr, 3*m*nobr);
+        else if (metha == 'N' || (metha == 'M' && jobd == 'N'))
+            ldr = 2*(m+l)*nobr;
+        else
+            error ("slib01ad: could not handle 'ldr' case");
+        
+        //Matrix r (ldr, 2*(m+l)*nobr);
+        //ColumnVector sv (l*nobr);
+
+        // workspace
+        int liwork;
+
+        if (metha == 'N')            // if METH = 'N'
+            liwork = (m+l)*nobr;
+        else if (alg == 'F')        // if METH = 'M' and ALG = 'F'
+            liwork = m+l;
+        else                        // if METH = 'M' and ALG = 'C' or 'Q'
+            liwork = 0;
+
+        // TODO: Handle 'k' for DWORK
+
+        int ldwork;
+        int ns = nsmp - 2*nobr + 1;
+        
+        if (alg == 'C')
+        {
+            if (batch == 'F' || batch == 'I')
+            {
+                if (conct == 'C')
+                    ldwork = (4*nobr-2)*(m+l);
+                else    // (conct == 'N')
+                    ldwork = 1;
+            }
+            else if (metha == 'M')   // && (batch == 'L' || batch == 'O')
+            {
+                if (conct == 'C' && batch == 'L')
+                    ldwork = max ((4*nobr-2)*(m+l), 5*l*nobr);
+                else if (jobd == 'M')
+                    ldwork = max ((2*m-1)*nobr, (m+l)*nobr, 5*l*nobr);
+                else    // (jobd == 'N')
+                    ldwork = 5*l*nobr;
+            }
+            else    // meth == 'N' && (batch == 'L' || batch == 'O')
+            {
+                ldwork = 5*(m+l)*nobr + 1;
+            }
+        }
+        else if (alg == 'F')
+        {
+            if (batch != 'O' && conct == 'C')
+                ldwork = (m+l)*2*nobr*(m+l+3);
+            else if (batch == 'F' || batch == 'I')  // && conct == 'N'
+                ldwork = (m+l)*2*nobr*(m+l+1);
+            else    // (batch == 'L' || '0' && conct == 'N')
+                ldwork = (m+l)*4*nobr*(m+l+1)+(m+l)*2*nobr;
+        }
+        else    // (alg == 'Q')
+        {
+            // int ns = nsmp - 2*nobr + 1;
+            
+            if (ldr >= ns && batch == 'F')
+            {
+                ldwork = 4*(m+l)*nobr;
+            }
+            else if (ldr >= ns && batch == 'O')
+            {
+                if (metha == 'M')
+                    ldwork = max (4*(m+l)*nobr, 5*l*nobr);
+                else    // (meth == 'N')
+                    ldwork = 5*(m+l)*nobr + 1;
+            }
+            else if (conct == 'C' && (batch == 'I' || batch == 'L'))
+            {
+                ldwork = 4*(nobr+1)*(m+l)*nobr;
+            }
+            else    // if ALG = 'Q', (BATCH = 'F' or 'O', and LDR < NS), or (BATCH = 'I' or 'L' and CONCT = 'N')
+            {
+                ldwork = 6*(m+l)*nobr;
+            }
+        }
+
+/*
+IB01AD.f Lines 438-445
+C     FURTHER COMMENTS
+C
+C     For ALG = 'Q', BATCH = 'O' and LDR < NS, or BATCH <> 'O', the
+C     calculations could be rather inefficient if only minimal workspace
+C     (see argument LDWORK) is provided. It is advisable to provide as
+C     much workspace as possible. Almost optimal efficiency can be
+C     obtained for  LDWORK = (NS+2)*(2*(M+L)*NOBR),  assuming that the
+C     cache size is large enough to accommodate R, U, Y, and DWORK.
+*/
+
+// warning ("==================== ldwork before: %d =====================", ldwork);
+// ldwork = (ns+2)*(2*(m+l)*nobr);
+ldwork = max (ldwork, (ns+2)*(2*(m+l)*nobr));
+// ldwork *= 3;
+// warning ("==================== ldwork after: %d =====================", ldwork);
+
+
+/*
+IB01AD.f Lines 291-195:
+c             the workspace used for alg = 'q' is
+c                       ldrwrk*2*(m+l)*nobr + 4*(m+l)*nobr,
+c             where ldrwrk = ldwork/(2*(m+l)*nobr) - 2; recommended
+c             value ldrwrk = ns, assuming a large enough cache size.
+c             for good performance,  ldwork  should be larger.
+
+somehow ldrwrk and ldwork must have been mixed up here
+
+*/
+
+#if 0
+        OCTAVE_LOCAL_BUFFER (int, iwork, liwork);
+        OCTAVE_LOCAL_BUFFER (double, dwork, ldwork);
+        
+        // error indicators
+        int iwarn = 0;
+        int info = 0;
+
+
+        // SLICOT routine IB01AD
+        F77_XFCN (ib01ad, IB01AD,
+                 (metha, alg, jobd,
+                  batch, conct, ctrl,
+                  nobr, m, l,
+                  nsmp,
+                  u.fortran_vec (), ldu,
+                  y.fortran_vec (), ldy,
+                  n,
+                  r.fortran_vec (), ldr,
+                  sv.fortran_vec (),
+                  rcond, tol,
+                  iwork,
+                  dwork, ldwork,
+                  iwarn, info));
+
+
+        if (f77_exception_encountered)
+            error ("ident: exception in SLICOT subroutine IB01AD");
+
+        static const char* err_msg[] = {
+            "0: OK",
+            "1: a fast algorithm was requested (ALG = 'C', or 'F') "
+                "in sequential data processing, but it failed; the "
+                "routine can be repeatedly called again using the "
+                "standard QR algorithm",
+            "2: the singular value decomposition (SVD) algorithm did "
+                "not converge"};
+
+        static const char* warn_msg[] = {
+            "0: OK",
+            "1: the number of 100 cycles in sequential data "
+                "processing has been exhausted without signaling "
+                "that the last block of data was get; the cycle "
+                "counter was reinitialized",
+            "2: a fast algorithm was requested (ALG = 'C' or 'F'), "
+                "but it failed, and the QR algorithm was then used "
+                "(non-sequential data processing)",
+            "3: all singular values were exactly zero, hence  N = 0 "
+                "(both input and output were identically zero)",
+            "4: the least squares problems with coefficient matrix "
+                "U_f,  used for computing the weighted oblique "
+                "projection (for METH = 'N'), have a rank-deficient "
+                "coefficient matrix",
+            "5: the least squares problem with coefficient matrix "
+                "r_1  [6], used for computing the weighted oblique "
+                "projection (for METH = 'N'), has a rank-deficient "
+                "coefficient matrix"};
+
+
+        error_msg ("ident", info, 2, err_msg);
+        warning_msg ("ident", iwarn, 5, warn_msg);
+
+
+        // resize
+        int rs = 2*(m+l)*nobr;
+        r.resize (rs, rs);
+        
+        if (nuser > 0)
+        {
+            if (nuser < nobr)
+            {
+                n = nuser;
+                // warning ("ident: nuser (%d) < nobr (%d), n = nuser", nuser, nobr);
+            }
+            else
+                error ("ident: 'nuser' invalid");
+        }
+#endif        
+////////////////////////////////////////////////////////////////////////////////////
+//      SLICOT IB01BD - estimating system matrices, Kalman gain, and covariances  //
+////////////////////////////////////////////////////////////////////////////////////
+
+        // arguments in
+        char job = 'A';
+        char jobck = 'K';
+        
+        // TODO: if meth == 'C', which meth should be taken for IB01AD.f, 'M' or 'N'?
+
+        int nsmpl = nsmp;
+        
+        if (nsmpl < 2*(m+l)*nobr)
+            error ("slident: nsmpl (%d) < 2*(m+l)*nobr (%d)", nsmpl, nobr);
+        
+        // arguments out
+        int lda = max (1, n);
+        int ldc = max (1, l);
+        int ldb = max (1, n);
+        int ldd = max (1, l);
+        int ldq = n;            // if JOBCK = 'C' or 'K'
+        int ldry = l;           // if JOBCK = 'C' or 'K'
+        int lds = n;            // if JOBCK = 'C' or 'K'
+        int ldk = n;            // if JOBCK = 'K'
+        
+        Matrix a (lda, n);
+        Matrix c (ldc, n);
+        Matrix b (ldb, m);
+        Matrix d (ldd, m);
+        
+        Matrix q (ldq, n);
+        Matrix ry (ldry, l);
+        Matrix s (lds, l);
+        Matrix k (ldk, l);
+        
+        // workspace
+        int liwork_b;
+        int liw1;
+        int liw2;
+        
+        liw1 = max (n, m*nobr+n, l*nobr, m*(n+l));
+        liw2 = n*n;     // if JOBCK =  'K'
+        liwork_b = max (liw1, liw2);
+
+        int ldwork_b;
+        int ldw1;
+        int ldw2;
+        int ldw3;
+/*        
+        if (meth == 'M')
+        {
+            int ldw1a = max (2*(l*nobr-l)*n+2*n, (l*nobr-l)*n+n*n+7*n);
+            int ldw1b = max (2*(l*nobr-l)*n+n*n+7*n,
+                             (l*nobr-l)*n+n+6*m*nobr,
+                             (l*nobr-l)*n+n+max (l+m*nobr, l*nobr + max (3*l*nobr+1, m)));
+            ldw1 = max (ldw1a, ldw1b);
+            
+            int aw;
+            
+            if (m == 0 || job == 'C')
+                aw = n + n*n;
+            else
+                aw = 0;
+            
+            ldw2 = l*nobr*n + max ((l*nobr-l)*n+aw+2*n+max(5*n,(2*m+l)*nobr+l), 4*(m*nobr+n)+1, m*nobr+2*n+l );
+        }
+        else if (meth == 'N')
+        {
+            ldw1 = l*nobr*n + max ((l*nobr-l)*n+2*n+(2*m+l)*nobr+l,
+                                   2*(l*nobr-l)*n+n*n+8*n,
+                                   n+4*(m*nobr+n)+1,
+                                   m*nobr+3*n+l);
+                                   
+            if (m == 0 || job == 'C')
+                ldw2 = 0;
+            else
+                ldw2 = l*nobr*n+m*nobr*(n+l)*(m*(n+l)+1)+ max ((n+l)*(n+l), 4*m*(n+l)+1);
+
+        }
+        else    // (meth == 'C')
+        {
+            int ldw1a = max (2*(l*nobr-l)*n+2*n, (l*nobr-l)*n+n*n+7*n);
+            int ldw1b = l*nobr*n + max ((l*nobr-l)*n+2*n+(2*m+l)*nobr+l,
+                                        2*(l*nobr-l)*n+n*n+8*n,
+                                        n+4*(m*nobr+n)+1,
+                                        m*nobr+3*n+l);
+                                        
+            ldw1 = max (ldw1a, ldw1b);
+                                        
+            ldw2 = l*nobr*n+m*nobr*(n+l)*(m*(n+l)+1)+ max ((n+l)*(n+l), 4*m*(n+l)+1);
+
+        }
+*/
+
+            int ldw1ax = max (2*(l*nobr-l)*n+2*n, (l*nobr-l)*n+n*n+7*n);
+            int ldw1bx = max (2*(l*nobr-l)*n+n*n+7*n,
+                             (l*nobr-l)*n+n+6*m*nobr,
+                             (l*nobr-l)*n+n+max (l+m*nobr, l*nobr + max (3*l*nobr+1, m)));
+            int ldw1x = max (ldw1ax, ldw1bx);
+            
+            int aw;
+            
+            if (m == 0 || job == 'C')
+                aw = n + n*n;
+            else
+                aw = 0;
+            
+            int ldw2x = l*nobr*n + max ((l*nobr-l)*n+aw+2*n+max(5*n,(2*m+l)*nobr+l), 4*(m*nobr+n)+1, m*nobr+2*n+l );
+
+
+
+            int ldw1y = l*nobr*n + max ((l*nobr-l)*n+2*n+(2*m+l)*nobr+l,
+                                   2*(l*nobr-l)*n+n*n+8*n,
+                                   n+4*(m*nobr+n)+1,
+                                   m*nobr+3*n+l);
+                int ldw2y;                   
+            if (m == 0 || job == 'C')
+                int ldw2y = 0;
+            else
+                int ldw2y = l*nobr*n+m*nobr*(n+l)*(m*(n+l)+1)+ max ((n+l)*(n+l), 4*m*(n+l)+1);
+
+
+            int ldw1az = max (2*(l*nobr-l)*n+2*n, (l*nobr-l)*n+n*n+7*n);
+            int ldw1bz = l*nobr*n + max ((l*nobr-l)*n+2*n+(2*m+l)*nobr+l,
+                                        2*(l*nobr-l)*n+n*n+8*n,
+                                        n+4*(m*nobr+n)+1,
+                                        m*nobr+3*n+l);
+                                        
+            int ldw1z = max (ldw1az, ldw1bz);
+                                        
+            int ldw2z = l*nobr*n+m*nobr*(n+l)*(m*(n+l)+1)+ max ((n+l)*(n+l), 4*m*(n+l)+1);
+
+
+        ldw1 = max (ldw1x, ldw1y, ldw1z);
+        ldw2 = max (ldw2x, ldw2y, ldw2z);
+
+
+            
+        ldw3 = max(4*n*n + 2*n*l + l*l + max (3*l, n*l), 14*n*n + 12*n + 5);
+        ldwork_b = max (ldw1, ldw2, ldw3);
+        
+        //
+        ldwork_b *= 3;
+
+        OCTAVE_LOCAL_BUFFER (int, iwork_b, liwork_b);
+        OCTAVE_LOCAL_BUFFER (double, dwork_b, ldwork_b);
+        OCTAVE_LOCAL_BUFFER (bool, bwork, 2*n);
+
+
+        // error indicators
+        int iwarn_b = 0;
+        int info_b = 0;
+
+
+        // SLICOT routine IB01BD
+        F77_XFCN (ib01bd, IB01BD,
+                 (meth, job, jobck,
+                  nobr, n, m, l,
+                  nsmpl,
+                  r.fortran_vec (), ldr,
+                  a.fortran_vec (), lda,
+                  c.fortran_vec (), ldc,
+                  b.fortran_vec (), ldb,
+                  d.fortran_vec (), ldd,
+                  q.fortran_vec (), ldq,
+                  ry.fortran_vec (), ldry,
+                  s.fortran_vec (), lds,
+                  k.fortran_vec (), ldk,
+                  tolb,
+                  iwork_b,
+                  dwork_b, ldwork_b,
+                  bwork,
+                  iwarn_b, info_b));
+
+
+        if (f77_exception_encountered)
+            error ("ident: exception in SLICOT subroutine IB01BD");
+
+        static const char* err_msg_b[] = {
+            "0: OK",
+            "1: error message not specified",
+            "2: the singular value decomposition (SVD) algorithm did "
+                "not converge",
+            "3: a singular upper triangular matrix was found",
+            "4: matrix A is (numerically) singular in discrete-"
+                "time case",
+            "5: the Hamiltonian or symplectic matrix H cannot be "
+                "reduced to real Schur form",
+            "6: the real Schur form of the Hamiltonian or "
+                "symplectic matrix H cannot be appropriately ordered",
+            "7: the Hamiltonian or symplectic matrix H has less "
+                "than N stable eigenvalues",
+            "8: the N-th order system of linear algebraic "
+                "equations, from which the solution matrix X would "
+                "be obtained, is singular to working precision",
+            "9: the QR algorithm failed to complete the reduction "
+                "of the matrix Ac to Schur canonical form, T",
+            "10: the QR algorithm did not converge"};
+
+        static const char* warn_msg_b[] = {
+            "0: OK",
+            "1: warning message not specified",
+            "2: warning message not specified",
+            "3: warning message not specified",
+            "4: a least squares problem to be solved has a "
+                "rank-deficient coefficient matrix",
+            "5: the computed covariance matrices are too small. "
+                "The problem seems to be a deterministic one; the "
+                "gain matrix is set to zero"};
+
+
+        error_msg ("ident", info_b, 10, err_msg_b);
+        warning_msg ("ident", iwarn_b, 5, warn_msg_b);
+
+        // resize
+        a.resize (n, n);
+        c.resize (l, n);
+        b.resize (n, m);
+        d.resize (l, m);
+        
+        q.resize (n, n);
+        ry.resize (l, l);
+        s.resize (n, l);
+        k.resize (n, l);
+
+      
+        
+        // return values
+        retval(0) = a;
+        retval(1) = b;
+        retval(2) = c;
+        retval(3) = d;
+        
+        retval(4) = q;
+        retval(5) = ry;
+        retval(6) = s;
+        retval(7) = k;
+    }
+    
+    return retval;
+}

Added: trunk/octave-forge/extra/control-devel/src/slident_c.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident_c.cc	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/src/slident_c.cc	2012-05-05 13:03:58 UTC (rev 10365)
@@ -0,0 +1,473 @@
+/*
+
+Copyright (C) 2012   Lukas F. Reichlin
+
+This file is part of LTI Syncope.
+
+LTI Syncope is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+LTI Syncope is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+SLICOT system identification
+Uses SLICOT IB01AD, IB01BD and IB01CD by courtesy of NICONET e.V.
+<http://www.slicot.org>
+
+Author: Lukas Reichlin <lukas.reichlin@...>
+Created: March 2012
+Version: 0.1
+
+*/
+
+#include <octave/oct.h>
+#include <f77-fcn.h>
+#include "common.h"
+
+extern "C"
+{ 
+    int F77_FUNC (ib01ad, IB01AD)
+                 (char& METH, char& ALG, char& JOBD,
+                  char& BATCH, char& CONCT, char& CTRL,
+                  int& NOBR, int& M, int& L,
+                  int& NSMP,
+                  double* U, int& LDU,
+                  double* Y, int& LDY,
+                  int& N,
+                  double* R, int& LDR,
+                  double* SV,
+                  double& RCOND, double& TOL,
+                  int* IWORK,
+                  double* DWORK, int& LDWORK,
+                  int& IWARN, int& INFO);
+
+    int F77_FUNC (ib01bd, IB01BD)
+                 (char& METH, char& JOB, char& JOBCK,
+                  int& NOBR, int& N, int& M, int& L,
+                  int& NSMPL,
+                  double* R, int& LDR,
+                  double* A, int& LDA,
+                  double* C, int& LDC,
+                  double* B, int& LDB,
+                  double* D, int& LDD,
+                  double* Q, int& LDQ,
+                  double* RY, int& LDRY,
+                  double* S, int& LDS,
+                  double* K, int& LDK,
+                  double& TOL,
+                  int* IWORK,
+                  double* DWORK, int& LDWORK,
+                  bool* BWORK,
+                  int& IWARN, int& INFO);
+
+    int F77_FUNC (ib01cd, IB01CD)
+                 (char& JOBX0, char& COMUSE, char& JOB,
+                  int& N, int& M, int& L,
+                  int& NSMP,
+                  double* A, int& LDA,
+                  double* B, int& LDB,
+                  double* C, int& LDC,
+                  double* D, int& LDD,
+                  double* U, int& LDU,
+                  double* Y, int& LDY,
+                  double* X0,
+                  double* V, int& LDV,
+                  double& TOL,
+                  int* IWORK,
+                  double* DWORK, int& LDWORK,
+                  int& IWARN, int& INFO);
+}
+
+// PKG_ADD: autoload ("slident_c", "devel_slicot_functions.oct");
+DEFUN_DLD (slident_c, args, nargout,
+   "-*- texinfo -*-\n\
+Slicot IB01AD Release 5.0\n\
+No argument checking.\n\
+For internal use only.")
+{
+    int nargin = args.length ();
+    octave_value_list retval;
+    
+    if (nargin != 16)
+    {
+        print_usage ();
+    }
+    else
+    {
+////////////////////////////////////////////////////////////////////////////////////
+//      SLICOT IB01AD - preprocess the input-output data                          //
+////////////////////////////////////////////////////////////////////////////////////
+
+        // arguments in
+        char meth;
+        char alg;
+        char jobd;
+        char batch;
+        char conct;
+        char ctrl;
+        char metha;
+        char jobda; // ??? unused
+        
+        Matrix y = args(0).matrix_value ();
+        Matrix u = args(1).matrix_value ();
+        int nobr = args(2).int_value ();
+        int nuser = args(3).int_value ();
+        
+        const int imeth = args(4).int_value ();
+        const int ialg = args(5).int_value ();
+        const int ijobd = args(6).int_value ();
+        const int ibatch = args(7).int_value ();
+        const int iconct = args(8).int_value ();
+        const int ictrl = args(9).int_value ();
+        
+        double rcond = args(10).double_value ();
+        double tol = args(11).double_value ();
+        double tolb = args(10).double_value ();      // tolb = rcond
+        
+        Matrix a = args(12).matrix_value ();
+        Matrix b = args(13).matrix_value ();
+        Matrix c = args(14).matrix_value ();
+        Matrix d = args(15).matrix_value ();
+
+            
+        switch (imeth)
+        {
+            case 0:
+                meth = 'M';
+                metha = 'M';
+                break;
+            case 1:
+                meth = 'N';
+                metha = 'N';
+                break;
+            case 2:
+                meth = 'C';
+                metha = 'N';    // no typo here
+                break;
+            default:
+                error ("slib01ad: argument 'meth' invalid");
+        }
+
+        switch (ialg)
+        {
+            case 0:
+                alg = 'C';
+                break;
+            case 1:
+                alg = 'F';
+                break;
+            case 2:
+                alg = 'Q';
+                break;
+            default:
+                error ("slib01ad: argument 'alg' invalid");
+        }
+        
+        if (meth == 'C')
+            jobd = 'N';
+        else if (ijobd == 0)
+            jobd = 'M';
+        else
+            jobd = 'N';
+        
+        switch (ibatch)
+        {
+            case 0:
+                batch = 'F';
+                break;
+            case 1:
+                batch = 'I';
+                break;
+            case 2:
+                batch = 'L';
+                break;
+            case 3:
+                batch = 'O';
+                break;
+            default:
+                error ("slib01ad: argument 'batch' invalid");
+        }
+
+        if (iconct == 0)
+            conct = 'C';
+        else
+            conct = 'N';
+
+        if (ictrl == 0)
+            ctrl = 'C';
+        else
+            ctrl = 'N';
+
+
+        int m = u.columns ();   // m: number of inputs
+        int l = y.columns ();   // l: number of outputs
+        int nsmp = y.rows ();   // nsmp: number of samples
+        // y.rows == u.rows  is checked by iddata class
+        // TODO: check minimal nsmp size
+        
+        if (batch == 'O')
+        {
+            if (nsmp < 2*(m+l+1)*nobr - 1)
+                error ("slident: require NSMP >= 2*(M+L+1)*NOBR - 1");
+        }
+        else
+        {
+            if (nsmp < 2*nobr)
+                error ("slident: require NSMP >= 2*NOBR");
+        }
+        
+        int ldu;
+        
+        if (m == 0)
+            ldu = 1;
+        else                    // m > 0
+            ldu = nsmp;
+
+        int ldy = nsmp;
+
+        // arguments out
+        int n;
+        int ldr;
+        
+        if (metha == 'M' && jobd == 'M')
+            ldr = max (2*(m+l)*nobr, 3*m*nobr);
+        else if (metha == 'N' || (metha == 'M' && jobd == 'N'))
+            ldr = 2*(m+l)*nobr;
+        else
+            error ("slib01ad: could not handle 'ldr' case");
+        
+        Matrix r (ldr, 2*(m+l)*nobr);
+        ColumnVector sv (l*nobr);
+
+        // workspace
+        int liwork;
+
+        if (metha == 'N')            // if METH = 'N'
+            liwork = (m+l)*nobr;
+        else if (alg == 'F')        // if METH = 'M' and ALG = 'F'
+            liwork = m+l;
+        else                        // if METH = 'M' and ALG = 'C' or 'Q'
+            liwork = 0;
+
+        // TODO: Handle 'k' for DWORK
+
+        int ldwork;
+        int ns = nsmp - 2*nobr + 1;
+        
+        if (alg == 'C')
+        {
+            if (batch == 'F' || batch == 'I')
+            {
+                if (conct == 'C')
+                    ldwork = (4*nobr-2)*(m+l);
+                else    // (conct == 'N')
+                    ldwork = 1;
+            }
+            else if (metha == 'M')   // && (batch == 'L' || batch == 'O')
+            {
+                if (conct == 'C' && batch == 'L')
+                    ldwork = max ((4*nobr-2)*(m+l), 5*l*nobr);
+                else if (jobd == 'M')
+                    ldwork = max ((2*m-1)*nobr, (m+l)*nobr, 5*l*nobr);
+                else    // (jobd == 'N')
+                    ldwork = 5*l*nobr;
+            }
+            else    // meth == 'N' && (batch == 'L' || batch == 'O')
+            {
+                ldwork = 5*(m+l)*nobr + 1;
+            }
+        }
+        else if (alg == 'F')
+        {
+            if (batch != 'O' && conct == 'C')
+                ldwork = (m+l)*2*nobr*(m+l+3);
+            else if (batch == 'F' || batch == 'I')  // && conct == 'N'
+                ldwork = (m+l)*2*nobr*(m+l+1);
+            else    // (batch == 'L' || '0' && conct == 'N')
+                ldwork = (m+l)*4*nobr*(m+l+1)+(m+l)*2*nobr;
+        }
+        else    // (alg == 'Q')
+        {
+            // int ns = nsmp - 2*nobr + 1;
+            
+            if (ldr >= ns && batch == 'F')
+            {
+                ldwork = 4*(m+l)*nobr;
+            }
+            else if (ldr >= ns && batch == 'O')
+            {
+                if (metha == 'M')
+                    ldwork = max (4*(m+l)*nobr, 5*l*nobr);
+                else    // (meth == 'N')
+                    ldwork = 5*(m+l)*nobr + 1;
+            }
+            else if (conct == 'C' && (batch == 'I' || batch == 'L'))
+            {
+                ldwork = 4*(nobr+1)*(m+l)*nobr;
+            }
+            else    // if ALG = 'Q', (BATCH = 'F' or 'O', and LDR < NS), or (BATCH = 'I' or 'L' and CONCT = 'N')
+            {
+                ldwork = 6*(m+l)*nobr;
+            }
+        }
+
+/*
+IB01AD.f Lines 438-445
+C     FURTHER COMMENTS
+C
+C     For ALG = 'Q', BATCH = 'O' and LDR < NS, or BATCH <> 'O', the
+C     calculations could be rather inefficient if only minimal workspace
+C     (see argument LDWORK) is provided. It is advisable to provide as
+C     much workspace as possible. Almost optimal efficiency can be
+C     obtained for  LDWORK = (NS+2)*(2*(M+L)*NOBR),  assuming that the
+C     cache size is large enough to accommodate R, U, Y, and DWORK.
+*/
+
+// warning ("==================== ldwork before: %d =====================", ldwork);
+// ldwork = (ns+2)*(2*(m+l)*nobr);
+ldwork = max (ldwork, (ns+2)*(2*(m+l)*nobr));
+// ldwork *= 3;
+// warning ("==================== ldwork after: %d =====================", ldwork);
+
+
+/*
+IB01AD.f Lines 291-195:
+c             the workspace used for alg = 'q' is
+c                       ldrwrk*2*(m+l)*nobr + 4*(m+l)*nobr,
+c             where ldrwrk = ldwork/(2*(m+l)*nobr) - 2; recommended
+c             value ldrwrk = ns, assuming a large enough cache size.
+c             for good performance,  ldwork  should be larger.
+
+somehow ldrwrk and ldwork must have been mixed up here
+
+*/
+
+
+////////////////////////////////////////////////////////////////////////////////////
+//      SLICOT IB01BD - estimating system matrices, Kalman gain, and covariances  //
+////////////////////////////////////////////////////////////////////////////////////
+
+        // arguments in
+        char job = 'A';
+        char jobck = 'K';
+        
+        // TODO: if meth == 'C', which meth should be taken for IB01AD.f, 'M' or 'N'?
+        n = nuser;
+
+
+        int nsmpl = nsmp;
+        
+        if (nsmpl < 2*(m+l)*nobr)
+            error ("slident: nsmpl (%d) < 2*(m+l)*nobr (%d)", nsmpl, nobr);
+        
+        // arguments out
+        int lda = max (1, n);
+        int ldc = max (1, l);
+        int ldb = max (1, n);
+        int ldd = max (1, l);
+        int ldq = n;            // if JOBCK = 'C' or 'K'
+        int ldry = l;           // if JOBCK = 'C' or 'K'
+        int lds = n;            // if JOBCK = 'C' or 'K'
+        int ldk = n;            // if JOBCK = 'K'
+        
+////////////////////////////////////////////////////////////////////////////////////
+//      SLICOT IB01CD - estimating the initial state                              //
+////////////////////////////////////////////////////////////////////////////////////
+
+// TODO: use only one iwork and dwork for all three slicot routines
+//       ldwork = max (ldwork_a, ldwork_b, ldwork_c)
+
+
+        // arguments in
+        char jobx0 = 'X';
+        char comuse = 'U';
+        char jobbd = 'D';
+        
+        // arguments out
+        int ldv = max (1, n);
+        
+        ColumnVector x0 (n);
+        Matrix v (ldv, n);
+        
+        // workspace
+        int liwork_c = n;     // if  JOBX0 = 'X'  and  COMUSE <> 'C'
+        int ldwork_c;
+        int t = nsmp;
+   
+        int ldw1_c = 2;
+        int ldw2_c = t*l*(n + 1) + 2*n + max (2*n*n, 4*n);
+        int ldw3_c = n*(n + 1) + 2*n + max (n*l*(n + 1) + 2*n*n + l*n, 4*n);
+
+        ldwork_c = ldw1_c + n*( n + m + l ) + max (5*n, ldw1_c, min (ldw2_c, ldw3_c));
+        
+        OCTAVE_LOCAL_BUFFER (int, iwork_c, liwork_c);
+        OCTAVE_LOCAL_BUFFER (double, dwork_c, ldwork_c);
+
+        // error indicators
+        int iwarn_c = 0;
+        int info_c = 0;
+        
+
+        // SLICOT routine IB01CD
+        F77_XFCN (ib01cd, IB01CD,
+                 (jobx0, comuse, jobbd,
+                  n, m, l,
+                  nsmp,
+                  a.fortran_vec (), lda,
+                  b.fortran_vec (), ldb,
+                  c.fortran_vec (), ldc,
+                  d.fortran_vec (), ldd,
+                  u.fortran_vec (), ldu,
+                  y.fortran_vec (), ldy,
+                  x0.fortran_vec (),
+                  v.fortran_vec (), ldv,
+                  tolb,
+                  iwork_c,
+                  dwork_c, ldwork_c,
+                  iwarn_c, info_c));
+
+
+        if (f77_exception_encountered)
+            error ("ident: exception in SLICOT subroutine IB01CD");
+
+        static const char* err_msg_c[] = {
+            "0: OK",
+            "1: the QR algorithm failed to compute all the "
+                "eigenvalues of the matrix A (see LAPACK Library "
+                "routine DGEES); the locations  DWORK(i),  for "
+                "i = g+1:g+N*N,  contain the partially converged "
+                "Schur form",
+            "2: the singular value decomposition (SVD) algorithm did "
+                "not converge"};
+
+        static const char* warn_msg_c[] = {
+            "0: OK",
+            "1: warning message not specified",
+            "2: warning message not specified",
+            "3: warning message not specified",
+            "4: the least squares problem to be solved has a "
+                "rank-deficient coefficient matrix",
+            "5: warning message not specified",
+            "6: the matrix  A  is unstable;  the estimated  x(0) "
+                "and/or  B and D  could be inaccurate"};
+
+
+        error_msg ("ident", info_c, 2, err_msg_c);
+        warning_msg ("ident", iwarn_c, 6, warn_msg_c);
+      
+        
+        // return values
+
+        
+        retval(0) = x0;
+    }
+    
+    return retval;
+}

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Revision: 10375
          http://octave.svn.sourceforge.net/octave/?rev=10375&view=rev
Author:   paramaniac
Date:     2012-05-07 13:38:26 +0000 (Mon, 07 May 2012)
Log Message:
-----------
control-devel: fix miso support, add testcase

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/arx.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/pHarx.m

Added: trunk/octave-forge/extra/control-devel/devel/pHarx.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/pHarx.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/pHarx.m	2012-05-07 13:38:26 UTC (rev 10375)
@@ -0,0 +1,67 @@
+%{
+Contributed by:
+	Jairo Espinosa
+	K.U.Leuven ESAT-SISTA
+	K.Mercierlaan 94
+	B3001 Heverlee
+	Jairo.Espinosa@...
+
+Description:
+	Simulation data of a pH neutralization process in a constant volume
+	stirring tank. 
+	Volume of the tank 1100 liters 
+	Concentration of the acid solution (HAC) 0.0032 Mol/l
+	Concentration of the base solution (NaOH) 0,05 Mol/l
+Sampling:
+	10 sec
+Number:
+	2001
+Inputs:
+	u1: Acid solution flow in liters
+	u2: Base solution flow in liters
+
+Outputs:
+	y: pH of the solution in the tank
+
+References:
+	T.J. Mc Avoy, E.Hsu and S.Lowenthal, Dynamics of pH in controlled 
+	stirred tank reactor, Ind.Eng.Chem.Process Des.Develop.11(1972)
+	71-78
+
+Properties:
+	Highly non-linear system.
+
+Columns:
+	Column 1: time-steps
+	Column 2: input u1
+	Column 3: input u2
+	Column 4: output y
+
+Category:
+	Process industry systems
+
+%}
+
+clear all, close all, clc
+
+load pHdata.dat
+U=pHdata(:,2:3);
+Y=pHdata(:,4);
+
+
+dat = iddata (Y, U)
+
+% [sys, x0] = ident (dat, 15, 6)     % s=15, n=6
+sys = arx (dat, 6, [3,3])
+
+% [y, t] = lsim (sys, U, [], x0);
+[y, t] = lsim (sys(:, 1:2), U);
+
+
+err = norm (Y - y, 1) / norm (Y, 1)
+
+figure (1)
+plot (t, Y(:,1), 'b', t, y(:,1), 'r')
+
+
+

Modified: trunk/octave-forge/extra/control-devel/inst/arx.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/arx.m	2012-05-07 13:22:01 UTC (rev 10374)
+++ trunk/octave-forge/extra/control-devel/inst/arx.m	2012-05-07 13:38:26 UTC (rev 10375)
@@ -12,7 +12,8 @@
     error ("arx: ");
   endif
   
-  if (! is_real_scalar (na, nb))
+##  if (! is_real_scalar (na, nb))
+  if (! is_real_vector (na, nb))
     error ("arx: ");
     ## Test for integers
     ## numel (nb) == size (dat, 3)
@@ -33,7 +34,7 @@
   ## PhiU = toeplitz (U(1:end-1, :), [U(1, :); zeros(nb-1, 1)]);
   PhiU = arrayfun (@(x) toeplitz (U(1:end-1, x), [U(1, x); zeros(nb(x)-1, 1)]), 1:m, "uniformoutput", false);
   Phi = horzcat (-PhiY, PhiU{:});
-  Phi = Phi(n:end, :)
+  Phi = Phi(n:end, :);
   
   ## Theta = Phi \ Y(n+1:end, :);             # naive formula
   

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Revision: 10387
          http://octave.svn.sourceforge.net/octave/?rev=10387&view=rev
Author:   paramaniac
Date:     2012-05-09 10:36:17 +0000 (Wed, 09 May 2012)
Log Message:
-----------
control-devel: fix arx argument checking for degrees of numerator and denominator

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/GlassFurnaceARX.m
    trunk/octave-forge/extra/control-devel/inst/arx.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/CDplayerARX.m

Added: trunk/octave-forge/extra/control-devel/devel/CDplayerARX.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/CDplayerARX.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/CDplayerARX.m	2012-05-09 10:36:17 UTC (rev 10387)
@@ -0,0 +1,78 @@
+%{
+Contributed by:
+	Favoreel
+	KULeuven
+	Departement Electrotechniek ESAT/SISTA
+Kardinaal Mercierlaan 94
+B-3001 Leuven
+Belgium
+	wouter.favoreel@...
+Description:
+	Data from the mechanical construction of a CD player arm.  
+	The inputs are the forces of the mechanical actuators
+  	while the outputs are related to the tracking accuracy of the arm.
+  	The data was measured in closed loop, and then through a two-step
+  	procedure converted to open loop equivalent data
+    	The inputs are highly colored.
+Sampling:
+Number:
+	2048
+Inputs:
+	u: forces of the mechanical actuators
+Outputs:
+	y: tracking accuracy of the arm
+References:
+  	We are grateful to R. de Callafon of the
+    	Mechanical Engineering Systems and Control group of Delft, who
+    	provided us with these data.
+	
+	- Van Den Hof P., Schrama R.J.P., An Indirect Method for Transfer 
+	  Function Estimation From Closed Loop Data. Automatica, Vol. 29, 
+	  no. 6, pp. 1523-1527, 1993.
+
+Properties: 
+Columns:
+	Column 1: input u1
+	Column 2: input u2
+	Column 1: output y1
+	Column 2: output y2
+Category:
+	mechanical systems
+
+%}
+
+clear all, close all, clc
+
+load CD_player_arm-1.dat
+U=CD_player_arm_1(:,1:2);
+Y=CD_player_arm_1(:,3:4);
+
+
+dat = iddata (Y, U)
+
+% [sys, x0] = ident (dat, 15, 8)     % s=15, n=8
+sys = arx (dat, 4, [4 4])
+
+%[y, t] = lsim (sys, U, [], x0);
+%[y, t] = lsim (sys(:,1:2), U);
+
+[A, B] = filtdata (sys);
+%[A, B] = tfdata (sys);
+
+
+y1 = filter (B{1,1}, A{1,1}, U(:,1)) + filter (B{1,2}, A{1,2}, U(:,2));
+y2 = filter (B{2,1}, A{2,1}, U(:,1)) + filter (B{2,2}, A{2,2}, U(:,2));
+y = [y1, y2];
+
+t = 0:length(U)-1;
+
+err = norm (Y - y, 1) / norm (Y, 1)
+
+figure (1)
+p = columns (Y);
+for k = 1 : p
+  subplot (2, 1, k)
+  plot (t, Y(:,k), 'b', t, y(:,k), 'r')
+endfor
+
+

Modified: trunk/octave-forge/extra/control-devel/devel/GlassFurnaceARX.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/GlassFurnaceARX.m	2012-05-09 03:49:09 UTC (rev 10386)
+++ trunk/octave-forge/extra/control-devel/devel/GlassFurnaceARX.m	2012-05-09 10:36:17 UTC (rev 10387)
@@ -49,7 +49,7 @@
 dat = iddata (Y, U)
 
 %[sys, x0] = ident (dat, 10, 5)     % s=10, n=5
-sys = arx (dat, 5, [5 5 5])
+sys = arx (dat, 5, 5)
 
 %[y, t] = lsim (sys, U, [], x0);
 [y, t] = lsim (sys(:, 1:3), U);

Modified: trunk/octave-forge/extra/control-devel/inst/arx.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/arx.m	2012-05-09 03:49:09 UTC (rev 10386)
+++ trunk/octave-forge/extra/control-devel/inst/arx.m	2012-05-09 10:36:17 UTC (rev 10387)
@@ -9,27 +9,38 @@
   endif
   
   if (! isa (dat, "iddata"))
-    error ("arx: ");
+    error ("arx: first argument must be an iddata dataset");
   endif
-  
-##  if (! is_real_scalar (na, nb))
-  if (! is_real_vector (na, nb))
-    error ("arx: ");
-    ## Test for integers
-    ## numel (nb) == size (dat, 3)
-  endif
 
-  ## TODO: handle MIMO and multi-experiment data
+  ## p: outputs,  m: inputs,  ex: experiments
   [~, p, m, ex] = size (dat);
 
+  ## extract data  
   Y = dat.y;
   U = dat.u;
-  Ts = dat.tsam{1};
+  tsam = dat.tsam;
+
+  ## multi-experiment data requires equal sampling times  
+  if (ex > 1 && ! isequal (tsam{:}))
+    error ("arx: require equally sampled experiments");
+  else
+    tsam = tsam{1};
+  endif
+
   
-  max_nb = max (nb);
-  n = max (na, max_nb);
+  if (is_real_scalar (na, nb))
+    na = repmat (na, p, 1);     # na(p-by-1)
+    nb = repmat (nb, p, m);     # nb(p-by-m)
+  elseif (! (is_real_vector (na) && is_real_matrix (nb) \
+          && rows (na) == p && rows (nb) == p && columns (nb) == m))
+    error ("arx: require na(%dx1) instead of (%dx%d) and nb(%dx%d) instead of (%dx%d)", \
+            p, rows (na), columns (na), p, m, rows (nb), columns (nb));
+  endif
 
+  max_nb = max (nb, [], 2);     # one maximum for each row/output, max_nb(p-by-1)
+  n = max (na, max_nb);         # n(p-by-1)
 
+
   num = cell (p, m+1);
   den = cell (p, m+1);
   
@@ -38,16 +49,17 @@
     for e = 1 : ex      # for every experiment  
       ## avoid warning: toeplitz: column wins anti-diagonal conflict
       ## therefore set first row element equal to y(1)
-      PhiY = toeplitz (Y{e}(1:end-1, i), [Y{e}(1, i); zeros(na-1, 1)]); % TODO: multiple na
-      PhiU = arrayfun (@(x) toeplitz (U{e}(1:end-1, x), [U{e}(1, x); zeros(nb(x)-1, 1)]), 1:m, "uniformoutput", false);
-      Phi{e} = (horzcat (-PhiY, PhiU{:}))(n:end, :);
+      PhiY = toeplitz (Y{e}(1:end-1, i), [Y{e}(1, i); zeros(na(i)-1, 1)]);
+      ## create MISO Phi for every experiment
+      PhiU = arrayfun (@(x) toeplitz (U{e}(1:end-1, x), [U{e}(1, x); zeros(nb(i,x)-1, 1)]), 1:m, "uniformoutput", false);
+      Phi{e} = (horzcat (-PhiY, PhiU{:}))(n(i):end, :);
     endfor
   
     Theta = __theta__ (Phi, Y, i, n);
       
-    A = [1; Theta(1:na)];                     # a0 = 1, a1 = Theta(1), an = Theta(n)
-    ThetaB = Theta(na+1:end);                 # b0 = 0 (leading zero required by filt)
-    B = mat2cell (ThetaB, nb);
+    A = [1; Theta(1:na(i))];                     # a0 = 1, a1 = Theta(1), an = Theta(n)
+    ThetaB = Theta(na(i)+1:end);                 # b0 = 0 (leading zero required by filt)
+    B = mat2cell (ThetaB, nb(i,:));
     B = reshape (B, 1, []);
     B = cellfun (@(x) [0; x], B, "uniformoutput", false);
 
@@ -55,7 +67,7 @@
     den(i, :) = repmat ({A}, 1, m+1);
   endfor
 
-  sys = filt (num, den, Ts);
+  sys = filt (num, den, tsam);
 
 endfunction
 
@@ -81,7 +93,7 @@
     V = V(:, 1:r);
     S = S(1:r);
     U = U(:, 1:r);
-    theta = V * (S .\ (U' * y{1}(n+1:end, i)));     # U' is the conjugate transpose
+    theta = V * (S .\ (U' * y{1}(n(i)+1:end, i)));     # U' is the conjugate transpose
   else
     ## multi-experiment dataset
     ## TODO: find more sophisticated formula than
@@ -92,7 +104,7 @@
     C = plus (tmp{:});
     
     ## PhiTY = (Phi1' Y1 + Phi2' Y2 + ...)
-    tmp = cellfun (@(Phi, Y) Phi.' * Y(n+1:end, i), phi, y, "uniformoutput", false);
+    tmp = cellfun (@(Phi, Y) Phi.' * Y(n(i)+1:end, i), phi, y, "uniformoutput", false);
     PhiTY = plus (tmp{:});
     
     ## pseudoinverse  Theta = C \ Phi'Y
@@ -100,18 +112,3 @@
   endif
   
 endfunction
-
-%{
-function Phi = __phi__ (dat, na, nb, ex)
-
-  ## avoid warning: toeplitz: column wins anti-diagonal conflict
-  ## therefore set first row element equal to y(1)
-  PhiY = toeplitz (Y(1:end-1, :), [Y(1, :); zeros(na-1, 1)]);
-  
-  ## PhiU = toeplitz (U(1:end-1, :), [U(1, :); zeros(nb-1, 1)]);
-  PhiU = arrayfun (@(x) toeplitz (U(1:end-1, x), [U(1, x); zeros(nb(x)-1, 1)]), 1:m, "uniformoutput", false);
-  Phi = horzcat (-PhiY, PhiU{:});
-  Phi = Phi(n:end, :);
-
-endfunction
-%}
\ No newline at end of file

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Revision: 10399
          http://octave.svn.sourceforge.net/octave/?rev=10399&view=rev
Author:   paramaniac
Date:     2012-05-10 12:09:11 +0000 (Thu, 10 May 2012)
Log Message:
-----------
control-devel: minor changes

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/pH.m
    trunk/octave-forge/extra/control-devel/devel/pHarx.m
    trunk/octave-forge/extra/control-devel/inst/arx.m

Modified: trunk/octave-forge/extra/control-devel/devel/pH.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/pH.m	2012-05-10 11:24:35 UTC (rev 10398)
+++ trunk/octave-forge/extra/control-devel/devel/pH.m	2012-05-10 12:09:11 UTC (rev 10399)
@@ -57,6 +57,7 @@
 [y, t] = lsim (sys, U, [], x0);
 
 err = norm (Y - y, 1) / norm (Y, 1)
+st = isstable (sys)
 
 figure (1)
 plot (t, Y(:,1), 'b', t, y(:,1), 'r')

Modified: trunk/octave-forge/extra/control-devel/devel/pHarx.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/pHarx.m	2012-05-10 11:24:35 UTC (rev 10398)
+++ trunk/octave-forge/extra/control-devel/devel/pHarx.m	2012-05-10 12:09:11 UTC (rev 10399)
@@ -52,7 +52,7 @@
 dat = iddata (Y, U)
 
 % [sys, x0] = ident (dat, 15, 6)     % s=15, n=6
-sys = arx (dat, 6, [6,6])       % normally na = nb
+sys = arx (dat, 6, 6)       % normally na = nb
 
 % [y, t] = lsim (sys, U, [], x0);
 [y, t] = lsim (sys(:, 1:2), U);

Modified: trunk/octave-forge/extra/control-devel/inst/arx.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/arx.m	2012-05-10 11:24:35 UTC (rev 10398)
+++ trunk/octave-forge/extra/control-devel/inst/arx.m	2012-05-10 12:09:11 UTC (rev 10399)
@@ -87,7 +87,7 @@
     ## Th = Ph \ Y = Ph+ Y
     ## Th = V S+ U* Y,   S+ = 1 ./ diag (S)
 
-    [U, S, V] = svd (phi{1}, 0);                    # 0 for "economy size" decomposition, U overwrites input U
+    [U, S, V] = svd (phi{1}, 0);                    # 0 for "economy size" decomposition
     S = diag (S);                                   # extract main diagonal
     r = sum (S > eps*S(1));
     V = V(:, 1:r);

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Revision: 10427
          http://octave.svn.sourceforge.net/octave/?rev=10427&view=rev
Author:   paramaniac
Date:     2012-05-12 15:32:53 +0000 (Sat, 12 May 2012)
Log Message:
-----------
control-devel: minor changes

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m
    trunk/octave-forge/extra/control-devel/devel/PowerPlant.m
    trunk/octave-forge/extra/control-devel/src/slident.cc

Modified: trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m	2012-05-12 15:06:57 UTC (rev 10426)
+++ trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m	2012-05-12 15:32:53 UTC (rev 10427)
@@ -38,7 +38,7 @@
 %}
 
 
-close all, clc
+clear all, close all, clc
 
 load glassfurnace.dat
 T=glassfurnace(:,1);

Modified: trunk/octave-forge/extra/control-devel/devel/PowerPlant.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/PowerPlant.m	2012-05-12 15:06:57 UTC (rev 10426)
+++ trunk/octave-forge/extra/control-devel/devel/PowerPlant.m	2012-05-12 15:32:53 UTC (rev 10427)
@@ -40,7 +40,7 @@
 
 %}
 
-close all, clc
+clear all, close all, clc
 
 % NB: the code from DaISy is wrong:
 %     powerplant(:,1) is just the sample number

Modified: trunk/octave-forge/extra/control-devel/src/slident.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident.cc	2012-05-12 15:06:57 UTC (rev 10426)
+++ trunk/octave-forge/extra/control-devel/src/slident.cc	2012-05-12 15:32:53 UTC (rev 10427)
@@ -405,8 +405,8 @@
                 "coefficient matrix"};
 
 
-        error_msg ("ident", info_a, 2, err_msg);
-        warning_msg ("ident", iwarn_a, 5, warn_msg);
+        error_msg ("ident: IB01AD", info_a, 2, err_msg);
+        warning_msg ("ident: IB01AD", iwarn_a, 5, warn_msg);
 
 
         // resize
@@ -586,8 +586,8 @@
                 "gain matrix is set to zero"};
 
 
-        error_msg ("ident", info_b, 10, err_msg_b);
-        warning_msg ("ident", iwarn_b, 5, warn_msg_b);
+        error_msg ("ident: IB01BD", info_b, 10, err_msg_b);
+        warning_msg ("ident: IB01BD", iwarn_b, 5, warn_msg_b);
 
         // resize
         a.resize (n, n);
@@ -682,8 +682,8 @@
                 "and/or  B and D  could be inaccurate"};
 
 
-        error_msg ("ident", info_c, 2, err_msg_c);
-        warning_msg ("ident", iwarn_c, 6, warn_msg_c);
+        error_msg ("ident: IB01CD", info_c, 2, err_msg_c);
+        warning_msg ("ident: IB01CD", iwarn_c, 6, warn_msg_c);
       
         
         // return values

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Revision: 10428
          http://octave.svn.sourceforge.net/octave/?rev=10428&view=rev
Author:   paramaniac
Date:     2012-05-12 16:41:38 +0000 (Sat, 12 May 2012)
Log Message:
-----------
control-devel: sort variables alphabetically

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/src/slident.cc

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/Destillation_combinations.m
    trunk/octave-forge/extra/control-devel/devel/PowerPlant_combinations.m
    trunk/octave-forge/extra/control-devel/devel/ident_combinations.m

Added: trunk/octave-forge/extra/control-devel/devel/Destillation_combinations.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/Destillation_combinations.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/Destillation_combinations.m	2012-05-12 16:41:38 UTC (rev 10428)
@@ -0,0 +1,90 @@
+%{
+This file describes the data in the destill.dat file.
+1. Contributed by:
+	Peter Van Overschee
+	K.U.Leuven - ESAT - SISTA
+	K. Mercierlaan 94
+	3001 Heverlee
+	Peter.Vanoverschee@...
+2. Process/Description:
+	Data of a simulation (not real !) related to the identification
+   	of an ethane-ethylene destillationcolumn. The series consists of 4
+	series: 
+		U_dest, Y_dest: 	without noise (original series)
+		U_dest_n10, Y_dest_n10:	10 percent additive white noise
+		U_dest_n20, Y_dest_n20: 20 percent additive white noise
+		U_dest_n30, Y_dest_n30:	30 percent additive white noise
+3. Sampling time 
+	15 min.
+4. Number of samples: 
+	90 samples
+5. Inputs:
+	a. ratio between the reboiler duty and the feed flow
+   	b. ratio between the reflux rate and the feed flow
+   	c. ratio between the distillate and the feed flow
+   	d. input ethane composition
+   	e. top pressure
+6. Outputs:
+	a. top ethane composition
+	b. bottom ethylene composition
+   	c. top-bottom differential pressure.
+7. References:
+	R.P. Guidorzi, M.P. Losito, T. Muratori, The range error test in the
+	structural identification of linear multivariable systems,
+   	IEEE transactions on automatic control, Vol AC-27, pp 1044-1054, oct.
+   	1982.
+8. Known properties/peculiarities
+	
+9. Some MATLAB-code to retrieve the data
+	!gunzip destill.dat.Z
+	load destill.dat
+	U=destill(:,1:20);
+	Y=destill(:,21:32);
+	U_dest=U(:,1:5);
+	U_dest_n10=U(:,6:10);
+	U_dest_n20=U(:,11:15);	
+	U_dest_n30=U(:,16:20);
+	Y_dest=Y(:,1:3);
+	Y_dest_n10=Y(:,4:6);
+	Y_dest_n20=Y(:,7:9);
+	Y_dest_n30=Y(:,10:12);
+%}
+
+clear all, close all, clc
+
+% DaISy code is wrong,
+% first column is sample number
+load destill.dat
+U=destill(:,2:21);
+Y=destill(:,22:33);
+U_dest=U(:,1:5);
+U_dest_n10=U(:,6:10);
+U_dest_n20=U(:,11:15);	
+U_dest_n30=U(:,16:20);
+Y_dest=Y(:,1:3);
+Y_dest_n10=Y(:,4:6);
+Y_dest_n20=Y(:,7:9);
+Y_dest_n30=Y(:,10:12);
+
+
+dat = iddata (Y_dest, U_dest);
+
+err = zeros (3, 3);
+
+for meth = 0:2
+  for alg = 0:2
+    [sys, x0] = ident_combinations (dat, 5, 4, meth, alg);    % s=5, n=4
+    [y, t] = lsim (sys, U_dest, [], x0);
+    err(meth+1, alg+1) = norm (Y_dest - y, 1) / norm (Y_dest, 1);
+  endfor
+endfor
+
+err
+
+%{
+figure (1)
+%plot (t, Y_dest, 'b')
+plot (t, Y_dest, 'b', t, y, 'r')
+legend ('y measured', 'y simulated', 'location', 'southeast')
+%}
+

Added: trunk/octave-forge/extra/control-devel/devel/PowerPlant_combinations.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/PowerPlant_combinations.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/PowerPlant_combinations.m	2012-05-12 16:41:38 UTC (rev 10428)
@@ -0,0 +1,92 @@
+%{
+This file describes the data in the powerplant.dat file.
+1. Contributed by:
+	Peter Van Overschee
+	K.U.Leuven - ESAT - SISTA
+	K. Mercierlaan 94
+	3001 Heverlee
+	Peter.Vanoverschee@...
+2. Process/Description:
+	data of a power plant (Pont-sur-Sambre (France)) of 120 MW
+3. Sampling time 
+	1228.8 sec
+4. Number of samples: 
+	200 samples
+5. Inputs:
+	1. gas flow
+   	2. turbine valves opening
+   	3. super heater spray flow
+   	4. gas dampers
+   	5. air flow
+6. Outputs:
+	1. steam pressure
+   	2. main stem temperature
+   	3. reheat steam temperature
+7. References:
+	a. R.P. Guidorzi, P. Rossi, Identification of a power plant from normal
+   	operating records. Automatic control theory and applications (Canada,
+   	Vol 2, pp 63-67, sept 1974.
+	b. Moonen M., De Moor B., Vandenberghe L., Vandewalle J., On- and
+	off-line identification of linear state-space models, International
+	Journal of Control, Vol. 49, Jan. 1989, pp.219-232
+8. Known properties/peculiarities
+	
+9. Some MATLAB-code to retrieve the data
+	!gunzip powerplant.dat.Z
+	load powerplant.dat
+	U=powerplant(:,1:5);
+	Y=powerplant(:,6:8);
+	Yr=powerplant(:,9:11);
+
+%}
+
+clear all, close all, clc
+
+% NB: the code from DaISy is wrong:
+%     powerplant(:,1) is just the sample number
+%     therefore increase indices by one
+%     it took me weeks to find that silly mistake ...
+load powerplant.dat
+U=powerplant(:,2:6);
+Y=powerplant(:,7:9);
+Yr=powerplant(:,10:12);
+
+inname = {'gas flow',
+          'turbine valves opening',
+          'super heater spray flow',
+          'gas dampers',
+          'air flow'};
+
+outname = {'steam pressure',
+           'main steam temperature',
+           'reheat steam temperature'};
+           
+tsam = 1228.8;
+
+dat = iddata (Y, U, tsam, 'outname', outname, 'inname', inname)
+
+
+err = zeros (3, 3);
+
+for meth = 0:2
+  for alg = 0:2
+    [sys, x0] = ident_combinations (dat, 10, 8, meth, alg);     % s=10, n=8
+    [y, t] = lsim (sys, U, [], x0);
+    err(meth+1, alg+1) = norm (Y - y, 1) / norm (Y, 1);
+  endfor
+endfor
+
+err
+
+%{
+figure (1)
+p = columns (Y);
+for k = 1 : p
+  subplot (3, 1, k)
+  plot (t, Y(:,k), 'b', t, y(:,k), 'r')
+endfor
+%title ('DaISy: Power Plant')
+%legend ('y measured', 'y simulated', 'location', 'southeast')
+
+st = isstable (sys)
+%}

Added: trunk/octave-forge/extra/control-devel/devel/ident_combinations.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/ident_combinations.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/ident_combinations.m	2012-05-12 16:41:38 UTC (rev 10428)
@@ -0,0 +1,54 @@
+function [sys, x0] = ident_combinations (dat, s = [], n = [], meth, alg)
+
+
+
+  %nobr = 15;
+%  meth = 1; % 2    % geht: meth/alg  1/1, 
+%  alg = 2; % 0     % geht nicht: meth/alg  0/1
+  jobd = 1;
+  batch = 3;
+  conct = 1;
+  ctrl = 0; %1;
+  rcond = 0.0;
+  tol = -1.0; % 0;
+  
+  [ns, l, m, e] = size (dat);
+  
+  if (isempty (s) && isempty (n))
+    nsmp = ns(1);
+    nobr = fix ((nsmp+1)/(2*(m+l+1)));
+    ctrl = 0;  # confirm system order estimate
+    n = 0;
+    % nsmp >= 2*(m+l+1)*nobr - 1
+    % nobr <= (nsmp+1)/(2*(m+l+1))
+  elseif (isempty (s))
+    s = min (2*n, n+10);
+    nsmp = ns(1);
+    nobr = fix ((nsmp+1)/(2*(m+l+1)));
+    nobr = min (nobr, s);
+    ctrl = 1;  # no confirmation
+  elseif (isempty (n))
+    nobr = s;
+    ctrl = 0;  # confirm system order estimate
+    n = 0;
+  else         # s & n non-empty
+    nsmp = ns(1);
+    nobr = fix ((nsmp+1)/(2*(m+l+1)));
+    if (s > nobr)
+      error ("ident: s > nobr");
+    endif
+    nobr = s;
+    ctrl = 1;
+    ## TODO: specify n for IB01BD
+  endif
+  
+  %nsmp = ns(1)
+  %nobr = fix ((nsmp+1)/(2*(m+l+1)))
+  % nsmp >= 2*(m+l+1)*nobr - 1
+  % nobr <= (nsmp+1)/(2*(m+l+1))
+%nobr = 10
+  [a, b, c, d, q, ry, s, k, x0] = slident (dat.y{1}, dat.u{1}, nobr, n, meth, alg, jobd, batch, conct, ctrl, rcond, tol);
+
+  sys = ss (a, b, c, d, dat.tsam{1});
+
+endfunction

Modified: trunk/octave-forge/extra/control-devel/src/slident.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident.cc	2012-05-12 15:32:53 UTC (rev 10427)
+++ trunk/octave-forge/extra/control-devel/src/slident.cc	2012-05-12 16:41:38 UTC (rev 10428)
@@ -137,16 +137,16 @@
         switch (imeth)
         {
             case 0:
+                meth_a = 'M';
                 meth_b = 'M';
-                meth_a = 'M';
                 break;
             case 1:
+                meth_a = 'N';
                 meth_b = 'N';
-                meth_a = 'N';
                 break;
             case 2:
+                meth_a = 'N';    // no typo here
                 meth_b = 'C';
-                meth_a = 'N';    // no typo here
                 break;
             default:
                 error ("slib01ad: argument 'meth' invalid");

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Revision: 10442
          http://octave.svn.sourceforge.net/octave/?rev=10442&view=rev
Author:   paramaniac
Date:     2012-05-15 13:58:12 +0000 (Tue, 15 May 2012)
Log Message:
-----------
control-devel: use svd for multi-experiment data

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/CDplayerARX.m
    trunk/octave-forge/extra/control-devel/inst/arx.m

Modified: trunk/octave-forge/extra/control-devel/devel/CDplayerARX.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/CDplayerARX.m	2012-05-15 12:51:58 UTC (rev 10441)
+++ trunk/octave-forge/extra/control-devel/devel/CDplayerARX.m	2012-05-15 13:58:12 UTC (rev 10442)
@@ -51,7 +51,7 @@
 dat = iddata (Y, U)
 
 % [sys, x0] = ident (dat, 15, 8)     % s=15, n=8
-sys = arx (dat, 4, [4 4])
+sys = arx (dat, 4, 4)
 
 %[y, t] = lsim (sys, U, [], x0);
 %[y, t] = lsim (sys(:,1:2), U);

Modified: trunk/octave-forge/extra/control-devel/inst/arx.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/arx.m	2012-05-15 12:51:58 UTC (rev 10441)
+++ trunk/octave-forge/extra/control-devel/inst/arx.m	2012-05-15 13:58:12 UTC (rev 10442)
@@ -102,25 +102,7 @@
   
   if (ex == 1)
     ## single-experiment dataset
-    
-    ## solve linear least squares problem by pseudoinverse
-    ## the pseudoinverse is computed by singular value decomposition
-    ## M = U S V*  --->  M+ = V S+ U*
-    ## Th = Ph \ Y = Ph+ Y
-    ## Th = V S+ U* Y,   S+ = 1 ./ diag (S)
-
-    [U, S, V] = svd (phi{1}, 0);                    # 0 for "economy size" decomposition
-    S = diag (S);                                   # extract main diagonal
-    r = sum (S > eps*S(1));
-    if (r < length (S))
-      warning ("arx: rank-deficient coefficient matrix");
-      warning ("sampling time too small");
-      warning ("persistence of excitation");
-    endif
-    V = V(:, 1:r);
-    S = S(1:r);
-    U = U(:, 1:r);
-    theta = V * (S .\ (U' * y{1}(n(i)+1:end, i)));     # U' is the conjugate transpose
+    theta = __ls_svd__ (phi{1}, y{1}(n(i)+1:end, i));
   else
     ## multi-experiment dataset
     ## TODO: find more sophisticated formula than
@@ -136,7 +118,31 @@
     PhiTY = plus (tmp{:});
     
     ## pseudoinverse  Theta = C \ Phi'Y
-    theta = C \ PhiTY;
+    theta = __ls_svd__ (C, PhiTY);
   endif
   
 endfunction
+
+
+function x = __ls_svd__ (A, b)
+
+  ## solve linear least squares problem by pseudoinverse
+  ## the pseudoinverse is computed by singular value decomposition
+  ## M = U S V*  --->  M+ = V S+ U*
+  ## Th = Ph \ Y = Ph+ Y
+  ## Th = V S+ U* Y,   S+ = 1 ./ diag (S)
+
+  [U, S, V] = svd (A, 0);                         # 0 for "economy size" decomposition
+  S = diag (S);                                   # extract main diagonal
+  r = sum (S > eps*S(1));
+  if (r < length (S))
+    warning ("arx: rank-deficient coefficient matrix");
+    warning ("sampling time too small");
+    warning ("persistence of excitation");
+  endif
+  V = V(:, 1:r);
+  S = S(1:r);
+  U = U(:, 1:r);
+  x = V * (S .\ (U' * b));                    # U' is the conjugate transpose
+
+endfunction

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Revision: 10456
          http://octave.svn.sourceforge.net/octave/?rev=10456&view=rev
Author:   paramaniac
Date:     2012-05-18 15:01:56 +0000 (Fri, 18 May 2012)
Log Message:
-----------
control-devel: remove parameter jobd

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/ident.m
    trunk/octave-forge/extra/control-devel/devel/ident_combinations.m
    trunk/octave-forge/extra/control-devel/devel/makefile_devel.m
    trunk/octave-forge/extra/control-devel/inst/moesp.m
    trunk/octave-forge/extra/control-devel/inst/n4sid.m
    trunk/octave-forge/extra/control-devel/src/slident.cc

Modified: trunk/octave-forge/extra/control-devel/devel/ident.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/ident.m	2012-05-18 14:23:03 UTC (rev 10455)
+++ trunk/octave-forge/extra/control-devel/devel/ident.m	2012-05-18 15:01:56 UTC (rev 10456)
@@ -5,7 +5,6 @@
   %nobr = 15;
   meth = 2; % 2    % geht: meth/alg  1/1, 
   alg = 0; % 0     % geht nicht: meth/alg  0/1
-  jobd = 1;
   batch = 3;
   conct = 1;
   ctrl = 0; %1;
@@ -47,7 +46,7 @@
   % nsmp >= 2*(m+l+1)*nobr - 1
   % nobr <= (nsmp+1)/(2*(m+l+1))
 %nobr = 10
-  [a, b, c, d, q, ry, s, k, x0] = slident (dat.y{1}, dat.u{1}, nobr, n, meth, alg, jobd, batch, conct, ctrl, rcond, tol);
+  [a, b, c, d, q, ry, s, k, x0] = slident (dat.y{1}, dat.u{1}, nobr, n, meth, alg, batch, conct, ctrl, rcond, tol);
 
   sys = ss (a, b, c, d, dat.tsam{1});
 

Modified: trunk/octave-forge/extra/control-devel/devel/ident_combinations.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/ident_combinations.m	2012-05-18 14:23:03 UTC (rev 10455)
+++ trunk/octave-forge/extra/control-devel/devel/ident_combinations.m	2012-05-18 15:01:56 UTC (rev 10456)
@@ -5,7 +5,6 @@
   %nobr = 15;
 %  meth = 1; % 2    % geht: meth/alg  1/1, 
 %  alg = 2; % 0     % geht nicht: meth/alg  0/1
-  jobd = 1;
   batch = 3;
   conct = 1;
   ctrl = 0; %1;
@@ -47,7 +46,7 @@
   % nsmp >= 2*(m+l+1)*nobr - 1
   % nobr <= (nsmp+1)/(2*(m+l+1))
 %nobr = 10
-  [a, b, c, d, q, ry, s, k, x0] = slident (dat.y{1}, dat.u{1}, nobr, n, meth, alg, jobd, batch, conct, ctrl, rcond, tol);
+  [a, b, c, d, q, ry, s, k, x0] = slident (dat.y{1}, dat.u{1}, nobr, n, meth, alg, batch, conct, ctrl, rcond, tol);
 
   sys = ss (a, b, c, d, dat.tsam{1});
 

Modified: trunk/octave-forge/extra/control-devel/devel/makefile_devel.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/makefile_devel.m	2012-05-18 14:23:03 UTC (rev 10455)
+++ trunk/octave-forge/extra/control-devel/devel/makefile_devel.m	2012-05-18 15:01:56 UTC (rev 10456)
@@ -14,7 +14,7 @@
 
 ## system ("make realclean");  # recompile slicotlibrary.a
 system ("make clean");
-system ("make -j4 all");
+system ("make -j1 all");
 system ("rm *.o");
 
 cd (homedir);
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/inst/moesp.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/moesp.m	2012-05-18 14:23:03 UTC (rev 10455)
+++ trunk/octave-forge/extra/control-devel/inst/moesp.m	2012-05-18 15:01:56 UTC (rev 10456)
@@ -17,7 +17,7 @@
 
 ## -*- texinfo -*-
 ## @deftypefn {Function File} {@var{dat} =} moesp (@var{dat}, @var{s}, @var{n})
-## MOESP.
+## MOESP: Multivariable Output Error State sPace.
 ## @end deftypefn
 
 ## Author: Lukas Reichlin <lukas.reichlin@...>

Modified: trunk/octave-forge/extra/control-devel/inst/n4sid.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/n4sid.m	2012-05-18 14:23:03 UTC (rev 10455)
+++ trunk/octave-forge/extra/control-devel/inst/n4sid.m	2012-05-18 15:01:56 UTC (rev 10456)
@@ -17,7 +17,7 @@
 
 ## -*- texinfo -*-
 ## @deftypefn {Function File} {@var{dat} =} n4sid (@var{dat}, @var{s}, @var{n})
-## N4SID.
+## N4SID: Numerical algorithm for Subspace State Space System IDentification.
 ## @end deftypefn
 
 ## Author: Lukas Reichlin <lukas.reichlin@...>

Modified: trunk/octave-forge/extra/control-devel/src/slident.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident.cc	2012-05-18 14:23:03 UTC (rev 10455)
+++ trunk/octave-forge/extra/control-devel/src/slident.cc	2012-05-18 15:01:56 UTC (rev 10456)
@@ -95,7 +95,7 @@
     int nargin = args.length ();
     octave_value_list retval;
     
-    if (nargin != 12)
+    if (nargin != 11)
     {
         print_usage ();
     }
@@ -121,18 +121,16 @@
         
         const int imeth = args(4).int_value ();
         const int ialg = args(5).int_value ();
-        const int ijobd = args(6).int_value ();
-        const int ibatch = args(7).int_value ();
-        const int iconct = args(8).int_value ();
-        const int ictrl = args(9).int_value ();
+        const int ibatch = args(6).int_value ();
+        const int iconct = args(7).int_value ();
+        const int ictrl = args(8).int_value ();
         
-        double rcond = args(10).double_value ();
-        double tol_a = args(11).double_value ();
+        double rcond = args(9).double_value ();
+        double tol_a = args(10).double_value ();
 
         double tol_b = rcond;
         double tol_c = rcond;
-        //double tol_b = args(10).double_value ();      // tol_b = rcond
-
+        
             
         switch (imeth)
         {
@@ -166,14 +164,12 @@
             default:
                 error ("slib01ad: argument 'alg' invalid");
         }
-        
-        if (meth_b == 'C')
-            jobd = 'N';
-        else if (ijobd == 0)
+
+        if (meth_a == 'M')
             jobd = 'M';
-        else
-            jobd = 'N';
-        
+        else                    // meth_a == 'N'
+            jobd = 'N';         // IB01AD.f says: This parameter is not relevant for METH = 'N'
+      
         switch (ibatch)
         {
             case 0:

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Revision: 10458
          http://octave.svn.sourceforge.net/octave/?rev=10458&view=rev
Author:   paramaniac
Date:     2012-05-18 18:23:28 +0000 (Fri, 18 May 2012)
Log Message:
-----------
control-devel: get multi-experiment identification working (fingers crossed)

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/ident.m
    trunk/octave-forge/extra/control-devel/src/slident.cc

Modified: trunk/octave-forge/extra/control-devel/devel/ident.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/ident.m	2012-05-18 16:04:20 UTC (rev 10457)
+++ trunk/octave-forge/extra/control-devel/devel/ident.m	2012-05-18 18:23:28 UTC (rev 10458)
@@ -46,7 +46,7 @@
   % nsmp >= 2*(m+l+1)*nobr - 1
   % nobr <= (nsmp+1)/(2*(m+l+1))
 %nobr = 10
-  [a, b, c, d, q, ry, s, k, x0] = slident (dat.y{1}, dat.u{1}, nobr, n, meth, alg, batch, conct, ctrl, rcond, tol);
+  [a, b, c, d, q, ry, s, k, x0] = slident (dat.y, dat.u, nobr, n, meth, alg, batch, conct, ctrl, rcond, tol);
 
   sys = ss (a, b, c, d, dat.tsam{1});
 

Modified: trunk/octave-forge/extra/control-devel/src/slident.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident.cc	2012-05-18 16:04:20 UTC (rev 10457)
+++ trunk/octave-forge/extra/control-devel/src/slident.cc	2012-05-18 18:23:28 UTC (rev 10458)
@@ -184,10 +184,10 @@
             ctrl = 'N';
 
 
-        int n_exp = y_cell.nelem ();    // number of experiments
-        
-        int m = u_cell.elem(0).columns ();   // m: number of inputs
-        int l = y_cell.elem(0).columns ();   // l: number of outputs
+        int n_exp = y_cell.nelem ();            // number of experiments
+        int m = u_cell.elem(0).columns ();      // m: number of inputs
+        int l = y_cell.elem(0).columns ();      // l: number of outputs
+        int nsmpl = 0;                          // total number of samples
 
         // arguments out
         int n;
@@ -221,6 +221,7 @@
             //int m = u.columns ();   // m: number of inputs
             //int l = y.columns ();   // l: number of outputs
             int nsmp = y.rows ();   // nsmp: number of samples
+            nsmpl += nsmp;
             // y.rows == u.rows  is checked by iddata class
             // TODO: check minimal nsmp size
         
@@ -448,7 +449,7 @@
         char job = 'A';
         char jobck = 'K';
         
-        int nsmpl = nsmp;
+        //int nsmpl = nsmp;
         
         if (nsmpl < 2*(m+l)*nobr)
             error ("slident: nsmpl (%d) < 2*(m+l)*nobr (%d)", nsmpl, nobr);
@@ -623,7 +624,7 @@
 // TODO: use only one iwork and dwork for all three slicot routines
 //       ldwork = max (ldwork_a, ldwork_b, ldwork_c)
 
-
+/*
         // arguments in
         char jobx0 = 'X';
         char comuse = 'U';
@@ -700,7 +701,7 @@
 
         error_msg ("ident: IB01CD", info_c, 2, err_msg_c);
         warning_msg ("ident: IB01CD", iwarn_c, 6, warn_msg_c);
-      
+*/      
         
         // return values
         retval(0) = a;
@@ -713,7 +714,8 @@
         retval(6) = s;
         retval(7) = k;
         
-        retval(8) = x0;
+        // retval(8) = x0;
+        retval(8) = octave_value (0);
     }
     
     return retval;

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Revision: 10459
          http://octave.svn.sourceforge.net/octave/?rev=10459&view=rev
Author:   paramaniac
Date:     2012-05-18 20:25:34 +0000 (Fri, 18 May 2012)
Log Message:
-----------
control-devel: initial state vectors for multi-experiment identification

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/ident.m
    trunk/octave-forge/extra/control-devel/src/slident.cc

Modified: trunk/octave-forge/extra/control-devel/devel/ident.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/ident.m	2012-05-18 18:23:28 UTC (rev 10458)
+++ trunk/octave-forge/extra/control-devel/devel/ident.m	2012-05-18 20:25:34 UTC (rev 10459)
@@ -49,5 +49,9 @@
   [a, b, c, d, q, ry, s, k, x0] = slident (dat.y, dat.u, nobr, n, meth, alg, batch, conct, ctrl, rcond, tol);
 
   sys = ss (a, b, c, d, dat.tsam{1});
+  
+  if (numel (x0) == 1)
+    x0 = x0{1};
+  endif
 
 endfunction

Modified: trunk/octave-forge/extra/control-devel/src/slident.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident.cc	2012-05-18 18:23:28 UTC (rev 10458)
+++ trunk/octave-forge/extra/control-devel/src/slident.cc	2012-05-18 20:25:34 UTC (rev 10459)
@@ -621,87 +621,103 @@
 //      SLICOT IB01CD - estimating the initial state                              //
 ////////////////////////////////////////////////////////////////////////////////////
 
-// TODO: use only one iwork and dwork for all three slicot routines
-//       ldwork = max (ldwork_a, ldwork_b, ldwork_c)
-
-/*
         // arguments in
         char jobx0 = 'X';
         char comuse = 'U';
         char jobbd = 'D';
         
         // arguments out
-        int ldv = max (1, n);
+        Cell x0_cell (n_exp, 1);
         
-        ColumnVector x0 (n);
-        Matrix v (ldv, n);
+        for (int i = 0; i < n_exp; i++)
+        {
+            Matrix y = y_cell.elem(i).matrix_value ();
+            Matrix u = u_cell.elem(i).matrix_value ();
+            
+            int nsmp = y.rows ();   // nsmp: number of samples
+            int ldv = max (1, n);
+            
+            int ldu;
         
-        // workspace
-        int liwork_c = n;     // if  JOBX0 = 'X'  and  COMUSE <> 'C'
-        int ldwork_c;
-        int t = nsmp;
+            if (m == 0)
+                ldu = 1;
+            else                    // m > 0
+                ldu = nsmp;
+
+            int ldy = nsmp;
+
+
+            ColumnVector x0 (n);
+            Matrix v (ldv, n);
+
+            // workspace
+            int liwork_c = n;     // if  JOBX0 = 'X'  and  COMUSE <> 'C'
+            int ldwork_c;
+            int t = nsmp;
    
-        int ldw1_c = 2;
-        int ldw2_c = t*l*(n + 1) + 2*n + max (2*n*n, 4*n);
-        int ldw3_c = n*(n + 1) + 2*n + max (n*l*(n + 1) + 2*n*n + l*n, 4*n);
+            int ldw1_c = 2;
+            int ldw2_c = t*l*(n + 1) + 2*n + max (2*n*n, 4*n);
+            int ldw3_c = n*(n + 1) + 2*n + max (n*l*(n + 1) + 2*n*n + l*n, 4*n);
 
-        ldwork_c = ldw1_c + n*( n + m + l ) + max (5*n, ldw1_c, min (ldw2_c, ldw3_c));
-        
-        OCTAVE_LOCAL_BUFFER (int, iwork_c, liwork_c);
-        OCTAVE_LOCAL_BUFFER (double, dwork_c, ldwork_c);
+            ldwork_c = ldw1_c + n*( n + m + l ) + max (5*n, ldw1_c, min (ldw2_c, ldw3_c));
 
-        // error indicators
-        int iwarn_c = 0;
-        int info_c = 0;
-        
+            OCTAVE_LOCAL_BUFFER (int, iwork_c, liwork_c);
+            OCTAVE_LOCAL_BUFFER (double, dwork_c, ldwork_c);
 
-        // SLICOT routine IB01CD
-        F77_XFCN (ib01cd, IB01CD,
-                 (jobx0, comuse, jobbd,
-                  n, m, l,
-                  nsmp,
-                  a.fortran_vec (), lda,
-                  b.fortran_vec (), ldb,
-                  c.fortran_vec (), ldc,
-                  d.fortran_vec (), ldd,
-                  u.fortran_vec (), ldu,
-                  y.fortran_vec (), ldy,
-                  x0.fortran_vec (),
-                  v.fortran_vec (), ldv,
-                  tol_c,
-                  iwork_c,
-                  dwork_c, ldwork_c,
-                  iwarn_c, info_c));
+            // error indicators
+            int iwarn_c = 0;
+            int info_c = 0;
 
+            // SLICOT routine IB01CD
+            F77_XFCN (ib01cd, IB01CD,
+                     (jobx0, comuse, jobbd,
+                      n, m, l,
+                      nsmp,
+                      a.fortran_vec (), lda,
+                      b.fortran_vec (), ldb,
+                      c.fortran_vec (), ldc,
+                      d.fortran_vec (), ldd,
+                      u.fortran_vec (), ldu,
+                      y.fortran_vec (), ldy,
+                      x0.fortran_vec (),
+                      v.fortran_vec (), ldv,
+                      tol_c,
+                      iwork_c,
+                      dwork_c, ldwork_c,
+                      iwarn_c, info_c));
 
-        if (f77_exception_encountered)
-            error ("ident: exception in SLICOT subroutine IB01CD");
 
-        static const char* err_msg_c[] = {
-            "0: OK",
-            "1: the QR algorithm failed to compute all the "
-                "eigenvalues of the matrix A (see LAPACK Library "
-                "routine DGEES); the locations  DWORK(i),  for "
-                "i = g+1:g+N*N,  contain the partially converged "
-                "Schur form",
-            "2: the singular value decomposition (SVD) algorithm did "
-                "not converge"};
+            if (f77_exception_encountered)
+                error ("ident: exception in SLICOT subroutine IB01CD");
 
-        static const char* warn_msg_c[] = {
-            "0: OK",
-            "1: warning message not specified",
-            "2: warning message not specified",
-            "3: warning message not specified",
-            "4: the least squares problem to be solved has a "
-                "rank-deficient coefficient matrix",
-            "5: warning message not specified",
-            "6: the matrix  A  is unstable;  the estimated  x(0) "
-                "and/or  B and D  could be inaccurate"};
+            static const char* err_msg_c[] = {
+                "0: OK",
+                "1: the QR algorithm failed to compute all the "
+                    "eigenvalues of the matrix A (see LAPACK Library "
+                    "routine DGEES); the locations  DWORK(i),  for "
+                    "i = g+1:g+N*N,  contain the partially converged "
+                    "Schur form",
+                "2: the singular value decomposition (SVD) algorithm did "
+                    "not converge"};
 
+            static const char* warn_msg_c[] = {
+                "0: OK",
+                "1: warning message not specified",
+                "2: warning message not specified",
+                "3: warning message not specified",
+                "4: the least squares problem to be solved has a "
+                    "rank-deficient coefficient matrix",
+                "5: warning message not specified",
+                "6: the matrix  A  is unstable;  the estimated  x(0) "
+                    "and/or  B and D  could be inaccurate"};
 
-        error_msg ("ident: IB01CD", info_c, 2, err_msg_c);
-        warning_msg ("ident: IB01CD", iwarn_c, 6, warn_msg_c);
-*/      
+
+            error_msg ("ident: IB01CD", info_c, 2, err_msg_c);
+            warning_msg ("ident: IB01CD", iwarn_c, 6, warn_msg_c);
+            
+            x0_cell.elem(i) = x0;
+        }
+   
         
         // return values
         retval(0) = a;
@@ -714,8 +730,7 @@
         retval(6) = s;
         retval(7) = k;
         
-        // retval(8) = x0;
-        retval(8) = octave_value (0);
+        retval(8) = x0_cell;
     }
     
     return retval;

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Revision: 10460
          http://octave.svn.sourceforge.net/octave/?rev=10460&view=rev
Author:   paramaniac
Date:     2012-05-18 20:39:56 +0000 (Fri, 18 May 2012)
Log Message:
-----------
control-devel: remove obsolete variables

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/ident.m
    trunk/octave-forge/extra/control-devel/devel/ident_combinations.m
    trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m
    trunk/octave-forge/extra/control-devel/src/slident.cc

Modified: trunk/octave-forge/extra/control-devel/devel/ident.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/ident.m	2012-05-18 20:25:34 UTC (rev 10459)
+++ trunk/octave-forge/extra/control-devel/devel/ident.m	2012-05-18 20:39:56 UTC (rev 10460)
@@ -5,7 +5,6 @@
   %nobr = 15;
   meth = 2; % 2    % geht: meth/alg  1/1, 
   alg = 0; % 0     % geht nicht: meth/alg  0/1
-  batch = 3;
   conct = 1;
   ctrl = 0; %1;
   rcond = 0.0;
@@ -46,7 +45,7 @@
   % nsmp >= 2*(m+l+1)*nobr - 1
   % nobr <= (nsmp+1)/(2*(m+l+1))
 %nobr = 10
-  [a, b, c, d, q, ry, s, k, x0] = slident (dat.y, dat.u, nobr, n, meth, alg, batch, conct, ctrl, rcond, tol);
+  [a, b, c, d, q, ry, s, k, x0] = slident (dat.y, dat.u, nobr, n, meth, alg, conct, ctrl, rcond, tol);
 
   sys = ss (a, b, c, d, dat.tsam{1});
   

Modified: trunk/octave-forge/extra/control-devel/devel/ident_combinations.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/ident_combinations.m	2012-05-18 20:25:34 UTC (rev 10459)
+++ trunk/octave-forge/extra/control-devel/devel/ident_combinations.m	2012-05-18 20:39:56 UTC (rev 10460)
@@ -5,7 +5,6 @@
   %nobr = 15;
 %  meth = 1; % 2    % geht: meth/alg  1/1, 
 %  alg = 2; % 0     % geht nicht: meth/alg  0/1
-  batch = 3;
   conct = 1;
   ctrl = 0; %1;
   rcond = 0.0;
@@ -41,13 +40,12 @@
     ## TODO: specify n for IB01BD
   endif
   
-  %nsmp = ns(1)
-  %nobr = fix ((nsmp+1)/(2*(m+l+1)))
-  % nsmp >= 2*(m+l+1)*nobr - 1
-  % nobr <= (nsmp+1)/(2*(m+l+1))
-%nobr = 10
-  [a, b, c, d, q, ry, s, k, x0] = slident (dat.y{1}, dat.u{1}, nobr, n, meth, alg, batch, conct, ctrl, rcond, tol);
+  [a, b, c, d, q, ry, s, k, x0] = slident (dat.y, dat.u, nobr, n, meth, alg, conct, ctrl, rcond, tol);
 
   sys = ss (a, b, c, d, dat.tsam{1});
+  
+  if (numel (x0) == 1)
+    x0 = x0{1};
+  endif
 
 endfunction

Modified: trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m	2012-05-18 20:25:34 UTC (rev 10459)
+++ trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m	2012-05-18 20:39:56 UTC (rev 10460)
@@ -11,10 +11,7 @@
       error ("ident: invalid method");  # should never happen
   endswitch
 
-%  meth = 2; % 2    % geht: meth/alg  1/1, 
-  alg = 0; % 0     % geht nicht: meth/alg  0/1
-  jobd = 1;
-  batch = 3;
+  alg = 0;
   conct = 1;
   ctrl = 0; %1;
   rcond = 0.0;
@@ -50,8 +47,12 @@
     ## TODO: specify n for IB01BD
   endif
   
-  [a, b, c, d, q, ry, s, k, x0] = slident (dat.y{1}, dat.u{1}, nobr, n, meth, alg, jobd, batch, conct, ctrl, rcond, tol);
+  [a, b, c, d, q, ry, s, k, x0] = slident (dat.y, dat.u, nobr, n, meth, alg, conct, ctrl, rcond, tol);
 
   sys = ss (a, b, c, d, dat.tsam{1});
 
+  if (numel (x0) == 1)
+    x0 = x0{1};
+  endif
+
 endfunction

Modified: trunk/octave-forge/extra/control-devel/src/slident.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident.cc	2012-05-18 20:25:34 UTC (rev 10459)
+++ trunk/octave-forge/extra/control-devel/src/slident.cc	2012-05-18 20:39:56 UTC (rev 10460)
@@ -96,7 +96,7 @@
     int nargin = args.length ();
     octave_value_list retval;
     
-    if (nargin != 11)
+    if (nargin != 10)
     {
         print_usage ();
     }
@@ -117,19 +117,16 @@
         
         const Cell y_cell = args(0).cell_value ();
         const Cell u_cell = args(1).cell_value ();
-        //Matrix y = args(0).matrix_value ();
-        //Matrix u = args(1).matrix_value ();
         int nobr = args(2).int_value ();
         int nuser = args(3).int_value ();
         
         const int imeth = args(4).int_value ();
         const int ialg = args(5).int_value ();
-        // const int ibatch = args(6).int_value (); // löschen
-        const int iconct = args(7).int_value ();
-        const int ictrl = args(8).int_value ();
+        const int iconct = args(6).int_value ();
+        const int ictrl = args(7).int_value ();
         
-        double rcond = args(9).double_value ();
-        double tol_a = args(10).double_value ();
+        double rcond = args(8).double_value ();
+        double tol_a = args(9).double_value ();
 
         double tol_b = rcond;
         double tol_c = rcond;
@@ -244,21 +241,7 @@
                 ldu = nsmp;
 
             int ldy = nsmp;
-/*
-        // arguments out
-        int n;
-        int ldr;
-        
-        if (meth_a == 'M' && jobd == 'M')
-            ldr = max (2*(m+l)*nobr, 3*m*nobr);
-        else if (meth_a == 'N' || (meth_a == 'M' && jobd == 'N'))
-            ldr = 2*(m+l)*nobr;
-        else
-            error ("slib01ad: could not handle 'ldr' case");
-        
-        Matrix r (ldr, 2*(m+l)*nobr);
-        ColumnVector sv (l*nobr);
-*/
+
             // workspace
             int liwork_a;
 
@@ -272,7 +255,6 @@
             // TODO: Handle 'k' for DWORK
 
             int ldwork_a;
-            //int ns = nsmp - 2*nobr + 1;
         
             if (alg == 'C')
             {

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Revision: 10464
          http://octave.svn.sourceforge.net/octave/?rev=10464&view=rev
Author:   paramaniac
Date:     2012-05-19 08:39:04 +0000 (Sat, 19 May 2012)
Log Message:
-----------
control-devel: fix dimension conflict for multi-experiment ARX identification

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/arx.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/DestillationMEarx.m
    trunk/octave-forge/extra/control-devel/devel/LakeErieARX.m

Added: trunk/octave-forge/extra/control-devel/devel/DestillationMEarx.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/DestillationMEarx.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/DestillationMEarx.m	2012-05-19 08:39:04 UTC (rev 10464)
@@ -0,0 +1,92 @@
+%{
+This file describes the data in the destill.dat file.
+1. Contributed by:
+	Peter Van Overschee
+	K.U.Leuven - ESAT - SISTA
+	K. Mercierlaan 94
+	3001 Heverlee
+	Peter.Vanoverschee@...
+2. Process/Description:
+	Data of a simulation (not real !) related to the identification
+   	of an ethane-ethylene destillationcolumn. The series consists of 4
+	series: 
+		U_dest, Y_dest: 	without noise (original series)
+		U_dest_n10, Y_dest_n10:	10 percent additive white noise
+		U_dest_n20, Y_dest_n20: 20 percent additive white noise
+		U_dest_n30, Y_dest_n30:	30 percent additive white noise
+3. Sampling time 
+	15 min.
+4. Number of samples: 
+	90 samples
+5. Inputs:
+	a. ratio between the reboiler duty and the feed flow
+   	b. ratio between the reflux rate and the feed flow
+   	c. ratio between the distillate and the feed flow
+   	d. input ethane composition
+   	e. top pressure
+6. Outputs:
+	a. top ethane composition
+	b. bottom ethylene composition
+   	c. top-bottom differential pressure.
+7. References:
+	R.P. Guidorzi, M.P. Losito, T. Muratori, The range error test in the
+	structural identification of linear multivariable systems,
+   	IEEE transactions on automatic control, Vol AC-27, pp 1044-1054, oct.
+   	1982.
+8. Known properties/peculiarities
+	
+9. Some MATLAB-code to retrieve the data
+	!gunzip destill.dat.Z
+	load destill.dat
+	U=destill(:,1:20);
+	Y=destill(:,21:32);
+	U_dest=U(:,1:5);
+	U_dest_n10=U(:,6:10);
+	U_dest_n20=U(:,11:15);	
+	U_dest_n30=U(:,16:20);
+	Y_dest=Y(:,1:3);
+	Y_dest_n10=Y(:,4:6);
+	Y_dest_n20=Y(:,7:9);
+	Y_dest_n30=Y(:,10:12);
+%}
+
+clear all, close all, clc
+
+% DaISy code is wrong,
+% first column is sample number
+load destill.dat
+U=destill(:,2:21);
+Y=destill(:,22:33);
+U_dest=U(:,1:5);
+U_dest_n10=U(:,6:10);
+U_dest_n20=U(:,11:15);	
+U_dest_n30=U(:,16:20);
+Y_dest=Y(:,1:3);
+Y_dest_n10=Y(:,4:6);
+Y_dest_n20=Y(:,7:9);
+Y_dest_n30=Y(:,10:12);
+
+Y = {Y_dest; Y_dest_n10; Y_dest_n20; Y_dest_n30};
+U = {U_dest; U_dest_n10; U_dest_n20; U_dest_n30};
+
+dat = iddata (Y, U)
+
+[sys, x0] = ident (dat, 5, 4)    % s=5, n=4
+sys2 = arx (dat, 4, 4);
+
+x0=x0{1};
+
+[y, t] = lsim (sys, U_dest, [], x0);
+[y2, t2] = lsim (sys(:, 1:5), U_dest);
+
+% ARX has no initial conditions, therefore the bad results
+
+err = norm (Y_dest - y, 1) / norm (Y_dest, 1)
+err2 = norm (Y_dest - y2, 1) / norm (Y_dest, 1)
+
+figure (1)
+%plot (t, Y_dest, 'b')
+plot (t, Y_dest, t, y, t, y2)
+legend ('y measured', 'y MOEN4', 'y ARX', 'location', 'southeast')
+
+

Added: trunk/octave-forge/extra/control-devel/devel/LakeErieARX.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/LakeErieARX.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/LakeErieARX.m	2012-05-19 08:39:04 UTC (rev 10464)
@@ -0,0 +1,100 @@
+%{
+This file describes the data in the erie.dat file.
+1. Contributed by:
+	Peter Van Overschee
+	K.U.Leuven - ESAT - SISTA
+	K. Mercierlaan 94
+	3001 Heverlee
+	Peter.Vanoverschee@...
+2. Process/Description:
+	Data of a simulation (not real !) related to the related to the
+	identification of the western basin of Lake Erie. The series consists 
+	of 4 series: 
+		U_erie, Y_erie: 	without noise (original series)
+		U_erie_n10, Y_erie_n10:	10 percent additive white noise
+		U_erie_n20, Y_erie_n20: 20 percent additive white noise
+		U_erie_n30, Y_erie_n30:	30 percent additive white noise
+3. Sampling time 
+	1 month
+4. Number of samples: 
+	57 samples
+5. Inputs:
+	a. water temperature
+   	b. water conductivity
+   	c. water alkalinity
+   	d. NO3
+   	e. total hardness
+6. Outputs:
+	a. dissolved oxigen
+   	b. algae
+7. References:
+	R.P. Guidorzi, M.P. Losito, T. Muratori, On the last eigenvalue
+   	test in the structural identification of linear multivariable
+   	systems, Proceedings of the V European meeting on cybernetics and
+   	systems research, Vienna, april 1980.
+8. Known properties/peculiarities
+	The considered period runs from march 1968 till november 1972.
+9. Some MATLAB-code to retrieve the data
+	!guzip erie.dat.Z
+	load erie.dat
+	U=erie(:,1:20);
+	Y=erie(:,21:28);
+	U_erie=U(:,1:5);
+	U_erie_n10=U(:,6:10);
+	U_erie_n20=U(:,11:15);	
+	U_erie_n30=U(:,16:20);
+	Y_erie=Y(:,1:2);
+	Y_erie_n10=Y(:,3:4);
+	Y_erie_n20=Y(:,5:6);
+	Y_erie_n30=Y(:,7:8);
+%}
+
+clear all, close all, clc
+
+% DaISy code is wrong,
+% first column is sample number
+load erie.dat
+U=erie(:,2:21);
+Y=erie(:,22:29);
+U_erie=U(:,1:5);
+U_erie_n10=U(:,6:10);
+U_erie_n20=U(:,11:15);	
+U_erie_n30=U(:,16:20);
+Y_erie=Y(:,1:2);
+Y_erie_n10=Y(:,3:4);
+Y_erie_n20=Y(:,5:6);
+Y_erie_n30=Y(:,7:8);
+
+Y = {Y_erie; Y_erie_n10; Y_erie_n20; Y_erie_n30};
+U = {U_erie; U_erie_n10; U_erie_n20; U_erie_n30};
+
+dat = iddata (Y, U, [], 'inname', {'a. water temperature';
+   	                               'b. water conductivity';
+   	                               'c. water alkalinity';
+   	                               'd. NO3';
+   	                               'e. total hardness'}, \
+   	                   'outname', {'a. dissolved oxygen';
+   	                               'b. algae'})
+
+[sys, x0] = ident (dat, 5, 4)    % s=5, n=4
+sys2 = arx (dat, 4, 4)
+
+x0=x0{1};
+
+[y, t] = lsim (sys, U_erie, [], x0);
+[y2, t2] = lsim (sys2(:, 1:5), U_erie);
+
+err = norm (Y_erie - y, 1) / norm (Y_erie, 1)
+err2 = norm (Y_erie - y2, 1) / norm (Y_erie, 1)
+
+
+figure (1)
+p = columns (Y_erie);
+for k = 1 : p
+  subplot (2, 1, k)
+  plot (t, Y_erie(:,k), t, y(:,k), t, y2(:,k))
+endfor
+
+legend ('y measured', 'y MOEN4', 'y ARX', 'location', 'southeast')
+
+

Modified: trunk/octave-forge/extra/control-devel/inst/arx.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/arx.m	2012-05-18 21:59:47 UTC (rev 10463)
+++ trunk/octave-forge/extra/control-devel/inst/arx.m	2012-05-19 08:39:04 UTC (rev 10464)
@@ -76,7 +76,7 @@
   den = cell (p, m+1);
   
   for i = 1 : p     # for every output
-    Phi = cell (1, ex);
+    Phi = cell (ex, 1);
     for e = 1 : ex      # for every experiment  
       ## avoid warning: toeplitz: column wins anti-diagonal conflict
       ## therefore set first row element equal to y(1)
@@ -123,7 +123,7 @@
     tmp = cellfun (@(Phi) Phi.' * Phi, phi, "uniformoutput", false);
     rc = cellfun (@rcond, tmp); # C auch noch testen? QR oder SVD?
     C = plus (tmp{:});
-    
+
     ## PhiTY = (Phi1' Y1 + Phi2' Y2 + ...)
     tmp = cellfun (@(Phi, Y) Phi.' * Y(n(i)+1:end, i), phi, y, "uniformoutput", false);
     PhiTY = plus (tmp{:});

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Revision: 10473
          http://octave.svn.sourceforge.net/octave/?rev=10473&view=rev
Author:   paramaniac
Date:     2012-05-21 13:03:02 +0000 (Mon, 21 May 2012)
Log Message:
-----------
control-devel: work on identification user functions

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/CDplayer.m
    trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m
    trunk/octave-forge/extra/control-devel/devel/pH.m
    trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m

Modified: trunk/octave-forge/extra/control-devel/devel/CDplayer.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/CDplayer.m	2012-05-21 09:45:39 UTC (rev 10472)
+++ trunk/octave-forge/extra/control-devel/devel/CDplayer.m	2012-05-21 13:03:02 UTC (rev 10473)
@@ -50,7 +50,7 @@
 
 dat = iddata (Y, U)
 
-[sys, x0] = ident (dat, 15, 8)     % s=15, n=8
+[sys, x0] = moen4 (dat, 8)     % s=15, n=8
 
 
 [y, t] = lsim (sys, U, [], x0);

Modified: trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m	2012-05-21 09:45:39 UTC (rev 10472)
+++ trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m	2012-05-21 13:03:02 UTC (rev 10473)
@@ -48,7 +48,7 @@
 
 dat = iddata (Y, U)
 
-[sys, x0] = ident (dat, 10, 5)     % s=10, n=5
+[sys, x0] = moen4 (dat, 5)     % s=10, n=5
 
 
 [y, t] = lsim (sys, U, [], x0);

Modified: trunk/octave-forge/extra/control-devel/devel/pH.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/pH.m	2012-05-21 09:45:39 UTC (rev 10472)
+++ trunk/octave-forge/extra/control-devel/devel/pH.m	2012-05-21 13:03:02 UTC (rev 10473)
@@ -51,7 +51,7 @@
 
 dat = iddata (Y, U)
 
-[sys, x0] = ident (dat, 15, 6)     % s=15, n=6
+[sys, x0] = moen4 (dat, 6)     % s=15, n=6
 
 
 [y, t] = lsim (sys, U, [], x0);

Modified: trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m	2012-05-21 09:45:39 UTC (rev 10472)
+++ trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m	2012-05-21 13:03:02 UTC (rev 10473)
@@ -1,4 +1,4 @@
-function [sys, x0] = __slicot_identification__ (method, dat, s = [], n = [])
+function [sys, x0] = __slicot_identification__ (method, dat, n = [])
 
   switch (method)
     case "moesp"
@@ -15,14 +15,25 @@
     error ("%s: first argument must be an 'iddata' dataset", method);
   endif
 
+  ## default arguments
   alg = 0;
-  conct = 1;
-  ctrl = 0; %1;
+  conct = 1;    # no connection between experiments
+  ctrl = 1;     # don't confirm order n
   rcond = 0.0;
   tol = -1.0; % 0;
   
   [ns, l, m, e] = size (dat);
   
+  s = min (2*n, n+10);                  # upper bound for n
+  nsmp = sum (ns);                      # total number of samples
+  nobr = fix ((nsmp+1)/(2*(m+l+1)));
+  if (e > 1)
+    nobr = min (nobr, fix (min (ns) / 2));
+  endif
+  nobr = min (nobr, s)
+
+%{
+  
   if (isempty (s) && isempty (n))
     nsmp = ns(1);
     nobr = fix ((nsmp+1)/(2*(m+l+1)));
@@ -50,6 +61,7 @@
     ctrl = 1;
     ## TODO: specify n for IB01BD
   endif
+%}
   
   [a, b, c, d, q, ry, s, k, x0] = slident (dat.y, dat.u, nobr, n, meth, alg, conct, ctrl, rcond, tol);
 

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Revision: 10475
          http://octave.svn.sourceforge.net/octave/?rev=10475&view=rev
Author:   paramaniac
Date:     2012-05-21 15:16:30 +0000 (Mon, 21 May 2012)
Log Message:
-----------
control-devel: handle properties for identification backend

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/PowerPlant.m
    trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m

Modified: trunk/octave-forge/extra/control-devel/devel/PowerPlant.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/PowerPlant.m	2012-05-21 13:40:38 UTC (rev 10474)
+++ trunk/octave-forge/extra/control-devel/devel/PowerPlant.m	2012-05-21 15:16:30 UTC (rev 10475)
@@ -65,7 +65,7 @@
 
 dat = iddata (Y, U, tsam, 'outname', outname, 'inname', inname)
 
-[sys, x0] = ident (dat, 10, 8)     % s=10, n=8
+[sys, x0] = moen4 (dat, 's', 10, 'n', 8)     % s=10, n=8
 
 
 [y, t] = lsim (sys, U, [], x0);

Modified: trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m	2012-05-21 13:40:38 UTC (rev 10474)
+++ trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m	2012-05-21 15:16:30 UTC (rev 10475)
@@ -61,8 +61,8 @@
   
   ## default arguments
   alg = 0;
-  conct = 1;    # no connection between experiments
-  ctrl = 1;     # don't confirm order n
+  conct = 1;                            # no connection between experiments
+  ctrl = 1;                             # don't confirm order n
   rcond = 0.0;
   tol = -1.0; % 0;
   s = [];
@@ -89,49 +89,36 @@
     endswitch
   endfor
   
-    
-  
-  s = min (2*n, n+10);                  # upper bound for n
+
+  ## handle s/nobr and n
   nsmp = sum (ns);                      # total number of samples
   nobr = fix ((nsmp+1)/(2*(m+l+1)));
   if (e > 1)
     nobr = min (nobr, fix (min (ns) / 2));
   endif
-  nobr = min (nobr, s)
-
-%{
   
   if (isempty (s) && isempty (n))
-    nsmp = ns(1);
-    nobr = fix ((nsmp+1)/(2*(m+l+1)));
-    ctrl = 0;  # confirm system order estimate
+    ctrl = 0;                           # confirm system order estimate
     n = 0;
-    % nsmp >= 2*(m+l+1)*nobr - 1
-    % nobr <= (nsmp+1)/(2*(m+l+1))
   elseif (isempty (s))
-    s = min (2*n, n+10);
-    nsmp = ns(1);
-    nobr = fix ((nsmp+1)/(2*(m+l+1)));
+    s = min (2*n, n+10);                # upper bound for n
     nobr = min (nobr, s);
-    ctrl = 1;  # no confirmation
   elseif (isempty (n))
-    nobr = s;
-    ctrl = 0;  # confirm system order estimate
+    nobr = __check_s__ (s, nobr, method);
+    ctrl = 0;                           # confirm system order estimate
     n = 0;
-  else         # s & n non-empty
-    nsmp = ns(1);
-    nobr = fix ((nsmp+1)/(2*(m+l+1)));
-    if (s > nobr)
-      error ("ident: s > nobr");
+  else                                  # s & n non-empty
+    nobr = __check_s__ (s, nobr, method);
+    if (n >= nobr)
+      error ("%s: n=%d, but require n < %d (s)", method, n, nobr);
     endif
-    nobr = s;
-    ctrl = 1;
-    ## TODO: specify n for IB01BD
   endif
-%}
+
   
+  ## perform system identification
   [a, b, c, d, q, ry, s, k, x0] = slident (dat.y, dat.u, nobr, n, meth, alg, conct, ctrl, rcond, tol);
 
+  ## assemble model
   sys = ss (a, b, c, d, dat.tsam{1});
 
   if (numel (x0) == 1)
@@ -139,3 +126,14 @@
   endif
 
 endfunction
+
+
+function nobr = __check_s__ (s, nobr, method)
+
+  if (s <= nobr)
+    nobr = s;
+  else
+    error ("%s: require upper bound s <= %d, but the requested s is %d", method, nobr, s);
+  endif
+
+endfunction

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Revision: 10480
          http://octave.svn.sourceforge.net/octave/?rev=10480&view=rev
Author:   paramaniac
Date:     2012-05-21 17:32:29 +0000 (Mon, 21 May 2012)
Log Message:
-----------
control-devel: touch up manual

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/DESCRIPTION
    trunk/octave-forge/extra/control-devel/INDEX
    trunk/octave-forge/extra/control-devel/devel/pdfdoc/control-devel.tex

Modified: trunk/octave-forge/extra/control-devel/DESCRIPTION
===================================================================
--- trunk/octave-forge/extra/control-devel/DESCRIPTION	2012-05-21 16:11:14 UTC (rev 10479)
+++ trunk/octave-forge/extra/control-devel/DESCRIPTION	2012-05-21 17:32:29 UTC (rev 10480)
@@ -1,6 +1,6 @@
 Name: Control-Devel
-Version: 0.1.51
-Date: 2012-02-28
+Version: 0.2.0
+Date: 2012-05-21
 Author: Lukas Reichlin <lukas.reichlin@...>
 Maintainer: Lukas Reichlin <lukas.reichlin@...>
 Title: Control Systems Developer's Playground

Modified: trunk/octave-forge/extra/control-devel/INDEX
===================================================================
--- trunk/octave-forge/extra/control-devel/INDEX	2012-05-21 16:11:14 UTC (rev 10479)
+++ trunk/octave-forge/extra/control-devel/INDEX	2012-05-21 17:32:29 UTC (rev 10480)
@@ -5,15 +5,25 @@
   @iddata/cat
   @iddata/detrend
   @iddata/diff
+  @iddata/fft
   @iddata/get
   @iddata/horzcat
+  @iddata/ifft
   @iddata/merge
   @iddata/plot
   @iddata/set
   @iddata/size
   @iddata/vertcat
 System Identification
+  arx
   fitfrd
+  moen4
   moesp
   n4sid
-
+Overloaded Operators
+  @iddata/horzcat
+  @iddata/subsasgn
+  @iddata/subsref
+  @iddata/vertcat
+Miscellaneous
+  test_devel
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/devel/pdfdoc/control-devel.tex
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/pdfdoc/control-devel.tex	2012-05-21 16:11:14 UTC (rev 10479)
+++ trunk/octave-forge/extra/control-devel/devel/pdfdoc/control-devel.tex	2012-05-21 17:32:29 UTC (rev 10480)
@@ -1,13 +1,34 @@
 \input texinfo   @c -*-texinfo-*-
 @c %**start of header
-@... control.info
+@setfilename control-devel.info
 @settitle Octave Control Systems Package
 @afourpaper
-@... VERSION 0.1.50
+@set VERSION 0.2.0
 @finalout
 @c @afourwide
 @c %**end of header
 
+
+@c The following macro is used for the on-line help system, but we don't
+@c want lots of `See also: foo, bar, and baz' strings cluttering the
+@c printed manual (that information should be in the supporting text for
+@c each group of functions and variables).
+
+@macro seealso {args}
+@iftex
+@vskip 2pt
+@end iftex
+@ifnottex
+@c Texinfo @sp should work but in practice produces ugly results for HTML.
+@c A simple blank line produces the correct behavior. 
+@c @sp 1
+
+@end ifnottex
+@noindent
+@strong{See also:} \args\.
+@end macro
+
+
 @c %*** Start of TITLEPAGE
 @titlepage
 @title control-devel @value{VERSION}

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

Revision: 10489
          http://octave.svn.sourceforge.net/octave/?rev=10489&view=rev
Author:   paramaniac
Date:     2012-05-22 08:10:02 +0000 (Tue, 22 May 2012)
Log Message:
-----------
control-devel: compute initial state vector for arx models (in state-space, of course)

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/DestillationMEarx.m
    trunk/octave-forge/extra/control-devel/devel/HeatingSystem.m
    trunk/octave-forge/extra/control-devel/devel/LakeErieARX.m
    trunk/octave-forge/extra/control-devel/inst/arx.m
    trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/src/slib01cd.cc

Modified: trunk/octave-forge/extra/control-devel/devel/DestillationMEarx.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/DestillationMEarx.m	2012-05-22 06:31:46 UTC (rev 10488)
+++ trunk/octave-forge/extra/control-devel/devel/DestillationMEarx.m	2012-05-22 08:10:02 UTC (rev 10489)
@@ -71,14 +71,18 @@
 
 dat = iddata (Y, U)
 
-[sys, x0] = ident (dat, 5, 4)    % s=5, n=4
+[sys, x0] = moen4 (dat, 's', 5, 'n', 4)    % s=5, n=4
 sys2 = arx (dat, 4, 4);
+[sys2, x02] = arx (dat, 4, 4);
 
 x0=x0{1};
+x02=x02{1};
 
 [y, t] = lsim (sys, U_dest, [], x0);
-[y2, t2] = lsim (sys(:, 1:5), U_dest);
+%[y2, t2] = lsim (sys2(:, 1:5), U_dest);
+[y2, t2] = lsim (sys2, U_dest, [], x02);
 
+
 % ARX has no initial conditions, therefore the bad results
 
 err = norm (Y_dest - y, 1) / norm (Y_dest, 1)

Modified: trunk/octave-forge/extra/control-devel/devel/HeatingSystem.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/HeatingSystem.m	2012-05-22 06:31:46 UTC (rev 10488)
+++ trunk/octave-forge/extra/control-devel/devel/HeatingSystem.m	2012-05-22 08:10:02 UTC (rev 10489)
@@ -76,11 +76,14 @@
 
 % s=15, n=7
 [sys1, x0] = moen4 (dat, 's', 15, 'n', 7)
-sys2 = arx (dat, 7, 7)       % normally na = nb
+%sys2 = arx (dat, 7, 7)       % normally na = nb
+[sys2, x02] = arx (dat, 7, 7);
 
 [y1, t1] = lsim (sys1, U, [], x0);
-[y2, t] = lsim (sys2(:, 1), U);
+%[y2, t] = lsim (sys2(:, 1), U);
+[y2, t] = lsim (sys2, U, [], x02);
 
+
 err1 = norm (Y - y1, 1) / norm (Y, 1)
 err2 = norm (Y - y2, 1) / norm (Y, 1)
 

Modified: trunk/octave-forge/extra/control-devel/devel/LakeErieARX.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/LakeErieARX.m	2012-05-22 06:31:46 UTC (rev 10488)
+++ trunk/octave-forge/extra/control-devel/devel/LakeErieARX.m	2012-05-22 08:10:02 UTC (rev 10489)
@@ -76,14 +76,18 @@
    	                   'outname', {'a. dissolved oxygen';
    	                               'b. algae'})
 
-[sys, x0] = ident (dat, 5, 4)    % s=5, n=4
-sys2 = arx (dat, 4, 4)
+[sys, x0] = moen4 (dat, 's', 5, 'n', 4)    % s=5, n=4
+% sys2 = arx (dat, 4, 4)
+[sys2, x02] = arx (dat, 4, 4)
 
 x0=x0{1};
+x02=x02{1};
 
 [y, t] = lsim (sys, U_erie, [], x0);
-[y2, t2] = lsim (sys2(:, 1:5), U_erie);
+% [y2, t2] = lsim (sys2(:, 1:5), U_erie);
+[y2, t2] = lsim (sys2, U_erie, [], x02);
 
+
 err = norm (Y_erie - y, 1) / norm (Y_erie, 1)
 err2 = norm (Y_erie - y2, 1) / norm (Y_erie, 1)
 

Modified: trunk/octave-forge/extra/control-devel/inst/arx.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/arx.m	2012-05-22 06:31:46 UTC (rev 10488)
+++ trunk/octave-forge/extra/control-devel/inst/arx.m	2012-05-22 08:10:02 UTC (rev 10489)
@@ -24,7 +24,7 @@
 ## Created: April 2012
 ## Version: 0.1
 
-function sys = arx (dat, na, nb)
+function [sys, varargout] = arx (dat, na, nb)
 
   ## TODO: delays
 
@@ -101,6 +101,17 @@
   ## the corresponding transfer function has common row denominators.
 
   sys = filt (num, den, tsam);
+  
+  if (nargout > 1)
+    sys = prescale (ss (sys(:,1:m)));
+    x0 = slib01cd (Y, U, sys.a, sys.b, sys.c, sys.d, 0.0)
+    ## return x0 as vector for single-experiment data
+    ## instead of a cell containing one vector
+    if (numel (x0) == 1)
+      x0 = x0{1};
+    endif
+    varargout{1} = x0;
+  endif
 
 endfunction
 

Modified: trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc	2012-05-22 06:31:46 UTC (rev 10488)
+++ trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc	2012-05-22 08:10:02 UTC (rev 10489)
@@ -1,6 +1,7 @@
-// #include "slib01ad.cc"  // preprocess the input-output data
-#include "slident.cc"   // system identification
-#include "slitest.cc"   // debug system identification
+// #include "slib01ad.cc"   // preprocess the input-output data
+#include "slident.cc"       // system identification
+#include "slib01cd.cc"      // compute initial state vector
+// #include "slitest.cc"    // debug system identification
 #include "slident_a.cc"
 #include "slident_b.cc"
 #include "slident_c.cc"
\ No newline at end of file

Added: trunk/octave-forge/extra/control-devel/src/slib01cd.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slib01cd.cc	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/src/slib01cd.cc	2012-05-22 08:10:02 UTC (rev 10489)
@@ -0,0 +1,200 @@
+/*
+
+Copyright (C) 2012   Lukas F. Reichlin
+
+This file is part of LTI Syncope.
+
+LTI Syncope is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+LTI Syncope is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+Compute initial state vector x0
+Uses IB01CD by courtesy of NICONET e.V.
+<http://www.slicot.org>
+
+Author: Lukas Reichlin <lukas.reichlin@...>
+Created: May 2012
+Version: 0.1
+
+*/
+
+#include <octave/oct.h>
+#include <octave/f77-fcn.h>
+#include <octave/Cell.h>
+#include "common.h"
+
+extern "C"
+{ 
+    int F77_FUNC (ib01cd, IB01CD)
+                 (char& JOBX0, char& COMUSE, char& JOB,
+                  int& N, int& M, int& L,
+                  int& NSMP,
+                  double* A, int& LDA,
+                  double* B, int& LDB,
+                  double* C, int& LDC,
+                  double* D, int& LDD,
+                  double* U, int& LDU,
+                  double* Y, int& LDY,
+                  double* X0,
+                  double* V, int& LDV,
+                  double& TOL,
+                  int* IWORK,
+                  double* DWORK, int& LDWORK,
+                  int& IWARN, int& INFO);
+}
+
+// PKG_ADD: autoload ("slib01cd", "devel_slicot_functions.oct");
+DEFUN_DLD (slib01cd, args, nargout,
+   "-*- texinfo -*-\n\
+Slicot IB01CD Release 5.0\n\
+No argument checking.\n\
+For internal use only.")
+{
+    int nargin = args.length ();
+    octave_value_list retval;
+    
+    if (nargin != 7)
+    {
+        print_usage ();
+    }
+    else
+    {
+        // arguments in
+        char jobx0 = 'X';
+        char comuse = 'U';
+        char jobbd = 'D';
+
+        const Cell y_cell = args(0).cell_value ();
+        const Cell u_cell = args(1).cell_value ();
+        
+        Matrix a = args(2).matrix_value ();
+        Matrix b = args(3).matrix_value ();
+        Matrix c = args(4).matrix_value ();
+        Matrix d = args(5).matrix_value ();
+        
+        double rcond = args(6).double_value ();
+        double tol_c = rcond;
+        
+        int n = a.rows ();      // n: number of states
+        int m = b.columns ();   // m: number of inputs
+        int l = c.rows ();      // l: number of outputs
+        
+        int lda = max (1, n);
+        int ldb = max (1, n);
+        int ldc = max (1, l);
+        int ldd = max (1, l);
+
+        // m and l are equal for all experiments, checked by iddata class
+        int n_exp = y_cell.nelem ();            // number of experiments
+
+
+        // arguments out
+        Cell x0_cell (n_exp, 1);    // cell of initial state vectors x0
+
+        // repeat for every experiment in the dataset
+        // compute individual initial state vector x0 for every experiment        
+        for (int i = 0; i < n_exp; i++)
+        {
+            Matrix y = y_cell.elem(i).matrix_value ();
+            Matrix u = u_cell.elem(i).matrix_value ();
+            
+            int nsmp = y.rows ();   // nsmp: number of samples
+            int ldv = max (1, n);
+            
+            int ldu;
+        
+            if (m == 0)
+                ldu = 1;
+            else                    // m > 0
+                ldu = nsmp;
+
+            int ldy = nsmp;
+
+            // arguments out
+            ColumnVector x0 (n);
+            Matrix v (ldv, n);
+
+            // workspace
+            int liwork_c = n;     // if  JOBX0 = 'X'  and  COMUSE <> 'C'
+            int ldwork_c;
+            int t = nsmp;
+   
+            int ldw1_c = 2;
+            int ldw2_c = t*l*(n + 1) + 2*n + max (2*n*n, 4*n);
+            int ldw3_c = n*(n + 1) + 2*n + max (n*l*(n + 1) + 2*n*n + l*n, 4*n);
+
+            ldwork_c = ldw1_c + n*( n + m + l ) + max (5*n, ldw1_c, min (ldw2_c, ldw3_c));
+
+            OCTAVE_LOCAL_BUFFER (int, iwork_c, liwork_c);
+            OCTAVE_LOCAL_BUFFER (double, dwork_c, ldwork_c);
+
+            // error indicators
+            int iwarn_c = 0;
+            int info_c = 0;
+
+            // SLICOT routine IB01CD
+            F77_XFCN (ib01cd, IB01CD,
+                     (jobx0, comuse, jobbd,
+                      n, m, l,
+                      nsmp,
+                      a.fortran_vec (), lda,
+                      b.fortran_vec (), ldb,
+                      c.fortran_vec (), ldc,
+                      d.fortran_vec (), ldd,
+                      u.fortran_vec (), ldu,
+                      y.fortran_vec (), ldy,
+                      x0.fortran_vec (),
+                      v.fortran_vec (), ldv,
+                      tol_c,
+                      iwork_c,
+                      dwork_c, ldwork_c,
+                      iwarn_c, info_c));
+
+
+            if (f77_exception_encountered)
+                error ("slib01cd: exception in SLICOT subroutine IB01CD");
+
+            static const char* err_msg_c[] = {
+                "0: OK",
+                "1: the QR algorithm failed to compute all the "
+                    "eigenvalues of the matrix A (see LAPACK Library "
+                    "routine DGEES); the locations  DWORK(i),  for "
+                    "i = g+1:g+N*N,  contain the partially converged "
+                    "Schur form",
+                "2: the singular value decomposition (SVD) algorithm did "
+                    "not converge"};
+
+            static const char* warn_msg_c[] = {
+                "0: OK",
+                "1: warning message not specified",
+                "2: warning message not specified",
+                "3: warning message not specified",
+                "4: the least squares problem to be solved has a "
+                    "rank-deficient coefficient matrix",
+                "5: warning message not specified",
+                "6: the matrix  A  is unstable;  the estimated  x(0) "
+                    "and/or  B and D  could be inaccurate"};
+
+
+            error_msg ("slib01cd", info_c, 2, err_msg_c);
+            warning_msg ("slib01cd", iwarn_c, 6, warn_msg_c);
+            
+            x0_cell.elem(i) = x0;       // add x0 from the current experiment to cell of initial state vectors
+        }
+   
+        
+        // return values
+        retval(0) = x0_cell;
+    }
+    
+    return retval;
+}

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

Revision: 10506
          http://octave.svn.sourceforge.net/octave/?rev=10506&view=rev
Author:   paramaniac
Date:     2012-05-23 17:31:49 +0000 (Wed, 23 May 2012)
Log Message:
-----------
control-devel: remove some cruft

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc

Removed Paths:
-------------
    trunk/octave-forge/extra/control-devel/devel/GlassFurnace_a.m
    trunk/octave-forge/extra/control-devel/devel/PowerPlantTest.m
    trunk/octave-forge/extra/control-devel/devel/data_ib01ad.m
    trunk/octave-forge/extra/control-devel/devel/ident.m
    trunk/octave-forge/extra/control-devel/devel/ident_a.m
    trunk/octave-forge/extra/control-devel/devel/identtest.m
    trunk/octave-forge/extra/control-devel/devel/overview.txt
    trunk/octave-forge/extra/control-devel/devel/test_slident.m
    trunk/octave-forge/extra/control-devel/src/slib01ad.cc
    trunk/octave-forge/extra/control-devel/src/slib01bd.cc
    trunk/octave-forge/extra/control-devel/src/slitest.cc

Deleted: trunk/octave-forge/extra/control-devel/devel/GlassFurnace_a.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/GlassFurnace_a.m	2012-05-23 14:20:14 UTC (rev 10505)
+++ trunk/octave-forge/extra/control-devel/devel/GlassFurnace_a.m	2012-05-23 17:31:49 UTC (rev 10506)
@@ -1,66 +0,0 @@
-%{
-This file describes the data in the glassfurnace.dat file.
-1. Contributed by:
-	Peter Van Overschee
-	K.U.Leuven - ESAT - SISTA
-	K. Mercierlaan 94
-	3001 Heverlee
-	Peter.Vanoverschee@...
-2. Process/Description:
-	Data of a glassfurnace (Philips)
-3. Sampling time 
-	
-4. Number of samples: 
-	1247 samples
-5. Inputs:
-	a. heating input
-   	b. cooling input
-   	c. heating input
-6. Outputs:
-	a. 6 outputs from temperature sensors in a cross section of the 
-	furnace
-7. References:
-	a. Van Overschee P., De Moor B., N4SID : Subspace Algorithms for 
-	the Identification of Combined Deterministic-Stochastic Systems, 
-	Automatica, Special Issue on Statistical Signal Processing and Control, 
-	Vol. 30, No. 1, 1994, pp. 75-93
-	b.  Van Overschee P., "Subspace identification : Theory, 
-	Implementation, Application" , Ph.D. Thesis, K.U.Leuven, February 1995. 
-8. Known properties/peculiarities
-	
-9. Some MATLAB-code to retrieve the data
-	!gunzip glassfurnace.dat.Z
-	load glassfurnace.dat
-      T=glassfurnace(:,1);
-	U=glassfurnace(:,2:4);
-	Y=glassfurnace(:,5:10);
-
-%}
-
- close all, clc
-
-load glassfurnace.dat
-T=glassfurnace(:,1);
-U=glassfurnace(:,2:4);
-Y=glassfurnace(:,5:10);
-
-
-dat = iddata (Y, U)
-
-[sys, x0] = ident_a (dat, 10, 5)     % s=10, n=5
-
-
-[y, t] = lsim (sys, U, [], x0);
-
-err = norm (Y - y, 1) / norm (Y, 1)
-
-figure (1)
-p = columns (Y);
-for k = 1 : p
-  subplot (3, 2, k)
-  plot (t, Y(:,k), 'b', t, y(:,k), 'r')
-endfor
-%title ('DaISy: Glass Furnace')
-%legend ('y measured', 'y simulated', 'location', 'southeast')
-
-

Deleted: trunk/octave-forge/extra/control-devel/devel/PowerPlantTest.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/PowerPlantTest.m	2012-05-23 14:20:14 UTC (rev 10505)
+++ trunk/octave-forge/extra/control-devel/devel/PowerPlantTest.m	2012-05-23 17:31:49 UTC (rev 10506)
@@ -1,87 +0,0 @@
-%{
-This file describes the data in the powerplant.dat file.
-1. Contributed by:
-	Peter Van Overschee
-	K.U.Leuven - ESAT - SISTA
-	K. Mercierlaan 94
-	3001 Heverlee
-	Peter.Vanoverschee@...
-2. Process/Description:
-	data of a power plant (Pont-sur-Sambre (France)) of 120 MW
-3. Sampling time 
-	1228.8 sec
-4. Number of samples: 
-	200 samples
-5. Inputs:
-	1. gas flow
-   	2. turbine valves opening
-   	3. super heater spray flow
-   	4. gas dampers
-   	5. air flow
-6. Outputs:
-	1. steam pressure
-   	2. main stem temperature
-   	3. reheat steam temperature
-7. References:
-	a. R.P. Guidorzi, P. Rossi, Identification of a power plant from normal
-   	operating records. Automatic control theory and applications (Canada,
-   	Vol 2, pp 63-67, sept 1974.
-	b. Moonen M., De Moor B., Vandenberghe L., Vandewalle J., On- and
-	off-line identification of linear state-space models, International
-	Journal of Control, Vol. 49, Jan. 1989, pp.219-232
-8. Known properties/peculiarities
-	
-9. Some MATLAB-code to retrieve the data
-	!gunzip powerplant.dat.Z
-	load powerplant.dat
-	U=powerplant(:,1:5);
-	Y=powerplant(:,6:8);
-	Yr=powerplant(:,9:11);
-
-%}
-
-clear all, close all, clc
-
-load powerplant.dat
-U=powerplant(:,1:5);
-Y=powerplant(:,6:8);
-Yr=powerplant(:,9:11);
-
-inname = {'gas flow',
-          'turbine valves opening',
-          'super heater spray flow',
-          'gas dampers',
-          'air flow'};
-
-outname = {'steam pressure',
-           'main steam temperature',
-           'reheat steam temperature'};
-           
-tsam = 1228.8;
-
-dat = iddata (Y, U, tsam, 'outname', outname, 'inname', inname);
-
-
-% ldwork = [401, 802, 1203, 1604]
-% warning: implicit conversion from real matrix to real scalar
-
-% ldwork = [802, 1203, 1604, 3000, 1e4, 1e5]
-ldwork = [30000, 60000, 90000, 120000, 150000, 300000]
-% ldwork = [60000, 90000, 120000, 150000, 300000, 600000]
-
-
-r = arrayfun (@(x) identtest (dat, 10, 8, x), ldwork, 'uniformoutput', false);
-
-     % s=10, n=8
-
-l = length (ldwork);
-
-err = cell (l-1, 1);
-
-for k = 2 : l
-  err(k-1) = norm (abs(r{1}) - abs(r{k}), 1);
-  % err(k-1) = norm (r{1} - r{k}, 1);
-  % err(k-1) = norm (abs(abs(r{1}) - abs(r{k})), 1);
-endfor
-
-err

Deleted: trunk/octave-forge/extra/control-devel/devel/data_ib01ad.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/data_ib01ad.m	2012-05-23 14:20:14 UTC (rev 10505)
+++ trunk/octave-forge/extra/control-devel/devel/data_ib01ad.m	2012-05-23 17:31:49 UTC (rev 10506)
@@ -1,2040 +0,0 @@
-% IB01AD EXAMPLE PROGRAM DATA
-%  15     0     1     1  1000    0.0   -1.0     M     C     N     O     N     N
-%  nobr,  n,    m,    l, nsmp,   rcond, tol,    meth, alg,  jobd, batch,conct,ctrl
-
-
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-   5.518239
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-   4.739239
-   4.458409
-   4.426669
-   4.602489
-   4.822269
-   5.183689
-   5.430329
-   5.652549
-   5.821049
-   5.706269
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-   5.027399
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-   4.372939
-   4.683079
-];
-
-dat = iddata (Y, U)
-
-% IB01AD EXAMPLE PROGRAM DATA
-%  15     0     1     1  1000    0.0   -1.0     M     C     N     O     N     N
-%  nobr,  n,    m,    l, nsmp,   rcond, tol,    meth, alg,  jobd, batch,conct,ctrl
-
-nobr = 15;
-meth = 0;
-alg = 0;
-jobd = 1;
-batch = 3;
-conct = 1;
-ctrl = 1;
-rcond = 0.0;
-tol = -1.0;
-
-[n, r, sv] = slib01ad (Y, U, nobr, meth, alg, jobd, batch, conct, ctrl, rcond, tol);
-
-n
-sv
-
-%{
- IB01AD EXAMPLE PROGRAM RESULTS
-
- The order of the system is     4
- The singular values are 
-  69.8841  14.9963   3.6675   1.9677   0.3000   0.2078   0.1651   0.1373
-   0.1133   0.1059   0.0856   0.0784   0.0733   0.0678   0.0571
-%}

Deleted: trunk/octave-forge/extra/control-devel/devel/ident.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/ident.m	2012-05-23 14:20:14 UTC (rev 10505)
+++ trunk/octave-forge/extra/control-devel/devel/ident.m	2012-05-23 17:31:49 UTC (rev 10506)
@@ -1,56 +0,0 @@
-function [sys, x0] = ident (dat, s = [], n = [])
-
-
-
-  %nobr = 15;
-  meth = 2; % 2    % geht: meth/alg  1/1, 
-  alg = 0; % 0     % geht nicht: meth/alg  0/1
-  conct = 1;
-  ctrl = 0; %1;
-  rcond = 0.0;
-  tol = -1.0; % 0;
-  
-  [ns, l, m, e] = size (dat);
-  
-  if (isempty (s) && isempty (n))
-    nsmp = ns(1);
-    nobr = fix ((nsmp+1)/(2*(m+l+1)));
-    ctrl = 0;  # confirm system order estimate
-    n = 0;
-    % nsmp >= 2*(m+l+1)*nobr - 1
-    % nobr <= (nsmp+1)/(2*(m+l+1))
-  elseif (isempty (s))
-    s = min (2*n, n+10);
-    nsmp = ns(1);
-    nobr = fix ((nsmp+1)/(2*(m+l+1)));
-    nobr = min (nobr, s);
-    ctrl = 1;  # no confirmation
-  elseif (isempty (n))
-    nobr = s;
-    ctrl = 0;  # confirm system order estimate
-    n = 0;
-  else         # s & n non-empty
-    nsmp = ns(1);
-    nobr = fix ((nsmp+1)/(2*(m+l+1)));
-    if (s > nobr)
-      warning ("ident: s > nobr");
-    endif
-    nobr = s;
-    ctrl = 1;
-    ## TODO: specify n for IB01BD
-  endif
-  
-  %nsmp = ns(1)
-  %nobr = fix ((nsmp+1)/(2*(m+l+1)))
-  % nsmp >= 2*(m+l+1)*nobr - 1
-  % nobr <= (nsmp+1)/(2*(m+l+1))
-%nobr = 10
-  [a, b, c, d, q, ry, s, k, x0] = slident (dat.y, dat.u, nobr, n, meth, alg, conct, ctrl, rcond, tol);
-
-  sys = ss (a, b, c, d, dat.tsam{1});
-  
-  if (numel (x0) == 1)
-    x0 = x0{1};
-  endif
-
-endfunction

Deleted: trunk/octave-forge/extra/control-devel/devel/ident_a.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/ident_a.m	2012-05-23 14:20:14 UTC (rev 10505)
+++ trunk/octave-forge/extra/control-devel/devel/ident_a.m	2012-05-23 17:31:49 UTC (rev 10506)
@@ -1,61 +0,0 @@
-function [sys, x0] = ident_a (dat, s = [], nn = [])
-
-n=nn;
-
-  %nobr = 15;
-  meth = 2; % 2    % geht: meth/alg  1/1, 
-  alg = 0; % 0     % geht nicht: meth/alg  0/1
-  jobd = 1;
-  batch = 3;
-  conct = 1;
-  ctrl = 0; %1;
-  rcond = 0.0;
-  tol = -1.0; % 0;
-  
-  [ns, l, m, e] = size (dat);
-  
-  if (isempty (s) && isempty (n))
-    nsmp = ns(1);
-    nobr = fix ((nsmp+1)/(2*(m+l+1)));
-    ctrl = 0;  # confirm system order estimate
-    n = 0;
-    % nsmp >= 2*(m+l+1)*nobr - 1
-    % nobr <= (nsmp+1)/(2*(m+l+1))
-  elseif (isempty (s))
-    s = min (2*n, n+10);
-    nsmp = ns(1);
-    nobr = fix ((nsmp+1)/(2*(m+l+1)));
-    nobr = min (nobr, s);
-    ctrl = 1;  # no confirmation
-  elseif (isempty (n))
-    nobr = s;
-    ctrl = 0;  # confirm system order estimate
-    n = 0;
-  else         # s & n non-empty
-    nsmp = ns(1);
-    nobr = fix ((nsmp+1)/(2*(m+l+1)));
-    if (s > nobr)
-      error ("ident: s > nobr");
-    endif
-    nobr = s;
-    ctrl = 1;
-    ## TODO: specify n for IB01BD
-  endif
-  
-  %nsmp = ns(1)
-  %nobr = fix ((nsmp+1)/(2*(m+l+1)))
-  % nsmp >= 2*(m+l+1)*nobr - 1
-  % nobr <= (nsmp+1)/(2*(m+l+1))
-%nobr = 10
-  [r, sv, n] = slident_a (dat.y{1}, dat.u{1}, nobr, n, meth, alg, jobd, batch, conct, ctrl, rcond, tol);
-n
-n = nn;
-  [a, b, c, d, q, ry, s, k] = slident_b (dat.y{1}, dat.u{1}, nobr, n, meth, alg, jobd, batch, conct, ctrl, rcond, tol, \
-                                         r, sv, n);
-
-  x0 = slident_c (dat.y{1}, dat.u{1}, nobr, n, meth, alg, jobd, batch, conct, ctrl, rcond, tol, \
-                    a, b, c, d);
-
-  sys = ss (a, b, c, d, -1);
-
-endfunction

Deleted: trunk/octave-forge/extra/control-devel/devel/identtest.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/identtest.m	2012-05-23 14:20:14 UTC (rev 10505)
+++ trunk/octave-forge/extra/control-devel/devel/identtest.m	2012-05-23 17:31:49 UTC (rev 10506)
@@ -1,5 +0,0 @@
-function [r, sv, n] = identtest (dat, s = [], n = [], ldwork)
-
-  [r, sv, n] = slitest (dat.y{1}, dat.u{1}, s, ldwork);
-
-endfunction

Deleted: trunk/octave-forge/extra/control-devel/devel/overview.txt
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/overview.txt	2012-05-23 14:20:14 UTC (rev 10505)
+++ trunk/octave-forge/extra/control-devel/devel/overview.txt	2012-05-23 17:31:49 UTC (rev 10506)
@@ -1,10 +0,0 @@
-Working
-- CDplayer
-- Evaporator
-- GlassFurnace
-- HeatingSystem
-
-Broken
-- Destillation
-- PowerPlant
-- pH
\ No newline at end of file

Deleted: trunk/octave-forge/extra/control-devel/devel/test_slident.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_slident.m	2012-05-23 14:20:14 UTC (rev 10505)
+++ trunk/octave-forge/extra/control-devel/devel/test_slident.m	2012-05-23 17:31:49 UTC (rev 10506)
@@ -1,2158 +0,0 @@
-% IB01AD EXAMPLE PROGRAM DATA
-%  15     0     1     1  1000    0.0   -1.0     M     C     N     O     N     N
-%  nobr,  n,    m,    l, nsmp,   rcond, tol,    meth, alg,  jobd, batch,conct,ctrl
-
-% IB01BD EXAMPLE PROGRAM DATA
-%  15     0     1     1  1000    0.0   -1.0     C     C     N     O     N     N     A     K
-
-
-U = [
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-   4.534109
-   4.455969
-   4.619579
-   4.866229
-   5.117749
-   5.166589
-   5.056699
-   5.002979
-   5.098219
-   5.325319
-   5.567079
-   5.466959
-   5.252059
-   4.946809
-   4.880879
-   4.980999
-   5.225199
-   5.459629
-   5.723369
-   5.791739
-   5.906519
-   5.991989
-   5.835699
-   5.528009
-   5.142169
-   4.775869
-   4.490159
-   4.236189
-   4.023729
-   3.886979
-   3.752669
-   3.681849
-   3.806399
-   4.145839
-   4.600049
-   5.002979
-   5.303339
-   5.552429
-   5.615919
-   5.523119
-   5.611039
-   5.713599
-   5.845469
-   5.899189
-   5.994429
-   6.092109
-   6.092109
-   6.143389
-   6.153159
-   6.233749
-   6.187349
-   6.013969
-   5.835699
-   5.774649
-   5.686739
-   5.537779
-   5.327759
-   5.054259
-   4.700169
-   4.394919
-   4.180019
-   4.043269
-   3.877209
-   3.752669
-   3.728249
-   3.869889
-   4.206889
-   4.355849
-   4.426669
-   4.453529
-   4.521899
-   4.392479
-   4.155599
-   3.965129
-   3.877209
-   3.970009
-   4.258169
-   4.421779
-   4.336309
-   4.299679
-   4.392479
-   4.675749
-   4.761219
-   4.658659
-   4.490159
-   4.307009
-   4.126299
-   3.972449
-   4.077459
-   4.372939
-   4.741679
-   5.088449
-   5.186129
-   5.037169
-   4.785639
-   4.563419
-   4.534109
-   4.705049
-   4.741679
-   4.648889
-   4.431549
-   4.238629
-   4.065249
-   3.943149
-   3.811279
-   3.691619
-   3.652549
-   3.825929
-   4.223979
-   4.424219
-   4.429109
-   4.319219
-   4.138509
-   3.965129
-   3.886979
-   3.801509
-   3.701389
-   3.640339
-   3.767319
-   4.150719
-   4.648889
-   4.990769
-   5.088449
-   5.022509
-   4.783199
-   4.685519
-   4.665979
-   4.707499
-   4.912619
-   5.195899
-   5.415679
-   5.623249
-   5.740459
-   5.899189
-   5.928499
-   6.050599
-   6.153159
-   5.965129
-   5.586619
-   5.381489
-   5.371719
-   5.486489
-   5.567079
-   5.821049
-   5.913839
-   5.994429
-   6.011519
-   5.999309
-   6.018849
-   5.821049
-   5.728249
-   5.740459
-   5.764879
-   5.882099
-   5.926049
-   5.750229
-   5.415679
-   4.995649
-   4.861339
-   4.902859
-   5.103099
-   5.364389
-   5.596379
-   5.752669
-   5.845469
-   5.928499
-   6.006639
-   5.840579
-   5.518239
-   5.173919
-   4.739239
-   4.458409
-   4.426669
-   4.602489
-   4.822269
-   5.183689
-   5.430329
-   5.652549
-   5.821049
-   5.706269
-   5.369279
-   5.027399
-   4.705049
-   4.414459
-   4.145839
-   3.965129
-   4.033499
-   4.372939
-   4.683079
-];
-
-dat = iddata (Y, U)
-
-% IB01AD EXAMPLE PROGRAM DATA
-%  15     0     1     1  1000    0.0   -1.0     M     C     N     O     N     N
-%  nobr,  n,    m,    l, nsmp,   rcond, tol,    meth, alg,  jobd, batch,conct,ctrl
-
-% IB01BD EXAMPLE PROGRAM DATA
-%  15     0     1     1  1000    0.0   -1.0     C     C     N     O     N     N     A     K
-
-nobr = 15;
-meth = 2;
-alg = 0;
-jobd = 1;
-batch = 3;
-conct = 1;
-ctrl = 1;
-rcond = 0.0;
-tol = -1.0;
-n = 0;
-
-% [a, b, c, d, q, ry, s, k, x0] = slident (Y, U, nobr, n, meth, alg, jobd, batch, conct, ctrl, rcond, tol)
-[a, b, c, d, q, ry, s, k, x0] = slident (dat.Y, dat.U, nobr, n, meth, alg, conct, ctrl, rcond, tol)
-
-
-ae = [  0.8924   0.3887   0.1285   0.1716
-       -0.0837   0.6186  -0.6273  -0.4582
-        0.0052   0.1307   0.6685  -0.6755
-        0.0055   0.0734  -0.2148   0.4788 ];
-
-ce = [ -0.4442   0.6663   0.3961   0.4102 ];
-
-be = [ -0.2142
-       -0.1968
-        0.0525
-        0.0361 ];
-
-de = [ -0.0041 ];
-
-ke = [ -1.9513
-       -0.1867
-        0.6348
-       -0.3486 ];
-
-qe = [  0.0052   0.0005  -0.0017   0.0009
-        0.0005   0.0000  -0.0002   0.0001
-       -0.0017  -0.0002   0.0006  -0.0003
-        0.0009   0.0001  -0.0003   0.0002 ];
-
-rye = [ 0.0012 ];
-
-se = [ -0.0025
-       -0.0002
-        0.0008
-       -0.0005 ];
-       
-assert (a, ae, 1e-4);
-assert (b, be, 1e-4);
-assert (c, ce, 1e-4);
-assert (d, de, 1e-4);
-assert (k, ke, 1e-4);
-assert (q, qe, 1e-4);
-assert (ry, rye, 1e-4);
-assert (s, se, 1e-4);
-
-
-
-
-% figure (1)
-% plot (Y)
-
-P = ss (a, b, c, d, 1);
-
-% figure (2)
-% lsim (P, U)
-% lsim (P, U, [], x0)  % initial values dependent on realization, IB01BD != IB01CD
-
-
-% [y, t] = lsim (P, U);
-[y, t] = lsim (P, U, [], x0{1});
-
-err = norm (Y - y, 1) / norm (Y, 1)
-
-figure (3)
-plot (t, Y, 'b', t, y, 'r')
-legend ('y measured', 'y simulated', 'location', 'southeast')
-%axis tight
-
-% print -depsc2 ident.eps
-
-%n
-%sv
-
-%{
- IB01AD EXAMPLE PROGRAM RESULTS
-
- The order of the system is     4
- The singular values are 
-  69.8841  14.9963   3.6675   1.9677   0.3000   0.2078   0.1651   0.1373
-   0.1133   0.1059   0.0856   0.0784   0.0733   0.0678   0.0571
-   
-   
- IB01BD EXAMPLE PROGRAM RESULTS
-
-
- The system state matrix A is 
-   0.8924   0.3887   0.1285   0.1716
-  -0.0837   0.6186  -0.6273  -0.4582
-   0.0052   0.1307   0.6685  -0.6755
-   0.0055   0.0734  -0.2148   0.4788
-
- The system output matrix C is 
-  -0.4442   0.6663   0.3961   0.4102
-
- The system input matrix B is 
-  -0.2142
-  -0.1968
-   0.0525
-   0.0361
-
- The system input-output matrix D is 
-  -0.0041
-
- The Kalman gain matrix K is 
-  -1.9513
-  -0.1867
-   0.6348
-  -0.3486
-
- The state covariance matrix Q is 
-   0.0052   0.0005  -0.0017   0.0009
-   0.0005   0.0000  -0.0002   0.0001
-  -0.0017  -0.0002   0.0006  -0.0003
-   0.0009   0.0001  -0.0003   0.0002
-
- The output covariance matrix Ry is 
-   0.0012
-
- The state-output cross-covariance matrix S is 
-  -0.0025
-  -0.0002
-   0.0008
-  -0.0005
-
-%}

Modified: trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc	2012-05-23 14:20:14 UTC (rev 10505)
+++ trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc	2012-05-23 17:31:49 UTC (rev 10506)
@@ -1,7 +1,7 @@
 // #include "slib01ad.cc"   // preprocess the input-output data
 #include "slident.cc"       // system identification
 #include "slib01cd.cc"      // compute initial state vector
-// #include "slitest.cc"    // debug system identification
+
 #include "slident_a.cc"
 #include "slident_b.cc"
 #include "slident_c.cc"
\ No newline at end of file

Deleted: trunk/octave-forge/extra/control-devel/src/slib01ad.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slib01ad.cc	2012-05-23 14:20:14 UTC (rev 10505)
+++ trunk/octave-forge/extra/control-devel/src/slib01ad.cc	2012-05-23 17:31:49 UTC (rev 10506)
@@ -1,367 +0,0 @@
-/*
-
-Copyright (C) 2012   Lukas F. Reichlin
-
-This file is part of LTI Syncope.
-
-LTI Syncope is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-LTI Syncope is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
-
-TODO
-Uses SLICOT IB01AD by courtesy of NICONET e.V.
-<http://www.slicot.org>
-
-Author: Lukas Reichlin <lukas.reichlin@...>
-Created: January 2012
-Version: 0.1
-
-*/
-
-#include <octave/oct.h>
-#include <f77-fcn.h>
-#include "common.h"
-
-extern "C"
-{ 
-    int F77_FUNC (ib01ad, IB01AD)
-                 (char& METH, char& ALG, char& JOBD,
-                  char& BATCH, char& CONCT, char& CTRL,
-                  int& NOBR, int& M, int& L,
-                  int& NSMP,
-                  double* U, int& LDU,
-                  double* Y, int& LDY,
-                  int& N,
-                  double* R, int& LDR,
-                  double* SV,
-                  double& RCOND, double& TOL,
-                  int* IWORK,
-                  double* DWORK, int& LDWORK,
-                  int& IWARN, int& INFO);
-}
-
-// PKG_ADD: autoload ("slib01ad", "devel_slicot_functions.oct");
-DEFUN_DLD (slib01ad, args, nargout,
-   "-*- texinfo -*-\n\
-Slicot IB01AD Release 5.0\n\
-No argument checking.\n\
-For internal use only.")
-{
-    int nargin = args.length ();
-    octave_value_list retval;
-    
-    if (nargin != 11)
-    {
-        print_usage ();
-    }
-    else
-    {
-        // arguments in
-        char meth;
-        char alg;
-        char jobd;
-        char batch;
-        char conct;
-        char ctrl;
-        
-        Matrix y = args(0).matrix_value ();
-        Matrix u = args(1).matrix_value ();
-        int nobr = args(2).int_value ();
-        
-        const int imeth = args(3).int_value ();
-        const int ialg = args(4).int_value ();
-        const int ijobd = args(5).int_value ();
-        const int ibatch = args(6).int_value ();
-        const int iconct = args(7).int_value ();
-        const int ictrl = args(8).int_value ();
-        
-        double rcond = args(9).double_value ();
-        double tol = args(10).double_value ();
-        
-
-        if (imeth == 0)
-            meth = 'M';
-        else
-            meth = 'N';
-
-        switch (ialg)
-        {
-            case 0:
-                alg = 'C';
-                break;
-            case 1:
-                alg = 'F';
-                break;
-            case 2:
-                alg = 'Q';
-                break;
-            default:
-                error ("slib01ad: argument 'alg' invalid");
-        }
-        
-        if (ijobd == 0)
-            jobd = 'M';
-        else
-            jobd = 'N';
-        
-        switch (ibatch)
-        {
-            case 0:
-                batch = 'F';
-                break;
-            case 1:
-                batch = 'I';
-                break;
-            case 2:
-                batch = 'L';
-                break;
-            case 3:
-                batch = 'O';
-                break;
-            default:
-                error ("slib01ad: argument 'batch' invalid");
-        }
-
-        if (iconct == 0)
-            conct = 'C';
-        else
-            conct = 'N';
-
-        if (ictrl == 0)
-            ctrl = 'C';
-        else
-            ctrl = 'N';
-
-
-        int m = u.columns ();   // m: number of inputs
-        int l = y.columns ();   // l: number of outputs
-        int nsmp = y.rows ();   // nsmp: number of samples
-        // y.rows == u.rows  is checked by iddata class
-        // TODO: check minimal nsmp size
-        
-        int ldu;
-        
-        if (m == 0)
-            ldu = 1;
-        else                    // m > 0
-            ldu = nsmp;
-
-        int ldy = nsmp;
-
-        // arguments out
-        int n;
-        int ldr;
-        
-        if (meth == 'M' && jobd == 'M')
-            ldr = max (2*(m+l)*nobr, 3*m*nobr);
-        else if (meth == 'N' || (meth == 'M' && jobd == 'N'))
-            ldr = 2*(m+l)*nobr;
-        else
-            error ("slib01ad: could not handle 'ldr' case");
-        
-        Matrix r (ldr, 2*(m+l)*nobr);
-        ColumnVector sv (l*nobr);
-
-        // workspace
-        int liwork;
-
-        if (meth == 'N')            // if METH = 'N'
-            liwork = (m+l)*nobr;
-        else if (alg == 'F')        // if METH = 'M' and ALG = 'F'
-            liwork = m+l;
-        else                        // if METH = 'M' and ALG = 'C' or 'Q'
-            liwork = 0;
-
-        // TODO: Handle 'k' for DWORK
-
-        int ldwork;
-
-        ldwork = 0;
-        
-        if (alg == 'C')
-        {
-            if (batch == 'F' || batch == 'I')
-            {
-                if (conct == 'C')
-                    ldwork = (4*nobr-2)*(m+l);
-                else    // (conct == 'N')
-                    ldwork = 1;
-            }
-            else if (meth == 'M')   // && (batch == 'L' || batch == 'O')
-            {
-                if (conct == 'C' && batch == 'L')
-                    ldwork = max ((4*nobr-2)*(m+l), 5*l*nobr);
-                else if (jobd == 'M')
-                    ldwork = max ((2*m-1)*nobr, (m+l)*nobr, 5*l*nobr);
-                else    // (jobd == 'N')
-                    ldwork = 5*l*nobr;
-            }
-            else    // meth == 'N' && (batch == 'L' || batch == 'O')
-            {
-                ldwork = 5*(m+l)*nobr + 1;
-            }
-        }
-        else if (alg == 'F')
-        {
-/*
-For the second LDWORK case, code and documentation don't match:
-doc line 276: BATCH = 'F', 'I'
-code line 586: BATCH = 'F', 'I', 'O'
-The third case with BATCH = 'O' is never reached.
-
-
-IB01AD.f Lines 273-279:
-C             LDWORK >= (M+L)*2*NOBR*(M+L+3), if ALG = 'F',
-C                             BATCH <> 'O' and CONCT = 'C';
-C             LDWORK >= (M+L)*2*NOBR*(M+L+1), if ALG = 'F',
-C                             BATCH = 'F', 'I' and CONCT = 'N';
-C             LDWORK >= (M+L)*4*NOBR*(M+L+1)+(M+L)*2*NOBR, if ALG = 'F',
-C                             BATCH = 'L' and CONCT = 'N', or
-C                             BATCH = 'O';
-
-
-IB01AD.f Lines 499-500:
-      ONEBCH = LSAME( BATCH, 'O' )
-      FIRST  = LSAME( BATCH, 'F' ) .OR. ONEBCH
-
-
-IB01AD.f Lines 583-591:
-            ELSE IF ( FQRALG ) THEN
-               IF ( .NOT.ONEBCH .AND. CONNEC ) THEN
-                  MINWRK = NR*( M + L + 3 )
-               ELSE IF ( FIRST .OR. INTERM ) THEN       // (batch = F || O) || batch = I
-                  MINWRK = NR*( M + L + 1 )                              ^
-               ELSE                                                      |
-                  MINWRK = 2*NR*( M + L + 1 ) + NR                      ??? 
-               END IF
-            ELSE
-*/
-            if (batch != 'O' && conct == 'C')
-                ldwork = (m+l)*2*nobr*(m+l+3);
-            else if (batch == 'F' || batch == 'O' || batch == 'I')  // && conct == 'N'
-                ldwork = (m+l)*2*nobr*(m+l+1);
-            else    // (batch == 'L' && conct == 'N')
-                ldwork = (m+l)*4*nobr*(m+l+1)+(m+l)*2*nobr;
-        }
-        else    // (alg == 'Q')
-        {
-            int ns = nsmp - 2*nobr + 1;
-            
-            if (ldr >= ns && batch == 'F')
-            {
-                ldwork = 4*(m+l)*nobr;
-            }
-            else if (ldr >= ns && batch == 'O')
-            {
-                if (meth == 'M')
-                    ldwork = max (4*(m+l)*nobr, 5*l*nobr);
-                else    // (meth == 'N')
-                    ldwork = 5*(m+l)*nobr + 1;
-            }
-            else if (conct == 'C' && (batch == 'I' || batch == 'L'))
-            {
-                ldwork = 4*(nobr+1)*(m+l)*nobr;
-            }
-            else    // if ALG = 'Q', (BATCH = 'F' or 'O', and LDR < NS), or (BATCH = 'I' or 'L' and CONCT = 'N')
-            {
-                ldwork = 6*(m+l)*nobr;
-            }
-        }
-
-/*
-IB01AD.f Lines 291-195:
-c             the workspace used for alg = 'q' is
-c                       ldrwrk*2*(m+l)*nobr + 4*(m+l)*nobr,
-c             where ldrwrk = ldwork/(2*(m+l)*nobr) - 2; recommended
-c             value ldrwrk = ns, assuming a large enough cache size.
-c             for good performance,  ldwork  should be larger.
-
-somehow ldrwrk and ldwork must have been mixed up here
-
-*/
-
-
-        OCTAVE_LOCAL_BUFFER (int, iwork, liwork);
-        OCTAVE_LOCAL_BUFFER (double, dwork, ldwork);
-        
-        // error indicators
-        int iwarn = 0;
-        int info = 0;
-
-
-        // SLICOT routine IB01AD
-        F77_XFCN (ib01ad, IB01AD,
-                 (meth, alg, jobd,
-                  batch, conct, ctrl,
-                  nobr, m, l,
-                  nsmp,
-                  u.fortran_vec (), ldu,
-                  y.fortran_vec (), ldy,
-                  n,
-                  r.fortran_vec (), ldr,
-                  sv.fortran_vec (),
-                  rcond, tol,
-                  iwork,
-                  dwork, ldwork,
-                  iwarn, info));
-
-
-        if (f77_exception_encountered)
-            error ("ident: exception in SLICOT subroutine IB01AD");
-
-        static const char* err_msg[] = {
-            "0: OK",
-            "1: a fast algorithm was requested (ALG = 'C', or 'F') "
-                "in sequential data processing, but it failed; the "
-                "routine can be repeatedly called again using the "
-                "standard QR algorithm",
-            "2: the singular value decomposition (SVD) algorithm did "
-                "not converge"};
-
-        static const char* warn_msg[] = {
-            "0: OK",
-            "1: the number of 100 cycles in sequential data "
-                "processing has been exhausted without signaling "
-                "that the last block of data was get; the cycle "
-                "counter was reinitialized",
-            "2: a fast algorithm was requested (ALG = 'C' or 'F'), "
-                "but it failed, and the QR algorithm was then used "
-                "(non-sequential data processing)",
-            "3: all singular values were exactly zero, hence  N = 0 "
-                "(both input and output were identically zero)",
-            "4: the least squares problems with coefficient matrix "
-                "U_f,  used for computing the weighted oblique "
-                "projection (for METH = 'N'), have a rank-deficient "
-                "coefficient matrix",
-            "5: the least squares problem with coefficient matrix "
-                "r_1  [6], used for computing the weighted oblique "
-                "projection (for METH = 'N'), has a rank-deficient "
-                "coefficient matrix"};
-
-
-        error_msg ("ident", info, 2, err_msg);
-        warning_msg ("ident", iwarn, 5, warn_msg);
-
-
-        // resize
-        int rs = 2*(m+l)*nobr;
-        r.resize (rs, rs);
-
-        
-        // return values
-        retval(0) = octave_value (n);
-        retval(1) = r;
-        retval(2) = sv;
-    }
-    
-    return retval;
-}

Deleted: trunk/octave-forge/extra/control-devel/src/slib01bd.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slib01bd.cc	2012-05-23 14:20:14 UTC (rev 10505)
+++ trunk/octave-forge/extra/control-devel/src/slib01bd.cc	2012-05-23 17:31:49 UTC (rev 10506)
@@ -1,225 +0,0 @@
-/*
-
-Copyright (C) 2012   Lukas F. Reichlin
-
-This file is part of LTI Syncope.
-
-LTI Syncope is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-LTI Syncope is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
-
-TODO
-Uses SLICOT IB01BD by courtesy of NICONET e.V.
-<http://www.slicot.org>
-
-Author: Lukas Reichlin <lukas.reichlin@...>
-Created: March 2012
-Version: 0.1
-
-*/
-
-#include <octave/oct.h>
-#include <f77-fcn.h>
-#include "common.h"
-
-extern "C"
-{ 
-    int F77_FUNC (ib01bd, IB01BD)
-                 (char& METH, char& JOB, char& JOBCK,
-                  int& NOBR, int& N, int& M, int& L,
-                  int& NSMPL,
-                  double* R, int& LDR,
-                  double* A, int& LDA,
-                  double* C, int& LDC,
-                  double* B, int& LDB,
-                  double* D, int& LDD,
-                  double* Q, int& LDQ,
-                  double* RY, int& LDRY,
-                  double* S, int& LDS,
-                  double* K, int& LDK,
-                  double& TOL,
-                  int* IWORK,
-                  double* DWORK, int& LDWORK,
-                  bool* BWORK,
-                  int& IWARN, int& INFO);
-}
-
-// PKG_ADD: autoload ("slib01bd", "devel_slicot_functions.oct");
-DEFUN_DLD (slib01bd, args, nargout,
-   "-*- texinfo -*-\n\
-Slicot IB01BD Release 5.0\n\
-No argument checking.\n\
-For internal use only.")
-{
-    int nargin = args.length ();
-    octave_value_list retval;
-    
-    if (nargin != 5)
-    {
-        print_usage ();
-    }
-    else
-    {
-        // arguments in
-        char meth;
-        char job = 'A';
-        char jobck = 'K';
-        
-        Matrix r = args(0).matrix_value ();
-        int nsmpl = args(1).int_value ();  
-        int n = args(2).int_value ();  
-        const int imeth = args(3).int_value ();
-        double tol = args(4).double_value ();
-
-
-        switch (imeth)
-        {
-            case 0:
-                meth = 'M';
-                break;
-            case 1:
-                meth = 'N';
-                break;
-            case 2:
-                meth = 'C';
-                break;
-            default:
-                error ("slib01bd: argument 'meth' invalid");
-        }
-
-        // TODO: if meth == 'C', which meth should be taken for IB01AD.f, 'M' or 'N'?
-        
-        int m = 
-        int nobr = r.rows () / (2*(m+l));
-        
-        
-        int m = u.columns ();   // m: number of inputs
-        int l = y.columns ();   // l: number of outputs
-        int nsmp = y.rows ();   // nsmp: number of samples
-        // y.rows == u.rows  is checked by iddata class
-        // TODO: check minimal nsmp size
-        
-        int ldu;
-        
-        if (m == 0)
-            ldu = 1;
-        else                    // m > 0
-            ldu = nsmp;
-
-        int ldy = nsmp;
-
-        // arguments out
-        int n;
-        int ldr;
-        
-        if (meth == 'M' && jobd == 'M')
-            ldr = max (2*(m+l)*nobr, 3*m*nobr);
-        else if (meth == 'N' || (meth == 'M' && jobd == 'N'))
-            ldr = 2*(m+l)*nobr;
-        else
-            error ("slib01bd: could not handle 'ldr' case");
-        
-        Matrix r (ldr, 2*(m+l)*nobr);
-        ColumnVector sv (l*nobr);
-
-        // workspace
-        int liwork;
-
-
-
-        int ldwork;
-
-
-
-
-        OCTAVE_LOCAL_BUFFER (int, iwork, liwork);
-        OCTAVE_LOCAL_BUFFER (double, dwork, ldwork);
-        
-        // error indicators
-        int iwarn = 0;
-        int info = 0;
-
-
-        // SLICOT routine IB01BD
-        F77_XFCN (ib01bd, IB01BD,
-                 (meth, job, jobck,
-                  nobr, n, m, l,
-                  nsmpl,
-                  r.fortran_vec (), ldr,
-                  a.fortran_vec (), lda,
-                  c.fortran_vec (), ldc,
-                  b.fortran_vec (), ldb,
-                  d.fortran_vec (), ldd,
-                  q.fortran_vec (), ldq,
-                  ry.fortran_vec (), ldry,
-                  s.fortran_vec (), lds,
-                  k.fortran_vec (), ldk,
-                  tol,
-                  iwork,
-                  dwork, ldwork,
-                  bwork,
-                  iwarn, info));
-
-
-        if (f77_exception_encountered)
-            error ("ident: exception in SLICOT subroutine IB01BD");
-
-        static const char* err_msg[] = {
-            "0: OK",
-            "1: error message not specified",
-            "2: the singular value decomposition (SVD) algorithm did "
-                "not converge",
-            "3: a singular upper triangular matrix was found",
-            "4: matrix A is (numerically) singular in discrete-"
-                "time case",
-            "5: the Hamiltonian or symplectic matrix H cannot be "
-                "reduced to real Schur form",
-            "6: the real Schur form of the Hamiltonian or "
-                "symplectic matrix H cannot be appropriately ordered",
-            "7: the Hamiltonian or symplectic matrix H has less "
-                "than N stable eigenvalues",
-            "8: the N-th order system of linear algebraic "
-                "equations, from which the solution matrix X would "
-                "be obtained, is singular to working precision",
-            "9: the QR algorithm failed to complete the reduction "
-                "of the matrix Ac to Schur canonical form, T",
-            "10: the QR algorithm did not converge"};
-
-        static const char* warn_msg[] = {
-            "0: OK",
-            "1: warning message not specified",
-            "2: warning message not specified",
-            "3: warning message not specified",
-            "4: a least squares problem to be solved has a "
-                "rank-deficient coefficient matrix",
-            "5: the computed covariance matrices are too small. "
-                "The problem seems to be a deterministic one; the "
-                "gain matrix is set to zero"};
-
-
-        error_msg ("ident", info, 10, err_msg);
-        warning_msg ("ident", iwarn, 5, warn_msg);
-
-
-        // resize
-        int rs = 2*(m+l)*nobr;
-        r.resize (rs, rs);
-
-        
-        // return values
-        retval(0) = octave_value (n);
-        retval(1) = r;
-        retval(2) = sv;
-    }
-    
-    return retval;
-}

Deleted: trunk/octave-forge/extra/control-devel/src/slitest.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slitest.cc	2012-05-23 14:20:14 UTC (rev 10505)
+++ trunk/octave-forge/extra/control-devel/src/slitest.cc	2012-05-23 17:31:49 UTC (rev 10506)
@@ -1,310 +0,0 @@
-/*
-
-Copyright (C) 2012   Lukas F. Reichlin
-
-This file is part of LTI Syncope.
-
-LTI Syncope is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-LTI Syncope is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
-
-SLICOT system identification
-Uses SLICOT IB01AD, IB01BD and IB01CD by courtesy of NICONET e.V.
-<http://www.slicot.org>
-
-Author: Lukas Reichlin <lukas.reichlin@...>
-Created: March 2012
-Version: 0.1
-
-*/
-
-#include <octave/oct.h>
-#include <f77-fcn.h>
-#include "common.h"
-
-extern "C"
-{ 
-    int F77_FUNC (ib01ad, IB01AD)
-                 (char& METH, char& ALG, char& JOBD,
-                  char& BATCH, char& CONCT, char& CTRL,
-                  int& NOBR, int& M, int& L,
-                  int& NSMP,
-                  double* U, int& LDU,
-                  double* Y, int& LDY,
-                  int& N,
-                  double* R, int& LDR,
-                  double* SV,
-                  double& RCOND, double& TOL,
-                  int* IWORK,
-                  double* DWORK, int& LDWORK,
-                  int& IWARN, int& INFO);
-
-    int F77_FUNC (ib01bd, IB01BD)
-                 (char& METH, char& JOB, char& JOBCK,
-                  int& NOBR, int& N, int& M, int& L,
-                  int& NSMPL,
-                  double* R, int& LDR,
-                  double* A, int& LDA,
-                  double* C, int& LDC,
-                  double* B, int& LDB,
-                  double* D, int& LDD,
-                  double* Q, int& LDQ,
-                  double* RY, int& LDRY,
-                  double* S, int& LDS,
-                  double* K, int& LDK,
-                  double& TOL,
-                  int* IWORK,
-                  double* DWORK, int& LDWORK,
-                  bool* BWORK,
-                  int& IWARN, int& INFO);
-
-    int F77_FUNC (ib01cd, IB01CD)
-                 (char& JOBX0, char& COMUSE, char& JOB,
-                  int& N, int& M, int& L,
-                  int& NSMP,
-                  double* A, int& LDA,
-                  double* B, int& LDB,
-                  double* C, int& LDC,
-                  double* D, int& LDD,
-                  double* U, int& LDU,
-                  double* Y, int& LDY,
-                  double* X0,
-                  double* V, int& LDV,
-                  double& TOL,
-                  int* IWORK,
-                  double* DWORK, int& LDWORK,
-                  int& IWARN, int& INFO);
-}
-
-// PKG_ADD: autoload ("slitest", "devel_slicot_functions.oct");
-DEFUN_DLD (slitest, args, nargout,
-   "-*- texinfo -*-\n\
-Slicot IB01AD Release 5.0\n\
-No argument checking.\n\
-For internal use only.")
-{
-    int nargin = args.length ();
-    octave_value_list retval;
-    
-    if (nargin != 4)
-    {
-        print_usage ();
-    }
-    else
-    {
-////////////////////////////////////////////////////////////////////////////////////
-//      SLICOT IB01AD - preprocess the input-output data                          //
-////////////////////////////////////////////////////////////////////////////////////
-
-        // arguments in
-        char meth = 'M';  // <--- not used, use metha
-        char alg = 'Q';
-        char jobd = 'M';
-        char batch = 'O';
-        
-        char conct = 'N';
-        char ctrl = 'N';
-        
-        char metha = 'M';
-        
-         // ??? char jobda ;
-        
-        Matrix y = args(0).matrix_value ();
-        Matrix u = args(1).matrix_value ();
-        int nobr = args(2).int_value ();
-        
-        double rcond = 0.0;
-        double tol = -1.0;
-        
-        int ldwork = args(3).int_value ();
-
-
-
-        int m = u.columns ();   // m: number of inputs
-        int l = y.columns ();   // l: number of outputs
-        int nsmp = y.rows ();   // nsmp: number of samples
-        // y.rows == u.rows  is checked by iddata class
-        // TODO: check minimal nsmp size
-        if (nsmp < 2*nobr)
-            error ("slitest: nsmp < 2*nobr");
-                
-        int ldu = nsmp;
-        int ldy = nsmp;
-
-        // arguments out
-        int n;
-        int ldr;
-        
-        if (metha == 'M' && jobd == 'M')
-            ldr = max (2*(m+l)*nobr, 3*m*nobr);
-        else if (metha == 'N' || (metha == 'M' && jobd == 'N'))
-            ldr = 2*(m+l)*nobr;
-        else
-            error ("slib01ad: could not handle 'ldr' case");
-        
-        Matrix r (ldr, 2*(m+l)*nobr);
-        ColumnVector sv (l*nobr);
-
-        // workspace
-        int liwork;
-
-        if (metha == 'N')            // if METH = 'N'
-            liwork = (m+l)*nobr;
-        else if (alg == 'F')        // if METH = 'M' and ALG = 'F'
-            liwork = m+l;
-        else                        // if METH = 'M' and ALG = 'C' or 'Q'
-            liwork = 0;
-
-        // TODO: Handle 'k' for DWORK
-/*
-        int ldwork;
-        
-        if (alg == 'C')
-        {
-            if (batch == 'F' || batch == 'I')
-            {
-                if (conct == 'C')
-                    ldwork = (4*nobr-2)*(m+l);
-                else    // (conct == 'N')
-                    ldwork = 1;
-            }
-            else if (metha == 'M')   // && (batch == 'L' || batch == 'O')
-            {
-                if (conct == 'C' && batch == 'L')
-                    ldwork = max ((4*nobr-2)*(m+l), 5*l*nobr);
-                else if (jobd == 'M')
-                    ldwork = max ((2*m-1)*nobr, (m+l)*nobr, 5*l*nobr);
-                else    // (jobd == 'N')
-                    ldwork = 5*l*nobr;
-            }
-            else    // meth == 'N' && (batch == 'L' || batch == 'O')
-            {
-                ldwork = 5*(m+l)*nobr + 1;
-            }
-        }
-        else if (alg == 'F')
-        {
-            if (batch != 'O' && conct == 'C')
-                ldwork = (m+l)*2*nobr*(m+l+3);
-            else if (batch == 'F' || batch == 'I')  // && conct == 'N'
-                ldwork = (m+l)*2*nobr*(m+l+1);
-            else    // (batch == 'L' || '0' && conct == 'N')
-                ldwork = (m+l)*4*nobr*(m+l+1)+(m+l)*2*nobr;
-        }
-        else    // (alg == 'Q')
-        {
-            int ns = nsmp - 2*nobr + 1;
-            
-            if (ldr >= ns && batch == 'F')
-            {
-                ldwork = 4*(m+l)*nobr;
-            }
-            else if (ldr >= ns && batch == 'O')
-            {
-                if (metha == 'M')
-                    ldwork = max (4*(m+l)*nobr, 5*l*nobr);
-                else    // (meth == 'N')
-                    ldwork = 5*(m+l)*nobr + 1;
-            }
-            else if (conct == 'C' && (batch == 'I' || batch == 'L'))
-            {
-                ldwork = 4*(nobr+1)*(m+l)*nobr;
-            }
-            else    // if ALG = 'Q', (BATCH = 'F' or 'O', and LDR < NS), or (BATCH = 'I' or 'L' and CONCT = 'N')
-            {
-                ldwork = 6*(m+l)*nobr;
-            }
-        }
-////////////////////////////////////////////////////////////////////
-// TO BE REMOVED !!!
-////////////////////////////////////////////////////////////////////        
-ldwork *= 2;
-//ldwork = 1000000;
-////////////////////////////////////////////////////////////////////
-
-*/
-
-
-        OCTAVE_LOCAL_BUFFER (int, iwork, liwork);
-        OCTAVE_LOCAL_BUFFER (double, dwork, ldwork);
-        
-        // error indicators
-        int iwarn = 0;
-        int info = 0;
-
-
-        // SLICOT routine IB01AD
-        F77_XFCN (ib01ad, IB01AD,
-                 (metha, alg, jobd,
-                  batch, conct, ctrl,
-                  nobr, m, l,
-                  nsmp,
-                  u.fortran_vec (), ldu,
-                  y.fortran_vec (), ldy,
-                  n,
-                  r.fortran_vec (), ldr,
-                  sv.fortran_vec (),
-                  rcond, tol,
-                  iwork,
-                  dwork, ldwork,
-                  iwarn, info));
-
-
-        if (f77_exception_encountered)
-            error ("ident: exception in SLICOT subroutine IB01AD");
-
-        static const char* err_msg[] = {
-            "0: OK",
-            "1: a fast algorithm was requested (ALG = 'C', or 'F') "
-                "in sequential data processing, but it failed; the "
-                "routine can be repeatedly called again using the "
-                "standard QR algorithm",
-            "2: the singular value decomposition (SVD) algorithm did "
-                "not converge"};
-
-        static const char* warn_msg[] = {
-            "0: OK",
-            "1: the number of 100 cycles in sequential data "
-                "processing has been exhausted without signaling "
-                "that the last block of data was get; the cycle "
-                "counter was reinitialized",
-            "2: a fast algorithm was requested (ALG = 'C' or 'F'), "
-                "but it failed, and the QR algorithm was then used "
-                "(non-sequential data processing)",
-            "3: all singular values were exactly zero, hence  N = 0 "
-                "(both input and output were identically zero)",
-            "4: the least squares problems with coefficient matrix "
-                "U_f,  used for computing the weighted oblique "
-                "projection (for METH = 'N'), have a rank-deficient "
-                "coefficient matrix",
-            "5: the least squares problem with coefficient matrix "
-                "r_1  [6], used for computing the weighted oblique "
-                "projection (for METH = 'N'), has a rank-deficient "
-                "coefficient matrix"};
-
-
-        error_msg ("ident", info, 2, err_msg);
-        warning_msg ("ident", iwarn, 5, warn_msg);
-
-
-        // resize
-        int rs = 2*(m+l)*nobr;
-        r.resize (rs, rs);
-        
-        
-        retval(0) = r;
-        retval(1) = sv;
-        retval(2) = octave_value (n);
-    }
-    
-    return retval;
-}

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

Revision: 10515
          http://octave.svn.sourceforge.net/octave/?rev=10515&view=rev
Author:   paramaniac
Date:     2012-05-24 11:20:26 +0000 (Thu, 24 May 2012)
Log Message:
-----------
control-devel: check for equal sampling times

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/subsref_problem.m

Added: trunk/octave-forge/extra/control-devel/devel/subsref_problem.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/subsref_problem.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/subsref_problem.m	2012-05-24 11:20:26 UTC (rev 10515)
@@ -0,0 +1,10 @@
+DestillationME
+
+tsam = dat.tsam
+tsam{:}
+
+
+dat.tsam
+dat.tsam{:}     % only 1 times -1 instead of 4
+
+a(1:4) = tsam{:}
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m	2012-05-24 07:24:35 UTC (rev 10514)
+++ trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m	2012-05-24 11:20:26 UTC (rev 10515)
@@ -58,7 +58,15 @@
   endif
 
   [ns, l, m, e] = size (dat);           # dataset dimensions
+  tsam = dat.tsam
   
+  ## multi-experiment data requires equal sampling times  
+  if (e > 1 && ! isequal (tsam{:}))
+    error ("%s: require equally sampled experiments", method);
+  else
+    tsam = tsam{1};
+  endif
+  
   ## default arguments
   alg = 0;
   conct = 1;                            # no connection between experiments
@@ -125,7 +133,7 @@
   [a, b, c, d, q, ry, s, k, x0] = slident (dat.y, dat.u, nobr, n, meth, alg, conct, ctrl, rcond, tol);
 
   ## assemble model
-  sys = ss (a, b, c, d, dat.tsam{1});
+  sys = ss (a, b, c, d, tsam);
 
   ## return x0 as vector for single-experiment data
   ## instead of a cell containing one vector

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

Revision: 10524
          http://octave.svn.sourceforge.net/octave/?rev=10524&view=rev
Author:   paramaniac
Date:     2012-05-27 18:22:21 +0000 (Sun, 27 May 2012)
Log Message:
-----------
control-devel: recursive least squares seems to work

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/CDplayerARX.m
    trunk/octave-forge/extra/control-devel/devel/rarx.m
    trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/HeatingSystemRLS.m

Modified: trunk/octave-forge/extra/control-devel/devel/CDplayerARX.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/CDplayerARX.m	2012-05-26 01:07:07 UTC (rev 10523)
+++ trunk/octave-forge/extra/control-devel/devel/CDplayerARX.m	2012-05-27 18:22:21 UTC (rev 10524)
@@ -51,8 +51,11 @@
 dat = iddata (Y, U)
 
 % [sys, x0] = ident (dat, 15, 8)     % s=15, n=8
-sys = arx (dat, 4, 4)
+[sys, x0] = arx (dat, 8, 8)
 
+[y, t] = lsim (sys, U, [], x0);
+
+%{
 %[y, t] = lsim (sys, U, [], x0);
 %[y, t] = lsim (sys(:,1:2), U);
 
@@ -65,6 +68,7 @@
 y = [y1, y2];
 
 t = 0:length(U)-1;
+%}
 
 err = norm (Y - y, 1) / norm (Y, 1)
 

Added: trunk/octave-forge/extra/control-devel/devel/HeatingSystemRLS.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/HeatingSystemRLS.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/HeatingSystemRLS.m	2012-05-27 18:22:21 UTC (rev 10524)
@@ -0,0 +1,102 @@
+%{
+1. Contributed by:
+
+        Roy Smith
+        Dept. of Electrical & Computer Engineering
+        University of California,
+	Santa Barbara, CA 93106
+	U.S.A.
+        roy@...
+
+2. Process/Description:
+
+	The experiment is a simple SISO heating system.
+	The input drives a 300 Watt Halogen lamp, suspended
+	several inches above a thin steel plate.  The output
+	is a thermocouple measurement taken from the back of
+	the plate.
+
+3. Sampling interval: 
+
+	2.0 seconds
+
+4. Number of samples
+
+	801
+
+5. Inputs:
+        
+        u: input drive voltage
+        ...
+6. Outputs:
+
+        y: temperature (deg. C)
+        ...
+7. References:
+
+	The use of this experiment and data for robust
+	control model validation is described in:
+
+        "Sampled Data Model Validation: an Algorithm and
+        Experimental Application," Geir Dullerud & Roy Smith,
+        International Journal of Robust and Nonlinear Control,
+        Vol. 6, No. 9/10, pp. 1065-1078, 1996.
+
+8. Known properties/peculiarities
+
+	The data (and nominal model) is the above paper have the
+	output expressed in 10's deg. C.  This has been rescaled 
+	to the original units of deg. C. in the DaISy data set.
+	There is also a -1 volt offset in u in the data shown plotted
+	in the original paper.  This has been removed in the
+	DaISy dataset.
+
+	The data shows evidence of discrepancies.  One of the
+	issues studied in the above paper is the size of these
+	discrepancies - measured in this case in terms of the norm
+	of the smallest perturbation required to account for the
+	difference between the nominal model and the data.
+	
+	The steady state input (prior to the start of the experiment)
+	is u = 6.0 Volts.
+
+%}
+
+clear all, close all, clc
+
+load heating_system.dat
+U=heating_system(:,2);
+Y=heating_system(:,3);
+
+
+dat = iddata (Y, U, 2.0, 'inname', 'input drive voltage', \
+                         'inunit', 'Volt', \
+                         'outname', 'temperature', \
+                         'outunit', '°C')
+
+% s=15, n=7
+[sys1, x0] = moen4 (dat, 's', 15, 'n', 7)
+%sys2 = arx (dat, 7, 7)       % normally na = nb
+[sys2, x02] = arx (dat, 7, 7);
+[sys3, x03] = rarx (dat, 7, 7);
+
+[y1, t1] = lsim (sys1, U, [], x0);
+%[y2, t] = lsim (sys2(:, 1), U);
+[y2, t] = lsim (sys2, U, [], x02);
+[y3, t] = lsim (sys3, U, [], x02);
+
+
+err1 = norm (Y - y1, 1) / norm (Y, 1)
+err2 = norm (Y - y2, 1) / norm (Y, 1)
+err2 = norm (Y - y3, 1) / norm (Y, 1)
+
+figure (1)
+plot (t, Y, t, y1, t, y2, t, y3)
+title ('DaISy: Heating System [99-001]')
+xlim ([t(1), t(end)])
+xlabel ('Time [s]')
+ylabel ('Temperature [Degree Celsius]')
+legend ('measured', 'simulated subspace', 'simulated ARX', 'simulated RLS', 'location', 'southeast')
+
+
+

Modified: trunk/octave-forge/extra/control-devel/devel/rarx.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/rarx.m	2012-05-26 01:07:07 UTC (rev 10523)
+++ trunk/octave-forge/extra/control-devel/devel/rarx.m	2012-05-27 18:22:21 UTC (rev 10524)
@@ -131,16 +131,16 @@
     
   if (numel (Phi) == 1)                             # single-experiment dataset
     % recursive least-squares with efficient matrix inversion
-    lambda = default 1
-    Theta = ?
-    P = ?
-    for t =
-      phi = Phi{1}(t,:);
-      y = Y{1}(t?offset n(i), :);
-      ## note phi != phi.'
+    [pr, pc] = size (Phi{1});
+    lambda = 1; % default 1
+    Theta = zeros (pc, 1);
+    P = 10 * eye (pc);
+    for t = 1 : pr
+      phi = Phi{1}(t,:);                            # note that my phi is Ljung's phi.'
+      y = Y{1}(t+n(i), :);
       den = lambda + phi*P*phi.';
-      L = P * phi / den;
-      P = (P - (P * phi.' * phi * P) / den) / lambda
+      L = P * phi.' / den;
+      P = (P - (P * phi.' * phi * P) / den) / lambda;
       Theta += L * (y - phi*Theta);
     endfor
 %{

Modified: trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m	2012-05-26 01:07:07 UTC (rev 10523)
+++ trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m	2012-05-27 18:22:21 UTC (rev 10524)
@@ -58,7 +58,7 @@
   endif
 
   [ns, l, m, e] = size (dat);           # dataset dimensions
-  tsam = dat.tsam
+  tsam = dat.tsam;
   
   ## multi-experiment data requires equal sampling times  
   if (e > 1 && ! isequal (tsam{:}))

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Revision: 10527
          http://octave.svn.sourceforge.net/octave/?rev=10527&view=rev
Author:   paramaniac
Date:     2012-05-27 20:03:58 +0000 (Sun, 27 May 2012)
Log Message:
-----------
control-devel: add missing semicolons

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/armax.m
    trunk/octave-forge/extra/control-devel/devel/rarx.m
    trunk/octave-forge/extra/control-devel/inst/arx.m

Modified: trunk/octave-forge/extra/control-devel/devel/armax.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/armax.m	2012-05-27 19:41:24 UTC (rev 10526)
+++ trunk/octave-forge/extra/control-devel/devel/armax.m	2012-05-27 20:03:58 UTC (rev 10527)
@@ -113,7 +113,7 @@
   ## this makes only sense for state-space models, therefore convert TF to SS
   if (nargout > 1)
     sys = prescale (ss (sys(:,1:m)));
-    x0 = slib01cd (Y, U, sys.a, sys.b, sys.c, sys.d, 0.0)
+    x0 = slib01cd (Y, U, sys.a, sys.b, sys.c, sys.d, 0.0);
     ## return x0 as vector for single-experiment data
     ## instead of a cell containing one vector
     if (numel (x0) == 1)

Modified: trunk/octave-forge/extra/control-devel/devel/rarx.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/rarx.m	2012-05-27 19:41:24 UTC (rev 10526)
+++ trunk/octave-forge/extra/control-devel/devel/rarx.m	2012-05-27 20:03:58 UTC (rev 10527)
@@ -113,7 +113,7 @@
   ## this makes only sense for state-space models, therefore convert TF to SS
   if (nargout > 1)
     sys = prescale (ss (sys(:,1:m)));
-    x0 = slib01cd (Y, U, sys.a, sys.b, sys.c, sys.d, 0.0)
+    x0 = slib01cd (Y, U, sys.a, sys.b, sys.c, sys.d, 0.0);
     ## return x0 as vector for single-experiment data
     ## instead of a cell containing one vector
     if (numel (x0) == 1)

Modified: trunk/octave-forge/extra/control-devel/inst/arx.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/arx.m	2012-05-27 19:41:24 UTC (rev 10526)
+++ trunk/octave-forge/extra/control-devel/inst/arx.m	2012-05-27 20:03:58 UTC (rev 10527)
@@ -113,7 +113,7 @@
   ## this makes only sense for state-space models, therefore convert TF to SS
   if (nargout > 1)
     sys = prescale (ss (sys(:,1:m)));
-    x0 = slib01cd (Y, U, sys.a, sys.b, sys.c, sys.d, 0.0)
+    x0 = slib01cd (Y, U, sys.a, sys.b, sys.c, sys.d, 0.0);
     ## return x0 as vector for single-experiment data
     ## instead of a cell containing one vector
     if (numel (x0) == 1)

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Revision: 10528
          http://octave.svn.sourceforge.net/octave/?rev=10528&view=rev
Author:   paramaniac
Date:     2012-05-27 20:31:31 +0000 (Sun, 27 May 2012)
Log Message:
-----------
control-devel: handle key/value pairs for are

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/CDplayerARX.m
    trunk/octave-forge/extra/control-devel/devel/DestillationMEarx.m
    trunk/octave-forge/extra/control-devel/devel/GlassFurnaceARX.m
    trunk/octave-forge/extra/control-devel/devel/HeatingSystem.m
    trunk/octave-forge/extra/control-devel/devel/LakeErieARX.m
    trunk/octave-forge/extra/control-devel/devel/pHarx.m
    trunk/octave-forge/extra/control-devel/inst/arx.m

Modified: trunk/octave-forge/extra/control-devel/devel/CDplayerARX.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/CDplayerARX.m	2012-05-27 20:03:58 UTC (rev 10527)
+++ trunk/octave-forge/extra/control-devel/devel/CDplayerARX.m	2012-05-27 20:31:31 UTC (rev 10528)
@@ -51,7 +51,7 @@
 dat = iddata (Y, U)
 
 % [sys, x0] = ident (dat, 15, 8)     % s=15, n=8
-[sys, x0] = arx (dat, 8, 8)
+[sys, x0] = arx (dat, 'na', 8, 'nb', 8)
 
 [y, t] = lsim (sys, U, [], x0);
 

Modified: trunk/octave-forge/extra/control-devel/devel/DestillationMEarx.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/DestillationMEarx.m	2012-05-27 20:03:58 UTC (rev 10527)
+++ trunk/octave-forge/extra/control-devel/devel/DestillationMEarx.m	2012-05-27 20:31:31 UTC (rev 10528)
@@ -72,8 +72,8 @@
 dat = iddata (Y, U)
 
 [sys, x0] = moen4 (dat, 's', 5, 'n', 4)    % s=5, n=4
-sys2 = arx (dat, 4, 4);
-[sys2, x02] = arx (dat, 4, 4);
+sys2 = arx (dat, 'na', 4, 'nb', 4);
+[sys2, x02] = arx (dat, 'na', 4, 'nb', 4);
 
 x0=x0{1};
 x02=x02{1};

Modified: trunk/octave-forge/extra/control-devel/devel/GlassFurnaceARX.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/GlassFurnaceARX.m	2012-05-27 20:03:58 UTC (rev 10527)
+++ trunk/octave-forge/extra/control-devel/devel/GlassFurnaceARX.m	2012-05-27 20:31:31 UTC (rev 10528)
@@ -49,7 +49,7 @@
 dat = iddata (Y, U)
 
 %[sys, x0] = ident (dat, 10, 5)     % s=10, n=5
-sys = arx (dat, 5, 5)
+sys = arx (dat, 5)
 
 %[y, t] = lsim (sys, U, [], x0);
 [y, t] = lsim (sys(:, 1:3), U);

Modified: trunk/octave-forge/extra/control-devel/devel/HeatingSystem.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/HeatingSystem.m	2012-05-27 20:03:58 UTC (rev 10527)
+++ trunk/octave-forge/extra/control-devel/devel/HeatingSystem.m	2012-05-27 20:31:31 UTC (rev 10528)
@@ -77,7 +77,7 @@
 % s=15, n=7
 [sys1, x0] = moen4 (dat, 's', 15, 'n', 7)
 %sys2 = arx (dat, 7, 7)       % normally na = nb
-[sys2, x02] = arx (dat, 7, 7);
+[sys2, x02] = arx (dat, 7);
 
 [y1, t1] = lsim (sys1, U, [], x0);
 %[y2, t] = lsim (sys2(:, 1), U);

Modified: trunk/octave-forge/extra/control-devel/devel/LakeErieARX.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/LakeErieARX.m	2012-05-27 20:03:58 UTC (rev 10527)
+++ trunk/octave-forge/extra/control-devel/devel/LakeErieARX.m	2012-05-27 20:31:31 UTC (rev 10528)
@@ -78,7 +78,7 @@
 
 [sys, x0] = moen4 (dat, 's', 5, 'n', 4)    % s=5, n=4
 % sys2 = arx (dat, 4, 4)
-[sys2, x02] = arx (dat, 4, 4)
+[sys2, x02] = arx (dat, 4)
 
 x0=x0{1};
 x02=x02{1};

Modified: trunk/octave-forge/extra/control-devel/devel/pHarx.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/pHarx.m	2012-05-27 20:03:58 UTC (rev 10527)
+++ trunk/octave-forge/extra/control-devel/devel/pHarx.m	2012-05-27 20:31:31 UTC (rev 10528)
@@ -52,7 +52,7 @@
 dat = iddata (Y, U)
 
 % [sys, x0] = ident (dat, 15, 6)     % s=15, n=6
-sys = arx (dat, 6, 6)       % normally na = nb
+sys = arx (dat, 6)       % normally na = nb
 
 % [y, t] = lsim (sys, U, [], x0);
 [y, t] = lsim (sys(:, 1:2), U);

Modified: trunk/octave-forge/extra/control-devel/inst/arx.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/arx.m	2012-05-27 20:03:58 UTC (rev 10527)
+++ trunk/octave-forge/extra/control-devel/inst/arx.m	2012-05-27 20:31:31 UTC (rev 10528)
@@ -24,11 +24,11 @@
 ## Created: April 2012
 ## Version: 0.1
 
-function [sys, varargout] = arx (dat, na, nb)
+function [sys, varargout] = arx (dat, varargin)
 
   ## TODO: delays
 
-  if (nargin != 3)
+  if (nargin < 2)
     print_usage ();
   endif
   
@@ -36,8 +36,24 @@
     error ("arx: first argument must be an iddata dataset");
   endif
 
+%  if (nargin > 2)                       # arx (dat, ...)
+    if (is_real_scalar (varargin{1}))   # arx (dat, n, ...)
+      varargin = horzcat (varargin(2:end), {"na"}, varargin(1), {"nb"}, varargin(1));
+    endif
+    if (isstruct (varargin{1}))         # arx (dat, opt, ...), arx (dat, n, opt, ...)
+      varargin = horzcat (__opt2cell__ (varargin{1}), varargin(2:end));
+    endif
+%  endif
+
+  nkv = numel (varargin);               # number of keys and values
+  
+  if (rem (nkv, 2))
+    error ("arx: keys and values must come in pairs");
+  endif
+
+
   ## p: outputs,  m: inputs,  ex: experiments
-  [~, p, m, ex] = size (dat);
+  [~, p, m, ex] = size (dat);           # dataset dimensions
 
   ## extract data  
   Y = dat.y;
@@ -50,8 +66,31 @@
   else
     tsam = tsam{1};
   endif
+  
+  
+  ## default arguments
+  na = [];
+  nb = [];      % ???
+  nk = [];
 
-  
+  ## handle keys and values
+  for k = 1 : 2 : nkv
+    key = lower (varargin{k});
+    val = varargin{k+1};
+    switch (key)
+      ## TODO: proper argument checking
+      case "na"
+        na = val;
+      case "nb"
+        nb = val;
+      case "nk"
+        error ("nk");
+      otherwise
+        warning ("arx: invalid property name '%s' ignored", key);
+    endswitch
+  endfor
+
+
   if (is_real_scalar (na, nb))
     na = repmat (na, p, 1);                         # na(p-by-1)
     nb = repmat (nb, p, m);                         # nb(p-by-m)

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Revision: 10546
          http://octave.svn.sourceforge.net/octave/?rev=10546&view=rev
Author:   paramaniac
Date:     2012-05-31 12:31:34 +0000 (Thu, 31 May 2012)
Log Message:
-----------
control-devel: return scaling L

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m
    trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m

Modified: trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m	2012-05-31 06:04:54 UTC (rev 10545)
+++ trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m	2012-05-31 12:31:34 UTC (rev 10546)
@@ -48,9 +48,12 @@
 
 dat = iddata (Y, U)
 
-[sys, x0] = moen4 (dat, 's', 10, 'n', 5)     % s=10, n=5
+[sys, x0, info] = n4sid (dat, 's', 10, 'n', 5)     % s=10, n=5
 
+L = chol (info.Ry, 'lower')
+Be = info.K * L
 
+
 [y, t] = lsim (sys, U, [], x0);
 
 err = norm (Y - y, 1) / norm (Y, 1)

Modified: trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m	2012-05-31 06:04:54 UTC (rev 10545)
+++ trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m	2012-05-31 12:31:34 UTC (rev 10546)
@@ -146,7 +146,8 @@
   ## state covariance matrix Q
   ## output covariance matrix Ry
   ## state-output cross-covariance matrix S
-  info = struct ("K", k, "Q", q, "Ry", ry, "S", s);
+  ## L L' = Ry,  e = L v,  v becomes white noise with identity covariance matrix
+  info = struct ("K", k, "Q", q, "Ry", ry, "S", s, "L", chol (ry, "lower"));
 
 endfunction
 

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Revision: 10657
          http://octave.svn.sourceforge.net/octave/?rev=10657&view=rev
Author:   paramaniac
Date:     2012-06-22 09:08:11 +0000 (Fri, 22 Jun 2012)
Log Message:
-----------
control-devel: specify common tsam for all experiments, improve doc

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/INDEX
    trunk/octave-forge/extra/control-devel/inst/@iddata/iddata.m
    trunk/octave-forge/extra/control-devel/inst/__adjust_iddata_tsam__.m

Modified: trunk/octave-forge/extra/control-devel/INDEX
===================================================================
--- trunk/octave-forge/extra/control-devel/INDEX	2012-06-22 05:34:37 UTC (rev 10656)
+++ trunk/octave-forge/extra/control-devel/INDEX	2012-06-22 09:08:11 UTC (rev 10657)
@@ -7,13 +7,11 @@
   @iddata/diff
   @iddata/fft
   @iddata/get
-  @iddata/horzcat
   @iddata/ifft
   @iddata/merge
   @iddata/plot
   @iddata/set
   @iddata/size
-  @iddata/vertcat
 System Identification
   arx
   fitfrd

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/iddata.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/iddata.m	2012-06-22 05:34:37 UTC (rev 10656)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/iddata.m	2012-06-22 09:08:11 UTC (rev 10657)
@@ -42,6 +42,10 @@
 ## and n(i) the individual number of samples for each experiment.
 ## @item tsam
 ## Sampling time.  If not specified, default value -1 (unspecified) is taken.
+## For multi-experiment data, @var{tsam} becomes a
+## e-by-1 or 1-by-e cell vector containing individual
+## sampling times for each experiment.  If a scalar @var{tsam}
+## is provided, then all experiments have the same sampling time.
 ## @item @dots{}
 ## Optional pairs of properties and values.
 ## @end table

Modified: trunk/octave-forge/extra/control-devel/inst/__adjust_iddata_tsam__.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/__adjust_iddata_tsam__.m	2012-06-22 05:34:37 UTC (rev 10656)
+++ trunk/octave-forge/extra/control-devel/inst/__adjust_iddata_tsam__.m	2012-06-22 09:08:11 UTC (rev 10657)
@@ -40,9 +40,13 @@
     error ("iddata: invalid sampling time");
   endif
 
-  if (numel (tsam) != e)
+  nt = numel (tsam);
+
+  if (nt == 1 && e > 1)
+    tsam = repmat (tsam, e, 1);
+  elseif (nt != e)
     error ("iddata: there are %d experiments, but only %d sampling times", \
-           e, numel (tsam));
+           e, nt);
   endif
 
 endfunction

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Revision: 10691
          http://octave.svn.sourceforge.net/octave/?rev=10691&view=rev
Author:   paramaniac
Date:     2012-06-25 14:56:49 +0000 (Mon, 25 Jun 2012)
Log Message:
-----------
control-devel: use kalman predictor for simulation

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/Destillation.m
    trunk/octave-forge/extra/control-devel/devel/Evaporator.m
    trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m
    trunk/octave-forge/extra/control-devel/devel/pH.m
    trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m
    trunk/octave-forge/extra/control-devel/inst/moen4.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/HeatingSystemKP.m
    trunk/octave-forge/extra/control-devel/devel/PowerPlantKP.m

Modified: trunk/octave-forge/extra/control-devel/devel/Destillation.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/Destillation.m	2012-06-25 12:57:13 UTC (rev 10690)
+++ trunk/octave-forge/extra/control-devel/devel/Destillation.m	2012-06-25 14:56:49 UTC (rev 10691)
@@ -66,13 +66,16 @@
 Y_dest_n20=Y(:,7:9);
 Y_dest_n30=Y(:,10:12);
 
+Y = {Y_dest; Y_dest_n10; Y_dest_n20; Y_dest_n30};
+U = {U_dest; U_dest_n10; U_dest_n20; U_dest_n30};
 
-dat = iddata (Y_dest, U_dest)
+dat = iddata (Y, U)
 
-[sys, x0] = moen4 (dat, 's', 5, 'n', 4)    % s=5, n=4
+[sys, x0] = moen4 (dat, 's', 5, 'n', 4, 'noise', 'k')    % s=5, n=4
 
+x0=x0{1};
 
-[y, t] = lsim (sys, U_dest, [], x0);
+[y, t] = lsim (sys, [U_dest, Y_dest], [], x0);
 %[y, t] = lsim (sys, U_dest);
 
 err = norm (Y_dest - y, 1) / norm (Y_dest, 1)

Modified: trunk/octave-forge/extra/control-devel/devel/Evaporator.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/Evaporator.m	2012-06-25 12:57:13 UTC (rev 10690)
+++ trunk/octave-forge/extra/control-devel/devel/Evaporator.m	2012-06-25 14:56:49 UTC (rev 10691)
@@ -51,10 +51,10 @@
 
 dat = iddata (Y, U)
 
-[sys, x0] = moen4 (dat, 's', 10, 'n', 4)     % s=10, n=4
+[sys, x0] = moen4 (dat, 's', 10, 'n', 4, 'noise', 'k')     % s=10, n=4
 
 
-[y, t] = lsim (sys, U, [], x0);
+[y, t] = lsim (sys, [U, Y], [], x0);
 
 err = norm (Y - y, 1) / norm (Y, 1)
 

Modified: trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m	2012-06-25 12:57:13 UTC (rev 10690)
+++ trunk/octave-forge/extra/control-devel/devel/GlassFurnace.m	2012-06-25 14:56:49 UTC (rev 10691)
@@ -48,10 +48,10 @@
 
 dat = iddata (Y, U)
 
-[sys, x0, info] = moen4 (dat, 's', 10, 'n', 5)     % s=10, n=5
+[sys, x0, info] = moen4 (dat, 's', 10, 'n', 5, 'noise', 'k')     % s=10, n=5
 
 
-[y, t] = lsim (sys, U, [], x0);
+[y, t] = lsim (sys, [U, Y], [], x0);
 
 err = norm (Y - y, 1) / norm (Y, 1)
 

Added: trunk/octave-forge/extra/control-devel/devel/HeatingSystemKP.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/HeatingSystemKP.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/HeatingSystemKP.m	2012-06-25 14:56:49 UTC (rev 10691)
@@ -0,0 +1,103 @@
+%{
+1. Contributed by:
+
+        Roy Smith
+        Dept. of Electrical & Computer Engineering
+        University of California,
+	Santa Barbara, CA 93106
+	U.S.A.
+        roy@...
+
+2. Process/Description:
+
+	The experiment is a simple SISO heating system.
+	The input drives a 300 Watt Halogen lamp, suspended
+	several inches above a thin steel plate.  The output
+	is a thermocouple measurement taken from the back of
+	the plate.
+
+3. Sampling interval: 
+
+	2.0 seconds
+
+4. Number of samples
+
+	801
+
+5. Inputs:
+        
+        u: input drive voltage
+        ...
+6. Outputs:
+
+        y: temperature (deg. C)
+        ...
+7. References:
+
+	The use of this experiment and data for robust
+	control model validation is described in:
+
+        "Sampled Data Model Validation: an Algorithm and
+        Experimental Application," Geir Dullerud & Roy Smith,
+        International Journal of Robust and Nonlinear Control,
+        Vol. 6, No. 9/10, pp. 1065-1078, 1996.
+
+8. Known properties/peculiarities
+
+	The data (and nominal model) is the above paper have the
+	output expressed in 10's deg. C.  This has been rescaled 
+	to the original units of deg. C. in the DaISy data set.
+	There is also a -1 volt offset in u in the data shown plotted
+	in the original paper.  This has been removed in the
+	DaISy dataset.
+
+	The data shows evidence of discrepancies.  One of the
+	issues studied in the above paper is the size of these
+	discrepancies - measured in this case in terms of the norm
+	of the smallest perturbation required to account for the
+	difference between the nominal model and the data.
+	
+	The steady state input (prior to the start of the experiment)
+	is u = 6.0 Volts.
+
+%}
+
+clear all, close all, clc
+
+load heating_system.dat
+U=heating_system(:,2);
+Y=heating_system(:,3);
+
+
+dat = iddata (Y, U, 2.0, 'inname', 'input drive voltage', \
+                         'inunit', 'Volt', \
+                         'outname', 'temperature', \
+                         'outunit', '°C')
+
+% s=15, n=7
+%[sys1, x0] = moen4 (dat, 's', 15, 'n', 7)
+[sys1, x0] = moen4 (dat, 's', 15, 'n', 7, 'noise', 'k')
+
+%sys2 = arx (dat, 7, 7)       % normally na = nb
+[sys2, x02] = arx (dat, 7);
+
+%[y1, t1] = lsim (sys1, U, [], x0);
+[y1, t1] = lsim (sys1, [U, Y], [], x0);
+
+%[y2, t] = lsim (sys2(:, 1), U);
+[y2, t] = lsim (sys2, U, [], x02);
+
+
+err1 = norm (Y - y1, 1) / norm (Y, 1)
+err2 = norm (Y - y2, 1) / norm (Y, 1)
+
+figure (1)
+plot (t, Y, t, y1, t, y2)
+title ('DaISy: Heating System [99-001]')
+xlim ([t(1), t(end)])
+xlabel ('Time [s]')
+ylabel ('Temperature [Degree Celsius]')
+legend ('measured', 'simulated subspace', 'simulated ARX', 'location', 'southeast')
+
+
+

Added: trunk/octave-forge/extra/control-devel/devel/PowerPlantKP.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/PowerPlantKP.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/PowerPlantKP.m	2012-06-25 14:56:49 UTC (rev 10691)
@@ -0,0 +1,84 @@
+%{
+This file describes the data in the powerplant.dat file.
+1. Contributed by:
+	Peter Van Overschee
+	K.U.Leuven - ESAT - SISTA
+	K. Mercierlaan 94
+	3001 Heverlee
+	Peter.Vanoverschee@...
+2. Process/Description:
+	data of a power plant (Pont-sur-Sambre (France)) of 120 MW
+3. Sampling time 
+	1228.8 sec
+4. Number of samples: 
+	200 samples
+5. Inputs:
+	1. gas flow
+   	2. turbine valves opening
+   	3. super heater spray flow
+   	4. gas dampers
+   	5. air flow
+6. Outputs:
+	1. steam pressure
+   	2. main stem temperature
+   	3. reheat steam temperature
+7. References:
+	a. R.P. Guidorzi, P. Rossi, Identification of a power plant from normal
+   	operating records. Automatic control theory and applications (Canada,
+   	Vol 2, pp 63-67, sept 1974.
+	b. Moonen M., De Moor B., Vandenberghe L., Vandewalle J., On- and
+	off-line identification of linear state-space models, International
+	Journal of Control, Vol. 49, Jan. 1989, pp.219-232
+8. Known properties/peculiarities
+	
+9. Some MATLAB-code to retrieve the data
+	!gunzip powerplant.dat.Z
+	load powerplant.dat
+	U=powerplant(:,1:5);
+	Y=powerplant(:,6:8);
+	Yr=powerplant(:,9:11);
+
+%}
+
+clear all, close all, clc
+
+% NB: the code from DaISy is wrong:
+%     powerplant(:,1) is just the sample number
+%     therefore increase indices by one
+%     it took me weeks to find that silly mistake ...
+load powerplant.dat
+U=powerplant(:,2:6);
+Y=powerplant(:,7:9);
+Yr=powerplant(:,10:12);
+
+inname = {'gas flow',
+          'turbine valves opening',
+          'super heater spray flow',
+          'gas dampers',
+          'air flow'};
+
+outname = {'steam pressure',
+           'main steam temperature',
+           'reheat steam temperature'};
+           
+tsam = 1228.8;
+
+dat = iddata (Y, U, tsam, 'outname', outname, 'inname', inname)
+
+[sys, x0] = moen4 (dat, 's', 10, 'n', 8, 'noise', 'k')     % s=10, n=8
+
+[y, t] = lsim (sys, [U, Y], [], x0);
+
+err = norm (Y - y, 1) / norm (Y, 1)
+
+figure (1)
+p = columns (Y);
+for k = 1 : p
+  subplot (3, 1, k)
+  plot (t, Y(:,k), 'b', t, y(:,k), 'r')
+endfor
+%title ('DaISy: Power Plant')
+%legend ('y measured', 'y simulated', 'location', 'southeast')
+
+st = isstable (sys)
+

Modified: trunk/octave-forge/extra/control-devel/devel/pH.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/pH.m	2012-06-25 12:57:13 UTC (rev 10690)
+++ trunk/octave-forge/extra/control-devel/devel/pH.m	2012-06-25 14:56:49 UTC (rev 10691)
@@ -51,10 +51,10 @@
 
 dat = iddata (Y, U)
 
-[sys, x0] = moen4 (dat, 's', 15, 'n', 6)     % s=15, n=6
+[sys, x0] = moen4 (dat, 's', 15, 'n', 6, 'noise', 'k')     % s=15, n=6
 
 
-[y, t] = lsim (sys, U, [], x0);
+[y, t] = lsim (sys, [U, Y], [], x0);
 
 err = norm (Y - y, 1) / norm (Y, 1)
 st = isstable (sys)

Modified: trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m	2012-06-25 12:57:13 UTC (rev 10690)
+++ trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m	2012-06-25 14:56:49 UTC (rev 10691)
@@ -154,6 +154,11 @@
     in_v = __labels__ (outname, "y");
     in_v = cellfun (@(x) ["v@", x], in_v, "uniformoutput", false);
     inname = [in_u; in_v];
+  elseif (strncmpi (noise, "k", 1))     # Kalman predictor
+    sys = ss ([a-k*c], [b-k*d, k], c, [d, zeros(p)], tsam);
+    in_u = __labels__ (inname, "u");
+    in_y = __labels__ (outname, "y");
+    inname = [in_u; in_y];
   else                                  # no error inputs, default
     sys = ss (a, b, c, d, tsam);
   endif

Modified: trunk/octave-forge/extra/control-devel/inst/moen4.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/moen4.m	2012-06-25 12:57:13 UTC (rev 10690)
+++ trunk/octave-forge/extra/control-devel/inst/moen4.m	2012-06-25 14:56:49 UTC (rev 10691)
@@ -71,6 +71,7 @@
 ## @table @var
 ## @item 'n'
 ## The desired order of the resulting state-space system @var{sys}.
+## @var{s} > @var{n} > 0.
 ##
 ## @item 's'
 ## The number of block rows @var{s} in the input and output

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Revision: 10694
          http://octave.svn.sourceforge.net/octave/?rev=10694&view=rev
Author:   paramaniac
Date:     2012-06-25 19:24:52 +0000 (Mon, 25 Jun 2012)
Log Message:
-----------
control-devel: change to Kalman predictor

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/CDplayer.m
    trunk/octave-forge/extra/control-devel/devel/LakeErie.m
    trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m

Modified: trunk/octave-forge/extra/control-devel/devel/CDplayer.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/CDplayer.m	2012-06-25 16:41:32 UTC (rev 10693)
+++ trunk/octave-forge/extra/control-devel/devel/CDplayer.m	2012-06-25 19:24:52 UTC (rev 10694)
@@ -50,11 +50,15 @@
 
 dat = iddata (Y, U)
 
-[sys, x0] = moen4 (dat, 8, 's', 15)     % s=15, n=8
+% [sys, x0] = moen4 (dat, 8, 's', 15)     % s=15, n=8
+[sys, x0] = moen4 (dat, 8, 's', 15, 'noise', 'k')     % s=15, n=8
 
 
-[y, t] = lsim (sys, U, [], x0);
 
+%[y, t] = lsim (sys, U, [], x0);
+[y, t] = lsim (sys, [U, Y], [], x0);
+
+
 err = norm (Y - y, 1) / norm (Y, 1)
 
 figure (1)

Modified: trunk/octave-forge/extra/control-devel/devel/LakeErie.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/LakeErie.m	2012-06-25 16:41:32 UTC (rev 10693)
+++ trunk/octave-forge/extra/control-devel/devel/LakeErie.m	2012-06-25 19:24:52 UTC (rev 10694)
@@ -76,11 +76,14 @@
    	                   'outname', {'a. dissolved oxygen';
    	                               'b. algae'})
 
-[sys, x0] = moen4 (dat, 's', 5, 'n', 4)    % s=5, n=4
+% [sys, x0] = moen4 (dat, 's', 5, 'n', 4)    % s=5, n=4
+[sys, x0] = moen4 (dat, 's', 5, 'n', 4, 'noise', 'k')    % s=5, n=4
 
+
 x0=x0{1};
 
-[y, t] = lsim (sys, U_erie, [], x0);
+[y, t] = lsim (sys, [U_erie, Y_erie], [], x0);
+%[y, t] = lsim (sys, U_erie, [], x0);
 %[y, t] = lsim (sys, U_erie);
 
 err = norm (Y_erie - y, 1) / norm (Y_erie, 1)

Modified: trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m	2012-06-25 16:41:32 UTC (rev 10693)
+++ trunk/octave-forge/extra/control-devel/inst/__slicot_identification__.m	2012-06-25 19:24:52 UTC (rev 10694)
@@ -97,6 +97,7 @@
       case "confirm"
         conf = logical (val);
       case "noise"
+        ## FIXME: find a more speaking name than 'noise' for this option
         noise = val;
       otherwise
         warning ("%s: invalid property name '%s' ignored", method, key);

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Revision: 10702
          http://octave.svn.sourceforge.net/octave/?rev=10702&view=rev
Author:   paramaniac
Date:     2012-06-29 06:08:32 +0000 (Fri, 29 Jun 2012)
Log Message:
-----------
control-devel: work on draft code

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/inst/arx.m
    trunk/octave-forge/extra/control-devel/src/Makefile

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/src/is_matrix.cc

Modified: trunk/octave-forge/extra/control-devel/inst/arx.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/arx.m	2012-06-29 06:07:27 UTC (rev 10701)
+++ trunk/octave-forge/extra/control-devel/inst/arx.m	2012-06-29 06:08:32 UTC (rev 10702)
@@ -16,8 +16,65 @@
 ## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
 
 ## -*- texinfo -*-
-## @deftypefn {Function File} {@var{sys} =} arx (@var{dat}, @var{na}, @var{nb})
+## @deftypefn {Function File} {[@var{sys}, @var{x0}] =} arx (@var{dat}, @var{n}, @dots{})
+## @deftypefnx {Function File} {[@var{sys}, @var{x0}] =} arx (@var{dat}, @var{n}, @var{opt}, @dots{})
+## @deftypefnx {Function File} {[@var{sys}, @var{x0}] =} arx (@var{dat}, @var{opt}, @dots{})
+## @deftypefnx {Function File} {[@var{sys}, @var{x0}] =} arx (@var{dat}, @var{'na'}, @var{na}, @var{'nb'}, @var{nb})
 ## ARX
+##
+## @strong{Inputs}
+## @table @var
+## @item dat
+## iddata set containing the measurements.
+## @item n
+## The desired order of the resulting model @var{sys}.
+## @item @dots{}
+## Optional pairs of keys and values.  @code{'key1', value1, 'key2', value2}.
+## @item opt
+## Optional struct with keys as field names.
+## Struct @var{opt} can be created directly or
+## by command @command{options}.  @code{opt.key1 = value1, opt.key2 = value2}.
+## @end table
+##
+##
+## @strong{Outputs}
+## @table @var
+## @item sys
+## Discrete-time transfer function model.
+## If the second output argument @var{x0} is returned,
+## @var{sys} becomes a state-space model.
+## @item x0
+## Initial state vector.  If @var{dat} is a multi-experiment dataset,
+## @var{x0} becomes a cell vector containing an initial state vector
+## for each experiment.
+## @end table
+##
+##
+##
+## @strong{Option Keys and Values}
+## @table @var
+## @item 'na'
+## The desired order of the resulting state-space system @var{sys}.
+## @var{s} > @var{n} > 0.
+##
+## @item 'nb'
+## The desired order of the resulting state-space system @var{sys}.
+## @var{s} > @var{n} > 0.
+## @end table
+##
+##
+## @strong{Algorithm}@*
+## Uses the formulae given in [1] on pages 318-319,
+## 'Solving for the LS Estimate by QR Factorization'.
+## For the initial conditions, SLICOT IB01CD is used by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
+##
+## @strong{References}@*
+## [1] Ljung, L. (1999)
+## System Identification - Theory for the User
+## Second Edition
+## Prentice Hall, New Jersey.
+##
 ## @end deftypefn
 
 ## Author: Lukas Reichlin <lukas.reichlin@...>
@@ -36,15 +93,14 @@
     error ("arx: first argument must be an iddata dataset");
   endif
 
-%  if (nargin > 2)                       # arx (dat, ...)
-    if (is_real_scalar (varargin{1}))   # arx (dat, n, ...)
-      varargin = horzcat (varargin(2:end), {"na"}, varargin(1), {"nb"}, varargin(1));
-    endif
-    if (isstruct (varargin{1}))         # arx (dat, opt, ...), arx (dat, n, opt, ...)
-      varargin = horzcat (__opt2cell__ (varargin{1}), varargin(2:end));
-    endif
-%  endif
+  if (is_real_scalar (varargin{1}))   # arx (dat, n, ...)
+    varargin = horzcat (varargin(2:end), {"na"}, varargin(1), {"nb"}, varargin(1));
+  endif
 
+  if (isstruct (varargin{1}))         # arx (dat, opt, ...), arx (dat, n, opt, ...)
+    varargin = horzcat (__opt2cell__ (varargin{1}), varargin(2:end));
+  endif
+
   nkv = numel (varargin);               # number of keys and values
   
   if (rem (nkv, 2))

Modified: trunk/octave-forge/extra/control-devel/src/Makefile
===================================================================
--- trunk/octave-forge/extra/control-devel/src/Makefile	2012-06-29 06:07:27 UTC (rev 10701)
+++ trunk/octave-forge/extra/control-devel/src/Makefile	2012-06-29 06:08:32 UTC (rev 10702)
@@ -2,7 +2,8 @@
 # BLAS_LIBS := $(shell mkoctfile -p BLAS_LIBS)
 FLIBS := $(shell mkoctfile -p FLIBS)
 
-all: devel_slicot_functions.oct
+all: devel_slicot_functions.oct \
+     is_matrix.oct
 
 # unpack and compile SLICOT library
 slicotlibrary.a: slicot.tar.gz
@@ -27,6 +28,10 @@
 	mkoctfile devel_slicot_functions.cc common.cc slicotlibrary.a lapacklibrary.a \
               ${FLIBS}
 
+# helpers
+is_matrix.oct: is_matrix.cc
+	mkoctfile is_matrix.cc
+
 clean:
 	rm -rf *.o core octave-core *.oct *~ *.f slicot lapack-3.4.1
 

Added: trunk/octave-forge/extra/control-devel/src/is_matrix.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/is_matrix.cc	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/src/is_matrix.cc	2012-06-29 06:08:32 UTC (rev 10702)
@@ -0,0 +1,60 @@
+/*
+
+Copyright (C) 2012   Lukas F. Reichlin
+
+This file is part of LTI Syncope.
+
+LTI Syncope is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+LTI Syncope is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+Return true if argument is a real matrix.
+
+Author: Lukas Reichlin <lukas.reichlin@...>
+Created: June 2012
+Version: 0.1
+
+*/
+
+#include <octave/oct.h>
+
+DEFUN_DLD (is_matrix, args, nargout,
+   "-*- texinfo -*-\n\
+@deftypefn {Loadable Function} {} is_matrix (@var{a}, @dots{})\n\
+Return true if argument is a matrix.\n\
+@var{[]} is a valid matrix.\n\
+Avoid nasty stuff like @code{true = isreal (\"a\")}\n\
+@seealso{is_real_matrix, is_real_square_matrix, is_real_vector, is_real_scalar}\n\
+@end deftypefn")
+{
+    octave_value retval = true;
+    int nargin = args.length ();
+
+    if (nargin == 0)
+    {
+        print_usage ();
+    }
+    else
+    {
+        for (int i = 0; i < nargin; i++)
+        {
+            if (args(i).ndims () != 2 || ! args(i).is_numeric_type ()
+                || ! (args(i).is_complex_type () || args(i).is_real_type ()))
+            {
+                retval = false;
+                break;
+            }
+        }
+    }
+
+    return retval;
+}

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Revision: 10710
          http://octave.svn.sourceforge.net/octave/?rev=10710&view=rev
Author:   paramaniac
Date:     2012-07-01 18:50:12 +0000 (Sun, 01 Jul 2012)
Log Message:
-----------
control-devel: add nkshift iddata method

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/INDEX

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/inst/@iddata/nkshift.m

Modified: trunk/octave-forge/extra/control-devel/INDEX
===================================================================
--- trunk/octave-forge/extra/control-devel/INDEX	2012-06-30 18:46:04 UTC (rev 10709)
+++ trunk/octave-forge/extra/control-devel/INDEX	2012-07-01 18:50:12 UTC (rev 10710)
@@ -9,6 +9,7 @@
   @iddata/get
   @iddata/ifft
   @iddata/merge
+  @iddata/nkshift
   @iddata/plot
   @iddata/set
   @iddata/size

Added: trunk/octave-forge/extra/control-devel/inst/@iddata/nkshift.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/nkshift.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/nkshift.m	2012-07-01 18:50:12 UTC (rev 10710)
@@ -0,0 +1,55 @@
+## Copyright (C) 2012   Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} {@var{dat} =} nkshift (@var{dat}, @var{nk})
+## @deftypefnx {Function File} {@var{dat} =} detrend (@var{dat}, @var{nk} @var{'append'})
+## Detrend outputs and inputs of dataset @var{dat} by
+## removing the best fit of a polynomial of order @var{ord}.
+## If @var{ord} is not specified, default value 0 is taken.
+## This corresponds to removing a constant.
+## @end deftypefn
+
+## Author: Lukas Reichlin <lukas.reichlin@...>
+## Created: July 2012
+## Version: 0.1
+
+function dat = nkshift (dat, nk = 0)
+
+  if (nargin != 2)
+    print_usage ();
+  endif
+
+  if (! is_real_scalar (nk))
+    error ("iddata: nkshift: ");
+  endif
+
+  ## TODO: - nk per inputs
+  ##       - padding with zeros
+  
+  snk = sign (nk);
+  nk = abs (nk);
+
+  if (snk >= 0)
+    dat.y = cellfun (@(y) y(nk+1:end, :), dat.y, "uniformoutput", false);
+    dat.u = cellfun (@(u) u(1:end-nk, :), dat.u, "uniformoutput", false);
+  else
+    dat.y = cellfun (@(y) y(1:end-nk, :), dat.y, "uniformoutput", false);
+    dat.u = cellfun (@(u) u(nk+1:end, :), dat.u, "uniformoutput", false);
+  endif
+
+endfunction

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Revision: 10711
          http://octave.svn.sourceforge.net/octave/?rev=10711&view=rev
Author:   paramaniac
Date:     2012-07-02 12:24:31 +0000 (Mon, 02 Jul 2012)
Log Message:
-----------
control-devel: use weaker kalman matrix in pH example

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/INDEX
    trunk/octave-forge/extra/control-devel/inst/@iddata/resample.m

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/devel/pH2.m

Modified: trunk/octave-forge/extra/control-devel/INDEX
===================================================================
--- trunk/octave-forge/extra/control-devel/INDEX	2012-07-01 18:50:12 UTC (rev 10710)
+++ trunk/octave-forge/extra/control-devel/INDEX	2012-07-02 12:24:31 UTC (rev 10711)
@@ -11,6 +11,7 @@
   @iddata/merge
   @iddata/nkshift
   @iddata/plot
+  @iddata/resample
   @iddata/set
   @iddata/size
 System Identification

Added: trunk/octave-forge/extra/control-devel/devel/pH2.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/pH2.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/pH2.m	2012-07-02 12:24:31 UTC (rev 10711)
@@ -0,0 +1,74 @@
+%{
+Contributed by:
+	Jairo Espinosa
+	K.U.Leuven ESAT-SISTA
+	K.Mercierlaan 94
+	B3001 Heverlee
+	Jairo.Espinosa@...
+
+Description:
+	Simulation data of a pH neutralization process in a constant volume
+	stirring tank. 
+	Volume of the tank 1100 liters 
+	Concentration of the acid solution (HAC) 0.0032 Mol/l
+	Concentration of the base solution (NaOH) 0,05 Mol/l
+Sampling:
+	10 sec
+Number:
+	2001
+Inputs:
+	u1: Acid solution flow in liters
+	u2: Base solution flow in liters
+
+Outputs:
+	y: pH of the solution in the tank
+
+References:
+	T.J. Mc Avoy, E.Hsu and S.Lowenthal, Dynamics of pH in controlled 
+	stirred tank reactor, Ind.Eng.Chem.Process Des.Develop.11(1972)
+	71-78
+
+Properties:
+	Highly non-linear system.
+
+Columns:
+	Column 1: time-steps
+	Column 2: input u1
+	Column 3: input u2
+	Column 4: output y
+
+Category:
+	Process industry systems
+
+%}
+
+clear all, close all, clc
+
+load pHdata.dat
+U=pHdata(:,2:3);
+Y=pHdata(:,4);
+
+
+dat = iddata (Y, U)
+
+[sys, x0, info] = moen4 (dat, 's', 15, 'n', 6)     % s=15, n=6
+
+l = lqe (sys, info.Q, 100*info.Ry)
+
+[a, b, c, d] = ssdata (sys);
+
+sys = ss ([a-l*c], [b-l*d, l], c, [d, 0], -1)
+
+
+[y, t] = lsim (sys, [U, Y], [], x0);
+
+err = norm (Y - y, 1) / norm (Y, 1)
+st = isstable (sys)
+
+figure (1)
+plot (t, Y(:,1), 'b', t, y(:,1), 'r')
+ylim ([0, 15])
+title ('DaISy [96-014]: pH neutralization process in a stirring tank - highly non-linear')
+legend ('y measured', 'y simulated', 'location', 'southeast')
+
+

Modified: trunk/octave-forge/extra/control-devel/inst/@iddata/resample.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/resample.m	2012-07-01 18:50:12 UTC (rev 10710)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/resample.m	2012-07-02 12:24:31 UTC (rev 10711)
@@ -16,8 +16,8 @@
 ## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
 
 ## -*- texinfo -*-
-## @deftypefn {Function File} {@var{dat} =} diff (@var{dat})
-## @deftypefnx {Function File} {@var{dat} =} diff (@var{dat}, @var{k})
+## @deftypefn {Function File} {@var{dat} =} resample (@var{dat}, @var{p}, @var{q})
+## @deftypefnx {Function File} {@var{dat} =} resample (@var{dat}, @var{p}, @var{q}, @var{n})
 ## Return @var{k}-th difference of outputs and inputs of dataset @var{dat}.
 ## If @var{k} is not specified, default value 1 is taken.
 ## @end deftypefn
@@ -32,6 +32,8 @@
     print_usage ();
   endif
   
+  ## requires signal package
+  
   h = fir1 (n, 1/q);
 
   dat.y = cellfun (@(y) resample (y, p, q, h), dat.y, "uniformoutput", false);

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Revision: 10757
          http://octave.svn.sourceforge.net/octave/?rev=10757&view=rev
Author:   paramaniac
Date:     2012-07-20 20:07:57 +0000 (Fri, 20 Jul 2012)
Log Message:
-----------
control-devel: minor changes

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/devel/Destillation.m
    trunk/octave-forge/extra/control-devel/devel/HeatingSystem.m
    trunk/octave-forge/extra/control-devel/devel/LakeErieARX.m
    trunk/octave-forge/extra/control-devel/inst/arx.m

Modified: trunk/octave-forge/extra/control-devel/devel/Destillation.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/Destillation.m	2012-07-20 19:37:05 UTC (rev 10756)
+++ trunk/octave-forge/extra/control-devel/devel/Destillation.m	2012-07-20 20:07:57 UTC (rev 10757)
@@ -85,4 +85,12 @@
 plot (t, Y_dest, 'b', t, y, 'r')
 legend ('y measured', 'y simulated', 'location', 'southeast')
 
+figure (2)
+p = columns (Y_dest);
+for k = 1 : 3
+  subplot (3, 1, k)
+  plot (t, Y_dest(:,k), 'b', t, y(:,k), 'r')
+  xlim ([0, 90])
+endfor
+legend ('y measured', 'y simulated', 'location', 'southeast')
 

Modified: trunk/octave-forge/extra/control-devel/devel/HeatingSystem.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/HeatingSystem.m	2012-07-20 19:37:05 UTC (rev 10756)
+++ trunk/octave-forge/extra/control-devel/devel/HeatingSystem.m	2012-07-20 20:07:57 UTC (rev 10757)
@@ -93,7 +93,7 @@
 xlim ([t(1), t(end)])
 xlabel ('Time [s]')
 ylabel ('Temperature [Degree Celsius]')
-legend ('measured', 'simulated subspace', 'simulated ARX', 'location', 'southeast')
+legend ('measurement DaISy', 'simulation MOEN4', 'simulation ARX', 'location', 'northeast')
 
 
 

Modified: trunk/octave-forge/extra/control-devel/devel/LakeErieARX.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/LakeErieARX.m	2012-07-20 19:37:05 UTC (rev 10756)
+++ trunk/octave-forge/extra/control-devel/devel/LakeErieARX.m	2012-07-20 20:07:57 UTC (rev 10757)
@@ -25,7 +25,7 @@
    	d. NO3
    	e. total hardness
 6. Outputs:
-	a. dissolved oxigen
+	a. dissolved oxygen
    	b. algae
 7. References:
 	R.P. Guidorzi, M.P. Losito, T. Muratori, On the last eigenvalue
@@ -76,7 +76,7 @@
    	                   'outname', {'a. dissolved oxygen';
    	                               'b. algae'})
 
-[sys, x0] = moen4 (dat, 's', 5, 'n', 4)    % s=5, n=4
+[sys, x0, info] = moen4 (dat, 's', 5, 'n', 4)    % s=5, n=4
 % sys2 = arx (dat, 4, 4)
 [sys2, x02] = arx (dat, 4)
 
@@ -97,8 +97,59 @@
 for k = 1 : p
   subplot (2, 1, k)
   plot (t, Y_erie(:,k), t, y(:,k), t, y2(:,k))
+  grid on
 endfor
 
-legend ('y measured', 'y MOEN4', 'y ARX', 'location', 'southeast')
+subplot (2, 1, 1)
+title ('DaISy: Lake Erie [96-005]')
+ylabel ('Dissolved Oxygen [n.s.]')
+xlim ([0, 56])
 
+subplot (2, 1, 2)
+ylabel ('Algae [n.s.]')
+xlabel ('Time [months]')
+xlim ([0, 56])
 
+legend ('measurement DaISy', 'simulation MOEN4', 'simulation ARX', 'location', 'northeast')
+
+
+
+
+
+l = lqe (sys, info.Q, 100*info.Ry)
+
+
+
+[a, b, c, d] = ssdata (sys);
+
+sys2 = ss ([a-l*c], [b-l*d, l], c, [d, zeros(2)], -1)
+
+[sys, ~, info] = moen4 (dat, 's', 5, 'n', 4, 'noise', 'k')
+
+[y, t] = lsim (sys, [U_erie, Y_erie], [], x0);
+[y2, t2] = lsim (sys2, [U_erie, Y_erie], [], x0);
+
+errkp = norm (Y_erie - y, 1) / norm (Y_erie, 1)
+err2kp = norm (Y_erie - y2, 1) / norm (Y_erie, 1)
+
+figure (2)
+p = columns (Y_erie);
+for k = 1 : p
+  subplot (2, 1, k)
+  plot (t, Y_erie(:,k), t, y(:,k), t, y2(:,k))
+  grid on
+endfor
+
+subplot (2, 1, 1)
+title ('DaISy: Lake Erie [96-005]')
+ylabel ('Dissolved Oxygen [n.s.]')
+xlim ([0, 56])
+
+subplot (2, 1, 2)
+ylabel ('Algae [n.s.]')
+xlabel ('Time [months]')
+xlim ([0, 56])
+
+legend ('measurement DaISy', 'Kalman Predictor', 'Kalman Predictor weak', 'location', 'northeast')
+
+

Modified: trunk/octave-forge/extra/control-devel/inst/arx.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/arx.m	2012-07-20 19:37:05 UTC (rev 10756)
+++ trunk/octave-forge/extra/control-devel/inst/arx.m	2012-07-20 20:07:57 UTC (rev 10757)
@@ -91,11 +91,11 @@
     error ("arx: first argument must be a time-domain iddata dataset");
   endif
 
-  if (is_real_scalar (varargin{1}))   # arx (dat, n, ...)
+  if (is_real_scalar (varargin{1}))     # arx (dat, n, ...)
     varargin = horzcat (varargin(2:end), {"na"}, varargin(1), {"nb"}, varargin(1));
   endif
 
-  if (isstruct (varargin{1}))         # arx (dat, opt, ...), arx (dat, n, opt, ...)
+  if (isstruct (varargin{1}))           # arx (dat, opt, ...), arx (dat, n, opt, ...)
     varargin = horzcat (__opt2cell__ (varargin{1}), varargin(2:end));
   endif
 
@@ -232,7 +232,7 @@
     ## theta = __ls_svd__ (phi{1}, y{1}(n(i)+1:end, i));
   else                                              # multi-experiment dataset
     ## TODO: find more sophisticated formula than
-    ## Theta = (Phi1' Phi + Phi2' Phi2 + ...) \ (Phi1' Y1 + Phi2' Y2 + ...)
+    ## Theta = (Phi1' Phi1 + Phi2' Phi2 + ...) \ (Phi1' Y1 + Phi2' Y2 + ...)
     
     ## covariance matrix C = (Phi1' Phi + Phi2' Phi2 + ...)
     tmp = cellfun (@(Phi) Phi.' * Phi, phi, "uniformoutput", false);

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Revision: 10783
          http://octave.svn.sourceforge.net/octave/?rev=10783&view=rev
Author:   paramaniac
Date:     2012-07-29 13:17:39 +0000 (Sun, 29 Jul 2012)
Log Message:
-----------
control-devel: minor changes

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/INDEX
    trunk/octave-forge/extra/control-devel/devel/HeatingSystem.m
    trunk/octave-forge/extra/control-devel/devel/LakeErieARX.m

Modified: trunk/octave-forge/extra/control-devel/INDEX
===================================================================
--- trunk/octave-forge/extra/control-devel/INDEX	2012-07-29 12:09:22 UTC (rev 10782)
+++ trunk/octave-forge/extra/control-devel/INDEX	2012-07-29 13:17:39 UTC (rev 10783)
@@ -26,4 +26,5 @@
   @iddata/subsref
   @iddata/vertcat
 Miscellaneous
+  options
   test_devel
\ No newline at end of file

Modified: trunk/octave-forge/extra/control-devel/devel/HeatingSystem.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/HeatingSystem.m	2012-07-29 12:09:22 UTC (rev 10782)
+++ trunk/octave-forge/extra/control-devel/devel/HeatingSystem.m	2012-07-29 13:17:39 UTC (rev 10783)
@@ -72,7 +72,7 @@
 dat = iddata (Y, U, 2.0, 'inname', 'input drive voltage', \
                          'inunit', 'Volt', \
                          'outname', 'temperature', \
-                         'outunit', '°C')
+                         'outunit', 'Degree Celsius')
 
 % s=15, n=7
 [sys1, x0] = moen4 (dat, 's', 15, 'n', 7)

Modified: trunk/octave-forge/extra/control-devel/devel/LakeErieARX.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/LakeErieARX.m	2012-07-29 12:09:22 UTC (rev 10782)
+++ trunk/octave-forge/extra/control-devel/devel/LakeErieARX.m	2012-07-29 13:17:39 UTC (rev 10783)
@@ -150,6 +150,6 @@
 xlabel ('Time [months]')
 xlim ([0, 56])
 
-legend ('measurement DaISy', 'Kalman Predictor', 'Kalman Predictor weak', 'location', 'northeast')
+legend ('Measurement DaISy', 'MOEN4 Kalman Predictor', 'MOEN4 Kalman Predictor (weak)', 'location', 'northeast')
 
 

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Revision: 10805
          http://octave.svn.sourceforge.net/octave/?rev=10805&view=rev
Author:   paramaniac
Date:     2012-08-03 15:38:45 +0000 (Fri, 03 Aug 2012)
Log Message:
-----------
control-devel: add filter method

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/INDEX

Added Paths:
-----------
    trunk/octave-forge/extra/control-devel/inst/@iddata/filter.m

Modified: trunk/octave-forge/extra/control-devel/INDEX
===================================================================
--- trunk/octave-forge/extra/control-devel/INDEX	2012-08-03 15:19:41 UTC (rev 10804)
+++ trunk/octave-forge/extra/control-devel/INDEX	2012-08-03 15:38:45 UTC (rev 10805)
@@ -6,6 +6,7 @@
   @iddata/detrend
   @iddata/diff
   @iddata/fft
+  @iddata/filter
   @iddata/get
   @iddata/ifft
   @iddata/merge

Added: trunk/octave-forge/extra/control-devel/inst/@iddata/filter.m
===================================================================
--- trunk/octave-forge/extra/control-devel/inst/@iddata/filter.m	                        (rev 0)
+++ trunk/octave-forge/extra/control-devel/inst/@iddata/filter.m	2012-08-03 15:38:45 UTC (rev 10805)
@@ -0,0 +1,59 @@
+## Copyright (C) 2012   Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} {@var{dat} =} filter (@var{dat}, @var{sys})
+## @deftypefnx {Function File} {@var{dat} =} filter (@var{dat}, @var{b}, @var{a})
+## Detrend outputs and inputs of dataset @var{dat} by
+## removing the best fit of a polynomial of order @var{ord}.
+## If @var{ord} is not specified, default value 0 is taken.
+## This corresponds to removing a constant.
+## @end deftypefn
+
+## Author: Lukas Reichlin <lukas.reichlin@...>
+## Created: April 2012
+## Version: 0.1
+
+function dat = filter (dat, b, a = [], si = [])
+
+  if (nargin < 2 || nargin > 4 || ! isa (dat, "iddata"))
+    print_usage ();
+  endif
+
+  if (isa (b, "lti") && issiso (b))
+    si = a;
+    if (isct (b))
+      tsam = dat.tsam;
+      b = c2d (b, tsam{1});         # does this make sense?
+    endif
+    [b, a] = filtdata (b, "vector");
+  endif
+
+  dat.y = cellfun (@(y) filter (b, a, y, si, 1), dat.y, "uniformoutput", false);
+  dat.u = cellfun (@(u) filter (b, a, u, si, 1), dat.u, "uniformoutput", false);
+
+endfunction
+
+
+%!shared DATD, Z
+%! DAT = iddata ({[(1:10).', (1:2:20).'], [(10:-1:1).', (20:-2:1).']}, {[(41:50).', (46:55).'], [(61:70).', (-66:-1:-75).']});
+%! DATD = detrend (DAT, "linear");
+%! Z = zeros (10, 2);
+%!assert (DATD.y{1}, Z, 1e-10);
+%!assert (DATD.y{2}, Z, 1e-10);
+%!assert (DATD.u{1}, Z, 1e-10);
+%!assert (DATD.u{2}, Z, 1e-10);

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Revision: 10869
          http://octave.svn.sourceforge.net/octave/?rev=10869&view=rev
Author:   paramaniac
Date:     2012-08-14 20:23:42 +0000 (Tue, 14 Aug 2012)
Log Message:
-----------
control-devel: remove system identification stuff

Modified Paths:
--------------
    trunk/octave-forge/extra/control-devel/DESCRIPTION
    trunk/octave-forge/extra/control-devel/src/Makefile
    trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc

Modified: trunk/octave-forge/extra/control-devel/DESCRIPTION
===================================================================
--- trunk/octave-forge/extra/control-devel/DESCRIPTION	2012-08-14 20:18:25 UTC (rev 10868)
+++ trunk/octave-forge/extra/control-devel/DESCRIPTION	2012-08-14 20:23:42 UTC (rev 10869)
@@ -1,6 +1,6 @@
 Name: Control-Devel
-Version: 0.2.0
-Date: 2012-05-21
+Version: 0.3.0
+Date: 2012-08-14
 Author: Lukas Reichlin <lukas.reichlin@...>
 Maintainer: Lukas Reichlin <lukas.reichlin@...>
 Title: Control Systems Developer's Playground

Modified: trunk/octave-forge/extra/control-devel/src/Makefile
===================================================================
--- trunk/octave-forge/extra/control-devel/src/Makefile	2012-08-14 20:18:25 UTC (rev 10868)
+++ trunk/octave-forge/extra/control-devel/src/Makefile	2012-08-14 20:23:42 UTC (rev 10869)
@@ -11,8 +11,7 @@
 endif
 LFLAGS := $(shell $(MKOCTFILE) -p LFLAGS) $(LAPACK_LIBS) $(BLAS_LIBS) $(FLIBS)
 
-all: devel_slicot_functions.oct \
-     is_matrix.oct
+all: devel_slicot_functions.oct
 
 # unpack and compile SLICOT library
 slicotlibrary.a: slicot.tar.gz

Modified: trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc	2012-08-14 20:18:25 UTC (rev 10868)
+++ trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc	2012-08-14 20:23:42 UTC (rev 10869)
@@ -1,7 +1,3 @@
-#include "slident.cc"       // system identification
-#include "slib01cd.cc"      // compute initial state vector
-#include "slib01ad.cc"      // compute singular values
-
 #include "slident_a.cc"
 #include "slident_b.cc"
 #include "slident_c.cc"
\ No newline at end of file

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