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[Octave-cvsupdate] SF.net SVN: octave:[6586] trunk/octave-forge/extra/control-oo/src
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From: <par...@us...> - 2009-12-03 12:34:48
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Revision: 6586
http://octave.svn.sourceforge.net/octave/?rev=6586&view=rev
Author: paramaniac
Date: 2009-12-03 12:34:37 +0000 (Thu, 03 Dec 2009)
Log Message:
-----------
control-oo: add missing cc files for h2syn
Added Paths:
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trunk/octave-forge/extra/control-oo/src/slsb10ed.cc
trunk/octave-forge/extra/control-oo/src/slsb10hd.cc
Added: trunk/octave-forge/extra/control-oo/src/slsb10ed.cc
===================================================================
--- trunk/octave-forge/extra/control-oo/src/slsb10ed.cc (rev 0)
+++ trunk/octave-forge/extra/control-oo/src/slsb10ed.cc 2009-12-03 12:34:37 UTC (rev 6586)
@@ -0,0 +1,205 @@
+/*
+
+Copyright (C) 2009 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 this program. If not, see <http://www.gnu.org/licenses/>.
+
+H2 optimal state controller for a discrete-time system.
+Uses SLICOT SB10ED by courtesy of NICONET e.V.
+<http://www.slicot.org>
+
+Author: Lukas Reichlin <luk...@gm...>
+Created: November 2009
+Version: 0.1
+
+*/
+
+#include <octave/oct.h>
+#include <f77-fcn.h>
+
+extern "C"
+{
+ int F77_FUNC (sb10ed, SB10ED) (int& N, int& M, int& NP,
+ int& NCON, int& NMEAS,
+ double* A, int& LDA,
+ double* B, int& LDB,
+ double* C, int& LDC,
+ double* D, int& LDD,
+ double* AK, int& LDAK,
+ double* BK, int& LDBK,
+ double* CK, int& LDCK,
+ double* DK, int& LDDK,
+ double* RCOND,
+ double& TOL,
+ int* IWORK,
+ double* DWORK, int& LDWORK,
+ bool* BWORK,
+ int& INFO);
+}
+
+int max (int a, int b)
+{
+ if (a > b)
+ return a;
+ else
+ return b;
+}
+
+int max (int a, int b, int c)
+{
+ int d = max (a, b);
+
+ if (c > d)
+ return c;
+ else
+ return d;
+}
+
+int max (int a, int b, int c, int d)
+{
+ int e = max (a, b);
+ int f = max (c, d);
+
+ if (e > f)
+ return e;
+ else
+ return f;
+}
+
+DEFUN_DLD (slsb10ed, args, nargout, "Slicot SB10ED Release 5.0")
+{
+ int nargin = args.length ();
+ octave_value_list retval;
+
+ if (nargin != 6)
+ {
+ print_usage ();
+ }
+ else
+ {
+ // arguments in
+ NDArray a = args(0).array_value ();
+ NDArray b = args(1).array_value ();
+ NDArray c = args(2).array_value ();
+ NDArray d = args(3).array_value ();
+
+ int ncon = args(4).int_value ();
+ int nmeas = args(5).int_value ();
+
+ int n = a.rows (); // n: number of states
+ int m = b.columns (); // m: number of inputs
+ int np = c.rows (); // np: number of outputs
+
+ int lda = a.rows ();
+ int ldb = b.rows ();
+ int ldc = c.rows ();
+ int ldd = d.rows ();
+
+ int ldak = max (1, n);
+ int ldbk = max (1, n);
+ int ldck = max (1, ncon);
+ int lddk = max (1, ncon);
+
+ double tol = 0;
+
+ // arguments out
+ dim_vector dv_ak (2);
+ dv_ak(0) = ldak;
+ dv_ak(1) = n;
+
+ dim_vector dv_bk (2);
+ dv_bk(0) = ldbk;
+ dv_bk(1) = nmeas;
+
+ dim_vector dv_ck (2);
+ dv_ck(0) = ldck;
+ dv_ck(1) = n;
+
+ dim_vector dv_dk (2);
+ dv_dk(0) = lddk;
+ dv_dk(1) = nmeas;
+
+ dim_vector dv (1);
+ dv(0) = 4;
+
+ NDArray ak (dv_ak);
+ NDArray bk (dv_bk);
+ NDArray ck (dv_ck);
+ NDArray dk (dv_dk);
+ NDArray rcond (dv);
+
+ // workspace
+ int* iwork;
+ double* dwork;
+ bool* bwork;
+
+ int m2 = ncon;
+ int m1 = m - m2;
+ int np1 = np - nmeas;
+ int np2 = nmeas;
+
+ int q = max (m1, m2, np1, np2);
+ int ldwork = 2*q*(3*q+2*n)+max(1,(n+q)*(n+q+6),q*(q+max(n,q,5)+1),
+ 2*n*n+max(1,14*n*n+6*n+max(14*n+23,16*n),
+ q*(n+q+max(q,3))));
+ int liwork = max (2*m2, 2*n, n*n, np2);
+
+ iwork = new int[liwork];
+ dwork = new double[ldwork];
+ bwork = new bool[2*n];
+
+ // error indicator
+ int info;
+
+
+ // SLICOT routine SB10HD
+ F77_XFCN (sb10ed, SB10ED, (n, m, np,
+ ncon, nmeas,
+ a.fortran_vec (), lda,
+ b.fortran_vec (), ldb,
+ c.fortran_vec (), ldc,
+ d.fortran_vec (), ldd,
+ ak.fortran_vec (), ldak,
+ bk.fortran_vec (), ldbk,
+ ck.fortran_vec (), ldck,
+ dk.fortran_vec (), lddk,
+ rcond.fortran_vec (),
+ tol,
+ iwork,
+ dwork, ldwork,
+ bwork,
+ info));
+
+ if (f77_exception_encountered)
+ error ("h2syn: slsb10ed: exception in SLICOT subroutine SB10ED");
+
+ if (info != 0)
+ error ("h2syn: slsb10ed: SB10ED returned info = %d", info);
+
+ // return values
+ retval(0) = ak;
+ retval(1) = bk;
+ retval(2) = ck;
+ retval(3) = dk;
+
+ // free memory
+ delete[] iwork;
+ delete[] dwork;
+ delete[] bwork;
+ }
+
+ return retval;
+}
Added: trunk/octave-forge/extra/control-oo/src/slsb10hd.cc
===================================================================
--- trunk/octave-forge/extra/control-oo/src/slsb10hd.cc (rev 0)
+++ trunk/octave-forge/extra/control-oo/src/slsb10hd.cc 2009-12-03 12:34:37 UTC (rev 6586)
@@ -0,0 +1,189 @@
+/*
+
+Copyright (C) 2009 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 this program. If not, see <http://www.gnu.org/licenses/>.
+
+H2 optimal state controller for a continuous-time system.
+Uses SLICOT SB10HD by courtesy of NICONET e.V.
+<http://www.slicot.org>
+
+Author: Lukas Reichlin <luk...@gm...>
+Created: November 2009
+Version: 0.1
+
+*/
+
+#include <octave/oct.h>
+#include <f77-fcn.h>
+
+extern "C"
+{
+ int F77_FUNC (sb10hd, SB10HD) (int& N, int& M, int& NP,
+ int& NCON, int& NMEAS,
+ double* A, int& LDA,
+ double* B, int& LDB,
+ double* C, int& LDC,
+ double* D, int& LDD,
+ double* AK, int& LDAK,
+ double* BK, int& LDBK,
+ double* CK, int& LDCK,
+ double* DK, int& LDDK,
+ double* RCOND,
+ double& TOL,
+ int* IWORK,
+ double* DWORK, int& LDWORK,
+ bool* BWORK,
+ int& INFO);
+}
+
+int max (int a, int b)
+{
+ if (a > b)
+ return a;
+ else
+ return b;
+}
+
+int min (int a, int b)
+{
+ if (a < b)
+ return a;
+ else
+ return b;
+}
+
+DEFUN_DLD (slsb10hd, args, nargout, "Slicot SB10HD Release 5.0")
+{
+ int nargin = args.length ();
+ octave_value_list retval;
+
+ if (nargin != 6)
+ {
+ print_usage ();
+ }
+ else
+ {
+ // arguments in
+ NDArray a = args(0).array_value ();
+ NDArray b = args(1).array_value ();
+ NDArray c = args(2).array_value ();
+ NDArray d = args(3).array_value ();
+
+ int ncon = args(4).int_value ();
+ int nmeas = args(5).int_value ();
+
+ int n = a.rows (); // n: number of states
+ int m = b.columns (); // m: number of inputs
+ int np = c.rows (); // np: number of outputs
+
+ int lda = a.rows ();
+ int ldb = b.rows ();
+ int ldc = c.rows ();
+ int ldd = d.rows ();
+
+ int ldak = max (1, n);
+ int ldbk = max (1, n);
+ int ldck = max (1, ncon);
+ int lddk = max (1, ncon);
+
+ double tol = 0;
+
+ // arguments out
+ dim_vector dv_ak (2);
+ dv_ak(0) = ldak;
+ dv_ak(1) = n;
+
+ dim_vector dv_bk (2);
+ dv_bk(0) = ldbk;
+ dv_bk(1) = nmeas;
+
+ dim_vector dv_ck (2);
+ dv_ck(0) = ldck;
+ dv_ck(1) = n;
+
+ dim_vector dv_dk (2);
+ dv_dk(0) = lddk;
+ dv_dk(1) = nmeas;
+
+ dim_vector dv (1);
+ dv(0) = 4;
+
+ NDArray ak (dv_ak);
+ NDArray bk (dv_bk);
+ NDArray ck (dv_ck);
+ NDArray dk (dv_dk);
+ NDArray rcond (dv);
+
+ // workspace
+ int* iwork;
+ double* dwork;
+ bool* bwork;
+
+ int m2 = ncon;
+ int m1 = m - m2;
+ int np1 = np - nmeas;
+ int np2 = nmeas;
+
+ int q = max (max (m1, m2), max (np1, np2));
+ int ldwork = 2*q*(3*q + 2*n) + max (1, max (q*(q + max (n, 5) + 1), n*(14*n + 12 + 2*q) + 5));
+
+ iwork = new int[max(2*n,n*n)];
+ dwork = new double[ldwork];
+ bwork = new bool[2*n];
+
+ // error indicator
+ int info;
+
+
+ // SLICOT routine SB10HD
+ F77_XFCN (sb10hd, SB10HD, (n, m, np,
+ ncon, nmeas,
+ a.fortran_vec (), lda,
+ b.fortran_vec (), ldb,
+ c.fortran_vec (), ldc,
+ d.fortran_vec (), ldd,
+ ak.fortran_vec (), ldak,
+ bk.fortran_vec (), ldbk,
+ ck.fortran_vec (), ldck,
+ dk.fortran_vec (), lddk,
+ rcond.fortran_vec (),
+ tol,
+ iwork,
+ dwork, ldwork,
+ bwork,
+ info));
+
+ if (f77_exception_encountered)
+ error ("h2syn: slsb10hd: exception in SLICOT subroutine SB10HD");
+
+ if (info != 0)
+ error ("h2syn: slsb10hd: SB10HD returned info = %d", info);
+
+ // return values
+ retval(0) = ak;
+ retval(1) = bk;
+ retval(2) = ck;
+ retval(3) = dk;
+
+ // free memory
+ delete[] iwork;
+ delete[] dwork;
+ delete[] bwork;
+ }
+
+ return retval;
+}
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