[Octave-cvsupdate] SF.net SVN: octave:[5477] trunk/octave-forge/main/control/inst

[<ad...@us...>]

Revision: 5477
          http://octave.svn.sourceforge.net/octave/?rev=5477&view=rev
Author:   adb014
Date:     2008-12-05 21:18:36 +0000 (Fri, 05 Dec 2008)

Log Message:
-----------
Add three argument place function and add the acker function that is a wrapper for this (For Luca Favatella)

Modified Paths:
--------------
    trunk/octave-forge/main/control/inst/place.m

Added Paths:
-----------
    trunk/octave-forge/main/control/inst/acker.m

Added: trunk/octave-forge/main/control/inst/acker.m
===================================================================
--- trunk/octave-forge/main/control/inst/acker.m	                        (rev 0)
+++ trunk/octave-forge/main/control/inst/acker.m	2008-12-05 21:18:36 UTC (rev 5477)
@@ -0,0 +1,46 @@
+## Copyright (C) 2008 Luca Favatella <sla...@gm...>
+##
+##
+## This program 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.
+##
+## This program 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; see the file COPYING.  If not, see
+## <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} {@var{K} =} acker (@var{a}, @var{b}, @var{p})
+## A wrapper for place (@var{a}, @var{b}, @var{p}).
+##
+## @seealso{place}
+## @end deftypefn
+
+## Author: Luca Favatella <sla...@gm...>
+## Version: 0.1
+
+                                # TODO: modify this function to use
+                                # Ackermann's formula instead of being
+                                # only a wrapper for place(a,b,p)
+
+function K = acker (a, b, p)
+  if (nargin == 3)
+    K = place (a, b, p);
+  else
+    print_usage ();
+  endif
+endfunction
+
+
+%!test
+%! A = [0 1; 3 2];
+%! B = [0; 1];
+%! P = [-1 -0.5];
+%! Kexpected = [3.5 3.5];
+%! assert (acker (A, B, P), Kexpected);
\ No newline at end of file

Modified: trunk/octave-forge/main/control/inst/place.m
===================================================================
--- trunk/octave-forge/main/control/inst/place.m	2008-12-03 00:49:20 UTC (rev 5476)
+++ trunk/octave-forge/main/control/inst/place.m	2008-12-05 21:18:36 UTC (rev 5477)
@@ -18,6 +18,7 @@
 
 ## -*- texinfo -*-
 ## @deftypefn {Function File} {@var{K} =} place (@var{sys}, @var{p})
+## @deftypefnx {Function File} {@var{K} =} place (@var{a}, @var{b}, @var{p})
 ## Computes the matrix @var{K} such that if the state
 ## is feedback with gain @var{K}, then the eigenvalues  of the closed loop
 ## system (i.e. @math{A-BK}) are those specified in the vector @var{p}.
@@ -42,9 +43,18 @@
 ## code adaped by A.S.Hodel (a.s...@en...) for use in controls
 ## toolbox
 
-function K = place (sys, P)
+function K = place (argin1, argin2, argin3)
 
-  if (nargin != 2)
+  if (nargin == 3)
+
+    ## Ctmp is useful to use ss; it doesn't matter what the value of Ctmp is
+    Ctmp = zeros (1, rows (argin1));
+    sys = ss (argin1, argin2, Ctmp);
+    P = argin3;
+  elseif (nargin == 2)
+    sys = argin1;
+    P = argin2;
+  else
     print_usage ();
   endif
 
@@ -86,12 +96,7 @@
   ## equation in the controllable canonical form.
 
   ## first we must calculate the controllability matrix M:
-  M = B;
-  AA = A;
-  for n = 2:nx
-    M(:,n) = AA*B;
-    AA = AA*A;
-  endfor
+  M = ctrb (A, B);
 
   ## second, construct the matrix W
   PCO = PC(nx:-1:1);
@@ -123,3 +128,12 @@
 
 endfunction
 
+
+%!shared A, B, C, P, Kexpected
+%! A = [0 1; 3 2];
+%! B = [0; 1];
+%! C = [2 1]; # C is useful to use ss; it doesn't matter what the value of C is
+%! P = [-1 -0.5];
+%! Kexpected = [3.5 3.5];
+%!assert (place (ss (A, B, C), P), Kexpected);
+%!assert (place (A, B, P), Kexpected);
\ No newline at end of file


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