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[Octave-cvsupdate] SF.net SVN: octave:[5501] trunk/octave-forge/main/control
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From: <sla...@us...> - 2008-12-28 17:47:20
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Revision: 5501
http://octave.svn.sourceforge.net/octave/?rev=5501&view=rev
Author: slackydeb
Date: 2008-12-28 17:47:14 +0000 (Sun, 28 Dec 2008)
Log Message:
-----------
Added new functions: "balreal", "isct", "isdt". Considered the function "is_digital" as obsolete. Rewritten the function "gram". Modified the function "dgram" to be simple to mantain. Suggested using "is_stable" instead of the missing "isstable". Modified the "INDEX" file to reflect changes. Bumped package version.
Modified Paths:
--------------
trunk/octave-forge/main/control/DESCRIPTION
trunk/octave-forge/main/control/INDEX
trunk/octave-forge/main/control/inst/dgram.m
trunk/octave-forge/main/control/inst/gram.m
Added Paths:
-----------
trunk/octave-forge/main/control/inst/balreal.m
trunk/octave-forge/main/control/inst/isct.m
trunk/octave-forge/main/control/inst/isdt.m
Modified: trunk/octave-forge/main/control/DESCRIPTION
===================================================================
--- trunk/octave-forge/main/control/DESCRIPTION 2008-12-28 10:13:22 UTC (rev 5500)
+++ trunk/octave-forge/main/control/DESCRIPTION 2008-12-28 17:47:14 UTC (rev 5501)
@@ -1,5 +1,5 @@
Name: Control
-Version: 1.0.8
+Version: 1.0.9
Date: 2008-08-23
Author: Ben Sapp
Maintainer: None
Modified: trunk/octave-forge/main/control/INDEX
===================================================================
--- trunk/octave-forge/main/control/INDEX 2008-12-28 10:13:22 UTC (rev 5500)
+++ trunk/octave-forge/main/control/INDEX 2008-12-28 17:47:14 UTC (rev 5501)
@@ -40,12 +40,14 @@
are dare dgram dlyap gram lyap pinv dre
zgfmul zgfslv zginit zgreduce zgrownorm zgscal zgsgiv
zgshsr
+ balreal
System properties
analdemo
abcddim ctrb h2norm hinfnorm obsv pzmap
is_abcd is_controllable is_detectable is_dgkf
- is_digital is_observable is_sample is_siso is_stabilizable
+ is_observable is_sample is_siso is_stabilizable
is_signal_list is_stable
+ isct isdt
Time domain analysis
c2d d2c dmr2d damp dcgain impulse step
Frequency domain analysis
@@ -65,6 +67,7 @@
Obsolete
dezero dlqg minfo packsys unpacksys swaprows swapcols rotg qzval
syschnames series
+ is_digital
Internal
__bodquist__ __freqresp__ __stepimp__ __abcddims__ __syschnamesl__
__syscont_disc__ __sysdefioname__ __sysdefstname__ __sysgroupn__
@@ -78,8 +81,6 @@
ssdata= use <f>sys2ss</f>
tfdata=use <f>sys2tf</f>
zpkdata=use <f>sys2zp</f>
- isct=use !<f>is_digital</f>
- isdt=use <f>is_digital</f>
issiso=use <f>is_siso</f>
append(sys)=use <f>sysappend</f>
lft=use <f>starp</f>
@@ -87,4 +88,4 @@
zero=use <f>tzero</f> or <f>tzero2</f>
kalman=use <f>lqe</f>
kalmd=use <f>dlqe</f> or <f>dkalman</f>
-
+ isstable=use <f>is_stable</f>
Added: trunk/octave-forge/main/control/inst/balreal.m
===================================================================
--- trunk/octave-forge/main/control/inst/balreal.m (rev 0)
+++ trunk/octave-forge/main/control/inst/balreal.m 2008-12-28 17:47:14 UTC (rev 5501)
@@ -0,0 +1,117 @@
+## 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{sysb}, @var{g}] =} balreal (@var{sys})
+## @deftypefnx {Function File} {[@var{sysb}, @var{g}, @var{T}, @var{Ti}] =} balreal (@var{sys})
+## Balanced realization of the continuous-time LTI system @var{sys}.
+##
+## @strong{Input}
+## @table @var
+## @item sys
+## Stable, controllable and observable continuous-time LTI system.
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item sysb
+## Balanced realization of @var{sys}.
+## @item g
+## Diagonal of the balanced gramians.
+## @item T
+## State transformation to convert @var{sys} to @var{sysb}.
+## @item Ti
+## Inverse of T.
+## @end table
+##
+## @seealso{gram}
+## @end deftypefn
+
+## Author: Luca Favatella <sla...@gm...>
+## Version: 0.2.4
+
+ # TODO
+ # improve continuous-time system test
+ # test against discrete-time systems
+ # clean asserts
+ # clean names Wc2/Wc and Wo2/Wc
+ # substitute is_stable with isstable
+
+function [sysb, g, T, Ti] = balreal (sys)
+
+ if (nargin != 1)
+ print_usage ();
+ elseif (! is_stable (sys))
+ error ("sys must be stable");
+ elseif (! is_controllable (sys))
+ error ("sys must be controllable");
+ elseif (! is_observable (sys))
+ error ("sys must be observable");
+ else
+ ASSERT_TOL = 1e-12; ## DEBUG
+
+ ## step 1: compute T1
+ Wc2 = gram (sys, 'c');
+ [Vc, Sc2, trash] = svd (Wc2);
+ assert (trash, Vc, ASSERT_TOL); ## DEBUG
+ T1 = Vc * sqrt (Sc2);
+
+ ## step 2: apply T1
+ Atilde = inv (T1) * sys.a * T1;
+ Btilde = inv (T1) * sys.b;
+ Ctilde = sys.c * T1;
+ Wc2tilde = gram (Atilde, Btilde); ## DEBUG
+ assert (Wc2tilde, eye (size (Wc2tilde)), ASSERT_TOL); ## DEBUG
+
+ ## step 3: compute T2
+ Wo2tilde = gram (Atilde', Ctilde');
+ [Vo, Sigma2, trash] = svd (Wo2tilde);
+ assert (trash, Vo, ASSERT_TOL); ## DEBUG
+ T2 = Vo * (Sigma2 ^ (- 1/4));
+
+ ## step 4: apply T2
+ Abal = inv (T2) * Atilde * T2;
+ Bbal = inv (T2) * Btilde;
+ Cbal = Ctilde * T2;
+
+
+ ## prepare return values
+ ## sysb
+ sysb = ss (Abal, Bbal, Cbal, sys.d);
+
+ ## g
+ Wc2bal = gram (Abal, Bbal);
+ g = diag (Wc2bal);
+ Wo2bal = gram (Abal', Cbal'); ## DEBUG
+ assert (Wc2bal, Wo2bal, ASSERT_TOL); ## DEBUG
+ Wo2 = gram (sys, 'o'); ## DEBUG
+ Sigma = diag (sqrt (sort (eig (Wc2 * Wo2), 'descend'))); ## DEBUG
+ assert (Wc2bal, Sigma, ASSERT_TOL); ## DEBUG
+ assert (Wo2bal, Sigma, ASSERT_TOL); ## DEBUG
+
+ ## T and Ti
+ T = inv (T1 * T2);
+ Ti = inv (T);
+ endif
+endfunction
+
+
+%!test
+%! a = [-1 0 0; 1/2 -1 0; 1/2 0 -1];
+%! b = [1 0; 0 -1; 0 1];
+%! c = [0 0 1; 1 1 0];
+%! balreal (ss (a, b, c));
\ No newline at end of file
Modified: trunk/octave-forge/main/control/inst/dgram.m
===================================================================
--- trunk/octave-forge/main/control/inst/dgram.m 2008-12-28 10:13:22 UTC (rev 5500)
+++ trunk/octave-forge/main/control/inst/dgram.m 2008-12-28 17:47:14 UTC (rev 5501)
@@ -62,10 +62,24 @@
if (nargin != 2)
print_usage ();
+ else
+
+ ## this is not efficient, but it is simple to mantain
+ ##
+ ## efficiency is not important because this function is here only
+ ## for backward compatibility
+ c = zeros (1, length (a)); ## it doesn't matter what the value of c is
+ d = zeros (rows (c), columns (b)); ## it doesn't matter what the value of d is
+ Ts = 0.1; ## Ts != 0
+ sys = ss (a, b, c, d, Ts);
+ m = gram (sys, 'c');
endif
- ## let dlyap do the error checking...
+endfunction
- m = dlyap (a, b*b');
-endfunction
+%!test
+%! a = [-1 0 0; 1/2 1 0; 1/2 0 -1] / 2;
+%! b = [1 0; 0 -1; 0 1];
+%! Wc = dgram (a, b);
+%! assert (a * Wc * a' - Wc + b * b', zeros (size (a)), 1e-12)
\ No newline at end of file
Modified: trunk/octave-forge/main/control/inst/gram.m
===================================================================
--- trunk/octave-forge/main/control/inst/gram.m 2008-12-28 10:13:22 UTC (rev 5500)
+++ trunk/octave-forge/main/control/inst/gram.m 2008-12-28 17:47:14 UTC (rev 5501)
@@ -17,30 +17,113 @@
## <http://www.gnu.org/licenses/>.
## -*- texinfo -*-
-## @deftypefn {Function File} {} gram (@var{a}, @var{b})
-## Return controllability gramian @var{m} of the continuous time system
-## @math{dx/dt = a x + b u}.
+## @deftypefn {Function File} {@var{W} =} gram (@var{sys}, @var{mode})
+## @deftypefnx {Function File} {@var{Wc} =} gram (@var{a}, @var{b})
+## @code{gram (@var{sys}, 'c')} returns the controllability gramian of
+## the (continuous- or discrete-time) system @var{sys}.
+## @code{gram (@var{sys}, 'o')} returns the observability gramian of the
+## (continuous- or discrete-time) system @var{sys}.
+## @code{gram (@var{a}, @var{b})} returns the controllability gramian
+## @var{Wc} of the continuous-time system @math{dx/dt = a x + b u};
+## i.e., @var{Wc} satisfies @math{a Wc + m Wc' + b b' = 0}.
##
-## @var{m} satisfies @math{a m + m a' + b b' = 0}.
## @end deftypefn
## Author: A. S. Hodel <a.s...@en...>
-function m = gram (a, b)
+ # TODO: substitute is_stable with isstable
+function W = gram (argin1, argin2)
+
if (nargin != 2)
print_usage ();
- endif
+ else
- ## Let lyap do the error checking...
+ if (! ischar (argin2)) ## the function was called as "gram (a, b)"
+ a = argin1;
+ b = argin2;
+ if (! is_stable (a))
+ error ("the continuous-time system must have a stable 'a' matrix");
+ else
- m = lyap (a', b*b');
+ ## let lyap do the error checking about dimensions
+ W = lyap (a', b*b');
+ endif
+ else ## the function was called as "gram (sys, mode)"
+ if (! (strcmp (argin2, 'c') || strcmp (argin2, 'o')))
+ print_usage ();
+ else
+ if (strcmp (argin2, 'c'))
+ a = argin1.a;
+ b = argin1.b;
+ elseif (strcmp (argin2, 'o'))
+ a = argin1.a';
+ b = argin1.c';
+ endif
+
+ if (isct (argin1))
+ if (! is_stable (argin1))
+ error ("the continuous-time system must be stable");
+ else
+
+ ## let lyap do the error checking about dimensions
+ W = lyap (a', b*b');
+ endif
+ elseif (isdt (argin1))
+ if (! is_stable (argin1))
+ error ("the discrete-time system must be stable");
+ else
+
+ ## let dlyap do the error checking about dimensions
+ W = dlyap (a, b*b');
+ endif
+ else
+ error ("strange behaviour in isct/isdt: if you can reproduce \
+ this, please submit a bug report");
+ endif
+ endif
+ endif
+
+ endif
+
endfunction
%!test
%! a = [-1 0 0; 1/2 -1 0; 1/2 0 -1];
%! b = [1 0; 0 -1; 0 1];
-%! m = gram (a, b);
-%! assert (a * m + m * a' + b *b', zeros (size (a)))
\ No newline at end of file
+%! c = [0 0 1; 1 1 0]; ## it doesn't matter what the value of c is
+%! Wc = gram (ss (a, b, c), 'c');
+%! assert (a * Wc + Wc * a' + b * b', zeros (size (a)))
+
+%!test
+%! a = [-1 0 0; 1/2 -1 0; 1/2 0 -1];
+%! b = [1 0; 0 -1; 0 1]; ## it doesn't matter what the value of b is
+%! c = [0 0 1; 1 1 0];
+%! Wo = gram (ss (a, b, c), 'o');
+%! assert (a' * Wo + Wo * a + c' * c, zeros (size (a)))
+
+%!test
+%! a = [-1 0 0; 1/2 -1 0; 1/2 0 -1];
+%! b = [1 0; 0 -1; 0 1];
+%! Wc = gram (a, b);
+%! assert (a * Wc + Wc * a' + b * b', zeros (size (a)))
+
+%!test
+%! a = [-1 0 0; 1/2 1 0; 1/2 0 -1] / 2;
+%! b = [1 0; 0 -1; 0 1];
+%! c = [0 0 1; 1 1 0]; ## it doesn't matter what the value of c is
+%! d = zeros (rows (c), columns (b)); ## it doesn't matter what the value of d is
+%! Ts = 0.1; ## Ts != 0
+%! Wc = gram (ss (a, b, c, d, Ts), 'c');
+%! assert (a * Wc * a' - Wc + b * b', zeros (size (a)), 1e-12)
+
+%!test
+%! a = [-1 0 0; 1/2 1 0; 1/2 0 -1] / 2;
+%! b = [1 0; 0 -1; 0 1]; ## it doesn't matter what the value of b is
+%! c = [0 0 1; 1 1 0];
+%! d = zeros (rows (c), columns (b)); ## it doesn't matter what the value of d is
+%! Ts = 0.1; ## Ts != 0
+%! Wo = gram (ss (a, b, c, d, Ts), 'o');
+%! assert (a' * Wo * a - Wo + c' * c, zeros (size (a)), 1e-12)
\ No newline at end of file
Added: trunk/octave-forge/main/control/inst/isct.m
===================================================================
--- trunk/octave-forge/main/control/inst/isct.m (rev 0)
+++ trunk/octave-forge/main/control/inst/isct.m 2008-12-28 17:47:14 UTC (rev 5501)
@@ -0,0 +1,49 @@
+## 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} {} isct (@var{sys})
+## Return true if the LTI system @var{sys} is continuous-time, false otherwise.
+##
+## @seealso{isdt}
+## @end deftypefn
+
+## Author: Luca Favatella <sla...@gm...>
+## Version: 0.2.1
+
+function retval = isct (sys)
+ if (nargin != 1)
+ print_usage ();
+ else
+ retval = (! is_digital (sys));
+ endif
+endfunction
+
+
+%!test
+%! A = [-1 0 0; 1/2 -1 0; 1/2 0 -1];
+%! B = [1 0; 0 -1; 0 1];
+%! C = [0 0 1; 1 1 0];
+%! assert (isct (ss (A, B, C)));
+
+%!test
+%! A = [-1 0 0; 1/2 -1 0; 1/2 0 -1];
+%! B = [1 0; 0 -1; 0 1];
+%! C = [0 0 1; 1 1 0];
+%! D = zeros (rows (C), columns (B));
+%! Ts = 0.1;
+%! assert (! isct (ss (A, B, C, D, Ts)));
\ No newline at end of file
Added: trunk/octave-forge/main/control/inst/isdt.m
===================================================================
--- trunk/octave-forge/main/control/inst/isdt.m (rev 0)
+++ trunk/octave-forge/main/control/inst/isdt.m 2008-12-28 17:47:14 UTC (rev 5501)
@@ -0,0 +1,49 @@
+## 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} {} isdt (@var{sys})
+## Return true if the LTI system @var{sys} is discrete-time, false otherwise.
+##
+## @seealso{isct}
+## @end deftypefn
+
+## Author: Luca Favatella <sla...@gm...>
+## Version: 0.2.1
+
+function retval = isdt (sys)
+ if (nargin != 1)
+ print_usage ();
+ else
+ retval = is_digital (sys);
+ endif
+endfunction
+
+
+%!test
+%! A = [-1 0 0; 1/2 -1 0; 1/2 0 -1];
+%! B = [1 0; 0 -1; 0 1];
+%! C = [0 0 1; 1 1 0];
+%! D = zeros (rows (C), columns (B));
+%! Ts = 0.1;
+%! assert (isdt (ss (A, B, C, D, Ts)));
+
+%!test
+%! A = [-1 0 0; 1/2 -1 0; 1/2 0 -1];
+%! B = [1 0; 0 -1; 0 1];
+%! C = [0 0 1; 1 1 0];
+%! assert (! isdt (ss (A, B, C)));
\ No newline at end of file
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