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[Octave-cvsupdate] SF.net SVN: octave:[6166] trunk/octave-forge/main/control/inst
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From: <par...@us...> - 2009-08-28 19:22:58
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Revision: 6166
http://octave.svn.sourceforge.net/octave/?rev=6166&view=rev
Author: paramaniac
Date: 2009-08-28 19:22:44 +0000 (Fri, 28 Aug 2009)
Log Message:
-----------
feedback: reworked, fix test
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/feedback.m
trunk/octave-forge/main/control/inst/svplot.m
Modified: trunk/octave-forge/main/control/inst/feedback.m
===================================================================
--- trunk/octave-forge/main/control/inst/feedback.m 2009-08-27 17:51:27 UTC (rev 6165)
+++ trunk/octave-forge/main/control/inst/feedback.m 2009-08-28 19:22:44 UTC (rev 6166)
@@ -60,33 +60,31 @@
## Author: Lukas Reichlin
## Rewritten from scratch for better compatibility in July 2009
-## Version: 0.1.1
+## Version: 0.2
- # TODO: don't use varargin
+function sys = feedback (_sys1, _sys2, varargin)
-function sys = feedback (varargin)
-
if (nargin < 2 || nargin > 5)
print_usage ();
endif
- ## Determine sys1 from input
- if (isstruct (varargin{1}))
- sys1 = varargin{1};
+ ## Sanitize sys1
+ if (isstruct (_sys1))
+ sys1 = _sys1;
sys1wasmatrix = 0;
- elseif (ismatrix (varargin{1}))
- sys1 = ss ([], [], [], varargin{1});
+ elseif (ismatrix (_sys1))
+ sys1 = ss ([], [], [], _sys1);
sys1wasmatrix = 1;
else
error ("feedback: argument 1 (sys1) invalid");
endif
- ## Determine sys2 from input
- if (isstruct (varargin{2}))
- sys2 = varargin{2};
+ ## Sanitize sys2
+ if (isstruct (_sys2))
+ sys2 = _sys2;
sys2wasmatrix = 0;
- elseif (ismatrix (varargin{2}))
- sys2 = ss ([], [], [], varargin{2});
+ elseif (ismatrix (_sys2))
+ sys2 = ss ([], [], [], _sys2);
sys2wasmatrix = 1;
else
error ("feedback: argument 2 (sys2) invalid");
@@ -96,14 +94,14 @@
if (sys1wasmatrix)
if (is_digital (sys2, 2) == 1) # -1 for mixed systems!
t_sam = sysgettsam (sys2);
- sys1 = ss ([], [], [], varargin{1}, t_sam); # sys1 = c2d (sys1, t_sam) doesn't work
+ sys1 = ss ([], [], [], _sys1, t_sam); # sys1 = c2d (sys1, t_sam) doesn't work
endif
endif
if (sys2wasmatrix)
if (is_digital (sys1, 2) == 1)
t_sam = sysgettsam (sys1);
- sys2 = ss ([], [], [], varargin{2}, t_sam);
+ sys2 = ss ([], [], [], _sys2, t_sam);
endif
endif
@@ -111,22 +109,22 @@
fb_sign = -1; # Default value
if (nargin == 3)
- if (isreal (varargin{3}))
- if (varargin{3} == +1)
+ if (isreal (varargin{1}))
+ if (varargin{1} == +1)
fb_sign = +1;
endif
- if (varargin{3} != -1 && varargin{3} != +1)
+ if (varargin{1} != -1 && varargin{1} != +1)
error ("feedback: argument 3 (sign) invalid");
endif
endif
endif
if (nargin == 5)
- if (isreal (varargin{5}))
- if (varargin{5} == +1)
+ if (isreal (varargin{3}))
+ if (varargin{3} == +1)
fb_sign = +1;
endif
- if (varargin{5} != -1 && varargin{3} != +1)
+ if (varargin{3} != -1 && varargin{3} != +1)
error ("feedback: argument 5 (sign) invalid");
endif
endif
@@ -138,6 +136,9 @@
## Get connection lists feedin and feedout
+ feedin = zeros (1, n_in_1);
+ feedout = zeros (1, n_out_1);
+
for k = 1 : n_in_1
feedin(k) = k; # Default value
endfor
@@ -147,14 +148,14 @@
endfor
if (nargin == 4 || nargin == 5)
- if (isvector (varargin{3}))
- feedin = varargin{3};
+ if (isvector (varargin{1}))
+ feedin = varargin{1};
else
error ("feedback: argument 3 (feedin) invalid");
endif
- if (isvector (varargin{4}))
- feedin = varargin{4};
+ if (isvector (varargin{2}))
+ feedin = varargin{2};
else
error ("feedback: argument 4 (feedout) invalid");
endif
@@ -279,97 +280,23 @@
endfunction
-%!shared A, B, C, D, F_exp, G_exp, H_exp, J_exp, F, G, H, J, sys, sysc, M, N, outsys, zer, pol, k, zer_exp, pol_exp, k_exp
+%!shared sys1, sys2, sys3, sys4, sys5, sys6, sysexpa, sysexpb
+%! G = ss ([0], [1], [1], [0]);
+%! H = ss ([], [], [], [1]);
%!
-%! ## Given Open Loop State Space Matrices
+%! sys1 = feedback (G, H);
+%! sys2 = feedback (G, 1, -1);
+%! sys3 = feedback (G, H, 1, 1, -1);
+%! sysexpa = ss ([-1], [1], [1], [0]);
%!
-%! A = [ -25 0 0 0 50 0 763 310.7 -27.93 -96.51 216.4 -61 ;
-%! 0.261 -4 -0.002 0 0 0 0 0 0 0 0 0 ;
-%! 618 7640 -3.07 0 0 338.4 17.19 -2247 5459 -2782 298.7 2849 ;
-%! -0.384 5.89 0.003 -2.1 0 -0.21 -0.01822 0.9135 -0.9346 2.552 -0.0403 -1.761 ;
-%! 0 0 0 0 0 0 30.52 12.43 -1.117 -3.861 8.658 -2.44 ;
-%! 0 0 0 0 0 0 0.1735 -8.7 8.901 -24.31 0.3839 16.77 ;
-%! 0 0 0 0 0 0 -788 -310.7 26.59 96.98 -166.4 61 ;
-%! 0 0 0 0 0 0 5.22 -4 -7.945 0.2199 0 0 ;
-%! 0 0 0 0 0 0 3.004 13.14 -31.54 13.91 -1.493 -12.56 ;
-%! 0 0 0 0 0 0 -7.316 -12.38 30.69 -54.82 0.8061 31.01 ;
-%! 0 0 0 0 0 0 -30.52 -12.43 0.6207 3.803 -8.658 2.44 ;
-%! 0 0 0 0 0 0 -0.1735 8.7 -8.958 24.8 -0.3839 -16.77 ];
+%! sys4 = feedback (G, H, +1);
+%! sys5 = feedback (G, 1, +1);
+%! sys6 = feedback (G, H, 1, 1, +1);
+%! sysexpb = ss ([1], [1], [1], [0]);
%!
-%! B = [ 0 0 ;
-%! 0 0 ;
-%! 0 0 ;
-%! 0 0 ;
-%! 0 0 ;
-%! 0 0 ;
-%! 0.006741 -9.319 ;
-%! -0.0002757 -4.397 ;
-%! 0.005862 0.01201 ;
-%! 3.002e-06 33.54 ;
-%! 0.002484 1.146 ;
-%! 0.0002864 -9.934 ];
-%!
-%! C = [ 0 0 1 0 0 0 0 0 0 0 0 0 ;
-%! 0 0 0 1 0 0 0 0 0 0 0 0 ];
-%!
-%! D = [ 0 0 ;
-%! 0 0 ];
-%!
-%! ## Expected Closed Loop State Space Matrices
-%!
-%! F_exp = [ -25 0 0 0 50 0 763 310.7 -27.93 -96.51 216.4 -61 ;
-%! 0.261 -4 -0.002 0 0 0 0 0 0 0 0 0 ;
-%! 618 7640 -3.07 0 0 338.4 17.19 -2247 5459 -2782 298.7 2849 ;
-%! -0.384 5.89 0.003 -2.1 0 -0.21 -0.01822 0.9135 -0.9346 2.552 -0.0403 -1.761 ;
-%! 0 0 0 0 0 0 30.52 12.43 -1.117 -3.861 8.658 -2.44 ;
-%! 0 0 0 0 0 0 0.1735 -8.7 8.901 -24.31 0.3839 16.77 ;
-%! 0 0 -0.006741 9.319 0 0 -788 -310.7 26.59 96.98 -166.4 61 ;
-%! 0 0 0.0002757 4.397 0 0 5.22 -4 -7.945 0.2199 0 0 ;
-%! 0 0 -0.005862 -0.01201 0 0 3.004 13.14 -31.54 13.91 -1.493 -12.56 ;
-%! 0 0 -3.002e-06 -33.54 0 0 -7.316 -12.38 30.69 -54.82 0.8061 31.01 ;
-%! 0 0 -0.002484 -1.146 0 0 -30.52 -12.43 0.6207 3.803 -8.658 2.44 ;
-%! 0 0 -0.0002864 9.934 0 0 -0.1735 8.7 -8.958 24.8 -0.3839 -16.77 ];
-%!
-%! G_exp = [ 0 0 ;
-%! 0 0 ;
-%! 0 0 ;
-%! 0 0 ;
-%! 0 0 ;
-%! 0 0 ;
-%! 0.006741 -9.319 ;
-%! -0.0002757 -4.397 ;
-%! 0.005862 0.01201 ;
-%! 3.002e-06 33.54 ;
-%! 0.002484 1.146 ;
-%! 0.0002864 -9.934 ];
-%!
-%! H_exp = [ 0 0 1 0 0 0 0 0 0 0 0 0 ;
-%! 0 0 0 1 0 0 0 0 0 0 0 0 ];
-%!
-%! J_exp = [ 0 0 ;
-%! 0 0 ];
-%!
-%! sys1 = ss(A, B, C, D);
-%! sys = feedback(sys1, eye(2));
-%! [F, G, H, J] = sys2ss(sys);
-%!
-%! sysc = feedback(sys1, eye(2), [1, 2], [1, 2], -1);
-%!
-%! M = tf([2, 5, 1], [1, 2, 3]);
-%! N = zp(-2, -10, 5);
-%! outsys = feedback(M, N);
-%! [zer, pol, k] = sys2zp(outsys);
-%!
-%! zer_exp = [ -2.280776406404418 ;
-%! -0.219223593595584 ;
-%! -9.999999999999996 ];
-%! pol_exp = [ -0.881474800310081 + 0.535367413587643i ;
-%! -0.881474800310081 - 0.535367413587643i ;
-%! -3.418868581198019 + 0.000000000000000i ];
-%! k_exp = 0.181818181818182;
-%!
-%!assert([F, G; H, J], [F_exp, G_exp; H_exp, J_exp]);
-%!assert(sys, sysc)
-%!assert(zer, zer_exp, 16*eps); # FIXME: why is a so high tol needed?
-%!assert(pol, pol_exp, 16*eps); # FIXME: why is a so high tol needed?
-%!assert(k, k_exp, 2*eps);
+%!assert (sys1, sysexpa);
+%!assert (sys2, sysexpa);
+%!assert (sys3, sysexpa);
+%!assert (sys4, sysexpb);
+%!assert (sys5, sysexpb);
+%!assert (sys6, sysexpb);
Modified: trunk/octave-forge/main/control/inst/svplot.m
===================================================================
--- trunk/octave-forge/main/control/inst/svplot.m 2009-08-27 17:51:27 UTC (rev 6165)
+++ trunk/octave-forge/main/control/inst/svplot.m 2009-08-28 19:22:44 UTC (rev 6166)
@@ -221,4 +221,3 @@
%!assert (sigma_min_obs, sigma_min_exp, 8*eps); # tolerance manually tweaked
%!assert (sigma_max_obs, sigma_max_exp, 16*eps); # tolerance manually tweaked
%!assert (w_obs, w_exp, 2*eps);
-
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