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[Octave-cvsupdate] SF.net SVN: octave:[6175] trunk/octave-forge/main/control
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From: <sla...@us...> - 2009-08-31 09:38:49
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Revision: 6175
http://octave.svn.sourceforge.net/octave/?rev=6175&view=rev
Author: slackydeb
Date: 2009-08-31 09:38:37 +0000 (Mon, 31 Aug 2009)
Log Message:
-----------
Remove 'svplot' keeping only 'sigma' for maintainability and compatibility. 'svplot' was different from 'sigma' in the return values and in the plots for systems with more than two inputs and/or outputs.
Modified Paths:
--------------
trunk/octave-forge/main/control/INDEX
trunk/octave-forge/main/control/inst/buildretdiff.m
trunk/octave-forge/main/control/inst/buildsens.m
trunk/octave-forge/main/control/inst/sigma.m
Removed Paths:
-------------
trunk/octave-forge/main/control/inst/svplot.m
Modified: trunk/octave-forge/main/control/INDEX
===================================================================
--- trunk/octave-forge/main/control/INDEX 2009-08-30 20:41:24 UTC (rev 6174)
+++ trunk/octave-forge/main/control/INDEX 2009-08-31 09:38:37 UTC (rev 6175)
@@ -57,7 +57,7 @@
bode bode_bounds nichols
freqchkw ltifr nyquist tzero tzero2
rlocus
- margin sigma svplot
+ margin sigma
Controller design
dgkfdemo hinfdemo dhinfdemo
dlqe dlqr lqe lqg lqr
Modified: trunk/octave-forge/main/control/inst/buildretdiff.m
===================================================================
--- trunk/octave-forge/main/control/inst/buildretdiff.m 2009-08-30 20:41:24 UTC (rev 6174)
+++ trunk/octave-forge/main/control/inst/buildretdiff.m 2009-08-31 09:38:37 UTC (rev 6175)
@@ -29,8 +29,6 @@
## System data structure of the return difference.
## @end table
##
-## @seealso{svplot}
-##
## @example
## @group
## Q(s) = I + L(s) = I + P(s) C(s)
@@ -39,7 +37,7 @@
##
## @end deftypefn
-## Version: 0.1.2
+## Version: 0.1.3
function retsys = buildretdiff (sys)
Modified: trunk/octave-forge/main/control/inst/buildsens.m
===================================================================
--- trunk/octave-forge/main/control/inst/buildsens.m 2009-08-30 20:41:24 UTC (rev 6174)
+++ trunk/octave-forge/main/control/inst/buildsens.m 2009-08-31 09:38:37 UTC (rev 6175)
@@ -29,8 +29,6 @@
## Sensitivity system data structure.
## @end table
##
-## @seealso{svplot}
-##
## @example
## @group
## Y(s) 1 1
@@ -61,7 +59,7 @@
##
## @end deftypefn
-## Version: 0.1.2
+## Version: 0.1.3
function retsys = buildsens (sys)
Modified: trunk/octave-forge/main/control/inst/sigma.m
===================================================================
--- trunk/octave-forge/main/control/inst/sigma.m 2009-08-30 20:41:24 UTC (rev 6174)
+++ trunk/octave-forge/main/control/inst/sigma.m 2009-08-31 09:38:37 UTC (rev 6175)
@@ -57,7 +57,7 @@
## @end deftypefn
## Author: Lukas Reichlin <luk...@sw...>
-## Version: 0.1
+## Version: 0.1.1
function [sv_r, w_r] = sigma (sys, w, ptype)
@@ -92,7 +92,7 @@
## Error for mixed systems
if (digital == -1)
- error ("svplot: system must be either purely continuous or purely discrete");
+ error ("sigma: system must be either purely continuous or purely discrete");
endif
## Handle plot type
Deleted: trunk/octave-forge/main/control/inst/svplot.m
===================================================================
--- trunk/octave-forge/main/control/inst/svplot.m 2009-08-30 20:41:24 UTC (rev 6174)
+++ trunk/octave-forge/main/control/inst/svplot.m 2009-08-31 09:38:37 UTC (rev 6175)
@@ -1,223 +0,0 @@
-## Copyright (C) 2009 Lukas Reichlin <luk...@sw...>
-##
-## 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. If not, see <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn{Function File} {[@var{sigma_min}, @var{sigma_max}, @var{w}] =} svplot (@var{sys})
-## @deftypefnx{Function File} {[@var{sigma_min}, @var{sigma_max}, @var{w}] =} svplot (@var{sys}, @var{w})
-## @deftypefnx{Function File} {[@var{sigma_min}, @var{sigma_max}, @var{w}] =} svplot (@var{sys}, @var{[]}, @var{ptype})
-## @deftypefnx{Function File} {[@var{sigma_min}, @var{sigma_max}, @var{w}] =} svplot (@var{sys}, @var{w}, @var{ptype})
-## If no output arguments are given, the singular value plot of a MIMO
-## system is printed on the screen;
-## otherwise, the singular values of the system data structure are
-## computed and returned.
-##
-## @strong{Inputs}
-## @table @var
-## @item sys
-## System data structure. Must be either purely continuous or discrete;
-## see @code{is_digital}.
-## @item w
-## Optional vector of frequency values. If @var{w} is not specified, it
-## will be calculated by @code{bode_bounds}.
-## @item ptype = 0
-## Singular values of the frequency response H of system sys. Default Value.
-## @item ptype = 1
-## Singular values of the frequency response inv(H); i.e. inversed system.
-## @item ptype = 2
-## Singular values of the frequency response I + H; i.e. inversed sensitivity
-## (or return difference) if H = P * C.
-## @item ptype = 3
-## Singular values of the frequency response I + inv(H); i.e. inversed complementary
-## sensitivity if H = P * C.
-## @end table
-##
-## @strong{Outputs}
-## @table @var
-## @item sigma_min
-## Vector of minimal singular values.
-## @item sigma_max
-## Vector of maximal singular values.
-## @item w
-## Vector of frequency values used.
-## @end table
-##
-## @seealso{bode, svd, bode_bounds, is_digital}
-## @end deftypefn
-
-## Author: Lukas Reichlin <luk...@sw...>
-## Version: 0.3
-
-function [sigma_min_r, sigma_max_r, w_r] = svplot (sys, w, ptype)
-
- ## Check whether arguments are OK
- if (nargin < 1 || nargin > 3)
- print_usage ();
- endif
-
- if(! isstruct (sys))
- error ("svplot: first argument sys must be a system data structure");
- endif
-
- if (nargin == 1)
- w = [];
- elseif (! isvector (w) && ! isempty (w))
- error ("svplot: second argument w must be a vector of frequencies");
- endif
-
- if (is_siso (sys))
- warning ("svplot: sys is a SISO system. You might want to use bode(sys) instead.");
- endif
-
- ## Get state space matrices
- sys = sysupdate (sys, "ss");
- [A, B, C, D] = sys2ss (sys);
- I = eye (size (A));
-
- ## Get system information
- digital = is_digital (sys, 2);
- t_sam = sysgettsam (sys);
-
- ## Error for mixed systems
- if (digital == -1)
- error ("svplot: system must be either purely continuous or purely discrete");
- endif
-
- ## Handle plot type
- if (nargin == 3)
- if (isfloat (ptype)) # Numeric constants like 2 are NOT integers in Octave!
- if (ptype != 0 && ptype != 1 && ptype != 2 && ptype != 3)
- error ("svplot: third argument ptype must be 0, 1, 2 or 3");
- endif
- else
- error ("svplot: third argument ptype must be a number");
- endif
-
- [n_c, n_d, m, p] = sysdimensions (sys);
- if (m != p)
- error ("svplot: system must be square for ptype 1, 2 or 3");
- endif
- J = eye (m);
- else
- ptype = 0; # Default value
- endif
-
- ## Find interesting frequency range w if not specified
- if (isempty (w))
-
- ## Since no frequency vector w has been specified, the interesting
- ## decades of the sigma plot have to be found. The already existing
- ## function bode_bounds does exactly that.
-
- zer = tzero (sys);
- pol = eig (A);
-
- ## Begin plot at 10^dec_min, end plot at 10^dec_max [rad/s]
- [dec_min, dec_max] = bode_bounds (zer, pol, digital, t_sam);
-
- n_freq = 1000; # Number of frequencies evaluated for plotting
-
- w = logspace (dec_min, dec_max, n_freq); # [rad/s]
- endif
-
- if (digital) # Discrete system
- s = exp (i * w * t_sam);
- else # Continuous system
- s = i * w;
- endif
-
- l_s = length (s);
- sigma_min = zeros (1, l_s);
- sigma_max = zeros (1, l_s);
-
- switch (ptype)
- case 0 # Default system
- for k = 1 : l_s # Repeat for every frequency s
- H = C * inv (s(k)*I - A) * B + D; # Frequency Response Matrix
- sigma = svd (H); # Singular Value Decomposition
- sigma_min(k) = min (sigma);
- sigma_max(k) = max (sigma);
- endfor
-
- case 1 # Inversed system
- for k = 1 : l_s
- H = inv (C * inv (s(k)*I - A) * B + D);
- sigma = svd (H);
- sigma_min(k) = min (sigma);
- sigma_max(k) = max (sigma);
- endfor
-
- case 2 # Inversed sensitivity
- for k = 1 : l_s
- H = J + C * inv (s(k)*I - A) * B + D;
- sigma = svd (H);
- sigma_min(k) = min (sigma);
- sigma_max(k) = max (sigma);
- endfor
-
- case 3 # Inversed complementary sensitivity
- for k = 1 : l_s
- H = J + inv (C * inv (s(k)*I - A) * B + D);
- sigma = svd (H);
- sigma_min(k) = min (sigma);
- sigma_max(k) = max (sigma);
- endfor
- endswitch
-
- if (nargout == 0) # Plot the information
-
- ## Convert to dB for plotting
- sigma_min_db = 20 * log10 (sigma_min);
- sigma_max_db = 20 * log10 (sigma_max);
-
- ## Determine axes
- ax_vec = axis2dlim ([[w(:), sigma_min_db(:)]; [w(:), sigma_max_db(:)]]);
- ax_vec(1:2) = [min(w), max(w)];
-
- ## Determine xlabel
- if (digital)
- xl_str = sprintf ('Frequency [rad/s] Pi / T = %g', pi/t_sam);
- else
- xl_str = 'Frequency [rad/s]';
- endif
-
- ## Plot results
- semilogx (w, sigma_min_db, 'b', w, sigma_max_db, 'b')
- axis (ax_vec)
- title ('Singular Values')
- xlabel (xl_str)
- ylabel ('Singular Values [dB]')
- grid on
- else # Return values
- sigma_min_r = sigma_min;
- sigma_max_r = sigma_max;
- w_r = w;
- endif
-
-endfunction
-
-
-%!shared sigma_min_exp, sigma_max_exp, w_exp, sigma_min_obs, sigma_max_obs, w_obs
-%! A = [1 2; 3 4];
-%! B = [5 6; 7 8];
-%! C = [4 3; 2 1];
-%! D = [8 7; 6 5];
-%! w = [2 3];
-%! sigma_min_exp = [0.698526948925716 0.608629874340667];
-%! sigma_max_exp = [7.91760889977901 8.62745836756994];
-%! w_exp = [2 3];
-%! [sigma_min_obs, sigma_max_obs, w_obs] = svplot (ss (A, B, C, D), w);
-%!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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