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[Octave-cvsupdate] SF.net SVN: octave:[7598] trunk/octave-forge/main/control/inst
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From: <par...@us...> - 2010-08-29 11:45:53
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Revision: 7598
http://octave.svn.sourceforge.net/octave/?rev=7598&view=rev
Author: paramaniac
Date: 2010-08-29 11:45:46 +0000 (Sun, 29 Aug 2010)
Log Message:
-----------
control: replace all ctranspose ' by transpose .'
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@lti/sminreal.m
trunk/octave-forge/main/control/inst/@ss/__minreal__.m
trunk/octave-forge/main/control/inst/__tf2ss__.m
trunk/octave-forge/main/control/inst/__timeresp__.m
trunk/octave-forge/main/control/inst/care.m
trunk/octave-forge/main/control/inst/covar.m
trunk/octave-forge/main/control/inst/dare.m
trunk/octave-forge/main/control/inst/dlyap.m
trunk/octave-forge/main/control/inst/gensig.m
trunk/octave-forge/main/control/inst/gram.m
trunk/octave-forge/main/control/inst/isdetectable.m
trunk/octave-forge/main/control/inst/isobsv.m
trunk/octave-forge/main/control/inst/kalman.m
trunk/octave-forge/main/control/inst/lsim.m
trunk/octave-forge/main/control/inst/lyap.m
trunk/octave-forge/main/control/inst/obsv.m
trunk/octave-forge/main/control/inst/place.m
trunk/octave-forge/main/control/inst/rlocus.m
Modified: trunk/octave-forge/main/control/inst/@lti/sminreal.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/sminreal.m 2010-08-29 09:35:15 UTC (rev 7597)
+++ trunk/octave-forge/main/control/inst/@lti/sminreal.m 2010-08-29 11:45:46 UTC (rev 7598)
@@ -37,8 +37,8 @@
[cflg, Uc] = isctrb (sys);
[oflg, Uo] = isobsv (sys);
- xc = find (max (abs (Uc')) != 0);
- xo = find (max (abs (Uo')) != 0);
+ xc = find (max (abs (Uc.')) != 0);
+ xo = find (max (abs (Uo.')) != 0);
st_idx = intersect (xc, xo);
sys = __sysprune__ (sys, ":", ":", st_idx);
Modified: trunk/octave-forge/main/control/inst/@ss/__minreal__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/__minreal__.m 2010-08-29 09:35:15 UTC (rev 7597)
+++ trunk/octave-forge/main/control/inst/@ss/__minreal__.m 2010-08-29 11:45:46 UTC (rev 7598)
@@ -38,8 +38,8 @@
if (! cflg)
if (! isempty (Uc))
- A = Uc' * A * Uc;
- B = Uc' * B;
+ A = Uc.' * A * Uc;
+ B = Uc.' * B;
C = C * Uc;
else
A = B = C = [];
@@ -56,8 +56,8 @@
if (! oflg)
if (! isempty (Uo))
- A = Uo' * A * Uo;
- B = Uo' * B;
+ A = Uo.' * A * Uo;
+ B = Uo.' * B;
C = C * Uo;
else
A = B = C = [];
Modified: trunk/octave-forge/main/control/inst/__tf2ss__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__tf2ss__.m 2010-08-29 09:35:15 UTC (rev 7597)
+++ trunk/octave-forge/main/control/inst/__tf2ss__.m 2010-08-29 11:45:46 UTC (rev 7598)
@@ -87,8 +87,8 @@
endif
## force num, den to be row vectors
- num = vec (num)';
- den = vec (den)';
+ num = vec (num).';
+ den = vec (den).';
nn = length (num);
nd = length (den);
if (nn > nd)
Modified: trunk/octave-forge/main/control/inst/__timeresp__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__timeresp__.m 2010-08-29 09:35:15 UTC (rev 7597)
+++ trunk/octave-forge/main/control/inst/__timeresp__.m 2010-08-29 11:45:46 UTC (rev 7598)
@@ -58,7 +58,7 @@
p = rows (C); # number of outputs
## time vector
- t = (0 : dt : tfinal)';
+ t = (0 : dt : tfinal).';
l_t = length (t);
switch (resptype)
Modified: trunk/octave-forge/main/control/inst/care.m
===================================================================
--- trunk/octave-forge/main/control/inst/care.m 2010-08-29 09:35:15 UTC (rev 7597)
+++ trunk/octave-forge/main/control/inst/care.m 2010-08-29 11:45:46 UTC (rev 7598)
@@ -91,8 +91,8 @@
srows, scols, brows, bcols);
endif
- ao = a - (b/r)*s';
- qo = q - (s/r)*s';
+ ao = a - (b/r)*s.';
+ qo = q - (s/r)*s.';
endif
## check stabilizability
@@ -123,13 +123,13 @@
x = slsb02od (a, b, q, r, b, false, false);
## corresponding gain matrix
- g = r \ (b'*x);
+ g = r \ (b.'*x);
else
## unique stabilizing solution
x = slsb02od (a, b, q, r, s, false, true);
## corresponding gain matrix
- g = r \ (b'*x + s');
+ g = r \ (b.'*x + s.');
endif
## closed-loop poles
@@ -151,7 +151,7 @@
%!
%! r = 3;
%!
-%! [x, l, g] = care (a, b, c'*c, r);
+%! [x, l, g] = care (a, b, c.'*c, r);
%!
%! xe = [ 0.5895 1.8216
%! 1.8216 8.8188];
@@ -180,7 +180,7 @@
%! 0.0
%! 1.0];
%!
-%! [x, l, g] = care (a, b, c'*c, d'*d);
+%! [x, l, g] = care (a, b, c.'*c, d.'*d);
%!
%! xe = [ 1.7321 1.0000
%! 1.0000 1.7321];
Modified: trunk/octave-forge/main/control/inst/covar.m
===================================================================
--- trunk/octave-forge/main/control/inst/covar.m 2010-08-29 09:35:15 UTC (rev 7597)
+++ trunk/octave-forge/main/control/inst/covar.m 2010-08-29 11:45:46 UTC (rev 7598)
@@ -47,11 +47,11 @@
error ("covar: system is not strictly proper");
endif
- q = lyap (a, b*w*b');
- p = c*q*c';
+ q = lyap (a, b*w*b.');
+ p = c*q*c.';
else
- q = dlyap (a, b*w*b');
- p = c*q*c' + d*w*d';
+ q = dlyap (a, b*w*b.');
+ p = c*q*c.' + d*w*d.';
endif
endfunction
Modified: trunk/octave-forge/main/control/inst/dare.m
===================================================================
--- trunk/octave-forge/main/control/inst/dare.m 2010-08-29 09:35:15 UTC (rev 7597)
+++ trunk/octave-forge/main/control/inst/dare.m 2010-08-29 11:45:46 UTC (rev 7598)
@@ -91,8 +91,8 @@
srows, scols, brows, bcols);
endif
- ao = a - (b/r)*s';
- qo = q - (s/r)*s';
+ ao = a - (b/r)*s.';
+ qo = q - (s/r)*s.';
endif
## check stabilizability
@@ -123,13 +123,13 @@
x = slsb02od (a, b, q, r, b, true, false);
## corresponding gain matrix
- g = (r + b'*x*b) \ (b'*x*a);
+ g = (r + b.'*x*b) \ (b.'*x*a);
else
## unique stabilizing solution
x = slsb02od (a, b, q, r, s, true, true);
## corresponding gain matrix
- g = (r + b'*x*b) \ (b'*x*a + s');
+ g = (r + b.'*x*b) \ (b.'*x*a + s.');
endif
## closed-loop poles
Modified: trunk/octave-forge/main/control/inst/dlyap.m
===================================================================
--- trunk/octave-forge/main/control/inst/dlyap.m 2010-08-29 09:35:15 UTC (rev 7597)
+++ trunk/octave-forge/main/control/inst/dlyap.m 2010-08-29 11:45:46 UTC (rev 7598)
@@ -139,7 +139,7 @@
%! 24.0 32.0 8.0
%! 15.0 8.0 40.0];
%!
-%! X = dlyap (A', -B);
+%! X = dlyap (A.', -B);
%!
%! X_exp = [2.0000 1.0000 1.0000
%! 1.0000 3.0000 0.0000
Modified: trunk/octave-forge/main/control/inst/gensig.m
===================================================================
--- trunk/octave-forge/main/control/inst/gensig.m 2010-08-29 09:35:15 UTC (rev 7597)
+++ trunk/octave-forge/main/control/inst/gensig.m 2010-08-29 11:45:46 UTC (rev 7598)
@@ -72,7 +72,7 @@
tsam = tau / 64;
endif
- t = (0 : tsam : tfinal)';
+ t = (0 : tsam : tfinal).';
switch (lower (sigtype(1:2)))
case "si"
Modified: trunk/octave-forge/main/control/inst/gram.m
===================================================================
--- trunk/octave-forge/main/control/inst/gram.m 2010-08-29 09:35:15 UTC (rev 7597)
+++ trunk/octave-forge/main/control/inst/gram.m 2010-08-29 11:45:46 UTC (rev 7598)
@@ -19,9 +19,9 @@
## -*- texinfo -*-
## @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
+## @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
+## @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};
@@ -52,8 +52,8 @@
[a, b, c] = ssdata (sys);
if (strcmp (argin2, "o"))
- a = a';
- b = c';
+ a = a.';
+ b = c.';
elseif (! strcmp (argin2, "c"))
print_usage ();
endif
@@ -71,9 +71,9 @@
endif
if (isct (sys))
- W = lyap (a, b*b'); # let lyap do the error checking about dimensions
+ W = lyap (a, b*b.'); # let lyap do the error checking about dimensions
else # discrete-time system
- W = dlyap (a, b*b'); # let dlyap do the error checking about dimensions
+ W = dlyap (a, b*b.'); # let dlyap do the error checking about dimensions
endif
endfunction
@@ -83,21 +83,21 @@
%! 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]; ## 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)))
+%! 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)))
+%! 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)))
+%! assert (a * Wc + Wc * a.' + b * b.', zeros (size (a)))
%!test
%! a = [-1 0 0; 1/2 1 0; 1/2 0 -1] / 2;
@@ -105,8 +105,8 @@
%! 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)
+%! 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;
@@ -114,5 +114,5 @@
%! 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
+%! 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
Modified: trunk/octave-forge/main/control/inst/isdetectable.m
===================================================================
--- trunk/octave-forge/main/control/inst/isdetectable.m 2010-08-29 09:35:15 UTC (rev 7597)
+++ trunk/octave-forge/main/control/inst/isdetectable.m 2010-08-29 11:45:46 UTC (rev 7598)
@@ -57,7 +57,7 @@
endif
endif
- retval = isstabilizable (a', c', tol, dflg);
+ retval = isstabilizable (a.', c.', tol, dflg);
endfunction
Modified: trunk/octave-forge/main/control/inst/isobsv.m
===================================================================
--- trunk/octave-forge/main/control/inst/isobsv.m 2010-08-29 09:35:15 UTC (rev 7597)
+++ trunk/octave-forge/main/control/inst/isobsv.m 2010-08-29 11:45:46 UTC (rev 7598)
@@ -21,7 +21,7 @@
## @deftypefnx {Function File} {[@var{retval}, @var{u}] =} isobsv (@var{sys}, @var{tol})
## Logical check for system observability.
##
-## Default: tol = @code{tol = 10*norm(a,'fro')*eps}
+## Default: tol = @code{tol = 10*norm(a,"fro")*eps}
##
## Returns 1 if the system @var{sys} or the pair (@var{a}, @var{c}) is
## observable, 0 if not.
@@ -55,9 +55,9 @@
print_usage ();
endif
if (exist ("tol"))
- [retval, U] = isctrb (a', c', tol);
+ [retval, U] = isctrb (a.', c.', tol);
else
- [retval, U] = isctrb (a', c');
+ [retval, U] = isctrb (a.', c.');
endif
endfunction
Modified: trunk/octave-forge/main/control/inst/kalman.m
===================================================================
--- trunk/octave-forge/main/control/inst/kalman.m 2010-08-29 09:35:15 UTC (rev 7597)
+++ trunk/octave-forge/main/control/inst/kalman.m 2010-08-29 11:45:46 UTC (rev 7598)
@@ -91,20 +91,20 @@
h = d(sensors, stoch);
if (isempty (s))
- rbar = r + h*q*h';
- sbar = g * q*h';
+ rbar = r + h*q*h.';
+ sbar = g * q*h.';
else
- rbar = r + h*s + s'*h' + h*q*h';
- sbar = g * (q*h' + s);
+ rbar = r + h*s + s.'*h.' + h*q*h.';
+ sbar = g * (q*h.' + s);
endif
if (isct (sys))
- [x, l, k] = care (a', c', g*q*g', rbar, sbar);
+ [x, l, k] = care (a.', c.', g*q*g.', rbar, sbar);
else
- [x, l, k] = dare (a', c', g*q*g', rbar, sbar);
+ [x, l, k] = dare (a.', c.', g*q*g.', rbar, sbar);
endif
- k = k';
+ k = k.';
est = estim (sys, k, sensors, known);
Modified: trunk/octave-forge/main/control/inst/lsim.m
===================================================================
--- trunk/octave-forge/main/control/inst/lsim.m 2010-08-29 09:35:15 UTC (rev 7597)
+++ trunk/octave-forge/main/control/inst/lsim.m 2010-08-29 11:45:46 UTC (rev 7598)
@@ -75,7 +75,7 @@
m = columns (G); # number of inputs
p = rows (C); # number of outputs
- t = (0 : dt : tfinal)'; # time vector
+ t = (0 : dt : tfinal).'; # time vector
trows = length (t);
if (urows != trows)
@@ -101,9 +101,9 @@
## simulation
for k = 1 : trows
- y(k, :) = C * x + D * u(k, :)';
+ y(k, :) = C * x + D * u(k, :).';
x_arr(k, :) = x;
- x = F * x + G * u(k, :)';
+ x = F * x + G * u(k, :).';
endfor
if (! nargout) # plot information
Modified: trunk/octave-forge/main/control/inst/lyap.m
===================================================================
--- trunk/octave-forge/main/control/inst/lyap.m 2010-08-29 09:35:15 UTC (rev 7597)
+++ trunk/octave-forge/main/control/inst/lyap.m 2010-08-29 11:45:46 UTC (rev 7598)
@@ -173,7 +173,7 @@
%! -73.0 -70.0 -25.0
%! -28.0 -25.0 -18.0];
%!
-%! X = lyap (A', -B, [], E');
+%! X = lyap (A.', -B, [], E.');
%!
%! X_exp = [-2.0000 -1.0000 0.0000
%! -1.0000 -3.0000 -1.0000
Modified: trunk/octave-forge/main/control/inst/obsv.m
===================================================================
--- trunk/octave-forge/main/control/inst/obsv.m 2010-08-29 09:35:15 UTC (rev 7597)
+++ trunk/octave-forge/main/control/inst/obsv.m 2010-08-29 11:45:46 UTC (rev 7598)
@@ -40,7 +40,7 @@
print_usage ();
endif
- ob = ctrb (a', c')';
+ ob = ctrb (a.', c.').';
endfunction
Modified: trunk/octave-forge/main/control/inst/place.m
===================================================================
--- trunk/octave-forge/main/control/inst/place.m 2010-08-29 09:35:15 UTC (rev 7597)
+++ trunk/octave-forge/main/control/inst/place.m 2010-08-29 11:45:46 UTC (rev 7598)
@@ -58,8 +58,8 @@
## @example
## @group
## Place is also suitable to design estimator gains:
-## L = place (A', C', p)'
-## L = place (sys.', p)' % useful for discrete-time systems
+## L = place (A.', C.', p).'
+## L = place (sys.', p).' % useful for discrete-time systems
## @end group
## @end example
## @end deftypefn
Modified: trunk/octave-forge/main/control/inst/rlocus.m
===================================================================
--- trunk/octave-forge/main/control/inst/rlocus.m 2010-08-29 09:35:15 UTC (rev 7597)
+++ trunk/octave-forge/main/control/inst/rlocus.m 2010-08-29 11:45:46 UTC (rev 7598)
@@ -146,7 +146,7 @@
ngain = max (30, ngain);
gvec = linspace (mink, maxk, ngain);
if (length (k_break))
- gvec = sort ([gvec, vec(k_break)']);
+ gvec = sort ([gvec, vec(k_break).']);
endif
## Find the open loop zeros and the initial poles
@@ -175,7 +175,7 @@
done = (nargin == 4); # perform a smoothness check
while (! done && ngain < 1000)
done = 1 ; # assume done
- dp = abs (diff (rlpol'))';
+ dp = abs (diff (rlpol.')).';
maxdp = max (dp);
## search for poles whose neighbors are distant
@@ -306,7 +306,7 @@
endif
# reorder entries in each column of rlpol to be by their nearest-neighbors
- dp = diff (rlpol')';
+ dp = diff (rlpol.').';
drp = max (real (dp));
dip = max (imag (dp));
idx = find (drp > tolx | dip > toly);
@@ -324,9 +324,9 @@
mindist = min (dval);
sidx = min (find (dval == mindist)) + ii - 1;
if (sidx != ii)
- c1 = norm (diff(vals'));
+ c1 = norm (diff(vals.'));
[vals(ii,2), vals(sidx,2)] = swap (vals(ii,2), vals(sidx,2));
- c2 = norm (diff (vals'));
+ c2 = norm (diff (vals.'));
if (c1 > c2)
## perform the swap
[rlpol(ii,jdx), rlpol(sidx,jdx)] = swap (rlpol(ii,jdx), rlpol(sidx,jdx));
@@ -339,9 +339,6 @@
endfunction
-function [a1, b1] = swap (a, b)
+function [b, a] = swap (a, b)
- a1 = b;
- b1 = a;
-
endfunction
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