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[Octave-cvsupdate] SF.net SVN: octave:[7696] trunk/octave-forge/main/control/inst
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From: <par...@us...> - 2010-09-09 23:42:59
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Revision: 7696
http://octave.svn.sourceforge.net/octave/?rev=7696&view=rev
Author: paramaniac
Date: 2010-09-09 23:42:53 +0000 (Thu, 09 Sep 2010)
Log Message:
-----------
control: add tests adapted from slicot
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@ss/__sysconnect__.m
trunk/octave-forge/main/control/inst/ltimodels.m
Modified: trunk/octave-forge/main/control/inst/@ss/__sysconnect__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/__sysconnect__.m 2010-09-09 20:00:23 UTC (rev 7695)
+++ trunk/octave-forge/main/control/inst/@ss/__sysconnect__.m 2010-09-09 23:42:53 UTC (rev 7696)
@@ -74,7 +74,7 @@
Z = I - D*M;
if (rcond (Z) < eps) # check for singularity
- error ("ss: sysconnect: (I - D*M) not invertible because of algebraic loop");
+ error ("ss: sysconnect: (I - D*M) not invertible");
endif
Z = inv (Z);
Modified: trunk/octave-forge/main/control/inst/ltimodels.m
===================================================================
--- trunk/octave-forge/main/control/inst/ltimodels.m 2010-09-09 20:00:23 UTC (rev 7695)
+++ trunk/octave-forge/main/control/inst/ltimodels.m 2010-09-09 23:42:53 UTC (rev 7696)
@@ -65,6 +65,11 @@
endfunction
+
+## ==============================================================================
+## LTI Tests
+## ==============================================================================
+
## isct, isdt
%!shared ltisys
%! ltisys = tf (12);
@@ -91,24 +96,42 @@
%!assert (! isct (ltisys));
%!assert (isdt (ltisys));
-## mtimes
-%!shared sysmat, sysmat_exp
-%! sys1 = ss ([0, 1; -3, -2], [0; 1], [-5, 1], [2]);
-%! sys2 = ss ([-10], [1], [-40], [5]);
-%! sys3 = sys2 * sys1;
-%! [A, B, C, D] = ssdata (sys3);
-%! sysmat = [A, B; C, D];
-%! A_exp = [ -10 -5 1
-%! 0 0 1
-%! 0 -3 -2 ];
-%! B_exp = [ 2
-%! 0
-%! 1 ];
-%! C_exp = [ -40 -25 5 ];
-%! D_exp = [ 10 ];
-%! sysmat_exp = [A_exp, B_exp; C_exp, D_exp];
-%!assert (sysmat, sysmat_exp)
+## lti: subsref
+%!shared a
+%! s = tf ("s");
+%! G = (s+1)*s*5/(s+1)/(s^2+s+1);
+%! a = G(1,1).num{1,1}(1);
+%!assert (a, 5, 1e-4);
+
+
+
+## ==============================================================================
+## TF Tests
+## ==============================================================================
+
+## tf: minreal
+%!shared a, b, c, d
+%! s = tf ("s");
+%! G1 = (s+1)*s*5/(s+1)/(s^2+s+1);
+%! G2 = tf ([1, 1, 1], [2, 2, 2]);
+%! G1min = minreal (G1);
+%! G2min = minreal (G2);
+%! a = G1min.num{1, 1};
+%! b = G1min.den{1, 1};
+%! c = G2min.num{1, 1};
+%! d = G2min.den{1, 1};
+%!assert (a, [5, 0], 1e-4);
+%!assert (b, [1, 1, 1], 1e-4);
+%!assert (c, 0.5, 1e-4);
+%!assert (d, 1, 1e-4);
+
+
+
+## ==============================================================================
+## SS Tests
+## ==============================================================================
+
## norm ct
%!shared H2, Hinf
%! sys = ss (-1, 1, 1, 0);
@@ -117,6 +140,7 @@
%!assert (H2, 0.7071, 1.5e-5);
%!assert (Hinf, 1, 5e-4);
+
## norm dt
%!shared H2, Hinf
%! a = [ 2.417 -1.002 0.5488
@@ -133,20 +157,21 @@
%!assert (H2, 1.2527, 1.5e-5);
%!assert (Hinf, 2.7, 0.1);
+
## transmission zeros of state-space models
-
+##
## Results from the "Dark Side" 7.5 and 7.8
##
## -13.2759
## 12.5774
## -0.0155
-
+##
## Results from Scilab 5.2.0b1 (trzeros)
##
## - 13.275931
## 12.577369
## - 0.0155265
-
+##
%!shared z, z_exp
%! A = [ -0.7 -0.0458 -12.2 0
%! 0 -0.014 -0.2904 -0.562
@@ -171,6 +196,78 @@
%!
%!assert (z, z_exp, 1e-4);
+
+## ss: minreal
+%!shared C, D
+%!
+%! A = ss (-2, 3, 4, 5);
+%! B = A / A;
+%! C = minreal (B);
+%! D = ss (1);
+%!
+%!assert (C.a, D.a);
+%!assert (C.b, D.b);
+%!assert (C.c, D.c);
+%!assert (C.d, D.d);
+
+
+## ss: minreal (SLICOT TB01PD)
+#%!shared M, Me
+#%! A = [ 1.0 2.0 0.0
+#%! 4.0 -1.0 0.0
+#%! 0.0 0.0 1.0 ];
+#%!
+#%! B = [ 1.0
+#%! 0.0
+#%! 1.0 ];
+#%!
+#%! C = [ 0.0 1.0 -1.0
+#%! 0.0 0.0 1.0 ];
+#%!
+#%! D = zeros (2, 1);
+#%!
+#%! sys = ss (A, B, C, D);
+#%! sysmin = minreal (sys, 0.0);
+#%! [Ar, Br, Cr, Dr] = ssdata (sysmin);
+#%! M = [Ar, Br; Cr, Dr];
+#%!
+#%! Ae = [ 1.0000 -1.4142 1.4142
+#%! -2.8284 0.0000 1.0000
+#%! 2.8284 1.0000 0.0000 ];
+#%!
+#%! Be = [-1.0000
+#%! 0.7071
+#%! 0.7071 ];
+#%!
+#%! Ce = [ 0.0000 0.0000 -1.4142
+#%! 0.0000 0.7071 0.7071 ];
+#%!
+#%! De = zeros (2, 1);
+#%!
+#%! Me = [Ae, Be; Ce, De];
+#%!
+#%!assert (M, Me, 1e-4);
+
+
+## mtimes
+%!shared sysmat, sysmat_exp
+%! sys1 = ss ([0, 1; -3, -2], [0; 1], [-5, 1], [2]);
+%! sys2 = ss ([-10], [1], [-40], [5]);
+%! sys3 = sys2 * sys1;
+%! [A, B, C, D] = ssdata (sys3);
+%! sysmat = [A, B; C, D];
+%! A_exp = [ -10 -5 1
+%! 0 0 1
+%! 0 -3 -2 ];
+%! B_exp = [ 2
+%! 0
+%! 1 ];
+%! C_exp = [ -40 -25 5 ];
+%! D_exp = [ 10 ];
+%! sysmat_exp = [A_exp, B_exp; C_exp, D_exp];
+%!assert (sysmat, sysmat_exp)
+
+
## inverse of state-space models
## test from SLICOT AB07ND
## note the negative signs in Me for compatibility reasons
@@ -212,42 +309,7 @@
%!
%!assert (M, Me, 1e-4);
-## ss: minreal
-%!shared C, D
-%!
-%! A = ss (-2, 3, 4, 5);
-%! B = A / A;
-%! C = minreal (B);
-%! D = ss (1);
-%!
-%!assert (C.a, D.a);
-%!assert (C.b, D.b);
-%!assert (C.c, D.c);
-%!assert (C.d, D.d);
-## tf: minreal
-%!shared a, b, c, d
-%! s = tf ("s");
-%! G1 = (s+1)*s*5/(s+1)/(s^2+s+1);
-%! G2 = tf ([1, 1, 1], [2, 2, 2]);
-%! G1min = minreal (G1);
-%! G2min = minreal (G2);
-%! a = G1min.num{1, 1};
-%! b = G1min.den{1, 1};
-%! c = G2min.num{1, 1};
-%! d = G2min.den{1, 1};
-%!assert (a, [5, 0], 1e-4);
-%!assert (b, [1, 1, 1], 1e-4);
-%!assert (c, 0.5, 1e-4);
-%!assert (d, 1, 1e-4);
-
-## lti: subsref
-%!shared a
-%! s = tf ("s");
-%! G = (s+1)*s*5/(s+1)/(s^2+s+1);
-%! a = G(1,1).num{1,1}(1);
-%!assert (a, 5, 1e-4);
-
## staircase (SLICOT AB01OD)
%!shared Ac, Bc, Ace, Bce
%! A = [ 17.0 24.0 1.0 8.0 15.0
@@ -284,39 +346,243 @@
%!assert (Ac, Ace, 1e-4);
%!assert (Bc, Bce, 1e-4);
-## ss: minreal (SLICOT TB01PD)
+
+## Cascade inter-connection of two systems in state-space form
+## Test from SLICOT AB05MD
+## TODO: order of united state vector: consistency vs. compatibility?
#%!shared M, Me
-#%! A = [ 1.0 2.0 0.0
-#%! 4.0 -1.0 0.0
-#%! 0.0 0.0 1.0 ];
+#%! A1 = [ 1.0 0.0 -1.0
+#%! 0.0 -1.0 1.0
+#%! 1.0 1.0 2.0 ];
#%!
-#%! B = [ 1.0
-#%! 0.0
-#%! 1.0 ];
+#%! B1 = [ 1.0 1.0 0.0
+#%! 2.0 0.0 1.0 ].';
#%!
-#%! C = [ 0.0 1.0 -1.0
-#%! 0.0 0.0 1.0 ];
+#%! C1 = [ 3.0 -2.0 1.0
+#%! 0.0 1.0 0.0 ];
#%!
-#%! D = zeros (2, 1);
+#%! D1 = [ 1.0 0.0
+#%! 0.0 1.0 ];
#%!
-#%! sys = ss (A, B, C, D);
-#%! sysmin = minreal (sys, 0.0);
-#%! [Ar, Br, Cr, Dr] = ssdata (sysmin);
-#%! M = [Ar, Br; Cr, Dr];
+#%! A2 = [-3.0 0.0 0.0
+#%! 1.0 0.0 1.0
+#%! 0.0 -1.0 2.0 ];
#%!
-#%! Ae = [ 1.0000 -1.4142 1.4142
-#%! -2.8284 0.0000 1.0000
-#%! 2.8284 1.0000 0.0000 ];
+#%! B2 = [ 0.0 -1.0 0.0
+#%! 1.0 0.0 2.0 ].';
#%!
-#%! Be = [-1.0000
-#%! 0.7071
-#%! 0.7071 ];
+#%! C2 = [ 1.0 1.0 0.0
+#%! 1.0 1.0 -1.0 ];
#%!
-#%! Ce = [ 0.0000 0.0000 -1.4142
-#%! 0.0000 0.7071 0.7071 ];
+#%! D2 = [ 1.0 1.0
+#%! 0.0 1.0 ];
#%!
-#%! De = zeros (2, 1);
+#%! sys1 = ss (A1, B1, C1, D1);
+#%! sys2 = ss (A2, B2, C2, D2);
+#%! sys = sys2 * sys1;
+#%! [A, B, C, D] = ssdata (sys);
+#%! M = [A, B; C, D];
#%!
+#%! Ae = [ 1.0000 0.0000 -1.0000 0.0000 0.0000 0.0000
+#%! 0.0000 -1.0000 1.0000 0.0000 0.0000 0.0000
+#%! 1.0000 1.0000 2.0000 0.0000 0.0000 0.0000
+#%! 0.0000 1.0000 0.0000 -3.0000 0.0000 0.0000
+#%! -3.0000 2.0000 -1.0000 1.0000 0.0000 1.0000
+#%! 0.0000 2.0000 0.0000 0.0000 -1.0000 2.0000 ];
+#%!
+#%! Be = [ 1.0000 2.0000
+#%! 1.0000 0.0000
+#%! 0.0000 1.0000
+#%! 0.0000 1.0000
+#%! -1.0000 0.0000
+#%! 0.0000 2.0000 ];
+#%!
+#%! Ce = [ 3.0000 -1.0000 1.0000 1.0000 1.0000 0.0000
+#%! 0.0000 1.0000 0.0000 1.0000 1.0000 -1.0000 ];
+#%!
+#%! De = [ 1.0000 1.0000
+#%! 0.0000 1.0000 ];
+#%!
#%! Me = [Ae, Be; Ce, De];
#%!
#%!assert (M, Me, 1e-4);
+
+
+## Feedback inter-connection of two systems in state-space form
+## Test from SLICOT AB05ND
+%!shared M, Me
+%! A1 = [ 1.0 0.0 -1.0
+%! 0.0 -1.0 1.0
+%! 1.0 1.0 2.0 ];
+%!
+%! B1 = [ 1.0 1.0 0.0
+%! 2.0 0.0 1.0 ].';
+%!
+%! C1 = [ 3.0 -2.0 1.0
+%! 0.0 1.0 0.0 ];
+%!
+%! D1 = [ 1.0 0.0
+%! 0.0 1.0 ];
+%!
+%! A2 = [-3.0 0.0 0.0
+%! 1.0 0.0 1.0
+%! 0.0 -1.0 2.0 ];
+%!
+%! B2 = [ 0.0 -1.0 0.0
+%! 1.0 0.0 2.0 ].';
+%!
+%! C2 = [ 1.0 1.0 0.0
+%! 1.0 1.0 -1.0 ];
+%!
+%! D2 = [ 1.0 1.0
+%! 0.0 1.0 ];
+%!
+%! sys1 = ss (A1, B1, C1, D1);
+%! sys2 = ss (A2, B2, C2, D2);
+%! sys = feedback (sys1, sys2);
+%! [A, B, C, D] = ssdata (sys);
+%! M = [A, B; C, D];
+%!
+%! Ae = [-0.5000 -0.2500 -1.5000 -1.2500 -1.2500 0.7500
+%! -1.5000 -0.2500 0.5000 -0.2500 -0.2500 -0.2500
+%! 1.0000 0.5000 2.0000 -0.5000 -0.5000 0.5000
+%! 0.0000 0.5000 0.0000 -3.5000 -0.5000 0.5000
+%! -1.5000 1.2500 -0.5000 1.2500 0.2500 1.2500
+%! 0.0000 1.0000 0.0000 -1.0000 -2.0000 3.0000 ];
+%!
+%! Be = [ 0.5000 0.7500
+%! 0.5000 -0.2500
+%! 0.0000 0.5000
+%! 0.0000 0.5000
+%! -0.5000 0.2500
+%! 0.0000 1.0000 ];
+%!
+%! Ce = [ 1.5000 -1.2500 0.5000 -0.2500 -0.2500 -0.2500
+%! 0.0000 0.5000 0.0000 -0.5000 -0.5000 0.5000 ];
+%!
+%! De = [ 0.5000 -0.2500
+%! 0.0000 0.5000 ];
+%!
+%! Me = [Ae, Be; Ce, De];
+%!
+%!assert (M, Me, 1e-4);
+
+
+## Rowwise concatenation of two systems in state-space form
+## Test from SLICOT AB05OD
+%!shared M, Me
+%! A1 = [ 1.0 0.0 -1.0
+%! 0.0 -1.0 1.0
+%! 1.0 1.0 2.0 ];
+%!
+%! B1 = [ 1.0 1.0 0.0
+%! 2.0 0.0 1.0 ].';
+%!
+%! C1 = [ 3.0 -2.0 1.0
+%! 0.0 1.0 0.0 ];
+%!
+%! D1 = [ 1.0 0.0
+%! 0.0 1.0 ];
+%!
+%! A2 = [-3.0 0.0 0.0
+%! 1.0 0.0 1.0
+%! 0.0 -1.0 2.0 ];
+%!
+%! B2 = [ 0.0 -1.0 0.0
+%! 1.0 0.0 2.0 ].';
+%!
+%! C2 = [ 1.0 1.0 0.0
+%! 1.0 1.0 -1.0 ];
+%!
+%! D2 = [ 1.0 1.0
+%! 0.0 1.0 ];
+%!
+%! sys1 = ss (A1, B1, C1, D1);
+%! sys2 = ss (A2, B2, C2, D2);
+%! sys = [sys1, sys2];
+%! [A, B, C, D] = ssdata (sys);
+%! M = [A, B; C, D];
+%!
+%! Ae = [ 1.0000 0.0000 -1.0000 0.0000 0.0000 0.0000
+%! 0.0000 -1.0000 1.0000 0.0000 0.0000 0.0000
+%! 1.0000 1.0000 2.0000 0.0000 0.0000 0.0000
+%! 0.0000 0.0000 0.0000 -3.0000 0.0000 0.0000
+%! 0.0000 0.0000 0.0000 1.0000 0.0000 1.0000
+%! 0.0000 0.0000 0.0000 0.0000 -1.0000 2.0000 ];
+%!
+%! Be = [ 1.0000 2.0000 0.0000 0.0000
+%! 1.0000 0.0000 0.0000 0.0000
+%! 0.0000 1.0000 0.0000 0.0000
+%! 0.0000 0.0000 0.0000 1.0000
+%! 0.0000 0.0000 -1.0000 0.0000
+%! 0.0000 0.0000 0.0000 2.0000 ];
+%!
+%! Ce = [ 3.0000 -2.0000 1.0000 1.0000 1.0000 0.0000
+%! 0.0000 1.0000 0.0000 1.0000 1.0000 -1.0000 ];
+%!
+%! De = [ 1.0000 0.0000 1.0000 1.0000
+%! 0.0000 1.0000 0.0000 1.0000 ];
+%!
+%! Me = [Ae, Be; Ce, De];
+%!
+%!assert (M, Me, 1e-4);
+
+
+## Parallel inter-connection of two systems in state-space form
+## Test from SLICOT AB05PD
+%!shared M, Me
+%! A1 = [ 1.0 0.0 -1.0
+%! 0.0 -1.0 1.0
+%! 1.0 1.0 2.0 ];
+%!
+%! B1 = [ 1.0 1.0 0.0
+%! 2.0 0.0 1.0 ].';
+%!
+%! C1 = [ 3.0 -2.0 1.0
+%! 0.0 1.0 0.0 ];
+%!
+%! D1 = [ 1.0 0.0
+%! 0.0 1.0 ];
+%!
+%! A2 = [-3.0 0.0 0.0
+%! 1.0 0.0 1.0
+%! 0.0 -1.0 2.0 ];
+%!
+%! B2 = [ 0.0 -1.0 0.0
+%! 1.0 0.0 2.0 ].';
+%!
+%! C2 = [ 1.0 1.0 0.0
+%! 1.0 1.0 -1.0 ];
+%!
+%! D2 = [ 1.0 1.0
+%! 0.0 1.0 ];
+%!
+%! sys1 = ss (A1, B1, C1, D1);
+%! sys2 = ss (A2, B2, C2, D2);
+%! sys = sys1 + sys2;
+%! [A, B, C, D] = ssdata (sys);
+%! M = [A, B; C, D];
+%!
+%! Ae = [ 1.0000 0.0000 -1.0000 0.0000 0.0000 0.0000
+%! 0.0000 -1.0000 1.0000 0.0000 0.0000 0.0000
+%! 1.0000 1.0000 2.0000 0.0000 0.0000 0.0000
+%! 0.0000 0.0000 0.0000 -3.0000 0.0000 0.0000
+%! 0.0000 0.0000 0.0000 1.0000 0.0000 1.0000
+%! 0.0000 0.0000 0.0000 0.0000 -1.0000 2.0000 ];
+%!
+%! Be = [ 1.0000 2.0000
+%! 1.0000 0.0000
+%! 0.0000 1.0000
+%! 0.0000 1.0000
+%! -1.0000 0.0000
+%! 0.0000 2.0000 ];
+%!
+%! Ce = [ 3.0000 -2.0000 1.0000 1.0000 1.0000 0.0000
+%! 0.0000 1.0000 0.0000 1.0000 1.0000 -1.0000 ];
+%!
+%! De = [ 2.0000 1.0000
+%! 0.0000 2.0000 ];
+%!
+%! Me = [Ae, Be; Ce, De];
+%!
+%!assert (M, Me, 1e-4);
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