[Octave-cvsupdate] SF.net SVN: octave:[7791] trunk/octave-forge/main/control/inst

[<par...@us...>]

Revision: 7791
          http://octave.svn.sourceforge.net/octave/?rev=7791&view=rev
Author:   paramaniac
Date:     2010-10-01 22:27:33 +0000 (Fri, 01 Oct 2010)

Log Message:
-----------
control: add support for descriptor state-space models

Modified Paths:
--------------
    trunk/octave-forge/main/control/inst/dlqr.m
    trunk/octave-forge/main/control/inst/lqr.m

Modified: trunk/octave-forge/main/control/inst/dlqr.m
===================================================================
--- trunk/octave-forge/main/control/inst/dlqr.m	2010-10-01 22:16:52 UTC (rev 7790)
+++ trunk/octave-forge/main/control/inst/dlqr.m	2010-10-01 22:27:33 UTC (rev 7791)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009   Lukas F. Reichlin
+## Copyright (C) 2009 - 2010   Lukas F. Reichlin
 ##
 ## This file is part of LTI Syncope.
 ##
@@ -20,6 +20,8 @@
 ## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{sys}, @var{q}, @var{r}, @var{s})
 ## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{a}, @var{b}, @var{q}, @var{r})
 ## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{s})
+## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{[]}, @var{e})
+## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{s}, @var{e})
 ## Linear-quadratic regulator for discrete-time systems.
 ##
 ## @strong{Inputs}
@@ -36,6 +38,8 @@
 ## Input weighting matrix.
 ## @item s
 ## Optional cross term matrix. If @var{s} is not specified, a zero matrix is assumed.
+## @item e
+## Optional descriptor matrix. If @var{e} is not specified, an identity matrix is assumed.
 ## @end table
 ##
 ## @strong{Outputs}
@@ -64,11 +68,11 @@
 
 ## Author: Lukas Reichlin <luk...@gm...>
 ## Created: November 2009
-## Version: 0.1
+## Version: 0.2
 
-function [g, x, l] = dlqr (a, b, q, r = [], s = [])
+function [g, x, l] = dlqr (a, b, q, r = [], s = [], e = [])
 
-  if (nargin < 3 || nargin > 5)
+  if (nargin < 3 || nargin > 6)
     print_usage ();
   endif
 
@@ -76,7 +80,7 @@
     s = r;
     r = q;
     q = b;
-    [a, b, c, d, tsam] = ssdata (a);
+    [a, b, c, d, e, tsam] = dssdata (a, []);
   elseif (nargin < 4)
     print_usage ();
   else
@@ -84,9 +88,9 @@
   endif
 
   if (tsam > 0)
-    [x, l, g] = dare (a, b, q, r, s);
+    [x, l, g] = dare (a, b, q, r, s, e);
   else
-    [x, l, g] = care (a, b, q, r, s);
+    [x, l, g] = care (a, b, q, r, s, e);
   endif
 
 endfunction
\ No newline at end of file

Modified: trunk/octave-forge/main/control/inst/lqr.m
===================================================================
--- trunk/octave-forge/main/control/inst/lqr.m	2010-10-01 22:16:52 UTC (rev 7790)
+++ trunk/octave-forge/main/control/inst/lqr.m	2010-10-01 22:27:33 UTC (rev 7791)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009   Lukas F. Reichlin
+## Copyright (C) 2009 - 2010   Lukas F. Reichlin
 ##
 ## This file is part of LTI Syncope.
 ##
@@ -20,6 +20,8 @@
 ## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{sys}, @var{q}, @var{r}, @var{s})
 ## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r})
 ## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{s})
+## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{[]}, @var{e})
+## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{s}, @var{e})
 ## Linear-quadratic regulator.
 ##
 ## @strong{Inputs}
@@ -36,6 +38,8 @@
 ## Input weighting matrix.
 ## @item s
 ## Optional cross term matrix. If @var{s} is not specified, a zero matrix is assumed.
+## @item e
+## Optional descriptor matrix. If @var{e} is not specified, an identity matrix is assumed.
 ## @end table
 ##
 ## @strong{Outputs}
@@ -65,11 +69,11 @@
 
 ## Author: Lukas Reichlin <luk...@gm...>
 ## Created: November 2009
-## Version: 0.1
+## Version: 0.2
 
-function [g, x, l] = lqr (a, b, q, r = [], s = [])
+function [g, x, l] = lqr (a, b, q, r = [], s = [], e = [])
 
-  if (nargin < 3 || nargin > 5)
+  if (nargin < 3 || nargin > 6)
     print_usage ();
   endif
 
@@ -77,7 +81,7 @@
     s = r;
     r = q;
     q = b;
-    [a, b, c, d, tsam] = ssdata (a);
+    [a, b, c, d, e, tsam] = dssdata (a, []);
   elseif (nargin < 4)
     print_usage ();
   else
@@ -85,9 +89,9 @@
   endif
 
   if (tsam > 0)
-    [x, l, g] = dare (a, b, q, r, s);
+    [x, l, g] = dare (a, b, q, r, s, e);
   else
-    [x, l, g] = care (a, b, q, r, s);
+    [x, l, g] = care (a, b, q, r, s, e);
   endif
 
 endfunction
\ No newline at end of file


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