[Octave-cvsupdate] SF.net SVN: octave:[7792] trunk/octave-forge/main/control/inst

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

Revision: 7792
          http://octave.svn.sourceforge.net/octave/?rev=7792&view=rev
Author:   paramaniac
Date:     2010-10-01 22:43:56 +0000 (Fri, 01 Oct 2010)

Log Message:
-----------
control: support descriptor models

Modified Paths:
--------------
    trunk/octave-forge/main/control/inst/estim.m
    trunk/octave-forge/main/control/inst/kalman.m

Modified: trunk/octave-forge/main/control/inst/estim.m
===================================================================
--- trunk/octave-forge/main/control/inst/estim.m	2010-10-01 22:27:33 UTC (rev 7791)
+++ trunk/octave-forge/main/control/inst/estim.m	2010-10-01 22:43:56 UTC (rev 7792)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009   Lukas F. Reichlin
+## Copyright (C) 2009 - 2010   Lukas F. Reichlin
 ##
 ## This file is part of LTI Syncope.
 ##
@@ -43,7 +43,7 @@
 
 ## Author: Lukas Reichlin <luk...@gm...>
 ## Created: November 2009
-## Version: 0.1
+## Version: 0.2
 
 function est = estim (sys, l, sensors = [], known = [])
 
@@ -55,7 +55,7 @@
     error ("estim: first argument must be an LTI system");
   endif
 
-  [a, b, c, d, tsam] = ssdata (sys);
+  [a, b, c, d, e, tsam] = dssdata (sys, []);
 
   if (isempty (sensors))
     sensors = 1 : rows (c);
@@ -73,8 +73,9 @@
   g = [b - l*d, l];
   h = [c; eye(n)];
   j = [d, zeros(p, p); zeros(n, m), zeros(n, p)];
+  ## k = e;
 
-  est = ss (f, g, h, j, tsam);
+  est = dss (f, g, h, j, e, tsam);
 
   ## TODO: inname, stname, outname
 

Modified: trunk/octave-forge/main/control/inst/kalman.m
===================================================================
--- trunk/octave-forge/main/control/inst/kalman.m	2010-10-01 22:27:33 UTC (rev 7791)
+++ trunk/octave-forge/main/control/inst/kalman.m	2010-10-01 22:43:56 UTC (rev 7792)
@@ -68,7 +68,7 @@
 
 ## Author: Lukas Reichlin <luk...@gm...>
 ## Created: November 2009
-## Version: 0.2
+## Version: 0.3
 
 function [est, k, x] = kalman (sys, q, r, s = [], sensors = [], known = [])
 
@@ -78,7 +78,7 @@
     print_usage ();
   endif
 
-  [a, b, c, d] = ssdata (sys);
+  [a, b, c, d, e] = dssdata (sys, []);
 
   if (isempty (sensors))
     sensors = 1 : rows (c);
@@ -95,14 +95,14 @@
     rbar = r + h*q*h.';
     sbar = g * q*h.';
   else
-    rbar = r + h*s + s.'*h.' + h*q*h.'; 
+    rbar = r + h*q*h.'+ h*s + s.'*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, e.');
   else
-    [x, l, k] = dare (a.', c.', g*q*g.', rbar, sbar);
+    [x, l, k] = dare (a.', c.', g*q*g.', rbar, sbar, e.');
   endif
 
   k = k.';


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