[Octave-cvsupdate] SF.net SVN: octave:[8433] trunk/octave-forge/main/control/devel

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

Revision: 8433
          http://octave.svn.sourceforge.net/octave/?rev=8433&view=rev
Author:   paramaniac
Date:     2011-08-05 11:57:01 +0000 (Fri, 05 Aug 2011)

Log Message:
-----------
control: polish ncfsyn stuff for release

Modified Paths:
--------------
    trunk/octave-forge/main/control/devel/MDSSystem.m
    trunk/octave-forge/main/control/devel/ncfsyn/makefile_ncfsyn.m
    trunk/octave-forge/main/control/devel/ncfsyn/ncfsyn.m

Modified: trunk/octave-forge/main/control/devel/MDSSystem.m
===================================================================
--- trunk/octave-forge/main/control/devel/MDSSystem.m	2011-08-04 21:10:29 UTC (rev 8432)
+++ trunk/octave-forge/main/control/devel/MDSSystem.m	2011-08-05 11:57:01 UTC (rev 8433)
@@ -1,5 +1,5 @@
 % ===============================================================================
-% Robust Control of a Mass-Damper-Spring System
+% Robust Control of a Mass-Damper-Spring System     Lukas Reichlin    August 2011
 % ===============================================================================
 % Reference: Gu, D.W., Petkov, P.Hr. and Konstantinov, M.M.
 %            Robust Control Design with Matlab, Springer 2005
@@ -61,13 +61,15 @@
 
 D22 = [            0 ];
 
-inname = {'u_m', 'u_c', 'u_k', 'u'};             % input names
-outname = {'y_m', 'y_c', 'y_k', 'y'};            % output names
+inname = {'u_m', 'u_c', 'u_k', 'u'};   % input names
+outname = {'y_m', 'y_c', 'y_k', 'y'};  % output names
 
 G_nom = ss (A, [B1, B2], [C1; C2], [D11, D12; D21, D22], ...
             'inputname', inname, 'outputname', outname);
 
+G = G_nom(4, 4);                       % extract output y and input u
 
+
 % ===============================================================================
 % Frequency Analysis of Uncertain System
 % ===============================================================================
@@ -76,7 +78,7 @@
 [delta_m, delta_c, delta_k] = ndgrid ([-1, 0, 1], [-1, 0, 1], [-1, 0, 1]);
 
 % Bode Plots of Perturbed Plants
-w = logspace (-1, 1, 100);                       % frequency vector
+w = logspace (-1, 1, 100);             % frequency vector
 figure (1)
 
 for k = 1 : numel (delta_m)
@@ -91,7 +93,7 @@
 
 
 % ===============================================================================
-% Mixed Sensitivity H-infinity Controller Design
+% Mixed Sensitivity H-infinity Controller Design (S over KS Method)
 % ===============================================================================
 %                                    +-------+
 %             +--------------------->|  W_p  |----------> e_p
@@ -108,47 +110,47 @@
 %        +-----------------------------------------+
 
 % Weighting Functions
-s = tf ('s');                                    % transfer function variable
-W_p = 0.95 * (s^2 + 1.8*s + 10) / (s^2 + 8.0*s + 0.01);
-W_u = 10^-2;
+s = tf ('s');                          % transfer function variable
+W_p = 0.95 * (s^2 + 1.8*s + 10) / (s^2 + 8.0*s + 0.01);  % performance weighting
+W_u = 10^-2;                           % control weighting
 
-% Mixed Sensitivity H-infinity Controller Design
-G = G_nom(4, 4);                                 % extract output y and input u
+% Synthesis
+K = mixsyn (G, W_p, W_u);              % mixed-sensitivity H-infinity synthesis
 
-[K, N, gamma] = mixsyn (G, W_p, W_u);
+% Interconnections
+L = G * K;                             % open loop
+T = feedback (L);                      % closed loop
 
-L = G * K;                                       % open loop
-T = feedback (L);                                % closed loop
-
+% Plotting
 figure (2)
-sigma (T)
+sigma (T)                              % singular values
 
 figure (3)
-sigma (N)
+step (T)                               % step response
 
-norm (N, inf)
 
-figure (4)
-step (T)
-
-
 % ===============================================================================
 % H-infinity Loop-Shaping Design
 % ===============================================================================
 
-W1 = 8 * (2*s + 1) / (0.9*s);                    % precompensator
-W2 = 1;                                          % postcompensator
-factor = 1.1;                                    % suboptimal controller
+% Settings
+W1 = 8 * (2*s + 1) / (0.9*s);          % precompensator
+W2 = 1;                                % postcompensator
+factor = 1.1;                          % suboptimal controller
 
-% Compute the suboptimal positive feedback controller
-K = ncfsyn (G, W1, W2, factor);                  % positive feedback controller
-[K, N, gamma, info] = ncfsyn (G, W1, W2, factor)
+% Synthesis
+K = ncfsyn (G, W1, W2, factor);        % positive feedback controller
 
-K = -K;                                          % negative feedback controller
-L = G * K;                                       % open loop
-T = feedback (L);                                % closed loop
+% Interconnections
+K = -K;                                % negative feedback controller
+L = G * K;                             % open loop
+T = feedback (L);                      % closed loop
 
+% Plotting
+figure (4)
+sigma (T)                              % singular values
+
 figure (5)
-step (T)
+step (T)                               % step response
 
 % ===============================================================================

Modified: trunk/octave-forge/main/control/devel/ncfsyn/makefile_ncfsyn.m
===================================================================
--- trunk/octave-forge/main/control/devel/ncfsyn/makefile_ncfsyn.m	2011-08-04 21:10:29 UTC (rev 8432)
+++ trunk/octave-forge/main/control/devel/ncfsyn/makefile_ncfsyn.m	2011-08-05 11:57:01 UTC (rev 8433)
@@ -1,3 +1,4 @@
+## H-infinity loop shaping - continuous-time
 mkoctfile "-Wl,-framework" "-Wl,vecLib" \
           slsb10id.cc \
           SB10ID.f SB02RD.f select.f SB10JD.f MB02VD.f \
@@ -7,11 +8,13 @@
           MB01RX.f SB03MX.f SB03SX.f MB01RY.f SB03QY.f \
           SB03QX.f SB03MY.f SB04PX.f SB03MV.f SB03MW.f
 
+## H-infinity loop shaping - discrete-time - strictly proper case
 mkoctfile "-Wl,-framework" "-Wl,vecLib" \
           slsb10kd.cc \
           SB10KD.f SB02OD.f select.f SB02OY.f SB02OW.f \
           SB02OV.f SB02MV.f SB02OU.f SB02MR.f
 
+## H-infinity loop shaping - discrete-time - proper case
 mkoctfile "-Wl,-framework" "-Wl,vecLib" \
           slsb10zd.cc \
           SB10ZD.f MA02AD.f SB02OD.f select.f MB01RX.f \

Modified: trunk/octave-forge/main/control/devel/ncfsyn/ncfsyn.m
===================================================================
--- trunk/octave-forge/main/control/devel/ncfsyn/ncfsyn.m	2011-08-04 21:10:29 UTC (rev 8432)
+++ trunk/octave-forge/main/control/devel/ncfsyn/ncfsyn.m	2011-08-05 11:57:01 UTC (rev 8433)
@@ -119,6 +119,7 @@
   K = W1 * Ks * W2;
 
   if (nargout > 1)
+    ## FIXME: is this really the same thing as the dark side does?
     N = append (eye (p), Ks, Gs);
     M = [zeros(p,p), zeros(p,m),     eye(p);
              eye(p), zeros(p,m), zeros(p,p);
@@ -145,12 +146,12 @@
     W = ss (eye (s));
   else
     W = ss (W);
-    %if (! isstable (W))
-    %  error ("ncfsyn: %s must be stable", inputname (1));
-    %endif
-    %if (! isminimumphase (W))
-    %  error ("ncfsyn: %s must be minimum-phase", inputname (1));
-    %endif
+    ## if (! isstable (W))
+    ##   error ("ncfsyn: %s must be stable", inputname (1));
+    ## endif
+    ## if (! isminimumphase (W))
+    ##   error ("ncfsyn: %s must be minimum-phase", inputname (1));
+    ## endif
     [p, m] = size (W);
     if (m == s && p == s)      # model is of correct size
       return;


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