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[Octave-cvsupdate] SF.net SVN: octave:[9922] trunk/octave-forge/extra/control-devel
|
From: <par...@us...> - 2012-03-16 18:08:58
|
Revision: 9922
http://octave.svn.sourceforge.net/octave/?rev=9922&view=rev
Author: paramaniac
Date: 2012-03-16 18:08:52 +0000 (Fri, 16 Mar 2012)
Log Message:
-----------
control-devel: finish oct-file for n4sid & moesp identification
Modified Paths:
--------------
trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc
trunk/octave-forge/extra/control-devel/src/slident.cc
Added Paths:
-----------
trunk/octave-forge/extra/control-devel/devel/test_slident.m
Added: trunk/octave-forge/extra/control-devel/devel/test_slident.m
===================================================================
--- trunk/octave-forge/extra/control-devel/devel/test_slident.m (rev 0)
+++ trunk/octave-forge/extra/control-devel/devel/test_slident.m 2012-03-16 18:08:52 UTC (rev 9922)
@@ -0,0 +1,2090 @@
+% IB01AD EXAMPLE PROGRAM DATA
+% 15 0 1 1 1000 0.0 -1.0 M C N O N N
+% nobr, n, m, l, nsmp, rcond, tol, meth, alg, jobd, batch,conct,ctrl
+
+% IB01BD EXAMPLE PROGRAM DATA
+% 15 0 1 1 1000 0.0 -1.0 C C N O N N A K
+
+
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+];
+
+dat = iddata (Y, U)
+
+% IB01AD EXAMPLE PROGRAM DATA
+% 15 0 1 1 1000 0.0 -1.0 M C N O N N
+% nobr, n, m, l, nsmp, rcond, tol, meth, alg, jobd, batch,conct,ctrl
+
+% IB01BD EXAMPLE PROGRAM DATA
+% 15 0 1 1 1000 0.0 -1.0 C C N O N N A K
+
+nobr = 15;
+meth = 2;
+alg = 0;
+jobd = 1;
+batch = 3;
+conct = 1;
+ctrl = 1;
+rcond = 0.0;
+tol = -1.0;
+
+[a, b, c, d, q, ry, s, k] = slident (Y, U, nobr, meth, alg, jobd, batch, conct, ctrl, rcond, tol);
+
+n
+sv
+
+%{
+ IB01AD EXAMPLE PROGRAM RESULTS
+
+ The order of the system is 4
+ The singular values are
+ 69.8841 14.9963 3.6675 1.9677 0.3000 0.2078 0.1651 0.1373
+ 0.1133 0.1059 0.0856 0.0784 0.0733 0.0678 0.0571
+
+
+ IB01BD EXAMPLE PROGRAM RESULTS
+
+
+ The system state matrix A is
+ 0.8924 0.3887 0.1285 0.1716
+ -0.0837 0.6186 -0.6273 -0.4582
+ 0.0052 0.1307 0.6685 -0.6755
+ 0.0055 0.0734 -0.2148 0.4788
+
+ The system output matrix C is
+ -0.4442 0.6663 0.3961 0.4102
+
+ The system input matrix B is
+ -0.2142
+ -0.1968
+ 0.0525
+ 0.0361
+
+ The system input-output matrix D is
+ -0.0041
+
+ The Kalman gain matrix K is
+ -1.9513
+ -0.1867
+ 0.6348
+ -0.3486
+
+ The state covariance matrix Q is
+ 0.0052 0.0005 -0.0017 0.0009
+ 0.0005 0.0000 -0.0002 0.0001
+ -0.0017 -0.0002 0.0006 -0.0003
+ 0.0009 0.0001 -0.0003 0.0002
+
+ The output covariance matrix Ry is
+ 0.0012
+
+ The state-output cross-covariance matrix S is
+ -0.0025
+ -0.0002
+ 0.0008
+ -0.0005
+
+%}
Modified: trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc 2012-03-16 15:03:53 UTC (rev 9921)
+++ trunk/octave-forge/extra/control-devel/src/devel_slicot_functions.cc 2012-03-16 18:08:52 UTC (rev 9922)
@@ -1,2 +1,2 @@
-#include "slib01ad.cc" // preprocess the input-output data
+// #include "slib01ad.cc" // preprocess the input-output data
#include "slident.cc" // system identification
Modified: trunk/octave-forge/extra/control-devel/src/slident.cc
===================================================================
--- trunk/octave-forge/extra/control-devel/src/slident.cc 2012-03-16 15:03:53 UTC (rev 9921)
+++ trunk/octave-forge/extra/control-devel/src/slident.cc 2012-03-16 18:08:52 UTC (rev 9922)
@@ -79,7 +79,7 @@
int nargin = args.length ();
octave_value_list retval;
- if (nargin != 12)
+ if (nargin != 11)
{
print_usage ();
}
@@ -92,6 +92,8 @@
char batch;
char conct;
char ctrl;
+ char metha;
+ char jobda;
Matrix y = args(0).matrix_value ();
Matrix u = args(1).matrix_value ();
@@ -106,13 +108,23 @@
double rcond = args(9).double_value ();
double tol = args(10).double_value ();
- double tolb = args(11).double_value ();
-
+ double tolb = args(9).double_value (); // tolb = rcond
- if (imeth == 0)
- meth = 'M';
- else
- meth = 'N';
+
+ switch (imeth)
+ {
+ case 0:
+ meth = 'M';
+ metha = 'M';
+ case 1:
+ meth = 'N';
+ metha = 'N';
+ case 3:
+ meth = 'C';
+ metha = 'N'; // no typo here
+ default:
+ error ("slib01ad: argument 'meth' invalid");
+ }
switch (ialg)
{
@@ -129,7 +141,9 @@
error ("slib01ad: argument 'alg' invalid");
}
- if (ijobd == 0)
+ if (meth == 'C')
+ jobd = 'N';
+ else if (ijobd == 0)
jobd = 'M';
else
jobd = 'N';
@@ -182,9 +196,9 @@
int n;
int ldr;
- if (meth == 'M' && jobd == 'M')
+ if (metha == 'M' && jobd == 'M')
ldr = max (2*(m+l)*nobr, 3*m*nobr);
- else if (meth == 'N' || (meth == 'M' && jobd == 'N'))
+ else if (metha == 'N' || (metha == 'M' && jobd == 'N'))
ldr = 2*(m+l)*nobr;
else
error ("slib01ad: could not handle 'ldr' case");
@@ -195,7 +209,7 @@
// workspace
int liwork;
- if (meth == 'N') // if METH = 'N'
+ if (metha == 'N') // if METH = 'N'
liwork = (m+l)*nobr;
else if (alg == 'F') // if METH = 'M' and ALG = 'F'
liwork = m+l;
@@ -205,8 +219,6 @@
// TODO: Handle 'k' for DWORK
int ldwork;
-
- ldwork = 0;
if (alg == 'C')
{
@@ -217,7 +229,7 @@
else // (conct == 'N')
ldwork = 1;
}
- else if (meth == 'M') // && (batch == 'L' || batch == 'O')
+ else if (metha == 'M') // && (batch == 'L' || batch == 'O')
{
if (conct == 'C' && batch == 'L')
ldwork = max ((4*nobr-2)*(m+l), 5*l*nobr);
@@ -233,44 +245,11 @@
}
else if (alg == 'F')
{
-/*
-For the second LDWORK case, code and documentation don't match:
-doc line 276: BATCH = 'F', 'I'
-code line 586: BATCH = 'F', 'I', 'O'
-The third case with BATCH = 'O' is never reached.
-
-
-IB01AD.f Lines 273-279:
-C LDWORK >= (M+L)*2*NOBR*(M+L+3), if ALG = 'F',
-C BATCH <> 'O' and CONCT = 'C';
-C LDWORK >= (M+L)*2*NOBR*(M+L+1), if ALG = 'F',
-C BATCH = 'F', 'I' and CONCT = 'N';
-C LDWORK >= (M+L)*4*NOBR*(M+L+1)+(M+L)*2*NOBR, if ALG = 'F',
-C BATCH = 'L' and CONCT = 'N', or
-C BATCH = 'O';
-
-
-IB01AD.f Lines 499-500:
- ONEBCH = LSAME( BATCH, 'O' )
- FIRST = LSAME( BATCH, 'F' ) .OR. ONEBCH
-
-
-IB01AD.f Lines 583-591:
- ELSE IF ( FQRALG ) THEN
- IF ( .NOT.ONEBCH .AND. CONNEC ) THEN
- MINWRK = NR*( M + L + 3 )
- ELSE IF ( FIRST .OR. INTERM ) THEN // (batch = F || O) || batch = I
- MINWRK = NR*( M + L + 1 ) ^
- ELSE |
- MINWRK = 2*NR*( M + L + 1 ) + NR ???
- END IF
- ELSE
-*/
if (batch != 'O' && conct == 'C')
ldwork = (m+l)*2*nobr*(m+l+3);
- else if (batch == 'F' || batch == 'O' || batch == 'I') // && conct == 'N'
+ else if (batch == 'F' || batch == 'I') // && conct == 'N'
ldwork = (m+l)*2*nobr*(m+l+1);
- else // (batch == 'L' && conct == 'N')
+ else // (batch == 'L' || '0' && conct == 'N')
ldwork = (m+l)*4*nobr*(m+l+1)+(m+l)*2*nobr;
}
else // (alg == 'Q')
@@ -283,7 +262,7 @@
}
else if (ldr >= ns && batch == 'O')
{
- if (meth == 'M')
+ if (metha == 'M')
ldwork = max (4*(m+l)*nobr, 5*l*nobr);
else // (meth == 'N')
ldwork = 5*(m+l)*nobr + 1;
@@ -321,7 +300,7 @@
// SLICOT routine IB01AD
F77_XFCN (ib01ad, IB01AD,
- (meth, alg, jobd,
+ (metha, alg, jobd,
batch, conct, ctrl,
nobr, m, l,
nsmp,
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