[Octave-cvsupdate] SF.net SVN: octave:[10563] trunk/octave-forge/main/control/devel

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

Revision: 10563
          http://octave.svn.sourceforge.net/octave/?rev=10563&view=rev
Author:   paramaniac
Date:     2012-06-05 06:48:07 +0000 (Tue, 05 Jun 2012)
Log Message:
-----------
control: touch up lqe doc

Modified Paths:
--------------
    trunk/octave-forge/main/control/devel/dlqe.m
    trunk/octave-forge/main/control/devel/lqe.m

Modified: trunk/octave-forge/main/control/devel/dlqe.m
===================================================================
--- trunk/octave-forge/main/control/devel/dlqe.m	2012-06-04 20:12:13 UTC (rev 10562)
+++ trunk/octave-forge/main/control/devel/dlqe.m	2012-06-05 06:48:07 UTC (rev 10563)
@@ -16,13 +16,11 @@
 ## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
 
 ## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{sys}, @var{q}, @var{r})
-## @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.
+## @deftypefn {Function File} {[@var{l}, @var{p}, @var{z}, @var{e}] =} lqe (@var{a}, @var{g}, @var{c}, @var{q}, @var{r})
+## @deftypefnx {Function File} {[@var{l}, @var{p}, @var{z}, @var{e}] =} lqe (@var{a}, @var{g}, @var{c}, @var{q}, @var{r}, @var{s})
+## @deftypefnx {Function File} {[@var{l}, @var{p}, @var{z}, @var{e}] =} lqe (@var{a}, @var{[]}, @var{c}, @var{q}, @var{r})
+## @deftypefnx {Function File} {[@var{l}, @var{p}, @var{z}, @var{e}] =} lqe (@var{a}, @var{[]}, @var{c}, @var{q}, @var{r}, @var{s})
+## Linear-quadratic estimator for discrete-time systems.
 ##
 ## @strong{Inputs}
 ## @table @var
@@ -78,7 +76,9 @@
     print_usage ();
   endif
 
-  if (isempty (s))
+  if (isempty (g))
+    [~, p, e] = dlqr (a.', c.', q, r, s);   # dlqe (a, [], c, q, r, s), g=I
+  elseif (isempty (s))
     [~, p, e] = dlqr (a.', c.', g*q*g.', r);
   else
     [~, p, e] = dlqr (a.', c.', g*q*g.', r, g*s);

Modified: trunk/octave-forge/main/control/devel/lqe.m
===================================================================
--- trunk/octave-forge/main/control/devel/lqe.m	2012-06-04 20:12:13 UTC (rev 10562)
+++ trunk/octave-forge/main/control/devel/lqe.m	2012-06-05 06:48:07 UTC (rev 10563)
@@ -16,12 +16,12 @@
 ## along with LTI Syncope.  If not, see <http://www.gnu.org/licenses/>.
 
 ## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{g}, @var{x}, @var{l}] =} lqe (@var{sys}, @var{q}, @var{r})
-## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqe (@var{sys}, @var{q}, @var{r}, @var{s})
-## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqe (@var{a}, @var{g}, @var{c}, @var{q}, @var{r})
-## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqe (@var{a}, @var{g}, @var{c}, @var{q}, @var{r}, @var{s})
-## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqe (@var{a}, @var{[]}, @var{c}, @var{q}, @var{r})
-## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqe (@var{a}, @var{[]}, @var{c}, @var{q}, @var{r}, @var{s})
+## @deftypefn {Function File} {[@var{l}, @var{p}, @var{e}] =} lqe (@var{sys}, @var{q}, @var{r})
+## @deftypefnx {Function File} {[@var{l}, @var{p}, @var{e}] =} lqe (@var{sys}, @var{q}, @var{r}, @var{s})
+## @deftypefnx {Function File} {[@var{l}, @var{p}, @var{e}] =} lqe (@var{a}, @var{g}, @var{c}, @var{q}, @var{r})
+## @deftypefnx {Function File} {[@var{l}, @var{p}, @var{e}] =} lqe (@var{a}, @var{g}, @var{c}, @var{q}, @var{r}, @var{s})
+## @deftypefnx {Function File} {[@var{l}, @var{p}, @var{e}] =} lqe (@var{a}, @var{[]}, @var{c}, @var{q}, @var{r})
+## @deftypefnx {Function File} {[@var{l}, @var{p}, @var{e}] =} lqe (@var{a}, @var{[]}, @var{c}, @var{q}, @var{r}, @var{s})
 ## Linear-quadratic estimator.
 ##
 ## @strong{Inputs}
@@ -79,7 +79,7 @@
   endif
 
   if (isa (a, "lti"))
-    [l, p, e] = lqr (a.', g, c, q);         # lqe (sys.', q, r, s), g=I, works like  lqr (sys.', q, r, s).'
+    [l, p, e] = lqr (a.', g, c, q);         # lqe (sys, q, r, s), g=I, works like  lqr (sys.', q, r, s).'
   elseif (isempty (g))
     [l, p, e] = lqr (a.', c.', q, r, s);    # lqe (a, [], c, q, r, s), g=I, works like  lqr (a.', c.', q, r, s).'
   elseif (isempty (s))

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