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[Octave-cvsupdate] SF.net SVN: octave:[10901] trunk/octave-forge/main/control
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From: <par...@us...> - 2012-08-23 19:35:56
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Revision: 10901
http://octave.svn.sourceforge.net/octave/?rev=10901&view=rev
Author: paramaniac
Date: 2012-08-23 19:35:50 +0000 (Thu, 23 Aug 2012)
Log Message:
-----------
control: move sensitivity into place, update INDEX
Modified Paths:
--------------
trunk/octave-forge/main/control/INDEX
Added Paths:
-----------
trunk/octave-forge/main/control/inst/sensitivity.m
Removed Paths:
-------------
trunk/octave-forge/main/control/devel/sensitivity.m
Modified: trunk/octave-forge/main/control/INDEX
===================================================================
--- trunk/octave-forge/main/control/INDEX 2012-08-23 19:33:48 UTC (rev 10900)
+++ trunk/octave-forge/main/control/INDEX 2012-08-23 19:35:50 UTC (rev 10901)
@@ -73,6 +73,7 @@
margin
nichols
nyquist
+ sensitivity
sigma
Pole Placement
place
Deleted: trunk/octave-forge/main/control/devel/sensitivity.m
===================================================================
--- trunk/octave-forge/main/control/devel/sensitivity.m 2012-08-23 19:33:48 UTC (rev 10900)
+++ trunk/octave-forge/main/control/devel/sensitivity.m 2012-08-23 19:35:50 UTC (rev 10901)
@@ -1,123 +0,0 @@
-## Copyright (C) 2012 Lukas F. Reichlin
-##
-## This file is part of LTI Syncope.
-##
-## LTI Syncope is free software: you can redistribute it and/or modify
-## it under the terms of the GNU General Public License as published by
-## the Free Software Foundation, either version 3 of the License, or
-## (at your option) any later version.
-##
-## LTI Syncope is distributed in the hope that it will be useful,
-## but WITHOUT ANY WARRANTY; without even the implied warranty of
-## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-## GNU General Public License for more details.
-##
-## You should have received a copy of the GNU General Public License
-## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn{Function File} {[@var{Ms}, @var{ws}] =} sensitivity (@var{L})
-## @deftypefnx{Function File} {[@var{Ms}, @var{ws}] =} sensitivity (@var{P}, @var{C})
-## @deftypefnx{Function File} {[@var{Ms}, @var{ws}] =} sensitivity (@var{P}, @var{C1}, @var{C2}, @dots{})
-## Return sensitivity margin @var{Ms}.
-## The quantity @var{Ms} is simply the inverse of the shortest
-## distance from the Nyquist curve to the critical point -1.
-## Reasonable values of @var{Ms} are in the range from 1.3 to 2.
-## If no output arguments are given, the critical distance 1/Ms
-## is plotted on a Nyquist diagram.
-##
-## @strong{Inputs}
-## @table @var
-## @item L
-## Open loop transfer function.
-## @var{L} can be any type of LTI system, but it must be square.
-## @item P
-## Plant model. Any type of LTI system.
-## @item C
-## Controller model. Any type of LTI system.
-## @item C1, C2, @dots{}
-## If several controllers are specified, command @command{sensitivity}
-## computes the sensitivity @var{Ms} for each of them in combination
-## with plant @var{P}.
-## @end table
-##
-## @strong{Outputs}
-## @table @var
-## @item Ms
-## Sensitivity margin @var{Ms} as defined in [1].
-## Scalar value.
-## If several controllers are specified, @var{Ms} becomes
-## a row vector with as many entries as controllers.
-## @item ws
-## The frequency [rad/s] corresponding to the sensitivity peak.
-## Scalar value.
-## If several controllers are specified, @var{ws} becomes
-## a row vector with as many entries as controllers.
-## @end table
-##
-## @strong{Algorithm}@*
-## Uses SLICOT AB13DD by courtesy of
-## @uref{http://www.slicot.org, NICONET e.V.}
-##
-## @strong{References}@*
-## [1] Astr@"om, K. and H@"agglund, T. (1995)
-## PID Controllers:
-## Theory, Design and Tuning,
-## Second Edition.
-## Instrument Society of America.
-##
-## @end deftypefn
-
-## Author: Lukas Reichlin <luk...@gm...>
-## Created: August 2012
-## Version: 0.1
-
-function [ret, ws] = sensitivity (G, varargin)
-
- ## TODO: show nyquist diagram of L with circle
- ## center (-1, 0) and radius equal to the
- ## shortest distance 1/Ms, frequency w is
- ## [Ms, w] = norm (S, inf)
-
- if (nargin == 0)
- print_usage ();
- elseif (nargin == 1) # L := G
- L = G;
- I = eye (size (L));
- S = feedback (I, L); # S = inv (I + L), S = feedback (I, L*-I, "+")
- [Ms, ws] = norm (S, inf);
- else # P := G, C := varargin
- L = cellfun (@(C) G*C, varargin, "uniformoutput", false);
- I = cellfun (@(L) eye (size (L)), L, "uniformoutput", false);
- S = cellfun (@feedback, I, L, "uniformoutput", false);
- [Ms, ws] = cellfun (@(S) norm (S, inf), S);
- endif
-
- if (nargout == 0)
- ## TODO: don't show entire Nyquist curve if critical distance becomes small on plot
- if (length (Ms) > 1)
- error ("sensitivity: plotting only works for a single controller");
- endif
- if (iscell (L))
- L = L{1};
- endif
- [H, w] = __frequency_response__ (L, [], false, 0, "ext");
- H = H(:);
- re = real (H);
- im = imag (H);
- Hs = freqresp (L, ws);
- res = real (Hs);
- ims = imag (Hs);
- plot (re, im, "b", [-1, res], [0, ims], "r")
- axis ("equal")
- xlim (__axis_margin__ (xlim))
- ylim (__axis_margin__ (ylim))
- grid ("on")
- title (sprintf ("Sensitivity Ms = %g (at %g rad/s)", Ms, ws))
- xlabel ("Real Axis")
- ylabel ("Imaginary Axis")
- else
- ret = Ms;
- endif
-
-endfunction
Copied: trunk/octave-forge/main/control/inst/sensitivity.m (from rev 10900, trunk/octave-forge/main/control/devel/sensitivity.m)
===================================================================
--- trunk/octave-forge/main/control/inst/sensitivity.m (rev 0)
+++ trunk/octave-forge/main/control/inst/sensitivity.m 2012-08-23 19:35:50 UTC (rev 10901)
@@ -0,0 +1,123 @@
+## Copyright (C) 2012 Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn{Function File} {[@var{Ms}, @var{ws}] =} sensitivity (@var{L})
+## @deftypefnx{Function File} {[@var{Ms}, @var{ws}] =} sensitivity (@var{P}, @var{C})
+## @deftypefnx{Function File} {[@var{Ms}, @var{ws}] =} sensitivity (@var{P}, @var{C1}, @var{C2}, @dots{})
+## Return sensitivity margin @var{Ms}.
+## The quantity @var{Ms} is simply the inverse of the shortest
+## distance from the Nyquist curve to the critical point -1.
+## Reasonable values of @var{Ms} are in the range from 1.3 to 2.
+## If no output arguments are given, the critical distance 1/Ms
+## is plotted on a Nyquist diagram.
+##
+## @strong{Inputs}
+## @table @var
+## @item L
+## Open loop transfer function.
+## @var{L} can be any type of LTI system, but it must be square.
+## @item P
+## Plant model. Any type of LTI system.
+## @item C
+## Controller model. Any type of LTI system.
+## @item C1, C2, @dots{}
+## If several controllers are specified, command @command{sensitivity}
+## computes the sensitivity @var{Ms} for each of them in combination
+## with plant @var{P}.
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item Ms
+## Sensitivity margin @var{Ms} as defined in [1].
+## Scalar value.
+## If several controllers are specified, @var{Ms} becomes
+## a row vector with as many entries as controllers.
+## @item ws
+## The frequency [rad/s] corresponding to the sensitivity peak.
+## Scalar value.
+## If several controllers are specified, @var{ws} becomes
+## a row vector with as many entries as controllers.
+## @end table
+##
+## @strong{Algorithm}@*
+## Uses SLICOT AB13DD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
+##
+## @strong{References}@*
+## [1] Astr@"om, K. and H@"agglund, T. (1995)
+## PID Controllers:
+## Theory, Design and Tuning,
+## Second Edition.
+## Instrument Society of America.
+##
+## @end deftypefn
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: August 2012
+## Version: 0.1
+
+function [ret, ws] = sensitivity (G, varargin)
+
+ ## TODO: show nyquist diagram of L with circle
+ ## center (-1, 0) and radius equal to the
+ ## shortest distance 1/Ms, frequency w is
+ ## [Ms, w] = norm (S, inf)
+
+ if (nargin == 0)
+ print_usage ();
+ elseif (nargin == 1) # L := G
+ L = G;
+ I = eye (size (L));
+ S = feedback (I, L); # S = inv (I + L), S = feedback (I, L*-I, "+")
+ [Ms, ws] = norm (S, inf);
+ else # P := G, C := varargin
+ L = cellfun (@(C) G*C, varargin, "uniformoutput", false);
+ I = cellfun (@(L) eye (size (L)), L, "uniformoutput", false);
+ S = cellfun (@feedback, I, L, "uniformoutput", false);
+ [Ms, ws] = cellfun (@(S) norm (S, inf), S);
+ endif
+
+ if (nargout == 0)
+ ## TODO: don't show entire Nyquist curve if critical distance becomes small on plot
+ if (length (Ms) > 1)
+ error ("sensitivity: plotting only works for a single controller");
+ endif
+ if (iscell (L))
+ L = L{1};
+ endif
+ [H, w] = __frequency_response__ (L, [], false, 0, "ext");
+ H = H(:);
+ re = real (H);
+ im = imag (H);
+ Hs = freqresp (L, ws);
+ res = real (Hs);
+ ims = imag (Hs);
+ plot (re, im, "b", [-1, res], [0, ims], "r")
+ axis ("equal")
+ xlim (__axis_margin__ (xlim))
+ ylim (__axis_margin__ (ylim))
+ grid ("on")
+ title (sprintf ("Sensitivity Ms = %g (at %g rad/s)", Ms, ws))
+ xlabel ("Real Axis")
+ ylabel ("Imaginary Axis")
+ else
+ ret = Ms;
+ endif
+
+endfunction
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