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[Octave-cvsupdate] SF.net SVN: octave:[11001] trunk/octave-forge/main/control/devel
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From: <par...@us...> - 2012-09-13 08:09:18
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Revision: 11001
http://octave.svn.sourceforge.net/octave/?rev=11001&view=rev
Author: paramaniac
Date: 2012-09-13 08:09:07 +0000 (Thu, 13 Sep 2012)
Log Message:
-----------
control: work on multiplot feature
Modified Paths:
--------------
trunk/octave-forge/main/control/devel/__frequency_response_2__.m
trunk/octave-forge/main/control/devel/__frequency_vector_2__.m
trunk/octave-forge/main/control/devel/bode2.m
Added Paths:
-----------
trunk/octave-forge/main/control/devel/multiplot2.m
Modified: trunk/octave-forge/main/control/devel/__frequency_response_2__.m
===================================================================
--- trunk/octave-forge/main/control/devel/__frequency_response_2__.m 2012-09-12 19:03:09 UTC (rev 11000)
+++ trunk/octave-forge/main/control/devel/__frequency_response_2__.m 2012-09-13 08:09:07 UTC (rev 11001)
@@ -24,24 +24,33 @@
## Version: 0.4
% function [H, w] = __frequency_response__ (sys, w = [], mimoflag = 0, resptype = 0, wbounds = "std", cellflag = false)
-function [H, w] = __frequency_response_2__ (mimoflag = 0, resptype = 0, wbounds = "std", cellflag = false, varargin)
+function [H, w] = __frequency_response_2__ (args, mimoflag = 0, resptype = 0, wbounds = "std", cellflag = false)
- sys_idx = cellfun (@isa, varargin, {"lti"}); # true or false
- w_idx = cellfun (@is_real_vector, varargin); # look for frequency vectors
- % ? = cellfun (@iscell, varargin)
- % varargin(?) (end)
+ sys_idx = cellfun (@isa, args, {"lti"}); # true or false
+ w_idx = cellfun (@is_real_vector, args); # look for frequency vectors
+ c_idx = cellfun (@iscell, args);
+ % args(?) (end)
% w_idx(end)
- if (! any (w_idx))
- w = __frequency_vector_2__ (varargin(sys_idx), wbounds);
+ if (any (c_idx))
+ w = args(c_idx){end};
+ if (numel (w) == 2 && issample (w{1}) && issample (w{2}))
+ w = __frequency_vector_2__ (args(sys_idx), wbounds, w{1}, w{2});
+ else
+ error ("frequency_response: invalid cell");
+ endif
+ elseif (any (w_idx))
+ w = args(w_idx){end};
+ else
+ w = __frequency_vector_2__ (args(sys_idx), wbounds);
endif
-%varargin{sys_idx}
+%args{sys_idx}
- H = cellfun (@__freqresp__, varargin(sys_idx), {w}, {resptype}, {cellflag}, "uniformoutput", false);
+ H = cellfun (@__freqresp__, args(sys_idx), {w}, {resptype}, {cellflag}, "uniformoutput", false);
%{
## check arguments
Modified: trunk/octave-forge/main/control/devel/__frequency_vector_2__.m
===================================================================
--- trunk/octave-forge/main/control/devel/__frequency_vector_2__.m 2012-09-12 19:03:09 UTC (rev 11000)
+++ trunk/octave-forge/main/control/devel/__frequency_vector_2__.m 2012-09-13 08:09:07 UTC (rev 11001)
@@ -37,7 +37,7 @@
## Date: October 2009
## Version: 0.2
-function w = __frequency_vector_2__ (sys_cell, wbounds = "std")
+function w = __frequency_vector_2__ (sys_cell, wbounds = "std", wmin, wmax)
if (! iscell (sys_cell))
sys_cell = {sys_cell}
@@ -48,8 +48,16 @@
[dec_min, dec_max, zp] = cellfun (@(x) __frequency_range__ (x, wbounds), sys_cell, "uniformoutput", false);
- dec_min = min (cell2mat (dec_min));
- dec_max = max (cell2mat (dec_max));
+ if (nargin == 2)
+ dec_min = min (cell2mat (dec_min));
+ dec_max = max (cell2mat (dec_max));
+ elseif (nargin == 4) # w = {wmin, wmax}
+ dec_min = log10 (wmin);
+ dec_max = log10 (wmax);
+ else
+ print_usage ();
+ endif
+
zp = horzcat (zp{:});
## include zeros and poles for nice peaks in plots
Modified: trunk/octave-forge/main/control/devel/bode2.m
===================================================================
--- trunk/octave-forge/main/control/devel/bode2.m 2012-09-12 19:03:09 UTC (rev 11000)
+++ trunk/octave-forge/main/control/devel/bode2.m 2012-09-13 08:09:07 UTC (rev 11001)
@@ -58,7 +58,7 @@
print_usage ();
endif
- [H, w] = __frequency_response_2__ (false, 0, "std", false, varargin{:});
+ [H, w] = __frequency_response_2__ (varargin, false, 0, "std", false);
H = cellfun (@reshape, H, {[]}, {1}, "uniformoutput", false);
mag = cellfun (@abs, H, "uniformoutput", false);
Added: trunk/octave-forge/main/control/devel/multiplot2.m
===================================================================
--- trunk/octave-forge/main/control/devel/multiplot2.m (rev 0)
+++ trunk/octave-forge/main/control/devel/multiplot2.m 2012-09-13 08:09:07 UTC (rev 11001)
@@ -0,0 +1,110 @@
+%% -*- texinfo -*-
+%% Frequency-weighted controller reduction.
+
+% ===============================================================================
+% Frequency Weighted Controller Reduction Lukas Reichlin December 2011
+% ===============================================================================
+% Reference: Madievski, A.G. and Anderson, B.D.O.
+% Sampled-Data Controller Reduction Procedure
+% IEEE Transactions of Automatic Control
+% Vol. 40, No. 11, November 1995
+% ===============================================================================
+
+% Tabula Rasa
+clear all, close all, clc
+
+% Plant
+Ap1 = [ 0.0 1.0
+ 0.0 0.0 ];
+
+Ap2 = [ -0.015 0.765
+ -0.765 -0.015 ];
+
+Ap3 = [ -0.028 1.410
+ -1.410 -0.028 ];
+
+Ap4 = [ -0.04 1.85
+ -1.85 -0.04 ];
+
+Ap = blkdiag (Ap1, Ap2, Ap3, Ap4);
+
+Bp = [ 0.026
+ -0.251
+ 0.033
+ -0.886
+ -4.017
+ 0.145
+ 3.604
+ 0.280 ];
+
+Cp = [ -0.996 -0.105 0.261 0.009 -0.001 -0.043 0.002 -0.026 ];
+
+Dp = [ 0.0 ];
+
+P = ss (Ap, Bp, Cp, Dp);
+
+% Controller
+Ac = [ -0.4077 0.9741 0.1073 0.0131 0.0023 -0.0186 -0.0003 -0.0098
+ -0.0977 -0.1750 0.0215 -0.0896 -0.0260 0.0057 0.0109 -0.0105
+ 0.0011 0.0218 -0.0148 0.7769 0.0034 -0.0013 -0.0014 0.0011
+ -0.0361 -0.5853 -0.7701 -0.3341 -0.0915 0.0334 0.0378 -0.0290
+ -0.1716 -2.6546 -0.0210 -1.4467 -0.4428 1.5611 0.1715 -0.1318
+ -0.0020 0.0950 0.0029 0.0523 -1.3950 -0.0338 -0.0062 0.0045
+ 0.1607 2.3824 0.0170 1.2979 0.3721 -0.1353 -0.1938 1.9685
+ -0.0006 0.1837 0.0048 0.1010 0.0289 -0.0111 -1.8619 -0.0311 ];
+
+Bc = [ -0.4105
+ -0.0868
+ -0.0004
+ 0.0036
+ 0.0081
+ -0.0085
+ -0.0004
+ -0.0132 ];
+
+Cc = [ -0.0447 -0.6611 -0.0047 -0.3601 -0.1033 0.0375 0.0427 -0.0329 ];
+
+Dc = [ 0.0 ];
+
+K = ss (Ac, Bc, Cc, Dc);
+
+% Controller Reduction
+Kr4 = spaconred (P, K, 4, 'feedback', '-')
+Kr2 = spaconred (P, K, 2, 'feedback', '-')
+
+%{
+% Open Loop
+L = P * K;
+Lr4 = P * Kr4;
+Lr2 = P * Kr2;
+
+% Closed Loop
+T = feedback (L);
+Tr4 = feedback (Lr4);
+Tr2 = feedback (Lr2);
+%}
+
+% Frequency Range
+w = {1e-2, 1e1};
+% w = logspace (-2, 1, 500);
+
+% Bode Plot of Controller
+figure (1)
+bode2 (K, Kr4, Kr2, w)
+title ('Bode Diagrams of K and Kr')
+legend ('K (8 states)', 'Kr (4 states)', 'Kr (2 states)', 'location', 'southwest')
+
+%{
+% Step Response of Closed Loop
+[y, t] = step (T, 100);
+[yr4, tr4] = step (Tr4, 100);
+[yr2, tr2] = step (Tr2, 100);
+
+figure (2)
+plot (t, y, tr4, yr4, tr2, yr2)
+grid ('on')
+title ('Step Response of Closed Loop')
+xlabel ('Time [s]')
+ylabel ('Output [-]')
+legend ('K (8 states)', 'Kr (4 states)', 'Kr (2 states)', 'Location', 'SouthEast')
+%}
\ No newline at end of file
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