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[Octave-cvsupdate] SF.net SVN: octave:[11072] trunk/octave-forge/main/control/devel/ __time_response_2__.m
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From: <par...@us...> - 2012-09-22 10:10:59
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Revision: 11072
http://octave.svn.sourceforge.net/octave/?rev=11072&view=rev
Author: paramaniac
Date: 2012-09-22 10:10:53 +0000 (Sat, 22 Sep 2012)
Log Message:
-----------
control: handle vector arguments in multiplot time responses
Modified Paths:
--------------
trunk/octave-forge/main/control/devel/__time_response_2__.m
Modified: trunk/octave-forge/main/control/devel/__time_response_2__.m
===================================================================
--- trunk/octave-forge/main/control/devel/__time_response_2__.m 2012-09-22 10:03:17 UTC (rev 11071)
+++ trunk/octave-forge/main/control/devel/__time_response_2__.m 2012-09-22 10:10:53 UTC (rev 11072)
@@ -22,93 +22,104 @@
## Created: October 2009
## Version: 0.3
-% function [y, t, x_arr] = __time_response_2__ (sys, resptype, plotflag, tfinal, dt, x0, sysname)
-function [y, t, x] = __time_response_2__ (resptype, args, sysname, plotflag)
+% function [y, t, x_arr] = __time_response_2__ (sys, response, plotflag, tfinal, dt, x0, sysname)
+function [y, t, x] = __time_response_2__ (response, args, sysname, plotflag)
sys_idx = find (cellfun (@isa, args, {"lti"})); # look for LTI models, 'find' needed for plot styles
sys_cell = cellfun (@ss, args(sys_idx), "uniformoutput", false); # convert to state-space
if (! size_equal (sys_cell{:}))
- error ("%s: models must have equal sizes", resptype);
+ error ("%s: models must have equal sizes", response);
endif
- vec_idx = find (cellfun (@is_real_matrix, args)); # indices of vector arguments
- n_vec = length (vec_idx); # number of vector arguments
- n_sys = length (sys_cell); # number of LTI systems
-
- %if (n_vec >= 1)
- % arg = args{vec_idx(1)};
- %
- %endif
+ vec_idx = find (cellfun (@is_real_matrix, args)); # indices of vector arguments
+ n_vec = length (vec_idx); # number of vector arguments
+ n_sys = length (sys_cell); # number of LTI systems
- ## extract tfinal/t, dt, x0
-
tfinal = [];
- dt = {[]};
+ dt = [];
+ x0 = [];
- %[tfinal, dt] = cellfun (@__sim_horizon__, sys_cell, {tfinal}, dt, "uniformoutput", false);
+ ## extract tfinal/t, dt, x0 from args
+ if (strcmpi (response, "initial"))
+ if (n_vec < 1)
+ error ("initial: require initial state vector 'x0'");
+ else # initial state vector x0 specified
+ arg = args{vec_idx(1)};
+ if (is_real_vector (arg))
+ x0 = arg;
+ else
+ error ("initial: initial state vector 'x0' must be a vector of real values");
+ endif
+ if (n_vec > 1) # tfinal or time vector t specified
+ arg = args{vec_idx(2)};
+ if (issample (arg))
+ tfinal = arg;
+ elseif (isempty (arg))
+ ## tfinal = []; # nothing to do here
+ elseif (is_real_vector (arg))
+ dt = abs (arg(2) - arg(1)); # assume that t is regularly spaced
+ tfinal = arg(end);
+ else
+ warning ("initial: argument number %d ignored", vec_idx(2));
+ endif
+ if (n_vec > 2) # sampling time dt specified
+ arg = args{vec_idx(3)};
+ if (issample (arg))
+ dt = arg;
+ else
+ warning ("initial: argument number %d ignored", vec_idx(3));
+ endif
+ if (n_vec > 3)
+ warning ("initial: ignored");
+ endif
+ endif
+ endif
+ endif
+ else # step or impulse response
+ if (n_vec > 0) # tfinal or time vector t specified
+ arg = args{vec_idx(1)};
+ if (issample (arg))
+ tfinal = arg;
+ elseif (isempty (arg))
+ ## tfinal = []; # nothing to do here
+ elseif (is_real_vector (arg))
+ dt = abs (arg(2) - arg(1)); # assume that t is regularly spaced
+ tfinal = arg(end);
+ else
+ warning ("%s: argument number %d ignored", response, vec_idx(1));
+ endif
+ if (n_vec > 1) # sampling time dt specified
+ arg = args{vec_idx(2)};
+ if (issample (arg))
+ dt = arg;
+ else
+ warning ("%s: argument number %d ignored", response, vec_idx(2));
+ endif
+ if (n_vec > 2)
+ warning ("%s: ignored", response);
+ endif
+ endif
+ endif
+ endif
+ ## TODO: share common code between initial and step/impulse
- [tfinal, dt] = cellfun (@__sim_horizon__, sys_cell, {tfinal}, "uniformoutput", false);
-
+ [tfinal, dt] = cellfun (@__sim_horizon__, sys_cell, {tfinal}, {dt}, "uniformoutput", false);
tfinal = max ([tfinal{:}]);
-
-dt
-
-
+dt
ct_idx = cellfun (@isct, sys_cell);
sys_dt_cell = sys_cell;
- tmp = cellfun (@c2d, sys_cell(ct_idx), dt, {"zoh"}, "uniformoutput", false);
+ tmp = cellfun (@c2d, sys_cell(ct_idx), dt(ct_idx), {"zoh"}, "uniformoutput", false);
sys_dt_cell(ct_idx) = tmp;
-%{
- if (! isa (sys, "ss"))
- sys = ss (sys); # sys must be proper
- endif
-
- if (is_real_vector (tfinal) && length (tfinal) > 1) # time vector t passed
- dt = tfinal(2) - tfinal(1); # assume that t is regularly spaced
- tfinal = tfinal(end);
- endif
-
- [A, B, C, D, tsam] = ssdata (sys);
-
- discrete = ! isct (sys); # static gains are treated as analog systems
- tsam = abs (tsam); # use 1 second if tsam is unspecified (-1)
-
- if (discrete)
- if (! isempty (dt))
- warning ("time_response: argument dt has no effect on sampling time of discrete system");
- endif
-
- dt = tsam;
- endif
-
- [tfinal, dt] = __sim_horizon__ (A, discrete, tfinal, dt);
-
- if (! discrete)
- sys = c2d (sys, dt, "zoh");
- endif
-
- [F, G] = ssdata (sys); # matrices C and D don't change
-
- n = rows (F); # number of states
- m = columns (G); # number of inputs
- p = rows (C); # number of outputs
-
## time vector
- t = reshape (0 : dt : tfinal, [], 1);
- l_t = length (t);
-%}
-
-
- ## time vector
t = @cellfun (@(dt) reshape (0 : dt : tfinal, [], 1), dt, "uniformoutput", false);
## function [y, x_arr] = __initial_response__ (sys, sys_dt, t, x0)
## function [y, x_arr] = __step_response__ (sys_dt, t)
## function [y, x_arr] = __impulse_response__ (sys, sys_dt, t)
- switch (resptype)
+ switch (response)
case "initial"
[y, x] = cellfun (@__initial_response__, sys_dt_cell, t, {x0}, "uniformoutput", false);
case "step"
@@ -122,7 +133,7 @@
if (plotflag) # display plot
[p, m] = size (sys_cell{1});
- switch (resptype)
+ switch (response)
case "initial"
str = "Response to Initial Conditions";
cols = 1;
@@ -146,7 +157,6 @@
rc = rows (colororder);
for k = 1 : n_sys # for every system
- color = colororder(1+rem (k-1, rc), :);
if (k == n_sys)
lim = numel (args);
else
@@ -154,9 +164,9 @@
endif
style = args(style_idx(style_idx > sys_idx(k) & style_idx <= lim));
if (isempty (style))
+ color = colororder(1+rem (k-1, rc), :);
style = {"-", "color", color};
endif
- style
discrete = ! ct_idx(k);
if (discrete) # discrete-time system
for i = 1 : p # for every output
@@ -213,8 +223,6 @@
endfunction
-
-
function [y, x_arr] = __initial_response__ (sys_dt, t, x0)
[F, G, C, D] = ssdata (sys_dt); # system must be proper
@@ -279,6 +287,7 @@
[~, B] = ssdata (sys);
[F, G, C, D, dt] = ssdata (sys_dt); # system must be proper
+ dt = abs (dt); # use 1 second if tsam is unspecified (-1)
discrete = ! isct (sys);
n = rows (F); # number of states
@@ -323,8 +332,6 @@
endfunction
-
-% function [tfinal, dt] = __sim_horizon__ (A, discrete, tfinal, Ts)
function [tfinal, dt] = __sim_horizon__ (sys, tfinal, Ts)
## code based on __stepimp__.m of Kai P. Mueller and A. Scottedward Hodel
@@ -339,9 +346,9 @@
n = length (ev); # number of states/poles
continuous = isct (sys);
discrete = ! continuous;
- Ts = get (sys, "tsam");
if (discrete)
+ dt = Ts = abs (get (sys, "tsam"));
## perform bilinear transformation on poles in z
for k = 1 : n
pol = ev(k);
@@ -400,8 +407,8 @@
endif
endif
- %if (! isempty (Ts)) # catch case cont. system with dt specified
- % dt = Ts;
- %endif
+ if (continuous && ! isempty (Ts)) # catch case cont. system with dt specified
+ dt = Ts;
+ endif
endfunction
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