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2002 
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From: <jpicarbajal@us...>  20120922 22:03:08

Revision: 11086 http://octave.svn.sourceforge.net/octave/?rev=11086&view=rev Author: jpicarbajal Date: 20120922 22:03:02 +0000 (Sat, 22 Sep 2012) Log Message:  signal: fixing permission of file Property Changed:  trunk/octaveforge/main/signal/inst/clustersegment.m Property changes on: trunk/octaveforge/main/signal/inst/clustersegment.m ___________________________________________________________________ Deleted: svn:executable  * This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. 
From: <eandrius@us...>  20120922 19:55:15

Revision: 11085 http://octave.svn.sourceforge.net/octave/?rev=11085&view=rev Author: eandrius Date: 20120922 19:55:09 +0000 (Sat, 22 Sep 2012) Log Message:  instrumentcontrol: INDEX update Modified Paths:  trunk/octaveforge/main/instrumentcontrol/INDEX Modified: trunk/octaveforge/main/instrumentcontrol/INDEX ===================================================================  trunk/octaveforge/main/instrumentcontrol/INDEX 20120922 19:39:06 UTC (rev 11084) +++ trunk/octaveforge/main/instrumentcontrol/INDEX 20120922 19:55:09 UTC (rev 11085) @@ 1,12 +1,25 @@ instrumentcontrol >> Low level I/O functions  Serial serial srl_read srl_write + srl_baudrate + srl_bytesize + srl_flush + srl_parity + srl_stopbits + srl_timeout srl_close  I2C i2c + i2c_addr i2c_read i2c_write + i2c_close +Parallel + parallel + pp_datadir + pp_data + pp_ctrl + pp_stat + pp_close This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. 
From: <eandrius@us...>  20120922 19:39:16

Revision: 11084 http://octave.svn.sourceforge.net/octave/?rev=11084&view=rev Author: eandrius Date: 20120922 19:39:06 +0000 (Sat, 22 Sep 2012) Log Message:  instrumentcontrol: change of license (LGPL > GPL) Modified Paths:  trunk/octaveforge/main/instrumentcontrol/COPYING trunk/octaveforge/main/instrumentcontrol/DESCRIPTION Modified: trunk/octaveforge/main/instrumentcontrol/COPYING ===================================================================  trunk/octaveforge/main/instrumentcontrol/COPYING 20120922 11:11:14 UTC (rev 11083) +++ trunk/octaveforge/main/instrumentcontrol/COPYING 20120922 19:39:06 UTC (rev 11084) @@ 1,165 +1,621 @@  GNU LESSER GENERAL PUBLIC LICENSE + GNU GENERAL PUBLIC LICENSE Version 3, 29 June 2007 Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>; Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed. + Preamble  This version of the GNU Lesser General Public License incorporates the terms and conditions of version 3 of the GNU General Public License, supplemented by the additional permissions listed below. + The GNU General Public License is a free, copyleft license for +software and other kinds of works.  0. 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Use with the GNU Affero General Public License. + + Notwithstanding any other provision of this License, you have +permission to link or combine any covered work with a work licensed +under version 3 of the GNU Affero General Public License into a single +combined work, and to convey the resulting work. The terms of this +License will continue to apply to the part which is the covered work, +but the special requirements of the GNU Affero General Public License, +section 13, concerning interaction through a network will apply to the +combination as such. + + 14. Revised Versions of this License. + + The Free Software Foundation may publish revised and/or new versions of +the GNU General Public License from time to time. Such new versions will +be similar in spirit to the present version, but may differ in detail to +address new problems or concerns. + + Each version is given a distinguishing version number. If the +Program specifies that a certain numbered version of the GNU General +Public License "or any later version" applies to it, you have the +option of following the terms and conditions either of that numbered +version or of any later version published by the Free Software +Foundation. If the Program does not specify a version number of the +GNU General Public License, you may choose any version ever published +by the Free Software Foundation. + + If the Program specifies that a proxy can decide which future +versions of the GNU General Public License can be used, that proxy's +public statement of acceptance of a version permanently authorizes you +to choose that version for the Program. + + Later license versions may give you additional or different +permissions. However, no additional obligations are imposed on any +author or copyright holder as a result of your choosing to follow a +later version. + + 15. Disclaimer of Warranty. + + THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY +APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT +HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY +OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, +THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM +IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF +ALL NECESSARY SERVICING, REPAIR OR CORRECTION. + + 16. Limitation of Liability. + + IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING +WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS +THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY +GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE +USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF +DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD +PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), +EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF +SUCH DAMAGES. + + 17. Interpretation of Sections 15 and 16. + + If the disclaimer of warranty and limitation of liability provided +above cannot be given local legal effect according to their terms, +reviewing courts shall apply local law that most closely approximates +an absolute waiver of all civil liability in connection with the +Program, unless a warranty or assumption of liability accompanies a +copy of the Program in return for a fee. + + END OF TERMS AND CONDITIONS Modified: trunk/octaveforge/main/instrumentcontrol/DESCRIPTION ===================================================================  trunk/octaveforge/main/instrumentcontrol/DESCRIPTION 20120922 11:11:14 UTC (rev 11083) +++ trunk/octaveforge/main/instrumentcontrol/DESCRIPTION 20120922 19:39:06 UTC (rev 11084) @@ 8,4 +8,4 @@ Categories: instrumentcontrol Depends: octave (>= 3.2.0) Autoload: no License: LGPLv3+ +License: GPLv3+ This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. 
From: <paramaniac@us...>  20120922 11:11:20

Revision: 11083 http://octave.svn.sourceforge.net/octave/?rev=11083&view=rev Author: paramaniac Date: 20120922 11:11:14 +0000 (Sat, 22 Sep 2012) Log Message:  control: fix copypaste glitch Modified Paths:  trunk/octaveforge/main/control/inst/Anderson.m Modified: trunk/octaveforge/main/control/inst/Anderson.m ===================================================================  trunk/octaveforge/main/control/inst/Anderson.m 20120922 11:04:32 UTC (rev 11082) +++ trunk/octaveforge/main/control/inst/Anderson.m 20120922 11:11:14 UTC (rev 11083) @@ 68,4 +68,4 @@ T = cellfun (@(Kr) feedback (G*Kr), Kr, 'uniformoutput', false); figure (3) step (T{:}, 200) +step (T{:}, 300) This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. 
From: <paramaniac@us...>  20120922 11:04:38

Revision: 11082 http://octave.svn.sourceforge.net/octave/?rev=11082&view=rev Author: paramaniac Date: 20120922 11:04:32 +0000 (Sat, 22 Sep 2012) Log Message:  control: update news Modified Paths:  trunk/octaveforge/main/control/NEWS Modified: trunk/octaveforge/main/control/NEWS ===================================================================  trunk/octaveforge/main/control/NEWS 20120922 10:58:32 UTC (rev 11081) +++ trunk/octaveforge/main/control/NEWS 20120922 11:04:32 UTC (rev 11082) @@ 1,6 +1,22 @@ Summary of important uservisible changes for releases of the control package =============================================================================== +control2.4.0 Release Date: 201209xx Release Manager: Lukas Reichlin +=============================================================================== + +** Multiplot feature for timedomain plotting: + + impulse lsim + initial step + +** Anderson, Madievski, MDSSystem, optiPID + Updated example scripts to use new multiplot feature. + +** doc/control.pdf + Updated PDF manual. + + +=============================================================================== control2.3.54 Release Date: 20120915 Release Manager: Lukas Reichlin =============================================================================== This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. 
From: <paramaniac@us...>  20120922 10:58:38

Revision: 11081 http://octave.svn.sourceforge.net/octave/?rev=11081&view=rev Author: paramaniac Date: 20120922 10:58:32 +0000 (Sat, 22 Sep 2012) Log Message:  control: use multiplot step command (4) Modified Paths:  trunk/octaveforge/main/control/inst/Anderson.m Modified: trunk/octaveforge/main/control/inst/Anderson.m ===================================================================  trunk/octaveforge/main/control/inst/Anderson.m 20120922 10:45:18 UTC (rev 11080) +++ trunk/octaveforge/main/control/inst/Anderson.m 20120922 10:58:32 UTC (rev 11081) @@ 50,31 +50,22 @@ L = lqe (G, W, V) % Coprime Factorization using Balanced Truncation Approximation +Kr = arrayfun (@(k) cfconred (G, F, L, k), 8:1:2, 'uniformoutput', false); % 'method', 'bfsrbta' +T = cellfun (@(Kr) feedback (G*Kr), Kr, 'uniformoutput', false); + figure (1) for k = 8:1:2  Kr = cfconred (G, F, L, k); % 'method', 'bfsrbta'  T = feedback (G*Kr);  step (T, 200)  hold on endfor hold off +step (T{:}, 200) % Coprime Factorization using Singular Perturbation Approximation +Kr = arrayfun (@(k) cfconred (G, F, L, k, 'method', 'bfsrspa'), 8:1:2, 'uniformoutput', false); +T = cellfun (@(Kr) feedback (G*Kr), Kr, 'uniformoutput', false); + figure (2) for k = 8:1:2  Kr = cfconred (G, F, L, k, 'method', 'bfsrspa');  T = feedback (G*Kr);  step (T, 200)  hold on endfor hold off +step (T{:}, 200) % FrequencyWeighted Coprime Factorization using BTA +Kr = arrayfun (@(k) fwcfconred (G, F, L, k), 8:1:2, 'uniformoutput', false); +T = cellfun (@(Kr) feedback (G*Kr), Kr, 'uniformoutput', false); + figure (3) for k = 8:1:2  Kr = fwcfconred (G, F, L, k);  T = feedback (G*Kr);  step (T, 300)  hold on endfor hold off +step (T{:}, 200) This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. 
From: <paramaniac@us...>  20120922 10:45:23

Revision: 11080 http://octave.svn.sourceforge.net/octave/?rev=11080&view=rev Author: paramaniac Date: 20120922 10:45:18 +0000 (Sat, 22 Sep 2012) Log Message:  control: use multiplot step command (3) Modified Paths:  trunk/octaveforge/main/control/inst/Madievski.m Modified: trunk/octaveforge/main/control/inst/Madievski.m ===================================================================  trunk/octaveforge/main/control/inst/Madievski.m 20120922 10:42:26 UTC (rev 11079) +++ trunk/octaveforge/main/control/inst/Madievski.m 20120922 10:45:18 UTC (rev 11080) @@ 86,18 +86,11 @@ w = {1e2, 1e1}; % Bode Plot of Controller +figure (1) bode (K, Kr4, Kr2, w) legend ('K (8 states)', 'Kr (4 states)', 'Kr (2 states)', 'location', 'southwest') +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 []') +step (T, Tr4, Tr2, 100) legend ('K (8 states)', 'Kr (4 states)', 'Kr (2 states)', 'Location', 'SouthEast') This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. 
From: <paramaniac@us...>  20120922 10:42:32

Revision: 11079 http://octave.svn.sourceforge.net/octave/?rev=11079&view=rev Author: paramaniac Date: 20120922 10:42:26 +0000 (Sat, 22 Sep 2012) Log Message:  control: use multiplot step command (2) Modified Paths:  trunk/octaveforge/main/control/inst/MDSSystem.m Modified: trunk/octaveforge/main/control/inst/MDSSystem.m ===================================================================  trunk/octaveforge/main/control/inst/MDSSystem.m 20120922 10:39:31 UTC (rev 11078) +++ trunk/octaveforge/main/control/inst/MDSSystem.m 20120922 10:42:26 UTC (rev 11079) @@ 145,16 +145,17 @@ L_ncf = G * K_ncf; % open loop T_ncf = feedback (L_ncf); % closed loop + % =============================================================================== +% Plot Results +% =============================================================================== % Plotting +% Bode Plot figure (2) bode (K_mix, K_ncf) % bode plot +bode (K_mix, K_ncf) +% Step Response figure (3) step (T_mix, 10) % step response for 10 seconds +step (T_mix, T_ncf, 10) % step response for 10 seconds figure (4) step (T_ncf, 10) % step response for 10 seconds  % =============================================================================== This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. 
From: <paramaniac@us...>  20120922 10:39:37

Revision: 11078 http://octave.svn.sourceforge.net/octave/?rev=11078&view=rev Author: paramaniac Date: 20120922 10:39:31 +0000 (Sat, 22 Sep 2012) Log Message:  control: use multiplot step command Modified Paths:  trunk/octaveforge/main/control/inst/optiPID.m Modified: trunk/octaveforge/main/control/inst/optiPID.m ===================================================================  trunk/octaveforge/main/control/inst/optiPID.m 20120922 10:30:58 UTC (rev 11077) +++ trunk/octaveforge/main/control/inst/optiPID.m 20120922 10:39:31 UTC (rev 11078) @@ 88,15 +88,8 @@ [gamma_opt, phi_opt] = margin (L_opt) % Plot Step Response [y_AH, t_AH] = step (T_AH, t); [y_opt, t_opt] = step (T_opt, t);  figure (1) plot (t_AH, y_AH, 'b', t_opt, y_opt, 'r') grid ('on') title ('Step Response') xlabel ('Time [s]') ylabel ('Output []') legend ('A/H', 'Optimized', 'Location', 'SouthEast') +step (T_AH, 'b', T_opt, 'r', t) +legend ('Astroem/Haegglund PID', 'Optimized PID', 'Location', 'SouthEast') % =============================================================================== This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. 
From: <paramaniac@us...>  20120922 10:31:04

Revision: 11077 http://octave.svn.sourceforge.net/octave/?rev=11077&view=rev Author: paramaniac Date: 20120922 10:30:58 +0000 (Sat, 22 Sep 2012) Log Message:  control: finish multiplot initial and impulse functions Modified Paths:  trunk/octaveforge/main/control/inst/impulse.m trunk/octaveforge/main/control/inst/initial.m Modified: trunk/octaveforge/main/control/inst/impulse.m ===================================================================  trunk/octaveforge/main/control/inst/impulse.m 20120922 10:26:10 UTC (rev 11076) +++ trunk/octaveforge/main/control/inst/impulse.m 20120922 10:30:58 UTC (rev 11077) @@ 1,4 +1,4 @@ ## Copyright (C) 2009 Lukas F. Reichlin +## Copyright (C) 2009, 2012 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## @@ 54,22 +54,35 @@ ## Author: Lukas Reichlin <lukas.reichlin@...> ## Created: October 2009 ## Version: 0.1 +## Version: 0.2 function [y_r, t_r, x_r] = impulse (sys, tfinal = [], dt = []) +function [y_r, t_r, x_r] = impulse (varargin)  ## TODO: multiplot feature: impulse (sys1, "b", sys2, "r", ...)   if (nargin == 0  nargin > 3) + if (nargin == 0) print_usage (); endif + + if (nargout) + sysname = {}; + else + sys_idx = find (cellfun (@isa, varargin, {"lti"})); + len = length (sys_idx); + sysname = cell (len, 1); + for k = 1 : len + try + sysname{k} = inputname(sys_idx(k)); + catch + sysname{k} = ""; + end_try_catch + endfor + endif  [y, t, x] = __time_response__ (sys, "impulse", ! nargout, tfinal, dt, [], inputname (1)); + [y, t, x] = __time_response__ ("impulse", varargin, sysname, ! nargout); if (nargout)  y_r = y;  t_r = t;  x_r = x; + y_r = y{1}; + t_r = t{1}; + x_r = x{1}; endif endfunction Modified: trunk/octaveforge/main/control/inst/initial.m ===================================================================  trunk/octaveforge/main/control/inst/initial.m 20120922 10:26:10 UTC (rev 11076) +++ trunk/octaveforge/main/control/inst/initial.m 20120922 10:30:58 UTC (rev 11077) @@ 1,4 +1,4 @@ ## Copyright (C) 2009 Lukas F. Reichlin +## Copyright (C) 2009, 2012 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## @@ 66,22 +66,35 @@ ## Author: Lukas Reichlin <lukas.reichlin@...> ## Created: October 2009 ## Version: 0.1 +## Version: 0.2 function [y_r, t_r, x_r] = initial (sys, x0, tfinal = [], dt = []) +function [y_r, t_r, x_r] = initial (varargin)  ## TODO: multiplot feature: initial (sys1, "b", sys2, "r", ..., x0, ...)   if (nargin < 2  nargin > 4) + if (nargin < 2) print_usage (); endif  [y, t, x] = __time_response__ (sys, "initial", ! nargout, tfinal, dt, x0, inputname (1)); + if (nargout) + sysname = {}; + else + sys_idx = find (cellfun (@isa, varargin, {"lti"})); + len = length (sys_idx); + sysname = cell (len, 1); + for k = 1 : len + try + sysname{k} = inputname(sys_idx(k)); + catch + sysname{k} = ""; + end_try_catch + endfor + endif + [y, t, x] = __time_response__ ("initial", varargin, sysname, ! nargout); + if (nargout)  y_r = y;  t_r = t;  x_r = x; + y_r = y{1}; + t_r = t{1}; + x_r = x{1}; endif endfunction This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. 
From: <paramaniac@us...>  20120922 10:26:16

Revision: 11076 http://octave.svn.sourceforge.net/octave/?rev=11076&view=rev Author: paramaniac Date: 20120922 10:26:10 +0000 (Sat, 22 Sep 2012) Log Message:  control: fix function names Modified Paths:  trunk/octaveforge/main/control/inst/step.m Modified: trunk/octaveforge/main/control/inst/step.m ===================================================================  trunk/octaveforge/main/control/inst/step.m 20120922 10:25:04 UTC (rev 11075) +++ trunk/octaveforge/main/control/inst/step.m 20120922 10:26:10 UTC (rev 11076) @@ 56,7 +56,7 @@ ## Created: October 2009 ## Version: 0.2 function [y_r, t_r, x_r] = step2 (varargin) +function [y_r, t_r, x_r] = step (varargin) if (nargin == 0) print_usage (); @@ 77,7 +77,7 @@ endfor endif  [y, t, x] = __time_response_2__ ("step", varargin, sysname, ! nargout); + [y, t, x] = __time_response__ ("step", varargin, sysname, ! nargout); if (nargout) y_r = y{1}; This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. 
From: <paramaniac@us...>  20120922 10:25:14

Revision: 11075 http://octave.svn.sourceforge.net/octave/?rev=11075&view=rev Author: paramaniac Date: 20120922 10:25:04 +0000 (Sat, 22 Sep 2012) Log Message:  control: remove cruft Modified Paths:  trunk/octaveforge/main/control/devel/multiplot3.m Removed Paths:  trunk/octaveforge/main/control/devel/__time_response_2__.m trunk/octaveforge/main/control/devel/step2.m Deleted: trunk/octaveforge/main/control/devel/__time_response_2__.m ===================================================================  trunk/octaveforge/main/control/devel/__time_response_2__.m 20120922 10:23:23 UTC (rev 11074) +++ trunk/octaveforge/main/control/devel/__time_response_2__.m 20120922 10:25:04 UTC (rev 11075) @@ 1,414 +0,0 @@ ## Copyright (C) 2009, 2010, 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 * ## Common code for the time response functions step, impulse and initial.  ## Author: Lukas Reichlin <lukas.reichlin@...> ## Created: October 2009 ## Version: 0.3  % 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 statespace   if (! size_equal (sys_cell{:}))  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   tfinal = [];  dt = [];  x0 = [];   ## 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}, {dt}, "uniformoutput", false);  tfinal = max ([tfinal{:}]);   ct_idx = cellfun (@isct, sys_cell);  sys_dt_cell = sys_cell;  tmp = cellfun (@c2d, sys_cell(ct_idx), dt(ct_idx), {"zoh"}, "uniformoutput", false);  sys_dt_cell(ct_idx) = tmp;   ## 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 (response)  case "initial"  [y, x] = cellfun (@__initial_response__, sys_dt_cell, t, {x0}, "uniformoutput", false);  case "step"  [y, x] = cellfun (@__step_response__, sys_dt_cell, t, "uniformoutput", false);  case "impulse"  [y, x] = cellfun (@__impulse_response__, sys_cell, sys_dt_cell, t, "uniformoutput", false);  otherwise  error ("time_response: invalid response type");  endswitch    if (plotflag) # display plot  [p, m] = size (sys_cell{1});  switch (response)  case "initial"  str = "Response to Initial Conditions";  cols = 1;  ## yfinal = zeros (p, 1);  case "step"  str = "Step Response";  cols = m;  ## yfinal = dcgain (sys_cell{1});  case "impulse"  str = "Impulse Response";  cols = m;  ## yfinal = zeros (p, m);  otherwise  error ("time_response: invalid response type");  endswitch   style_idx = find (cellfun (@ischar, args));  outname = get (sys_cell{end}, "outname");  outname = __labels__ (outname, "y");  colororder = get (gca, "colororder");  rc = rows (colororder);   for k = 1 : n_sys # for every system  if (k == n_sys)  lim = numel (args);  else  lim = sys_idx(k+1);  endif  style = args(style_idx(style_idx > sys_idx(k) & style_idx <= lim));  if (isempty (style))  color = colororder(1+rem (k1, rc), :);  style = {"color", color};  endif  discrete = ! ct_idx(k);  if (discrete) # discretetime system  for i = 1 : p # for every output  for j = 1 : cols # for every input (except for initial where cols=1)  subplot (p, cols, (i1)*cols+j);  stairs (t{k}, y{k}(:, i, j), style{:});  hold on;  grid on;  if (k == n_sys)  axis tight;  ylim (__axis_margin__ (ylim))  if (j == 1)  ylabel (outname{i});  if (i == 1)  title (str);  endif  endif  endif  endfor  endfor  else # continuoustime system  for i = 1 : p # for every output  for j = 1 : cols # for every input (except for initial where cols=1)  subplot (p, cols, (i1)*cols+j);  ##if (n_sys == 1 && isstable (sys_cell{1}))  ## plot (t{k}, y{k}(:, i, j), style{:}, [t{k}(1), t{k}(end)], repmat (yfinal(i,j), 1, 2));  ## ## TODO: plot final value first such that its line doesn't overprint the response  ##else  plot (t{k}, y{k}(:, i, j), style{:});  ##endif  hold on;  grid on;  if (k == n_sys)  axis tight  ylim (__axis_margin__ (ylim))  if (j == 1)  ylabel (outname{i});  if (i == 1)  title (str);  endif  endif  endif  endfor  endfor  endif  endfor  xlabel ("Time [s]");  if (p == 1 && m == 1)  legend (sysname)  endif  hold off;  endif  endfunction   function [y, x_arr] = __initial_response__ (sys_dt, t, x0)   [F, G, C, D] = ssdata (sys_dt); # system must be proper   n = rows (F); # number of states  m = columns (G); # number of inputs  p = rows (C); # number of outputs  l_t = length (t);   ## preallocate memory  y = zeros (l_t, p);  x_arr = zeros (l_t, n);   ## initial conditions  x = reshape (x0, [], 1); # make sure that x is a column vector   if (n != length (x0)  ! is_real_vector (x0))  error ("initial: x0 must be a real vector with %d elements", n);  endif   ## simulation  for k = 1 : l_t  y(k, :) = C * x;  x_arr(k, :) = x;  x = F * x;  endfor  endfunction   function [y, x_arr] = __step_response__ (sys_dt, t)   [F, G, C, D] = ssdata (sys_dt); # system must be proper   n = rows (F); # number of states  m = columns (G); # number of inputs  p = rows (C); # number of outputs  l_t = length (t);   ## preallocate memory  y = zeros (l_t, p, m);  x_arr = zeros (l_t, n, m);   for j = 1 : m # for every input channel  ## initial conditions  x = zeros (n, 1);  u = zeros (m, 1);  u(j) = 1;   ## simulation  for k = 1 : l_t  y(k, :, j) = C * x + D * u;  x_arr(k, :, j) = x;  x = F * x + G * u;  endfor  endfor  endfunction   function [y, x_arr] = __impulse_response__ (sys, sys_dt, t)   [~, 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  m = columns (G); # number of inputs  p = rows (C); # number of outputs  l_t = length (t);   ## preallocate memory  y = zeros (l_t, p, m);  x_arr = zeros (l_t, n, m);   for j = 1 : m # for every input channel  ## initial conditions  u = zeros (m, 1);  u(j) = 1;   if (discrete)  x = zeros (n, 1); # zero by definition  y(1, :, j) = D * u / dt;  x_arr(1, :, j) = x;  x = G * u / dt;  else  x = B * u; # B, not G!  y(1, :, j) = C * x;  x_arr(1, :, j) = x;  x = F * x;  endif   ## simulation  for k = 2 : l_t  y (k, :, j) = C * x;  x_arr(k, :, j) = x;  x = F * x;  endfor  endfor   if (discrete)  y *= dt;  x_arr *= dt;  endif  endfunction   function [tfinal, dt] = __sim_horizon__ (sys, tfinal, Ts)   ## code based on __stepimp__.m of Kai P. Mueller and A. Scottedward Hodel   TOL = 1.0e10; # values below TOL are assumed to be zero  N_MIN = 50; # min number of points  N_MAX = 2000; # max number of points  N_DEF = 1000; # default number of points  T_DEF = 10; # default simulation time   ev = pole (sys);  n = length (ev); # number of states/poles  continuous = isct (sys);  discrete = ! continuous;   if (discrete)  dt = Ts = abs (get (sys, "tsam"));  ## perform bilinear transformation on poles in z  for k = 1 : n  pol = ev(k);  if (abs (pol + 1) < TOL)  ev(k) = 0;  else  ev(k) = 2 / Ts * (pol  1) / (pol + 1);  endif  endfor  endif   ## remove poles near zero from eigenvalue array ev  nk = n;  for k = 1 : n  if (abs (real (ev(k))) < TOL)  ev(k) = 0;  nk = 1;  endif  endfor   if (nk == 0)  if (isempty (tfinal))  tfinal = T_DEF;  endif   if (continuous)  dt = tfinal / N_DEF;  endif  else  ev = ev(find (ev));  ev_max = max (abs (ev));   if (continuous)  dt = 0.2 * pi / ev_max;  endif   if (isempty (tfinal))  ev_min = min (abs (real (ev)));  tfinal = 5.0 / ev_min;   ## round up  yy = 10^(ceil (log10 (tfinal))  1);  tfinal = yy * ceil (tfinal / yy);  endif   if (continuous)  N = tfinal / dt;   if (N < N_MIN)  dt = tfinal / N_MIN;  endif   if (N > N_MAX)  dt = tfinal / N_MAX;  endif  endif  endif   if (continuous && ! isempty (Ts)) # catch case cont. system with dt specified  dt = Ts;  endif  endfunction Modified: trunk/octaveforge/main/control/devel/multiplot3.m ===================================================================  trunk/octaveforge/main/control/devel/multiplot3.m 20120922 10:23:23 UTC (rev 11074) +++ trunk/octaveforge/main/control/devel/multiplot3.m 20120922 10:25:04 UTC (rev 11075) @@ 1,10 +1,10 @@ load tfs.dat figure (1) step2 (T_AH, T_opt) +step (T_AH, T_opt) figure (2) step2 (T_AH, '.r', T_opt, 'b') +step (T_AH, '.r', T_opt, 'b') figure (3) step2 (T_AH, c2d (T_opt, 1)) +step (T_AH, c2d (T_opt, 1)) Deleted: trunk/octaveforge/main/control/devel/step2.m ===================================================================  trunk/octaveforge/main/control/devel/step2.m 20120922 10:23:23 UTC (rev 11074) +++ trunk/octaveforge/main/control/devel/step2.m 20120922 10:25:04 UTC (rev 11075) @@ 1,89 +0,0 @@ ## Copyright (C) 2009, 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{y}, @var{t}, @var{x}] =} step (@var{sys}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} step (@var{sys}, @var{t}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} step (@var{sys}, @var{tfinal}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} step (@var{sys}, @var{tfinal}, @var{dt}) ## Step response of LTI system. ## If no output arguments are given, the response is printed on the screen. ## ## @strong{Inputs} ## @table @var ## @item sys ## LTI model. ## @item t ## Time vector. Should be evenly spaced. If not specified, it is calculated by ## the poles of the system to reflect adequately the response transients. ## @item tfinal ## Optional simulation horizon. If not specified, it is calculated by ## the poles of the system to reflect adequately the response transients. ## @item dt ## Optional sampling time. Be sure to choose it small enough to capture transient ## phenomena. If not specified, it is calculated by the poles of the system. ## @end table ## ## @strong{Outputs} ## @table @var ## @item y ## Output response array. Has as many rows as time samples (length of t) ## and as many columns as outputs. ## @item t ## Time row vector. ## @item x ## State trajectories array. Has @code{length (t)} rows and as many columns as states. ## @end table ## ## @seealso{impulse, initial, lsim} ## @end deftypefn  ## Author: Lukas Reichlin <lukas.reichlin@...> ## Created: October 2009 ## Version: 0.2  % function [y_r, t_r, x_r] = step2 (sys, tfinal = [], dt = []) function [y_r, t_r, x_r] = step2 (varargin)   if (nargin == 0)  print_usage ();  endif   if (nargout)  sysname = {};  else  sys_idx = find (cellfun (@isa, varargin, {"lti"}));  len = length (sys_idx);  sysname = cell (len, 1);  for k = 1 : len  try  sysname{k} = inputname(sys_idx(k));  catch  sysname{k} = "";  end_try_catch  endfor  endif   [y, t, x] = __time_response_2__ ("step", varargin, sysname, ! nargout);   if (nargout)  y_r = y{1};  t_r = t{1};  x_r = x{1};  endif  endfunction This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. 
From: <paramaniac@us...>  20120922 10:23:30

Revision: 11074 http://octave.svn.sourceforge.net/octave/?rev=11074&view=rev Author: paramaniac Date: 20120922 10:23:23 +0000 (Sat, 22 Sep 2012) Log Message:  control: move multiplot time response into place Modified Paths:  trunk/octaveforge/main/control/inst/__time_response__.m trunk/octaveforge/main/control/inst/step.m Modified: trunk/octaveforge/main/control/inst/__time_response__.m ===================================================================  trunk/octaveforge/main/control/inst/__time_response__.m 20120922 10:14:12 UTC (rev 11073) +++ trunk/octaveforge/main/control/inst/__time_response__.m 20120922 10:23:23 UTC (rev 11074) @@ 1,4 +1,4 @@ ## Copyright (C) 2009, 2010 Lukas F. Reichlin +## Copyright (C) 2009, 2010, 2012 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## @@ 20,241 +20,350 @@ ## Author: Lukas Reichlin <lukas.reichlin@...> ## Created: October 2009 ## Version: 0.2 +## Version: 0.3 function [y, t, x_arr] = __time_response__ (sys, resptype, plotflag, tfinal, dt, x0, sysname) +function [y, t, x] = __time_response__ (response, args, sysname, plotflag)  if (! isa (sys, "ss"))  sys = ss (sys); # sys must be proper  endif + 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 statespace  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); + if (! size_equal (sys_cell{:})) + error ("%s: models must have equal sizes", response); endif  [A, B, C, D, tsam] = ssdata (sys); + 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  discrete = ! isct (sys); # static gains are treated as analog systems  tsam = abs (tsam); # use 1 second if tsam is unspecified (1) + tfinal = []; + dt = []; + x0 = [];  if (discrete)  if (! isempty (dt))  warning ("time_response: argument dt has no effect on sampling time of discrete system"); + ## 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   dt = tsam; endif + ## TODO: share common code between initial and step/impulse  [tfinal, dt] = __sim_horizon__ (A, discrete, tfinal, dt); + [tfinal, dt] = cellfun (@__sim_horizon__, sys_cell, {tfinal}, {dt}, "uniformoutput", false); + tfinal = max ([tfinal{:}]);  if (! discrete)  sys = c2d (sys, dt, "zoh");  endif + ct_idx = cellfun (@isct, sys_cell); + sys_dt_cell = sys_cell; + tmp = cellfun (@c2d, sys_cell(ct_idx), dt(ct_idx), {"zoh"}, "uniformoutput", false); + sys_dt_cell(ct_idx) = tmp;  [F, G] = ssdata (sys); # matrices C and D don't change + ## time vector + t = @cellfun (@(dt) reshape (0 : dt : tfinal, [], 1), dt, "uniformoutput", false);  n = rows (F); # number of states  m = columns (G); # number of inputs  p = rows (C); # number of outputs + ## 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)  ## time vector  t = reshape (0 : dt : tfinal, [], 1);  l_t = length (t);   switch (resptype) + switch (response) case "initial"  str = ["Response of ", sysname, " to Initial Conditions"];  yfinal = zeros (p, 1); + [y, x] = cellfun (@__initial_response__, sys_dt_cell, t, {x0}, "uniformoutput", false); + case "step" + [y, x] = cellfun (@__step_response__, sys_dt_cell, t, "uniformoutput", false); + case "impulse" + [y, x] = cellfun (@__impulse_response__, sys_cell, sys_dt_cell, t, "uniformoutput", false); + otherwise + error ("time_response: invalid response type"); + endswitch  ## preallocate memory  y = zeros (l_t, p);  x_arr = zeros (l_t, n);  ## initial conditions  x = reshape (x0, [], 1); # make sure that x is a column vector   if (n != length (x0)  ! is_real_vector (x0))  error ("initial: x0 must be a real vector with %d elements", n); + if (plotflag) # display plot + [p, m] = size (sys_cell{1}); + switch (response) + case "initial" + str = "Response to Initial Conditions"; + cols = 1; + ## yfinal = zeros (p, 1); + case "step" + str = "Step Response"; + cols = m; + ## yfinal = dcgain (sys_cell{1}); + case "impulse" + str = "Impulse Response"; + cols = m; + ## yfinal = zeros (p, m); + otherwise + error ("time_response: invalid response type"); + endswitch + + style_idx = find (cellfun (@ischar, args)); + outname = get (sys_cell{end}, "outname"); + outname = __labels__ (outname, "y"); + colororder = get (gca, "colororder"); + rc = rows (colororder); + + for k = 1 : n_sys # for every system + if (k == n_sys) + lim = numel (args); + else + lim = sys_idx(k+1); endif + style = args(style_idx(style_idx > sys_idx(k) & style_idx <= lim)); + if (isempty (style)) + color = colororder(1+rem (k1, rc), :); + style = {"color", color}; + endif + discrete = ! ct_idx(k); + if (discrete) # discretetime system + for i = 1 : p # for every output + for j = 1 : cols # for every input (except for initial where cols=1) + subplot (p, cols, (i1)*cols+j); + stairs (t{k}, y{k}(:, i, j), style{:}); + hold on; + grid on; + if (k == n_sys) + axis tight; + ylim (__axis_margin__ (ylim)) + if (j == 1) + ylabel (outname{i}); + if (i == 1) + title (str); + endif + endif + endif + endfor + endfor + else # continuoustime system + for i = 1 : p # for every output + for j = 1 : cols # for every input (except for initial where cols=1) + subplot (p, cols, (i1)*cols+j); + ##if (n_sys == 1 && isstable (sys_cell{1})) + ## plot (t{k}, y{k}(:, i, j), style{:}, [t{k}(1), t{k}(end)], repmat (yfinal(i,j), 1, 2)); + ## ## TODO: plot final value first such that its line doesn't overprint the response + ##else + plot (t{k}, y{k}(:, i, j), style{:}); + ##endif + hold on; + grid on; + if (k == n_sys) + axis tight + ylim (__axis_margin__ (ylim)) + if (j == 1) + ylabel (outname{i}); + if (i == 1) + title (str); + endif + endif + endif + endfor + endfor + endif + endfor + xlabel ("Time [s]"); + if (p == 1 && m == 1) + legend (sysname) + endif + hold off; + endif  ## simulation  for k = 1 : l_t  y(k, :) = C * x;  x_arr(k, :) = x;  x = F * x;  endfor +endfunction  case "step"  str = ["Step Response of ", sysname];  yfinal = dcgain (sys);  ## preallocate memory  y = zeros (l_t, p, m);  x_arr = zeros (l_t, n, m); +function [y, x_arr] = __initial_response__ (sys_dt, t, x0)  for j = 1 : m # for every input channel  ## initial conditions  x = zeros (n, 1);  u = zeros (m, 1);  u(j) = 1; + [F, G, C, D] = ssdata (sys_dt); # system must be proper  ## simulation  for k = 1 : l_t  y(k, :, j) = C * x + D * u;  x_arr(k, :, j) = x;  x = F * x + G * u;  endfor  endfor + n = rows (F); # number of states + m = columns (G); # number of inputs + p = rows (C); # number of outputs + l_t = length (t);  case "impulse"  str = ["Impulse Response of ", sysname];  yfinal = zeros (p, m); + ## preallocate memory + y = zeros (l_t, p); + x_arr = zeros (l_t, n);  ## preallocate memory  y = zeros (l_t, p, m);  x_arr = zeros (l_t, n, m); + ## initial conditions + x = reshape (x0, [], 1); # make sure that x is a column vector  for j = 1 : m # for every input channel  ## initial conditions  u = zeros (m, 1);  u(j) = 1; + if (n != length (x0)  ! is_real_vector (x0)) + error ("initial: x0 must be a real vector with %d elements", n); + endif  if (discrete)  x = zeros (n, 1); # zero by definition  y(1, :, j) = D * u / dt;  x_arr(1, :, j) = x;  x = G * u / dt;  else  x = B * u; # B, not G!  y(1, :, j) = C * x;  x_arr(1, :, j) = x;  x = F * x;  endif + ## simulation + for k = 1 : l_t + y(k, :) = C * x; + x_arr(k, :) = x; + x = F * x; + endfor  ## simulation  for k = 2 : l_t  y (k, :, j) = C * x;  x_arr(k, :, j) = x;  x = F * x;  endfor  endfor   if (discrete)  y *= dt;  x_arr *= dt;  endif   otherwise  error ("time_response: invalid response type");   endswitch  +endfunction  if (plotflag) # display plot  ## TODO: Set correct titles, especially for multiinput systems +function [y, x_arr] = __step_response__ (sys_dt, t)  stable = isstable (sys);  outname = get (sys, "outname");  outname = __labels__ (outname, "y_"); + [F, G, C, D] = ssdata (sys_dt); # system must be proper  if (strcmp (resptype, "initial"))  cols = 1;  else  cols = m;  endif + n = rows (F); # number of states + m = columns (G); # number of inputs + p = rows (C); # number of outputs + l_t = length (t);  if (discrete) # discrete system  for k = 1 : p  for j = 1 : cols + ## preallocate memory + y = zeros (l_t, p, m); + x_arr = zeros (l_t, n, m);  subplot (p, cols, (k1)*cols+j); + for j = 1 : m # for every input channel + ## initial conditions + x = zeros (n, 1); + u = zeros (m, 1); + u(j) = 1;  if (stable)  stairs (t, [y(:, k, j), yfinal(k, j) * ones(l_t, 1)]);  else  stairs (t, y(:, k, j));  endif + ## simulation + for k = 1 : l_t + y(k, :, j) = C * x + D * u; + x_arr(k, :, j) = x; + x = F * x + G * u; + endfor + endfor  grid ("on"); +endfunction  if (k == 1 && j == 1)  title (str);  endif  if (j == 1)  ylabel (sprintf ("Amplitude %s", outname{k}));  endif +function [y, x_arr] = __impulse_response__ (sys, sys_dt, t)  endfor  endfor + [~, 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);  xlabel ("Time [s]"); + n = rows (F); # number of states + m = columns (G); # number of inputs + p = rows (C); # number of outputs + l_t = length (t);  else # continuous system  for k = 1 : p  for j = 1 : cols + ## preallocate memory + y = zeros (l_t, p, m); + x_arr = zeros (l_t, n, m);  subplot (p, cols, (k1)*cols+j); + for j = 1 : m # for every input channel + ## initial conditions + u = zeros (m, 1); + u(j) = 1;  if (stable)  plot (t, [y(:, k, j), yfinal(k, j) * ones(l_t, 1)]);  else  plot (t, y(:, k, j));  endif + if (discrete) + x = zeros (n, 1); # zero by definition + y(1, :, j) = D * u / dt; + x_arr(1, :, j) = x; + x = G * u / dt; + else + x = B * u; # B, not G! + y(1, :, j) = C * x; + x_arr(1, :, j) = x; + x = F * x; + endif  grid ("on"); + ## simulation + for k = 2 : l_t + y (k, :, j) = C * x; + x_arr(k, :, j) = x; + x = F * x; + endfor + endfor  if (k == 1 && j == 1)  title (str);  endif   if (j == 1)  ylabel (sprintf ("Amplitude %s", outname{k}));  endif   endfor  endfor   xlabel ("Time [s]");   endif + if (discrete) + y *= dt; + x_arr *= dt; endif 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  TOL = 1.0e10; # values below TOL are assumed to be zero  N_MIN = 50; # min number of points  N_MAX = 2000; # max number of points  N_DEF = 1000; # default number of points  T_DEF = 10; # default simulation time + TOL = 1.0e10; # values below TOL are assumed to be zero + N_MIN = 50; # min number of points + N_MAX = 2000; # max number of points + N_DEF = 1000; # default number of points + T_DEF = 10; # default simulation time  n = rows (A);  eigw = eig (A); + ev = pole (sys); + n = length (ev); # number of states/poles + continuous = isct (sys); + discrete = ! continuous; if (discrete) + dt = Ts = abs (get (sys, "tsam")); ## perform bilinear transformation on poles in z for k = 1 : n  pol = eigw(k); + pol = ev(k); if (abs (pol + 1) < TOL)  eigw(k) = 0; + ev(k) = 0; else  eigw(k) = 2 / Ts * (pol  1) / (pol + 1); + ev(k) = 2 / Ts * (pol  1) / (pol + 1); endif endfor endif  ## remove poles near zero from eigenvalue array eigw + ## remove poles near zero from eigenvalue array ev nk = n; for k = 1 : n  if (abs (real (eigw(k))) < TOL)  eigw(k) = 0; + if (abs (real (ev(k))) < TOL) + ev(k) = 0; nk = 1; endif endfor @@ 264,27 +373,27 @@ tfinal = T_DEF; endif  if (! discrete) + if (continuous) dt = tfinal / N_DEF; endif else  eigw = eigw(find (eigw));  eigw_max = max (abs (eigw)); + ev = ev(find (ev)); + ev_max = max (abs (ev));  if (! discrete)  dt = 0.2 * pi / eigw_max; + if (continuous) + dt = 0.2 * pi / ev_max; endif if (isempty (tfinal))  eigw_min = min (abs (real (eigw)));  tfinal = 5.0 / eigw_min; + ev_min = min (abs (real (ev))); + tfinal = 5.0 / ev_min; ## round up yy = 10^(ceil (log10 (tfinal))  1); tfinal = yy * ceil (tfinal / yy); endif  if (! discrete) + if (continuous) N = tfinal / dt; if (N < N_MIN) @@ 297,7 +406,7 @@ endif endif  if (! isempty (Ts)) # catch case cont. system with dt specified + if (continuous && ! isempty (Ts)) # catch case cont. system with dt specified dt = Ts; endif Modified: trunk/octaveforge/main/control/inst/step.m ===================================================================  trunk/octaveforge/main/control/inst/step.m 20120922 10:14:12 UTC (rev 11073) +++ trunk/octaveforge/main/control/inst/step.m 20120922 10:23:23 UTC (rev 11074) @@ 1,4 +1,4 @@ ## Copyright (C) 2009 Lukas F. Reichlin +## Copyright (C) 2009, 2012 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## @@ 54,22 +54,35 @@ ## Author: Lukas Reichlin <lukas.reichlin@...> ## Created: October 2009 ## Version: 0.1 +## Version: 0.2 function [y_r, t_r, x_r] = step (sys, tfinal = [], dt = []) +function [y_r, t_r, x_r] = step2 (varargin)  ## TODO: multiplot feature: step (sys1, "b", sys2, "r", ...)   if (nargin == 0  nargin > 3) + if (nargin == 0) print_usage (); endif  [y, t, x] = __time_response__ (sys, "step", ! nargout, tfinal, dt, [], inputname (1)); + if (nargout) + sysname = {}; + else + sys_idx = find (cellfun (@isa, varargin, {"lti"})); + len = length (sys_idx); + sysname = cell (len, 1); + for k = 1 : len + try + sysname{k} = inputname(sys_idx(k)); + catch + sysname{k} = ""; + end_try_catch + endfor + endif + [y, t, x] = __time_response_2__ ("step", varargin, sysname, ! nargout); + if (nargout)  y_r = y;  t_r = t;  x_r = x; + y_r = y{1}; + t_r = t{1}; + x_r = x{1}; endif endfunction This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. 
From: <paramaniac@us...>  20120922 10:14:18

Revision: 11073 http://octave.svn.sourceforge.net/octave/?rev=11073&view=rev Author: paramaniac Date: 20120922 10:14:12 +0000 (Sat, 22 Sep 2012) Log Message:  control: minor bug fix (stairs doesn't like the "" style argument) Modified Paths:  trunk/octaveforge/main/control/devel/__time_response_2__.m Modified: trunk/octaveforge/main/control/devel/__time_response_2__.m ===================================================================  trunk/octaveforge/main/control/devel/__time_response_2__.m 20120922 10:10:53 UTC (rev 11072) +++ trunk/octaveforge/main/control/devel/__time_response_2__.m 20120922 10:14:12 UTC (rev 11073) @@ 106,7 +106,7 @@ [tfinal, dt] = cellfun (@__sim_horizon__, sys_cell, {tfinal}, {dt}, "uniformoutput", false); tfinal = max ([tfinal{:}]); dt + ct_idx = cellfun (@isct, sys_cell); sys_dt_cell = sys_cell; tmp = cellfun (@c2d, sys_cell(ct_idx), dt(ct_idx), {"zoh"}, "uniformoutput", false); @@ 165,7 +165,7 @@ style = args(style_idx(style_idx > sys_idx(k) & style_idx <= lim)); if (isempty (style)) color = colororder(1+rem (k1, rc), :);  style = {"", "color", color}; + style = {"color", color}; endif discrete = ! ct_idx(k); if (discrete) # discretetime system This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. 
From: <paramaniac@us...>  20120922 10:10:59

Revision: 11072 http://octave.svn.sourceforge.net/octave/?rev=11072&view=rev Author: paramaniac Date: 20120922 10:10:53 +0000 (Sat, 22 Sep 2012) Log Message:  control: handle vector arguments in multiplot time responses Modified Paths:  trunk/octaveforge/main/control/devel/__time_response_2__.m Modified: trunk/octaveforge/main/control/devel/__time_response_2__.m ===================================================================  trunk/octaveforge/main/control/devel/__time_response_2__.m 20120922 10:03:17 UTC (rev 11071) +++ trunk/octaveforge/main/control/devel/__time_response_2__.m 20120922 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 statespace 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 (k1, 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 (k1, rc), :); style = {"", "color", color}; endif  style discrete = ! ct_idx(k); if (discrete) # discretetime 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 This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. 
From: <jpicarbajal@us...>  20120922 10:03:27

Revision: 11071 http://octave.svn.sourceforge.net/octave/?rev=11071&view=rev Author: jpicarbajal Date: 20120922 10:03:17 +0000 (Sat, 22 Sep 2012) Log Message:  mechanics: All copyrights fixed. hopefully :D Modified Paths:  trunk/octaveforge/main/mechanics/inst/core/EAmatrix.m trunk/octaveforge/main/mechanics/inst/core/RBequations_rot.m trunk/octaveforge/main/mechanics/inst/core/private/drawAxis3D.m Modified: trunk/octaveforge/main/mechanics/inst/core/EAmatrix.m ===================================================================  trunk/octaveforge/main/mechanics/inst/core/EAmatrix.m 20120922 08:40:14 UTC (rev 11070) +++ trunk/octaveforge/main/mechanics/inst/core/EAmatrix.m 20120922 10:03:17 UTC (rev 11071) @@ 1,17 +1,17 @@ %%copyright (c) 2011 Juan Pablo Carbajal <carbajal@...> +%% Copyright (c) 2012 Juan Pablo Carbajal <carbajal@...> %% %% This program is free software: youcan redistribute itand/or modify %% it under the terms of the GNU General Public Licenseas publishedby %% the Free Software Foundation, either version 3 of the License, or %% any later version. +%% This program 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. %% %% This program is distributed in the hope that it willbe useful, %% but WITHOUTaNY WARRANTY; without even the implied warranty of %% MERCHANTABILITY or FITNESS FORa PARTICULAR PURPOSE. See the %% GNU General Public License for more details. +%% This program 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 receivedacopy of the GNU General Public License %% along with this program. If not, see <http://www.gnu.org/licenses/>;. +%% You should have received a copy of the GNU General Public License +%% along with this program; if not, see <http://www.gnu.org/licenses/>;. %% * texinfo * %% @deftypefn {Function File} {@var{output} = } EAmatrix (@var{angles}, @var{convention}) Modified: trunk/octaveforge/main/mechanics/inst/core/RBequations_rot.m ===================================================================  trunk/octaveforge/main/mechanics/inst/core/RBequations_rot.m 20120922 08:40:14 UTC (rev 11070) +++ trunk/octaveforge/main/mechanics/inst/core/RBequations_rot.m 20120922 10:03:17 UTC (rev 11071) @@ 1,26 +1,26 @@ %%copyright (c) 2011 Juan Pablocarbajal <carbajal@...> %% %% This program is free software: youcan redistribute itand/or modify %% it under the terms of the GNU General Public Licenseas publishedby %% the Free Software Foundation, either version 3 of the License, or %% any later version. %% %% This program is distributed in the hope that it willbe useful, %% but WITHOUTaNY WARRANTY; without even the implied warranty of %% MERCHANTABILITY or FITNESS FORa PARTICULAR PURPOSE. See the %% GNU General Public License for more details. %% %% You should have receivedacopy of the GNU General Public License %% along with this program. If not, see <http://www.gnu.org/licenses/>;. +## Copyright (c) 2012 Juan Pablo Carbajal <carbajal@...> +## +## This program 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. +## +## This program 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 this program; if not, see <http://www.gnu.org/licenses/>;. %% * texinfo * %% @deftypefn {Function File} {@var{dqdt} = } RBequations_rot (@var{t}, @var{q}, @var{opt}) %% Rotational equations of motion of rigid body fixed in one point. %% @end deftypefn +## * texinfo * +## @deftypefn {Function File} {@var{dqdt} = } RBequations_rot (@var{t}, @var{q}, @var{opt}) +## Rotational equations of motion of rigid body fixed in one point. +## @end deftypefn function dqdt = RBequations_rot(t,q, opt) % TODO % 2. Actuation +# TODO +# 2. Actuation w = q(1:3,1).'; s = q(4:7,1).'; @@ 29,18 +29,17 @@ m = opt.Mass; Rcm = quatvrot(opt.CoM,s); grav = opt.Gravity;   + + Tgrav = quatvrot((cross(Rcm,m*grav)),quatconj(s)); dqdt = zeros(7,1);  %% Euler Equations + ## Euler Equations dqdt(1:3,1) = (cross( I .* w, w ) + Tgrav)./I;   %% Quaternion equation + + ## Quaternion equation Omega = unvech ([0 ; q(1:3,1); 0; q(3,1); q(2,1); 0; q(1,1); 0],1); dqdt(4:7,1) = 0.5*Omega*q(4:7,1);  endfunction +endfunction Modified: trunk/octaveforge/main/mechanics/inst/core/private/drawAxis3D.m ===================================================================  trunk/octaveforge/main/mechanics/inst/core/private/drawAxis3D.m 20120922 08:40:14 UTC (rev 11070) +++ trunk/octaveforge/main/mechanics/inst/core/private/drawAxis3D.m 20120922 10:03:17 UTC (rev 11071) @@ 1,17 +1,17 @@ %%copyright (c) 2011 Juan Pablocarbajal <carbajal@...> %% %% This program is free software: youcan redistribute itand/or modify %% it under the terms of the GNU General Public Licenseas publishedby %% the Free Software Foundation, either version 3 of the License, or %% any later version. %% %% This program is distributed in the hope that it willbe useful, %% but WITHOUTaNY WARRANTY; without even the implied warranty of %% MERCHANTABILITY or FITNESS FORa PARTICULAR PURPOSE. See the %% GNU General Public License for more details. %% %% You should have receivedacopy of the GNU General Public License %% along with this program. If not, see <http://www.gnu.org/licenses/>;. +## Copyright (c) 2012 Juan Pablo Carbajal <carbajal@...> +## +## This program 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. +## +## This program 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 this program; if not, see <http://www.gnu.org/licenses/>;. function drawAxis3D (p,E,c) for i=1:3 This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. 
From: <jpicarbajal@us...>  20120922 08:40:20

Revision: 11070 http://octave.svn.sourceforge.net/octave/?rev=11070&view=rev Author: jpicarbajal Date: 20120922 08:40:14 +0000 (Sat, 22 Sep 2012) Log Message:  general: Fixing error in documentation when passing function handles to inputParser. Modified Paths:  trunk/octaveforge/main/general/inst/@inputParser/inputParser.m Modified: trunk/octaveforge/main/general/inst/@inputParser/inputParser.m ===================================================================  trunk/octaveforge/main/general/inst/@inputParser/inputParser.m 20120922 08:15:06 UTC (rev 11069) +++ trunk/octaveforge/main/general/inst/@inputParser/inputParser.m 20120922 08:40:14 UTC (rev 11070) @@ 75,7 +75,7 @@ ## ## ## one can create a function handle to anonymous functions for validators ## val_mat = @@(x)isvector(x) && all( x <= 1) && all(x >= 0); ## p = p.addOptional ("mat", [0 0], @@val_mat); +## p = p.addOptional ("mat", [0 0], val_mat); ## ## ## create two ParamValue type of arguments ## val_type = @@(x) ischar(x) && any(strcmp(x, @{"linear", "quadratic"@}); This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. 
From: <paramaniac@us...>  20120922 08:15:12

Revision: 11069 http://octave.svn.sourceforge.net/octave/?rev=11069&view=rev Author: paramaniac Date: 20120922 08:15:06 +0000 (Sat, 22 Sep 2012) Log Message:  control: support custom plot styles Modified Paths:  trunk/octaveforge/main/control/devel/__time_response_2__.m trunk/octaveforge/main/control/devel/multiplot3.m Modified: trunk/octaveforge/main/control/devel/__time_response_2__.m ===================================================================  trunk/octaveforge/main/control/devel/__time_response_2__.m 20120921 18:32:16 UTC (rev 11068) +++ trunk/octaveforge/main/control/devel/__time_response_2__.m 20120922 08:15:06 UTC (rev 11069) @@ 25,17 +25,16 @@ % 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)  sys_idx = cellfun (@isa, args, {"lti"}); # look for LTI models + 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 statespace if (! size_equal (sys_cell{:})) error ("%s: models must have equal sizes", resptype); endif  tmp = cellfun (@is_real_matrix, args);  vec_idx = find (tmp);  n_vec = length (vec_idx);  n_sys = length (sys_cell); + 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)}; @@ 140,6 +139,7 @@ error ("time_response: invalid response type"); endswitch + style_idx = find (cellfun (@ischar, args)); outname = get (sys_cell{end}, "outname"); outname = __labels__ (outname, "y"); colororder = get (gca, "colororder"); @@ 147,7 +147,16 @@ for k = 1 : n_sys # for every system color = colororder(1+rem (k1, rc), :);  style = {"", "color", color}; + if (k == n_sys) + lim = numel (args); + else + lim = sys_idx(k+1); + endif + style = args(style_idx(style_idx > sys_idx(k) & style_idx <= lim)); + if (isempty (style)) + style = {"", "color", color}; + endif + style discrete = ! ct_idx(k); if (discrete) # discretetime system for i = 1 : p # for every output Modified: trunk/octaveforge/main/control/devel/multiplot3.m ===================================================================  trunk/octaveforge/main/control/devel/multiplot3.m 20120921 18:32:16 UTC (rev 11068) +++ trunk/octaveforge/main/control/devel/multiplot3.m 20120922 08:15:06 UTC (rev 11069) @@ 3,6 +3,8 @@ figure (1) step2 (T_AH, T_opt) +figure (2) +step2 (T_AH, '.r', T_opt, 'b') figure (2) +figure (3) step2 (T_AH, c2d (T_opt, 1)) This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. 