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From: <par...@us...> - 2010-09-17 23:02:32
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Revision: 7751
http://octave.svn.sourceforge.net/octave/?rev=7751&view=rev
Author: paramaniac
Date: 2010-09-17 23:02:26 +0000 (Fri, 17 Sep 2010)
Log Message:
-----------
control: doc fix
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@ss/ss.m
trunk/octave-forge/main/control/inst/@tf/tf.m
trunk/octave-forge/main/control/inst/dss.m
trunk/octave-forge/main/control/inst/mixsyn.m
Modified: trunk/octave-forge/main/control/inst/@ss/ss.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/ss.m 2010-09-17 21:39:33 UTC (rev 7750)
+++ trunk/octave-forge/main/control/inst/@ss/ss.m 2010-09-17 23:02:26 UTC (rev 7751)
@@ -19,23 +19,26 @@
## @deftypefn {Function File} {@var{sys} =} ss (@var{sys})
## @deftypefnx {Function File} {@var{sys} =} ss (@var{d})
## @deftypefnx {Function File} {@var{sys} =} ss (@var{a}, @var{b}, @var{c})
-## @deftypefnx {Function File} {@var{sys} =} ss (@var{a}, @var{b}, @var{c}, @var{d})
-## @deftypefnx {Function File} {@var{sys} =} ss (@var{a}, @var{b}, @var{c}, @var{d}, @var{tsam})
+## @deftypefnx {Function File} {@var{sys} =} ss (@var{a}, @var{b}, @var{c}, @var{d}, @dots{})
+## @deftypefnx {Function File} {@var{sys} =} ss (@var{a}, @var{b}, @var{c}, @var{d}, @var{tsam}, @dots{})
## Create or convert to state-space model.
##
## @strong{Inputs}
## @table @var
## @item a
-## State transition matrix.
+## State transition matrix (n-by-n).
## @item b
-## Input matrix.
+## Input matrix (n-by-m).
## @item c
-## Measurement matrix.
+## Measurement matrix (p-by-n).
## @item d
-## Feedthrough matrix.
+## Feedthrough matrix (p-by-m).
## @item tsam
## Sampling time. If @var{tsam} is not specified, a continuous-time
## model is assumed.
+## @item @dots{}
+## Optional pairs of properties and values.
+## Type @command{set (ss)} for more information.
## @end table
##
## @strong{Outputs}
@@ -44,7 +47,7 @@
## State-space model.
## @end table
##
-## @seealso{tf}
+## @seealso{tf, dss}
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
Modified: trunk/octave-forge/main/control/inst/@tf/tf.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tf/tf.m 2010-09-17 21:39:33 UTC (rev 7750)
+++ trunk/octave-forge/main/control/inst/@tf/tf.m 2010-09-17 23:02:26 UTC (rev 7751)
@@ -19,8 +19,8 @@
## @deftypefn {Function File} {@var{s} =} tf (@var{"s"})
## @deftypefnx {Function File} {@var{z} =} tf (@var{"z"}, @var{tsam})
## @deftypefnx {Function File} {@var{sys} =} tf (@var{sys})
-## @deftypefnx {Function File} {@var{sys} =} tf (@var{num}, @var{den})
-## @deftypefnx {Function File} {@var{sys} =} tf (@var{num}, @var{den}, @var{tsam})
+## @deftypefnx {Function File} {@var{sys} =} tf (@var{num}, @var{den}, @dots{})
+## @deftypefnx {Function File} {@var{sys} =} tf (@var{num}, @var{den}, @var{tsam}, @dots{})
## Create or convert to transfer function model.
##
## @strong{Inputs}
@@ -34,6 +34,9 @@
## @item tsam
## Sampling time. If @var{tsam} is not specified, a continuous-time
## model is assumed.
+## @item @dots{}
+## Optional pairs of properties and values.
+## Type @command{set (tf)} for more information.
## @end table
##
## @strong{Outputs}
@@ -49,7 +52,7 @@
## @end group
## @end example
##
-## @seealso{ss}
+## @seealso{ss, dss}
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
Modified: trunk/octave-forge/main/control/inst/dss.m
===================================================================
--- trunk/octave-forge/main/control/inst/dss.m 2010-09-17 21:39:33 UTC (rev 7750)
+++ trunk/octave-forge/main/control/inst/dss.m 2010-09-17 23:02:26 UTC (rev 7751)
@@ -18,25 +18,28 @@
## -*- texinfo -*-
## @deftypefn {Function File} {@var{sys} =} dss (@var{sys})
## @deftypefnx {Function File} {@var{sys} =} dss (@var{d})
-## @deftypefnx {Function File} {@var{sys} =} dss (@var{a}, @var{b}, @var{c}, @var{d}, @var{e})
-## @deftypefnx {Function File} {@var{sys} =} dss (@var{a}, @var{b}, @var{c}, @var{d}, @var{e}, @var{tsam})
-## Create or convert to state-space model.
+## @deftypefnx {Function File} {@var{sys} =} dss (@var{a}, @var{b}, @var{c}, @var{d}, @var{e}, @dots{})
+## @deftypefnx {Function File} {@var{sys} =} dss (@var{a}, @var{b}, @var{c}, @var{d}, @var{e}, @var{tsam}, @dots{})
+## Create or convert to descriptor state-space model.
##
## @strong{Inputs}
## @table @var
## @item a
-## State transition matrix.
+## State transition matrix (n-by-n).
## @item b
-## Input matrix.
+## Input matrix (n-by-m).
## @item c
-## Measurement matrix.
+## Measurement matrix (p-by-n).
## @item d
-## Feedthrough matrix.
+## Feedthrough matrix (p-by-m).
## @item e
-## Descriptor matrix.
+## Descriptor matrix (n-by-n).
## @item tsam
## Sampling time. If @var{tsam} is not specified, a continuous-time
## model is assumed.
+## @item @dots{}
+## Optional pairs of properties and values.
+## Type @command{set (dss)} for more information.
## @end table
##
## @strong{Outputs}
@@ -45,7 +48,7 @@
## Descriptor state-space model.
## @end table
##
-## @seealso{ss}
+## @seealso{ss, tf}
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
@@ -55,14 +58,25 @@
function sys = dss (varargin)
switch (nargin)
- case {0, 2, 3, 4}
- print_usage ();
+ case 0 # useful for "set (dss)"
+ sys = ss ();
case 1 # static gain
sys = ss (varargin{1});
+ case {2, 3, 4}
+ print_usage ();
+
otherwise # general case
sys = ss (varargin{[1:4, 6:end]}, "e", varargin{5});
endswitch
-endfunction
\ No newline at end of file
+endfunction
+
+## NOTE: The author prefers "dss (e, a, b, c, d)" since we write
+## .
+## E x = A x + B u, y = C x + D u
+##
+## but this would break compatibility to a widespread
+## commercial implementation of the octave language.
+## There's no way to tell e and d apart if n = m = p.
\ No newline at end of file
Modified: trunk/octave-forge/main/control/inst/mixsyn.m
===================================================================
--- trunk/octave-forge/main/control/inst/mixsyn.m 2010-09-17 21:39:33 UTC (rev 7750)
+++ trunk/octave-forge/main/control/inst/mixsyn.m 2010-09-17 23:02:26 UTC (rev 7751)
@@ -16,7 +16,7 @@
## along with this program. If not, see <http://www.gnu.org/licenses/>.
## -*- texinfo -*-
-## @deftypefn{Function File} {[@var{K}, @var{N}, @var{gamma}] =} mixsyn (@var{G}, @var{W1}, @var{W2}, @var{W3})
+## @deftypefn{Function File} {[@var{K}, @var{N}, @var{gamma}] =} mixsyn (@var{G}, @var{W1}, @var{W2}, @var{W3}, @dots{})
## Solve stacked S/KS/T H-inf problem. Bound the largest singular values
## of S (for performance), K S (to penalize large inputs) and
## T (for robustness and to avoid sensitivity to noise).
@@ -30,13 +30,13 @@
## LTI model of plant.
## @item W1
## LTI model of performance weight. Bounds the largest singular values of sensitivity @var{S}.
-## Model must be empty, SISO or of appropriate size.
+## Model must be empty or proper, SISO or of appropriate size.
## @item W2
## LTI model to penalize large control inputs. Bounds the largest singular values of @var{KS}.
-## Model must be empty, SISO or of appropriate size.
+## Model must be empty or proper, SISO or of appropriate size.
## @item W3
## LTI model of robustness and noise sensitivity weight. Bounds the largest singular values of
-## complementary sensitivity @var{T}. Model must be empty, SISO or of appropriate size.
+## complementary sensitivity @var{T}. Model must be empty or proper, SISO or of appropriate size.
## @end table
##
## @strong{Outputs}
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From: <par...@us...> - 2010-09-25 16:00:32
|
Revision: 7767
http://octave.svn.sourceforge.net/octave/?rev=7767&view=rev
Author: paramaniac
Date: 2010-09-25 16:00:26 +0000 (Sat, 25 Sep 2010)
Log Message:
-----------
control: improve argument checks
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@lti/feedback.m
trunk/octave-forge/main/control/inst/@ss/ss.m
trunk/octave-forge/main/control/inst/@tf/tf.m
trunk/octave-forge/main/control/inst/place.m
trunk/octave-forge/main/control/inst/strseq.m
Modified: trunk/octave-forge/main/control/inst/@lti/feedback.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/feedback.m 2010-09-25 14:35:25 UTC (rev 7766)
+++ trunk/octave-forge/main/control/inst/@lti/feedback.m 2010-09-25 16:00:26 UTC (rev 7767)
@@ -142,7 +142,7 @@
function fbsign = checkfbsign (fbsign)
- if (isnumeric (fbsign))
+ if (is_real_scalar (fbsign))
fbsign = sign (fbsign);
elseif (ischar (fbsign))
if (strcmp (fbsign, "+"))
Modified: trunk/octave-forge/main/control/inst/@ss/ss.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/ss.m 2010-09-25 14:35:25 UTC (rev 7766)
+++ trunk/octave-forge/main/control/inst/@ss/ss.m 2010-09-25 16:00:26 UTC (rev 7767)
@@ -75,7 +75,7 @@
[sys, alti] = __sys2ss__ (a);
sys.lti = alti; # preserve lti properties
return;
- elseif (isnumeric (a)) # static gain
+ elseif (is_real_matrix (a)) # static gain
d = a;
a = [];
b = zeros (0, columns (d));
Modified: trunk/octave-forge/main/control/inst/@tf/tf.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tf/tf.m 2010-09-25 14:35:25 UTC (rev 7766)
+++ trunk/octave-forge/main/control/inst/@tf/tf.m 2010-09-25 16:00:26 UTC (rev 7767)
@@ -80,7 +80,7 @@
[sys, numlti] = __sys2tf__ (num);
sys.lti = numlti; # preserve lti properties
return;
- elseif (isnumeric (num)) # static gain
+ elseif (is_real_vector (num)) # static gain
num = num2cell (num);
num = __vec2tfpoly__ (num);
[p, m] = size (num);
Modified: trunk/octave-forge/main/control/inst/place.m
===================================================================
--- trunk/octave-forge/main/control/inst/place.m 2010-09-25 14:35:25 UTC (rev 7766)
+++ trunk/octave-forge/main/control/inst/place.m 2010-09-25 16:00:26 UTC (rev 7767)
@@ -90,14 +90,14 @@
if (nargin < 3) # nargin > 5 already tested
print_usage ();
else
- if (! isnumeric (a) || ! isnumeric (b) || ! issquare (a) || rows (a) != rows (b))
+ if (! is_real_square_matrix (a) || ! is_real_matrix (b) || rows (a) != rows (b))
error ("place: matrices a and b not conformal");
endif
discrete = 0; # assume continuous system
endif
endif
- if (! isnumeric (p) || ! isvector (p) || isempty (p))
+ if (! isnumeric (p) || ! isvector (p) || isempty (p)) # p could be complex
error ("place: p must be a vector");
endif
Modified: trunk/octave-forge/main/control/inst/strseq.m
===================================================================
--- trunk/octave-forge/main/control/inst/strseq.m 2010-09-25 14:35:25 UTC (rev 7766)
+++ trunk/octave-forge/main/control/inst/strseq.m 2010-09-25 16:00:26 UTC (rev 7767)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009 Lukas F. Reichlin
+## Copyright (C) 2009 - 2010 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -28,7 +28,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: September 2009
-## Version: 0.1
+## Version: 0.2
function strvec = strseq (str, idx)
@@ -36,11 +36,8 @@
print_usage ();
endif
- n = numel (idx);
- strvec = cell (n, 1);
+ idx = reshape (num2cell (idx), [], 1);
- for k = 1 : n
- strvec{k, 1} = sprintf ("%s%d", str, idx(k));
- endfor
+ strvec = cellfun (@(x) sprintf ("%s%d", str, x), idx, "uniformoutput", false);
endfunction
\ No newline at end of file
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2010-09-25 18:00:21
|
Revision: 7768
http://octave.svn.sourceforge.net/octave/?rev=7768&view=rev
Author: paramaniac
Date: 2010-09-25 18:00:14 +0000 (Sat, 25 Sep 2010)
Log Message:
-----------
control: replace for-loops by cellfun
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@ss/__freqresp__.m
trunk/octave-forge/main/control/inst/@tf/__freqresp__.m
trunk/octave-forge/main/control/inst/__frequency_response__.m
trunk/octave-forge/main/control/inst/sigma.m
Modified: trunk/octave-forge/main/control/inst/@ss/__freqresp__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/__freqresp__.m 2010-09-25 16:00:26 UTC (rev 7767)
+++ trunk/octave-forge/main/control/inst/@ss/__freqresp__.m 2010-09-25 18:00:14 UTC (rev 7768)
@@ -20,52 +20,43 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
-## Version: 0.2
+## Version: 0.3
-function H = __freqresp__ (sys, w, resptype = 0)
+function H = __freqresp__ (sys, w, resptype = 0, cellflag = false)
- [p, m] = size (sys);
- [A, B, C, D, E, Ts] = dssdata (sys);
+ [a, b, c, d, e, tsam] = dssdata (sys);
- J = eye (m);
+ j = eye (columns (b));
if (resptype != 0 && m != p)
error ("ss: freqresp: system must be square for response type %d", resptype);
endif
- if (Ts > 0) # discrete system
- s = exp (i * w * Ts);
+ if (tsam > 0) # discrete system
+ s = num2cell (exp (i * w * tsam));
else # continuous system
- s = i * w;
+ s = num2cell (i * w);
endif
- l_s = length (s);
- H = zeros (p, m, l_s);
-
switch (resptype)
case 0 # default system
- for k = 1 : l_s
- H(:, :, k) = C * inv (s(k)*E - A) * B + D;
- endfor
+ H = cellfun (@(x) c/(x*e - a)*b + d, s, "uniformoutput", false);
case 1 # inversed system
- for k = 1 : l_s
- H(:, :, k) = inv (C * inv (s(k)*E - A) * B + D);
- endfor
+ H = cellfun (@(x) inv (c/(x*e - a)*b + d), s, "uniformoutput", false);
case 2 # inversed sensitivity
- for k = 1 : l_s
- H(:, :, k) = J + C * inv (s(k)*E - A) * B + D;
- endfor
+ H = cellfun (@(x) j + c/(x*e - a)*b + d, s, "uniformoutput", false);
case 3 # inversed complementary sensitivity
- for k = 1 : l_s
- H(:, :, k) = J + inv (C * inv (s(k)*E - A) * B + D);
- endfor
+ H = cellfun (@(x) j + inv (c/(x*e - a)*b + d), s, "uniformoutput", false);
otherwise
error ("ss: freqresp: invalid response type");
-
endswitch
+ if (! cellflag)
+ H = cat (3, H{:});
+ endif
+
endfunction
\ No newline at end of file
Modified: trunk/octave-forge/main/control/inst/@tf/__freqresp__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tf/__freqresp__.m 2010-09-25 16:00:26 UTC (rev 7767)
+++ trunk/octave-forge/main/control/inst/@tf/__freqresp__.m 2010-09-25 18:00:14 UTC (rev 7768)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009 Lukas F. Reichlin
+## Copyright (C) 2009 - 2010 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -20,60 +20,48 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
-## Version: 0.1
+## Version: 0.2
-function H = __freqresp__ (sys, w, resptype = 0)
+function H = __freqresp__ (sys, w, resptype = 0, cellflag = false)
- [p, m] = size (sys);
- [num, den, Ts] = tfdata (sys);
+ [num, den, tsam] = tfdata (sys);
- if (Ts > 0) # discrete system
- s = exp (i * w * Ts);
+ if (tsam > 0) # discrete system
+ s = num2cell (exp (i * w * tsam));
else # continuous system
- s = i * w;
+ s = num2cell (i * w);
endif
- l_s = length (s);
- H = zeros (p, m, l_s);
+ f = @(z) cellfun (@(x, y) polyval (x, z) / polyval (y, z), num, den);
- for b = 1 : p
- for a = 1 : m
- num_pm = num{b, a};
- den_pm = den{b, a};
+ H = cellfun (f, s, "uniformoutput", false);
- for k = 1 : l_s
- H(b, a, k) = polyval (num_pm, s(k)) / polyval (den_pm, s(k));
- endfor
- endfor
- endfor
-
if (resptype)
+ [p, m] = size (sys);
+
if (m != p)
error ("tf: freqresp: system must be square for response type %d", resptype);
endif
- I = eye (p);
+ j = eye (p);
switch (resptype)
case 1 # inversed system
- for k = 1 : l_s
- H(:, :, k) = inv (H(:, :, k));
- endfor
+ H = cellfun (@inv, H, "uniformoutput", false);
case 2 # inversed sensitivity
- for k = 1 : l_s
- H(:, :, k) = I + H(:, :, k);
- endfor
+ H = cellfun (@(x) j + x, H, "uniformoutput", false);
case 3 # inversed complementary sensitivity
- for k = 1 : l_s
- H(:, :, k) = I + inv (H(:, :, k));
- endfor
+ H = cellfun (@(x) j + inv (x), H, "uniformoutput", false);
otherwise
error ("tf: freqresp: invalid response type");
-
endswitch
endif
+ if (! cellflag)
+ H = cat (3, H{:});
+ endif
+
endfunction
Modified: trunk/octave-forge/main/control/inst/__frequency_response__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__frequency_response__.m 2010-09-25 16:00:26 UTC (rev 7767)
+++ trunk/octave-forge/main/control/inst/__frequency_response__.m 2010-09-25 18:00:14 UTC (rev 7768)
@@ -23,7 +23,7 @@
## Created: November 2009
## Version: 0.2
-function [H, w] = __frequency_response__ (sys, w = [], mimoflag = 0, resptype = 0, wbounds = "std")
+function [H, w] = __frequency_response__ (sys, w = [], mimoflag = 0, resptype = 0, wbounds = "std", cellflag = false)
## check arguments
if(! isa (sys, "lti"))
@@ -44,6 +44,6 @@
endif
## frequency response
- H = __freqresp__ (sys, w, resptype);
+ H = __freqresp__ (sys, w, resptype, cellflag);
endfunction
\ No newline at end of file
Modified: trunk/octave-forge/main/control/inst/sigma.m
===================================================================
--- trunk/octave-forge/main/control/inst/sigma.m 2010-09-25 16:00:26 UTC (rev 7767)
+++ trunk/octave-forge/main/control/inst/sigma.m 2010-09-25 18:00:14 UTC (rev 7768)
@@ -57,7 +57,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: May 2009
-## Version: 0.3.1
+## Version: 0.4
function [sv_r, w_r] = sigma (sys, w = [], resptype = 0)
@@ -67,17 +67,11 @@
print_usage ();
endif
- [H, w] = __frequency_response__ (sys, w, true, resptype, "std");
+ [H, w] = __frequency_response__ (sys, w, true, resptype, "std", true);
- [p, m] = size (sys);
- l_w = length (w);
- sv = zeros (min (m, p), l_w); # preallocate memory
+ sv = cellfun (@svd, H, "uniformoutput", false);
+ sv = horzcat (sv{:});
- ## singular value decomposition
- for k = 1 : l_w
- sv(:, k) = svd (H(:, :, k));
- endfor
-
if (! nargout) # plot the information
## convert to dB for plotting
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From: <par...@us...> - 2010-09-25 19:35:03
|
Revision: 7771
http://octave.svn.sourceforge.net/octave/?rev=7771&view=rev
Author: paramaniac
Date: 2010-09-25 19:34:57 +0000 (Sat, 25 Sep 2010)
Log Message:
-----------
control: support descriptor models
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/isctrb.m
trunk/octave-forge/main/control/inst/isobsv.m
Modified: trunk/octave-forge/main/control/inst/isctrb.m
===================================================================
--- trunk/octave-forge/main/control/inst/isctrb.m 2010-09-25 19:09:09 UTC (rev 7770)
+++ trunk/octave-forge/main/control/inst/isctrb.m 2010-09-25 19:34:57 UTC (rev 7771)
@@ -16,12 +16,14 @@
## along with this program. If not, see <http://www.gnu.org/licenses/>.
## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{bool}, @var{u}] =} isctrb (@var{sys})
-## @deftypefnx {Function File} {[@var{bool}, @var{u}] =} isctrb (@var{sys}, @var{tol})
-## @deftypefnx {Function File} {[@var{bool}, @var{u}] =} isctrb (@var{a}, @var{b})
-## @deftypefnx {Function File} {[@var{bool}, @var{u}] =} isctrb (@var{a}, @var{b}, @var{tol})
+## @deftypefn {Function File} {@var{bool} =} isctrb (@var{sys})
+## @deftypefnx {Function File} {@var{bool} =} isctrb (@var{sys}, @var{tol})
+## @deftypefnx {Function File} {@var{bool} =} isctrb (@var{a}, @var{b})
+## @deftypefnx {Function File} {@var{bool} =} isctrb (@var{a}, @var{b}, @var{e})
+## @deftypefnx {Function File} {@var{bool} =} isctrb (@var{a}, @var{b}, @var{[]}, @var{tol})
+## @deftypefnx {Function File} {@var{bool} =} isctrb (@var{a}, @var{b}, @var{e}, @var{tol})
## Logical check for system controllability.
-## Uses SLICOT AB01OD by courtesy of NICONET e.V.
+## Uses SLICOT AB01OD and TG01HD by courtesy of NICONET e.V.
## <http://www.slicot.org>
##
## @strong{Inputs}
@@ -32,8 +34,10 @@
## State transition matrix.
## @item b
## Input matrix.
+## @item e
+## Descriptor matrix.
## @item tol
-## Optional roundoff parameter. Default value is zero.
+## Optional roundoff parameter. Default value is 0.
## @end table
##
## @strong{Outputs}
@@ -42,8 +46,6 @@
## System is not controllable.
## @item bool = 1
## System is controllable.
-## @item u
-## An orthogonal basis of the controllable subspace.
## @end table
##
## @seealso{isobsv}
@@ -51,23 +53,26 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
-## Version: 0.2.1
+## Version: 0.3
-function [bool, u] = isctrb (a, b = [], tol = [])
+function bool = isctrb (a, b = [], e = [], tol = [])
- if (nargin < 1 || nargin > 3)
+ if (nargin < 1 || nargin > 4)
print_usage ();
elseif (isa (a, "lti")) # isctrb (sys), isctrb (sys, tol)
if (nargin > 2)
print_usage ();
endif
tol = b;
- [a, b] = ssdata (a);
+ [a, b, c, d, e] = dssdata (a, []);
elseif (nargin < 2) # isctrb (a, b), isctrb (a, b, tol)
print_usage ();
elseif (! is_real_square_matrix (a) || ! is_real_matrix (b) || rows (a) != rows (b))
error ("isctrb: a(%dx%d), b(%dx%d) not conformal",
rows (a), columns (a), rows (b), columns (b));
+ elseif (! isempty (e) && (! is_real_square_matrix (e) || ! size_equal (e, a)))
+ error ("isctrb: a(%dx%d), e(%dx%d) not conformal",
+ rows (a), columns (a), rows (e), columns (e));
endif
if (isempty (tol))
@@ -76,10 +81,12 @@
error ("isctrb: tol must be a real scalar");
endif
- [ac, bc, u, ncont] = slab01od (a, b, tol);
+ if (isempty (e))
+ [ac, bc, u, ncont] = slab01od (a, b, tol);
+ else
+ [ac, ec, bc, cc, q, z, ncont] = sltg01hd (a, e, b, zeros (1, columns (a)), tol);
+ endif
- u = u(:, 1:ncont);
-
bool = (ncont == rows (a));
endfunction
Modified: trunk/octave-forge/main/control/inst/isobsv.m
===================================================================
--- trunk/octave-forge/main/control/inst/isobsv.m 2010-09-25 19:09:09 UTC (rev 7770)
+++ trunk/octave-forge/main/control/inst/isobsv.m 2010-09-25 19:34:57 UTC (rev 7771)
@@ -16,12 +16,14 @@
## along with this program. If not, see <http://www.gnu.org/licenses/>.
## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{bool}, @var{u}] =} isobsv (@var{sys})
-## @deftypefnx {Function File} {[@var{bool}, @var{u}] =} isobsv (@var{sys}, @var{tol})
-## @deftypefnx {Function File} {[@var{bool}, @var{u}] =} isobsv (@var{a}, @var{c})
-## @deftypefnx {Function File} {[@var{bool}, @var{u}] =} isobsv (@var{a}, @var{c}, @var{tol})
+## @deftypefn {Function File} {@var{bool} =} isobsv (@var{sys})
+## @deftypefnx {Function File} {@var{bool} =} isobsv (@var{sys}, @var{tol})
+## @deftypefnx {Function File} {@var{bool} =} isobsv (@var{a}, @var{c})
+## @deftypefnx {Function File} {@var{bool} =} isobsv (@var{a}, @var{c}, @var{e})
+## @deftypefnx {Function File} {@var{bool} =} isobsv (@var{a}, @var{c}, @var{[]}, @var{tol})
+## @deftypefnx {Function File} {@var{bool} =} isobsv (@var{a}, @var{c}, @var{e}, @var{tol})
## Logical check for system observability.
-## Uses SLICOT AB01OD by courtesy of NICONET e.V.
+## Uses SLICOT AB01OD and TG01HD by courtesy of NICONET e.V.
## <http://www.slicot.org>
##
## @strong{Inputs}
@@ -32,8 +34,10 @@
## State transition matrix.
## @item c
## Measurement matrix.
+## @item e
+## Descriptor matrix.
## @item tol
-## Optional roundoff parameter. Default value is zero.
+## Optional roundoff parameter. Default value is 0.
## @end table
##
## @strong{Outputs}
@@ -42,8 +46,6 @@
## System is not observable.
## @item bool = 1
## System is observable.
-## @item u
-## An orthogonal basis of the observable subspace.
## @end table
##
## @seealso{isctrb}
@@ -53,19 +55,19 @@
## Created: October 2009
## Version: 0.3
-function [bool, u] = isobsv (a, c = [], tol = [])
+function bool = isobsv (a, c = [], e = [], tol = [])
if (nargin == 0)
print_usage ();
- elseif (isa (a, "lti")) # isobsv (sys), isobsv (sys, tol)
+ elseif (isa (a, "lti")) # isobsv (sys), isobsv (sys, tol)
if (nargin > 2)
print_usage ();
endif
- [bool, u] = isctrb (a.', c); # transpose is overloaded
- elseif (nargin < 2 || nargin > 3)
+ bool = isctrb (a.', c); # transpose is overloaded
+ elseif (nargin < 2 || nargin > 4)
print_usage ();
- else # isobsv (a, c), isobsv (a, c, tol)
- [bool, u] = isctrb (a.', c.', tol);
+ else # isobsv (a, c), isobsv (a, c, e), ...
+ bool = isctrb (a.', c.', e.', tol);
endif
endfunction
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2010-09-26 00:02:51
|
Revision: 7772
http://octave.svn.sourceforge.net/octave/?rev=7772&view=rev
Author: paramaniac
Date: 2010-09-26 00:02:44 +0000 (Sun, 26 Sep 2010)
Log Message:
-----------
control: style fixes
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@lti/feedback.m
trunk/octave-forge/main/control/inst/@lti/issiso.m
trunk/octave-forge/main/control/inst/@lti/series.m
trunk/octave-forge/main/control/inst/@lti/sminreal.m
trunk/octave-forge/main/control/inst/@tfpoly/__make_equally_long__.m
trunk/octave-forge/main/control/inst/@tfpoly/minus.m
trunk/octave-forge/main/control/inst/@tfpoly/mpower.m
trunk/octave-forge/main/control/inst/@tfpoly/mtimes.m
trunk/octave-forge/main/control/inst/@tfpoly/plus.m
trunk/octave-forge/main/control/inst/@tfpoly/tfpoly.m
trunk/octave-forge/main/control/inst/@tfpoly/uminus.m
trunk/octave-forge/main/control/inst/@tfpoly/uplus.m
Modified: trunk/octave-forge/main/control/inst/@lti/feedback.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/feedback.m 2010-09-25 19:34:57 UTC (rev 7771)
+++ trunk/octave-forge/main/control/inst/@lti/feedback.m 2010-09-26 00:02:44 UTC (rev 7772)
@@ -126,6 +126,10 @@
for k = 1 : l_feedout
M21(k, feedout(k)) = 1;
endfor
+
+ ## NOTE: for-loops do NOT the same as
+ ## M12(feedin, 1:l_feedin) = fbsign;
+ ## M21(1:l_feedout, feedout) = 1;
M = [M11, M12;
M21, M22];
Modified: trunk/octave-forge/main/control/inst/@lti/issiso.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/issiso.m 2010-09-25 19:34:57 UTC (rev 7771)
+++ trunk/octave-forge/main/control/inst/@lti/issiso.m 2010-09-26 00:02:44 UTC (rev 7772)
@@ -30,8 +30,6 @@
print_usage ();
endif
- [p, m] = size (sys);
+ bool = all (size (sys) == 1);
- bool = (p*m == 1);
-
endfunction
\ No newline at end of file
Modified: trunk/octave-forge/main/control/inst/@lti/series.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/series.m 2010-09-25 19:34:57 UTC (rev 7771)
+++ trunk/octave-forge/main/control/inst/@lti/series.m 2010-09-26 00:02:44 UTC (rev 7772)
@@ -97,6 +97,10 @@
out_scl(k, out1(k)) = 1;
in_scl(in2(k), k) = 1;
endfor
+
+ ## NOTE: for-loop does NOT the same as
+ ## out_scl(1:l_out1, out1) = 1;
+ ## in_scl(in2, 1:l_out1) = 1;
scl = in_scl * out_scl;
Modified: trunk/octave-forge/main/control/inst/@lti/sminreal.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/sminreal.m 2010-09-25 19:34:57 UTC (rev 7771)
+++ trunk/octave-forge/main/control/inst/@lti/sminreal.m 2010-09-26 00:02:44 UTC (rev 7772)
@@ -47,19 +47,19 @@
function sys = sminreal (sys, tol = 0)
- if (nargin > 2) # sminreal () not possible (inside @lti)
+ if (nargin > 2) # sminreal () not possible (inside @lti)
print_usage ();
endif
- if (! isa (sys, "ss")) # conversion done by dssdata
+ if (! isa (sys, "ss")) # conversion done by dssdata
warning ("sminreal: system not in state-space form");
endif
- if (! (is_real_scalar (tol) && (tol >= 0)))
+ if (! (is_real_scalar (tol) && tol >= 0))
error ("sminreal: second argument is not a valid tolerance");
endif
- [a, b, c, d, e] = dssdata (sys);
+ [a, b, c, d, e] = dssdata (sys, []);
a = abs (a) > tol;
b = abs (b) > tol;
@@ -82,12 +82,12 @@
function c_idx = __controllable_states__ (a, b)
- n = rows (a); # number of states
- a = a & ! eye (n); # set diagonal entries to zero
+ n = rows (a); # number of states
+ a = a & ! eye (n); # set diagonal entries to zero
- c_vec = any (b, 2); # states directly controllable
- c_idx = find (c_vec); # indices of directly controllable states
- c_idx_new = 0; # any vector of length > 0 possible
+ c_vec = any (b, 2); # states directly controllable
+ c_idx = find (c_vec); # indices of directly controllable states
+ c_idx_new = 0; # any vector of length > 0 possible
while (all (length (c_idx) != [0, n] && length(c_idx_new) != 0))
Modified: trunk/octave-forge/main/control/inst/@tfpoly/__make_equally_long__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tfpoly/__make_equally_long__.m 2010-09-25 19:34:57 UTC (rev 7771)
+++ trunk/octave-forge/main/control/inst/@tfpoly/__make_equally_long__.m 2010-09-26 00:02:44 UTC (rev 7772)
@@ -23,19 +23,13 @@
## Created: September 2009
## Version: 0.1
-function [peq1, peq2] = __make_equally_long__ (p1, p2)
+function [a, b] = __make_equally_long__ (a, b)
- lp1 = length (p1.poly);
- lp2 = length (p2.poly);
- lmax = max (lp1, lp2);
+ la = length (a.poly);
+ lb = length (b.poly);
+ lmax = max (la, lb);
- leadzer1 = zeros (1, lmax - lp1);
- leadzer2 = zeros (1, lmax - lp2);
+ a.poly = [zeros(1, lmax-la), a.poly];
+ b.poly = [zeros(1, lmax-lb), b.poly];
- peq1 = p1;
- peq2 = p2;
-
- peq1.poly = [leadzer1, p1.poly];
- peq2.poly = [leadzer2, p2.poly];
-
endfunction
\ No newline at end of file
Modified: trunk/octave-forge/main/control/inst/@tfpoly/minus.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tfpoly/minus.m 2010-09-25 19:34:57 UTC (rev 7771)
+++ trunk/octave-forge/main/control/inst/@tfpoly/minus.m 2010-09-26 00:02:44 UTC (rev 7772)
@@ -22,7 +22,7 @@
## Created: September 2009
## Version: 0.1
-function p = minus (a, b)
+function a = minus (a, b)
if (! isa (a, "tfpoly"))
a = tfpoly (a);
@@ -34,10 +34,8 @@
[a, b] = __make_equally_long__ (a, b);
- p = tfpoly ();
+ a.poly = a.poly - b.poly;
- p.poly = a.poly - b.poly;
+ a = __remove_leading_zeros__ (a);
- p = __remove_leading_zeros__ (p);
-
endfunction
\ No newline at end of file
Modified: trunk/octave-forge/main/control/inst/@tfpoly/mpower.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tfpoly/mpower.m 2010-09-25 19:34:57 UTC (rev 7771)
+++ trunk/octave-forge/main/control/inst/@tfpoly/mpower.m 2010-09-26 00:02:44 UTC (rev 7772)
@@ -24,14 +24,14 @@
function p = mpower (a, b)
- if (! isa (b, "double") && ! isscalar (b))
+ if (! isa (b, "double") && ! is_real_scalar (b))
error ("tfpoly: mpower: power must be a natural number");
endif
- c = abs (round (b));
+ c = uint64 (b);
if (c != b)
- error ("tfpoly: mpower: power must be a natural number");
+ error ("tfpoly: mpower: power must be a positive integer");
endif
if (c == 0)
Modified: trunk/octave-forge/main/control/inst/@tfpoly/mtimes.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tfpoly/mtimes.m 2010-09-25 19:34:57 UTC (rev 7771)
+++ trunk/octave-forge/main/control/inst/@tfpoly/mtimes.m 2010-09-26 00:02:44 UTC (rev 7772)
@@ -22,7 +22,7 @@
## Created: September 2009
## Version: 0.1
-function p = mtimes (a, b)
+function a = mtimes (a, b)
if (! isa (a, "tfpoly"))
a = tfpoly (a);
@@ -32,8 +32,6 @@
b = tfpoly (b);
endif
- p = tfpoly ();
+ a.poly = conv (a.poly, b.poly);
- p.poly = conv (a.poly, b.poly);
-
endfunction
\ No newline at end of file
Modified: trunk/octave-forge/main/control/inst/@tfpoly/plus.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tfpoly/plus.m 2010-09-25 19:34:57 UTC (rev 7771)
+++ trunk/octave-forge/main/control/inst/@tfpoly/plus.m 2010-09-26 00:02:44 UTC (rev 7772)
@@ -22,7 +22,7 @@
## Created: September 2009
## Version: 0.1
-function p = plus (a, b)
+function a = plus (a, b)
if (! isa (a, "tfpoly"))
a = tfpoly (a);
@@ -34,10 +34,8 @@
[a, b] = __make_equally_long__ (a, b);
- p = tfpoly ();
+ a.poly = a.poly + b.poly;
- p.poly = a.poly + b.poly;
+ a = __remove_leading_zeros__ (a);
- p = __remove_leading_zeros__ (p);
-
endfunction
\ No newline at end of file
Modified: trunk/octave-forge/main/control/inst/@tfpoly/tfpoly.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tfpoly/tfpoly.m 2010-09-25 19:34:57 UTC (rev 7771)
+++ trunk/octave-forge/main/control/inst/@tfpoly/tfpoly.m 2010-09-26 00:02:44 UTC (rev 7772)
@@ -28,7 +28,7 @@
switch (nargin)
case 0
- p.poly = [];
+ p = struct ("poly", []);
p = class (p, "tfpoly");
case 1
Modified: trunk/octave-forge/main/control/inst/@tfpoly/uminus.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tfpoly/uminus.m 2010-09-25 19:34:57 UTC (rev 7771)
+++ trunk/octave-forge/main/control/inst/@tfpoly/uminus.m 2010-09-26 00:02:44 UTC (rev 7772)
@@ -22,10 +22,8 @@
## Created: September 2009
## Version: 0.1
-function p = uminus (a)
+function a = uminus (a)
- p = tfpoly ();
+ a.poly = -a.poly;
- p.poly = -a.poly;
-
endfunction
\ No newline at end of file
Modified: trunk/octave-forge/main/control/inst/@tfpoly/uplus.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tfpoly/uplus.m 2010-09-25 19:34:57 UTC (rev 7771)
+++ trunk/octave-forge/main/control/inst/@tfpoly/uplus.m 2010-09-26 00:02:44 UTC (rev 7772)
@@ -22,10 +22,8 @@
## Created: September 2009
## Version: 0.1
-function p = uplus (a)
+function a = uplus (a)
- p = tfpoly ();
+ a.poly = +a.poly;
- p.poly = +a.poly;
-
endfunction
\ No newline at end of file
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2010-10-01 22:27:39
|
Revision: 7791
http://octave.svn.sourceforge.net/octave/?rev=7791&view=rev
Author: paramaniac
Date: 2010-10-01 22:27:33 +0000 (Fri, 01 Oct 2010)
Log Message:
-----------
control: add support for descriptor state-space models
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/dlqr.m
trunk/octave-forge/main/control/inst/lqr.m
Modified: trunk/octave-forge/main/control/inst/dlqr.m
===================================================================
--- trunk/octave-forge/main/control/inst/dlqr.m 2010-10-01 22:16:52 UTC (rev 7790)
+++ trunk/octave-forge/main/control/inst/dlqr.m 2010-10-01 22:27:33 UTC (rev 7791)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009 Lukas F. Reichlin
+## Copyright (C) 2009 - 2010 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -20,6 +20,8 @@
## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{sys}, @var{q}, @var{r}, @var{s})
## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{a}, @var{b}, @var{q}, @var{r})
## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{s})
+## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{[]}, @var{e})
+## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{s}, @var{e})
## Linear-quadratic regulator for discrete-time systems.
##
## @strong{Inputs}
@@ -36,6 +38,8 @@
## Input weighting matrix.
## @item s
## Optional cross term matrix. If @var{s} is not specified, a zero matrix is assumed.
+## @item e
+## Optional descriptor matrix. If @var{e} is not specified, an identity matrix is assumed.
## @end table
##
## @strong{Outputs}
@@ -64,11 +68,11 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: November 2009
-## Version: 0.1
+## Version: 0.2
-function [g, x, l] = dlqr (a, b, q, r = [], s = [])
+function [g, x, l] = dlqr (a, b, q, r = [], s = [], e = [])
- if (nargin < 3 || nargin > 5)
+ if (nargin < 3 || nargin > 6)
print_usage ();
endif
@@ -76,7 +80,7 @@
s = r;
r = q;
q = b;
- [a, b, c, d, tsam] = ssdata (a);
+ [a, b, c, d, e, tsam] = dssdata (a, []);
elseif (nargin < 4)
print_usage ();
else
@@ -84,9 +88,9 @@
endif
if (tsam > 0)
- [x, l, g] = dare (a, b, q, r, s);
+ [x, l, g] = dare (a, b, q, r, s, e);
else
- [x, l, g] = care (a, b, q, r, s);
+ [x, l, g] = care (a, b, q, r, s, e);
endif
endfunction
\ No newline at end of file
Modified: trunk/octave-forge/main/control/inst/lqr.m
===================================================================
--- trunk/octave-forge/main/control/inst/lqr.m 2010-10-01 22:16:52 UTC (rev 7790)
+++ trunk/octave-forge/main/control/inst/lqr.m 2010-10-01 22:27:33 UTC (rev 7791)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009 Lukas F. Reichlin
+## Copyright (C) 2009 - 2010 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -20,6 +20,8 @@
## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{sys}, @var{q}, @var{r}, @var{s})
## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r})
## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{s})
+## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{[]}, @var{e})
+## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{s}, @var{e})
## Linear-quadratic regulator.
##
## @strong{Inputs}
@@ -36,6 +38,8 @@
## Input weighting matrix.
## @item s
## Optional cross term matrix. If @var{s} is not specified, a zero matrix is assumed.
+## @item e
+## Optional descriptor matrix. If @var{e} is not specified, an identity matrix is assumed.
## @end table
##
## @strong{Outputs}
@@ -65,11 +69,11 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: November 2009
-## Version: 0.1
+## Version: 0.2
-function [g, x, l] = lqr (a, b, q, r = [], s = [])
+function [g, x, l] = lqr (a, b, q, r = [], s = [], e = [])
- if (nargin < 3 || nargin > 5)
+ if (nargin < 3 || nargin > 6)
print_usage ();
endif
@@ -77,7 +81,7 @@
s = r;
r = q;
q = b;
- [a, b, c, d, tsam] = ssdata (a);
+ [a, b, c, d, e, tsam] = dssdata (a, []);
elseif (nargin < 4)
print_usage ();
else
@@ -85,9 +89,9 @@
endif
if (tsam > 0)
- [x, l, g] = dare (a, b, q, r, s);
+ [x, l, g] = dare (a, b, q, r, s, e);
else
- [x, l, g] = care (a, b, q, r, s);
+ [x, l, g] = care (a, b, q, r, s, e);
endif
endfunction
\ No newline at end of file
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2010-10-01 22:44:02
|
Revision: 7792
http://octave.svn.sourceforge.net/octave/?rev=7792&view=rev
Author: paramaniac
Date: 2010-10-01 22:43:56 +0000 (Fri, 01 Oct 2010)
Log Message:
-----------
control: support descriptor models
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/estim.m
trunk/octave-forge/main/control/inst/kalman.m
Modified: trunk/octave-forge/main/control/inst/estim.m
===================================================================
--- trunk/octave-forge/main/control/inst/estim.m 2010-10-01 22:27:33 UTC (rev 7791)
+++ trunk/octave-forge/main/control/inst/estim.m 2010-10-01 22:43:56 UTC (rev 7792)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009 Lukas F. Reichlin
+## Copyright (C) 2009 - 2010 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -43,7 +43,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: November 2009
-## Version: 0.1
+## Version: 0.2
function est = estim (sys, l, sensors = [], known = [])
@@ -55,7 +55,7 @@
error ("estim: first argument must be an LTI system");
endif
- [a, b, c, d, tsam] = ssdata (sys);
+ [a, b, c, d, e, tsam] = dssdata (sys, []);
if (isempty (sensors))
sensors = 1 : rows (c);
@@ -73,8 +73,9 @@
g = [b - l*d, l];
h = [c; eye(n)];
j = [d, zeros(p, p); zeros(n, m), zeros(n, p)];
+ ## k = e;
- est = ss (f, g, h, j, tsam);
+ est = dss (f, g, h, j, e, tsam);
## TODO: inname, stname, outname
Modified: trunk/octave-forge/main/control/inst/kalman.m
===================================================================
--- trunk/octave-forge/main/control/inst/kalman.m 2010-10-01 22:27:33 UTC (rev 7791)
+++ trunk/octave-forge/main/control/inst/kalman.m 2010-10-01 22:43:56 UTC (rev 7792)
@@ -68,7 +68,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: November 2009
-## Version: 0.2
+## Version: 0.3
function [est, k, x] = kalman (sys, q, r, s = [], sensors = [], known = [])
@@ -78,7 +78,7 @@
print_usage ();
endif
- [a, b, c, d] = ssdata (sys);
+ [a, b, c, d, e] = dssdata (sys, []);
if (isempty (sensors))
sensors = 1 : rows (c);
@@ -95,14 +95,14 @@
rbar = r + h*q*h.';
sbar = g * q*h.';
else
- rbar = r + h*s + s.'*h.' + h*q*h.';
+ rbar = r + h*q*h.'+ h*s + s.'*h.';
sbar = g * (q*h.' + s);
endif
if (isct (sys))
- [x, l, k] = care (a.', c.', g*q*g.', rbar, sbar);
+ [x, l, k] = care (a.', c.', g*q*g.', rbar, sbar, e.');
else
- [x, l, k] = dare (a.', c.', g*q*g.', rbar, sbar);
+ [x, l, k] = dare (a.', c.', g*q*g.', rbar, sbar, e.');
endif
k = k.';
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|
|
From: <par...@us...> - 2012-06-21 07:41:15
|
Revision: 10650
http://octave.svn.sourceforge.net/octave/?rev=10650&view=rev
Author: paramaniac
Date: 2012-06-21 07:41:04 +0000 (Thu, 21 Jun 2012)
Log Message:
-----------
control: test dimensions that are impossible to handle by subsequent lqr/dlqr calls, use lqe in example "Anderson"
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/Anderson.m
trunk/octave-forge/main/control/inst/dlqe.m
trunk/octave-forge/main/control/inst/lqe.m
Modified: trunk/octave-forge/main/control/inst/Anderson.m
===================================================================
--- trunk/octave-forge/main/control/inst/Anderson.m 2012-06-21 07:16:50 UTC (rev 10649)
+++ trunk/octave-forge/main/control/inst/Anderson.m 2012-06-21 07:41:04 UTC (rev 10650)
@@ -47,7 +47,7 @@
V = 1;
F = lqr (G, Q, R)
-L = lqr (G.', W, V).'
+L = lqe (G, W, V)
% Coprime Factorization using Balanced Truncation Approximation
figure (1)
Modified: trunk/octave-forge/main/control/inst/dlqe.m
===================================================================
--- trunk/octave-forge/main/control/inst/dlqe.m 2012-06-21 07:16:50 UTC (rev 10649)
+++ trunk/octave-forge/main/control/inst/dlqe.m 2012-06-21 07:41:04 UTC (rev 10650)
@@ -92,8 +92,14 @@
if (isempty (g))
[~, p, e] = dlqr (a.', c.', q, r, s); # dlqe (a, [], c, q, r, s), g=I
+ elseif (columns (g) != rows (q) || ! issquare (q))
+ error ("dlqe: matrices g(%dx%d) and q(%dx%d) have incompatible dimensions", \
+ rows (g), columns (g), rows (q), columns (q));
elseif (isempty (s))
[~, p, e] = dlqr (a.', c.', g*q*g.', r);
+ elseif (columns (g) != rows (s))
+ error ("dlqe: matrices g(%dx%d) and s(%dx%d) have incompatible dimensions", \
+ rows (g), columns (g), rows (s), columns (s));
else
[~, p, e] = dlqr (a.', c.', g*q*g.', r, g*s);
endif
Modified: trunk/octave-forge/main/control/inst/lqe.m
===================================================================
--- trunk/octave-forge/main/control/inst/lqe.m 2012-06-21 07:16:50 UTC (rev 10649)
+++ trunk/octave-forge/main/control/inst/lqe.m 2012-06-21 07:41:04 UTC (rev 10650)
@@ -89,8 +89,14 @@
[l, p, e] = lqr (a.', g, c, q); # lqe (sys, q, r, s), g=I, works like lqr (sys.', q, r, s).'
elseif (isempty (g))
[l, p, e] = lqr (a.', c.', q, r, s); # lqe (a, [], c, q, r, s), g=I, works like lqr (a.', c.', q, r, s).'
+ elseif (columns (g) != rows (q) || ! issquare (q))
+ error ("lqe: matrices g(%dx%d) and q(%dx%d) have incompatible dimensions", \
+ rows (g), columns (g), rows (q), columns (q));
elseif (isempty (s))
[l, p, e] = lqr (a.', c.', g*q*g.', r);
+ elseif (columns (g) != rows (s))
+ error ("lqe: matrices g(%dx%d) and s(%dx%d) have incompatible dimensions", \
+ rows (g), columns (g), rows (s), columns (s));
else
[l, p, e] = lqr (a.', c.', g*q*g.', r, g*s);
endif
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2010-10-04 07:05:54
|
Revision: 7799
http://octave.svn.sourceforge.net/octave/?rev=7799&view=rev
Author: paramaniac
Date: 2010-10-04 07:05:48 +0000 (Mon, 04 Oct 2010)
Log Message:
-----------
control: simplify display routines
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@lti/display.m
trunk/octave-forge/main/control/inst/@ss/display.m
trunk/octave-forge/main/control/inst/@tf/display.m
Added Paths:
-----------
trunk/octave-forge/main/control/inst/__labels__.m
Removed Paths:
-------------
trunk/octave-forge/main/control/inst/__mark_empty_names__.m
Modified: trunk/octave-forge/main/control/inst/@lti/display.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/display.m 2010-10-03 11:49:15 UTC (rev 7798)
+++ trunk/octave-forge/main/control/inst/@lti/display.m 2010-10-04 07:05:48 UTC (rev 7799)
@@ -24,10 +24,8 @@
function display (ltisys)
- tsam = ltisys.tsam;
-
- if (tsam > 0)
- disp (sprintf("Sampling time: %g s", tsam));
+ if (ltisys.tsam > 0)
+ disp (sprintf ("Sampling time: %g s", ltisys.tsam));
endif
endfunction
\ No newline at end of file
Modified: trunk/octave-forge/main/control/inst/@ss/display.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/display.m 2010-10-03 11:49:15 UTC (rev 7798)
+++ trunk/octave-forge/main/control/inst/@ss/display.m 2010-10-04 07:05:48 UTC (rev 7799)
@@ -27,28 +27,10 @@
[inname, outname, tsam] = __lti_data__ (sys.lti);
stname = sys.stname;
- m = numel (inname);
- p = numel (outname);
- n = numel (stname);
+ inname = __labels__ (inname, "u");
+ outname = __labels__ (outname, "y");
+ stname = __labels__ (stname, "x");
- if (m == 0 || isequal ("", inname{:}))
- inname = strseq ("u", 1:m);
- else
- inname = __mark_empty_names__ (inname);
- endif
-
- if (p == 0 || isequal ("", outname{:}))
- outname = strseq ("y", 1:p);
- else
- outname = __mark_empty_names__ (outname);
- endif
-
- if (n == 0 || isequal ("", stname{:}))
- stname = strseq ("x", 1:n);
- else
- stname = __mark_empty_names__ (stname);
- endif
-
disp ("");
if (! isempty (sys.e))
Modified: trunk/octave-forge/main/control/inst/@tf/display.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tf/display.m 2010-10-03 11:49:15 UTC (rev 7798)
+++ trunk/octave-forge/main/control/inst/@tf/display.m 2010-10-04 07:05:48 UTC (rev 7799)
@@ -26,21 +26,9 @@
[inname, outname] = __lti_data__ (sys.lti);
- m = numel (inname);
- p = numel (outname);
+ [inname, m] = __labels__ (inname, "u");
+ [outname, p] = __labels__ (outname, "y");
- if (m == 0 || isequal ("", inname{:}))
- inname = strseq ("u", 1:m);
- else
- inname = __mark_empty_names__ (inname);
- endif
-
- if (p == 0 || isequal ("", outname{:}))
- outname = strseq ("y", 1:p);
- else
- outname = __mark_empty_names__ (outname);
- endif
-
disp ("");
for nu = 1 : m
Added: trunk/octave-forge/main/control/inst/__labels__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__labels__.m (rev 0)
+++ trunk/octave-forge/main/control/inst/__labels__.m 2010-10-04 07:05:48 UTC (rev 7799)
@@ -0,0 +1,41 @@
+## Copyright (C) 2009 - 2010 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 this program. If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## Return default labels if cell "name" contains only empty strings.
+## If not, check whether individual strings of the cell "name" are
+## empty and mark them with "?". Used by display routines.
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: October 2009
+## Version: 0.2
+
+function [name, n] = __labels__ (name, variable = "x")
+
+ n = numel (name);
+
+ if (n == 0 || isequal ("", name{:}))
+ name = strseq (variable, 1:n);
+ else
+ for k = 1 : n
+ if (isempty (name{k}))
+ name{k} = "?";
+ endif
+ endfor
+ endif
+
+endfunction
\ No newline at end of file
Deleted: trunk/octave-forge/main/control/inst/__mark_empty_names__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__mark_empty_names__.m 2010-10-03 11:49:15 UTC (rev 7798)
+++ trunk/octave-forge/main/control/inst/__mark_empty_names__.m 2010-10-04 07:05:48 UTC (rev 7799)
@@ -1,34 +0,0 @@
-## Copyright (C) 2009 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 this program. If not, see <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## Check whether a string of the cell "name" is empty and mark them
-## with "?". Used by display routines.
-
-## Author: Lukas Reichlin <luk...@gm...>
-## Created: October 2009
-## Version: 0.1
-
-function name = __mark_empty_names__ (name)
-
- for k = 1 : numel (name)
- if (isempty (name{k}))
- name{k} = "?";
- endif
- endfor
-
-endfunction
\ No newline at end of file
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|
|
From: <par...@us...> - 2010-10-04 21:21:09
|
Revision: 7801
http://octave.svn.sourceforge.net/octave/?rev=7801&view=rev
Author: paramaniac
Date: 2010-10-04 21:21:03 +0000 (Mon, 04 Oct 2010)
Log Message:
-----------
control: doc fixes
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/care.m
trunk/octave-forge/main/control/inst/dare.m
Modified: trunk/octave-forge/main/control/inst/care.m
===================================================================
--- trunk/octave-forge/main/control/inst/care.m 2010-10-04 07:22:43 UTC (rev 7800)
+++ trunk/octave-forge/main/control/inst/care.m 2010-10-04 21:21:03 UTC (rev 7801)
@@ -18,8 +18,10 @@
## -*- texinfo -*-
## @deftypefn {Function File} {[@var{x}, @var{l}, @var{g}] =} care (@var{a}, @var{b}, @var{q}, @var{r})
## @deftypefnx {Function File} {[@var{x}, @var{l}, @var{g}] =} care (@var{a}, @var{b}, @var{q}, @var{r}, @var{s})
+## @deftypefnx {Function File} {[@var{x}, @var{l}, @var{g}] =} care (@var{a}, @var{b}, @var{q}, @var{r}, @var{[]}, @var{e})
+## @deftypefnx {Function File} {[@var{x}, @var{l}, @var{g}] =} care (@var{a}, @var{b}, @var{q}, @var{r}, @var{s}, @var{e})
## Solve continuous-time algebraic Riccati equation (ARE).
-## Uses SLICOT SB02OD by courtesy of NICONET e.V.
+## Uses SLICOT SB02OD and SG02AD by courtesy of NICONET e.V.
## <http://www.slicot.org>
##
## @strong{Inputs}
@@ -34,6 +36,8 @@
## Real matrix (m-by-m).
## @item s
## Optional real matrix (n-by-m). If @var{s} is not specified, a zero matrix is assumed.
+## @item e
+## Optional descriptor matrix (n-by-n). If @var{e} is not specified, an identity matrix is assumed.
## @end table
##
## @strong{Outputs}
@@ -48,11 +52,11 @@
##
## @example
## @group
-## -1
-## A'X + XA - XBR B'X + Q = 0
+## -1
+## A'X + XA - XB R B'X + Q = 0
##
## -1
-## A'X + XA - (XB + S) R (XB + S)' + Q = 0
+## A'X + XA - (XB + S) R (B'X + S') + Q = 0
##
## -1
## G = R B'X
@@ -61,6 +65,20 @@
## G = R (B'X + S')
##
## L = eig (A - B*G)
+##
+## -1
+## A'XE + E'XA - E'XB R B'XE + Q = 0
+##
+## -1
+## A'XE + E'XA - (E'XB + S) R (B'XE + S') + Q = 0
+##
+## -1
+## G = R B'XE
+##
+## -1
+## G = R (B'XE + S)
+##
+## L = eig (A - B*G, E)
## @end group
## @end example
## @seealso{dare, lqr, dlqr, kalman}
@@ -121,18 +139,18 @@
if (isempty (e))
if (isempty (s))
[x, l] = slsb02od (a, b, q, r, b, false, false);
- g = r \ (b.'*x); # gain matrix
+ g = r \ (b.'*x); # gain matrix
else
[x, l] = slsb02od (a, b, q, r, s, false, true);
- g = r \ (b.'*x + s.'); # gain matrix
+ g = r \ (b.'*x + s.'); # gain matrix
endif
else
if (isempty (s))
[x, l] = slsg02ad (a, e, b, q, r, b, false, false);
- g = r \ (e.'*x*b).';
+ g = r \ (b.'*x*e); # gain matrix
else
[x, l] = slsg02ad (a, e, b, q, r, s, false, true);
- g = r \ (e.'*x*b + s).';
+ g = r \ (b.'*x*e + s.'); # gain matrix
endif
endif
Modified: trunk/octave-forge/main/control/inst/dare.m
===================================================================
--- trunk/octave-forge/main/control/inst/dare.m 2010-10-04 07:22:43 UTC (rev 7800)
+++ trunk/octave-forge/main/control/inst/dare.m 2010-10-04 21:21:03 UTC (rev 7801)
@@ -18,8 +18,10 @@
## -*- texinfo -*-
## @deftypefn {Function File} {[@var{x}, @var{l}, @var{g}] =} dare (@var{a}, @var{b}, @var{q}, @var{r})
## @deftypefnx {Function File} {[@var{x}, @var{l}, @var{g}] =} dare (@var{a}, @var{b}, @var{q}, @var{r}, @var{s})
+## @deftypefnx {Function File} {[@var{x}, @var{l}, @var{g}] =} dare (@var{a}, @var{b}, @var{q}, @var{r}, @var{[]}, @var{e})
+## @deftypefnx {Function File} {[@var{x}, @var{l}, @var{g}] =} dare (@var{a}, @var{b}, @var{q}, @var{r}, @var{s}, @var{e})
## Solve discrete-time algebraic Riccati equation (ARE).
-## Uses SLICOT SB02OD by courtesy of NICONET e.V.
+## Uses SLICOT SB02OD and SG02AD by courtesy of NICONET e.V.
## <http://www.slicot.org>
##
## @strong{Inputs}
@@ -34,6 +36,8 @@
## Real matrix (m-by-m).
## @item s
## Optional real matrix (n-by-m). If @var{s} is not specified, a zero matrix is assumed.
+## @item e
+## Optional descriptor matrix (n-by-n). If @var{e} is not specified, an identity matrix is assumed.
## @end table
##
## @strong{Outputs}
@@ -52,7 +56,7 @@
## A'XA - X - A'XB (B'XB + R) B'XA + Q = 0
##
## -1
-## A'XA - X - (A'XB + S) (B'XB + R) (A'XB + S)' + Q = 0
+## A'XA - X - (A'XB + S) (B'XB + R) (B'XA + S') + Q = 0
##
## -1
## G = (B'XB + R) B'XA
@@ -61,6 +65,20 @@
## G = (B'XB + R) (B'XA + S')
##
## L = eig (A - B*G)
+##
+## -1
+## A'XA - E'XE - A'XB (B'XB + R) B'XA + Q = 0
+##
+## -1
+## A'XA - E'XE - (A'XB + S) (B'XB + R) (B'XA + S') + Q = 0
+##
+## -1
+## G = (B'XB + R) B'XA
+##
+## -1
+## G = (B'XB + R) (B'XA + S')
+##
+## L = eig (A - B*G, E)
## @end group
## @end example
## @seealso{care, lqr, dlqr, kalman}
@@ -129,10 +147,10 @@
else
if (isempty (s))
[x, l] = slsg02ad (a, e, b, q, r, b, true, false);
- g = (r + b.'*x*b) \ (a.'*x*b).';
+ g = (r + b.'*x*b) \ (b.'*x*a); # gain matrix
else
[x, l] = slsg02ad (a, e, b, q, r, s, true, true);
- g = (r + b.'*x*b) \ (a.'*x*b + s).';
+ g = (r + b.'*x*b) \ (b.'*x*a + s.'); # gain matrix
endif
endif
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2010-10-16 20:46:26
|
Revision: 7849
http://octave.svn.sourceforge.net/octave/?rev=7849&view=rev
Author: paramaniac
Date: 2010-10-16 20:46:18 +0000 (Sat, 16 Oct 2010)
Log Message:
-----------
control: doc fixes
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@lti/feedback.m
trunk/octave-forge/main/control/inst/@lti/lft.m
trunk/octave-forge/main/control/inst/@lti/mconnect.m
trunk/octave-forge/main/control/inst/@lti/parallel.m
trunk/octave-forge/main/control/inst/@lti/series.m
trunk/octave-forge/main/control/inst/@tf/tf.m
trunk/octave-forge/main/control/inst/augw.m
trunk/octave-forge/main/control/inst/care.m
trunk/octave-forge/main/control/inst/dare.m
trunk/octave-forge/main/control/inst/dlqr.m
trunk/octave-forge/main/control/inst/dlyap.m
trunk/octave-forge/main/control/inst/dlyapchol.m
trunk/octave-forge/main/control/inst/dss.m
trunk/octave-forge/main/control/inst/h2syn.m
trunk/octave-forge/main/control/inst/hinfsyn.m
trunk/octave-forge/main/control/inst/initial.m
trunk/octave-forge/main/control/inst/isstabilizable.m
trunk/octave-forge/main/control/inst/kalman.m
trunk/octave-forge/main/control/inst/lqr.m
trunk/octave-forge/main/control/inst/lyap.m
trunk/octave-forge/main/control/inst/lyapchol.m
trunk/octave-forge/main/control/inst/margin.m
trunk/octave-forge/main/control/inst/mixsyn.m
trunk/octave-forge/main/control/inst/place.m
trunk/octave-forge/main/control/inst/rlocus.m
Modified: trunk/octave-forge/main/control/inst/@lti/feedback.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/feedback.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/@lti/feedback.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -23,6 +23,8 @@
## @deftypefnx {Function File} {@var{sys} =} feedback (@var{sys1}, @var{sys2}, @var{feedin}, @var{feedout})
## @deftypefnx {Function File} {@var{sys} =} feedback (@var{sys1}, @var{sys2}, @var{feedin}, @var{feedout}, @var{"+"})
## Feedback connection of two LTI models.
+##
+## @strong{Block Diagram}
## @example
## @group
## u + +--------+ y
Modified: trunk/octave-forge/main/control/inst/@lti/lft.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/lft.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/@lti/lft.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -40,6 +40,7 @@
## Resulting LTI model.
## @end table
##
+## @strong{Block Diagram}
## @example
## @group
## .............sys..............
Modified: trunk/octave-forge/main/control/inst/@lti/mconnect.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/mconnect.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/@lti/mconnect.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -38,6 +38,7 @@
## Interconnected system.
## @end table
##
+## @strong{Example}
## @example
## @group
## Solve the system equations of
Modified: trunk/octave-forge/main/control/inst/@lti/parallel.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/parallel.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/@lti/parallel.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -18,6 +18,8 @@
## -*- texinfo -*-
## @deftypefn{Function File} {@var{sys} =} parallel (@var{sys1}, @var{sys2})
## Parallel connection of two LTI systems.
+##
+## @strong{Block Diagram}
## @example
## @group
## ..........................
Modified: trunk/octave-forge/main/control/inst/@lti/series.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/series.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/@lti/series.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -19,6 +19,8 @@
## @deftypefn {Function File} {@var{sys} =} series (@var{sys1}, @var{sys2})
## @deftypefnx {Function File} {@var{sys} =} series (@var{sys1}, @var{sys2}, @var{outputs1}, @var{inputs2})
## Series connection of two LTI models.
+##
+## @strong{Block Diagram}
## @example
## @group
## .....................................
Modified: trunk/octave-forge/main/control/inst/@tf/tf.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tf/tf.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/@tf/tf.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -45,10 +45,27 @@
## Transfer function model.
## @end table
##
+## @strong{Example}
## @example
## @group
-## s = tf ("s");
-## G = 1/(s+1)
+## octave:1> s = tf ("s");
+## octave:2> G = 1/(s+1)
+##
+## Transfer function "G" from input "u1" to output ...
+## 1
+## y1: -----
+## s + 1
+##
+## octave:3> z = tf ("z", 0.2);
+## octave:4> H = 0.095/(z-0.9)
+##
+## Transfer function "H" from input "u1" to output ...
+## 0.095
+## y1: -------
+## z - 0.9
+##
+## Sampling time: 0.2 s
+## octave:5>
## @end group
## @end example
##
Modified: trunk/octave-forge/main/control/inst/augw.m
===================================================================
--- trunk/octave-forge/main/control/inst/augw.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/augw.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -41,6 +41,7 @@
## State-space model of augmented plant.
## @end table
##
+## @strong{Block Diagram}
## @example
## @group
##
Modified: trunk/octave-forge/main/control/inst/care.m
===================================================================
--- trunk/octave-forge/main/control/inst/care.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/care.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -50,6 +50,7 @@
## Corresponding gain matrix (m-by-n).
## @end table
##
+## @strong{Equations}
## @example
## @group
## -1
Modified: trunk/octave-forge/main/control/inst/dare.m
===================================================================
--- trunk/octave-forge/main/control/inst/dare.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/dare.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -50,6 +50,7 @@
## Corresponding gain matrix (m-by-n).
## @end table
##
+## @strong{Equations}
## @example
## @group
## -1
Modified: trunk/octave-forge/main/control/inst/dlqr.m
===================================================================
--- trunk/octave-forge/main/control/inst/dlqr.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/dlqr.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -52,6 +52,7 @@
## Closed-loop poles.
## @end table
##
+## @strong{Equations}
## @example
## @group
## x[k+1] = A x[k] + B u[k], x[0] = x0
Modified: trunk/octave-forge/main/control/inst/dlyap.m
===================================================================
--- trunk/octave-forge/main/control/inst/dlyap.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/dlyap.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -23,6 +23,7 @@
## Uses SLICOT SB03MD, SB04QD and SG03AD by courtesy of NICONET e.V.
## <http://www.slicot.org>
##
+## @strong{Equations}
## @example
## @group
## AXA' - X + B = 0 (Lyapunov Equation)
Modified: trunk/octave-forge/main/control/inst/dlyapchol.m
===================================================================
--- trunk/octave-forge/main/control/inst/dlyapchol.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/dlyapchol.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -22,6 +22,7 @@
## Uses SLICOT SB03OD and SG03BD by courtesy of NICONET e.V.
## <http://www.slicot.org>
##
+## @strong{Equations}
## @example
## @group
## A U' U A' - U' U + B B' = 0 (Lyapunov Equation)
Modified: trunk/octave-forge/main/control/inst/dss.m
===================================================================
--- trunk/octave-forge/main/control/inst/dss.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/dss.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -48,6 +48,7 @@
## Descriptor state-space model.
## @end table
##
+## @strong{Equations}
## @example
## @group
## .
Modified: trunk/octave-forge/main/control/inst/h2syn.m
===================================================================
--- trunk/octave-forge/main/control/inst/h2syn.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/h2syn.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -45,6 +45,7 @@
## H-2 norm of @var{N}.
## @end table
##
+## @strong{Block Diagram}
## @example
## @group
##
Modified: trunk/octave-forge/main/control/inst/hinfsyn.m
===================================================================
--- trunk/octave-forge/main/control/inst/hinfsyn.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/hinfsyn.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -49,6 +49,7 @@
## L-infinity norm of @var{N}.
## @end table
##
+## @strong{Block Diagram}
## @example
## @group
##
Modified: trunk/octave-forge/main/control/inst/initial.m
===================================================================
--- trunk/octave-forge/main/control/inst/initial.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/initial.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -51,7 +51,7 @@
## State trajectories array. Has length(t) rows and as many columns as states.
## @end table
##
-## @seealso{impulse, lsim, step}
+## @strong{Example}
## @example
## @group
## .
@@ -60,6 +60,8 @@
## Discrete Time: x[k+1] = A x[k] , y[k] = C x[k] , x[0] = x0
## @end group
## @end example
+##
+## @seealso{impulse, lsim, step}
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
Modified: trunk/octave-forge/main/control/inst/isstabilizable.m
===================================================================
--- trunk/octave-forge/main/control/inst/isstabilizable.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/isstabilizable.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -56,9 +56,9 @@
## System is stabilizable.
## @end table
##
+## @strong{Method}
## @example
## @group
-## Method
## * Calculate staircase form (SLICOT AB01OD)
## * Extract unobservable part of state transition matrix
## * Calculate eigenvalues of unobservable part
Modified: trunk/octave-forge/main/control/inst/kalman.m
===================================================================
--- trunk/octave-forge/main/control/inst/kalman.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/kalman.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -49,6 +49,7 @@
## Solution of the Riccati equation.
## @end table
##
+## @strong{Block Diagram}
## @example
## @group
## u +-------+ ^
Modified: trunk/octave-forge/main/control/inst/lqr.m
===================================================================
--- trunk/octave-forge/main/control/inst/lqr.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/lqr.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -52,6 +52,7 @@
## Closed-loop poles.
## @end table
##
+## @strong{Equations}
## @example
## @group
## .
Modified: trunk/octave-forge/main/control/inst/lyap.m
===================================================================
--- trunk/octave-forge/main/control/inst/lyap.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/lyap.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -23,6 +23,7 @@
## Uses SLICOT SB03MD, SB04MD and SG03AD by courtesy of NICONET e.V.
## <http://www.slicot.org>
##
+## @strong{Equations}
## @example
## @group
## AX + XA' + B = 0 (Lyapunov Equation)
Modified: trunk/octave-forge/main/control/inst/lyapchol.m
===================================================================
--- trunk/octave-forge/main/control/inst/lyapchol.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/lyapchol.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -22,6 +22,7 @@
## Uses SLICOT SB03OD and SG03BD by courtesy of NICONET e.V.
## <http://www.slicot.org>
##
+## @strong{Equations}
## @example
## @group
## A U' U + U' U A' + B B' = 0 (Lyapunov Equation)
Modified: trunk/octave-forge/main/control/inst/margin.m
===================================================================
--- trunk/octave-forge/main/control/inst/margin.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/margin.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -43,8 +43,7 @@
## Frequency for the phase margin (in rad/s).
## @end table
##
-## @seealso{roots}
-##
+## @strong{Equations}
## @example
## @group
## CONTINUOUS SYSTEMS
@@ -115,6 +114,8 @@
## = ( e z + d z + c z + b z + a ) / ( z )
## @end group
## @end example
+##
+## @seealso{roots}
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
Modified: trunk/octave-forge/main/control/inst/mixsyn.m
===================================================================
--- trunk/octave-forge/main/control/inst/mixsyn.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/mixsyn.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -49,6 +49,7 @@
## L-infinity norm of @var{N}.
## @end table
##
+## @strong{Block Diagram}
## @example
## @group
##
Modified: trunk/octave-forge/main/control/inst/place.m
===================================================================
--- trunk/octave-forge/main/control/inst/place.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/place.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -55,6 +55,7 @@
## eigenvalue assignment algorithm.
## @end table
##
+## @strong{Note}
## @example
## @group
## Place is also suitable to design estimator gains:
Modified: trunk/octave-forge/main/control/inst/rlocus.m
===================================================================
--- trunk/octave-forge/main/control/inst/rlocus.m 2010-10-16 09:41:22 UTC (rev 7848)
+++ trunk/octave-forge/main/control/inst/rlocus.m 2010-10-16 20:46:18 UTC (rev 7849)
@@ -41,6 +41,7 @@
## Gains for real axis break points.
## @end table
##
+## @strong{Block Diagram}
## @example
## @group
## u + +---+ +------+ y
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2010-10-16 21:35:53
|
Revision: 7850
http://octave.svn.sourceforge.net/octave/?rev=7850&view=rev
Author: paramaniac
Date: 2010-10-16 21:35:46 +0000 (Sat, 16 Oct 2010)
Log Message:
-----------
control: simplify constructor for state-space models
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@ss/ss.m
Added Paths:
-----------
trunk/octave-forge/main/control/inst/__adjust_ss_data__.m
Modified: trunk/octave-forge/main/control/inst/@ss/ss.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/ss.m 2010-10-16 20:46:18 UTC (rev 7849)
+++ trunk/octave-forge/main/control/inst/@ss/ss.m 2010-10-16 21:35:46 UTC (rev 7850)
@@ -52,7 +52,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: September 2009
-## Version: 0.2
+## Version: 0.3
function sys = ss (a = [], b = [], c = [], d = [], varargin)
@@ -60,12 +60,13 @@
## inferiorto ("frd");
superiorto ("zpk", "tf", "double");
- argc = 0;
- e = [];
+ argc = 0; # initialize argument count
+ tsam = 0; # initialize sampling time
switch (nargin)
- case 0 # ss ()
- ## tsam = -1; # nothing is done here, but "case 0" needed to prevent "otherwise"
+ case {0, 3, 4} # ss (), ss (a, b, c), ss (a, b, c, d)
+ ## nothing is done here
+ ## case needed to prevent "otherwise"
case 1
if (isa (a, "ss")) # already in ss form
@@ -75,12 +76,9 @@
[sys, alti] = __sys2ss__ (a);
sys.lti = alti; # preserve lti properties
return;
- elseif (is_real_matrix (a)) # static gain
+ elseif (is_real_matrix (a)) # static gain sys = ss (5)
d = a;
a = [];
- b = zeros (0, columns (d));
- c = zeros (rows (d), 0);
- ## tsam = -1;
else
print_usage ();
endif
@@ -88,43 +86,25 @@
case 2
print_usage ();
- case 3 # a, b, c without d ss (a, b, c)
- d = zeros (rows (c), columns (b));
- tsam = 0;
-
- case 4 # continuous system ss (a, b, c, d), ss ([], [], [], d)
- [b, c] = __gain_check__ (b, c, d);
- tsam = 0;
-
- otherwise # default case
- [b, c] = __gain_check__ (b, c, d);
- argc = numel (varargin);
-
+ otherwise # default case sys = ss (a, b, c, d, "prop1, "val1", ...)
+ argc = numel (varargin); # number of additional arguments after d
if (issample (varargin{1}, 0)) # sys = ss (a, b, c, d, tsam, "prop1, "val1", ...)
tsam = varargin{1};
argc--;
if (argc > 0)
varargin = varargin(2:end);
endif
- else # sys = ss (a, b, c, d, "prop1, "val1", ...)
- tsam = 0;
endif
-
endswitch
-
- if (isempty (a)) # static system
- tsam = -1;
- a = []; # avoid [](nx0) or [](0xn)
- endif
-
+ [a, b, c, d, tsam] = __adjust_ss_data__ (a, b, c, d, tsam);
[p, m, n] = __ss_dim__ (a, b, c, d);
stname = repmat ({""}, n, 1);
ssdata = struct ("a", a, "b", b,
"c", c, "d", d,
- "e", e,
+ "e", [],
"stname", {stname});
ltisys = lti (p, m, tsam);
@@ -136,15 +116,3 @@
endif
endfunction
-
-
-function [b, c] = __gain_check__ (b, c, d)
-
- ## catch the case sys = ss ([], [], [], d)
- ## don't forget to set tsam = -1
- if (isempty (b) && isempty (c))
- b = zeros (0, columns (d));
- c = zeros (rows(d), 0);
- endif
-
-endfunction
\ No newline at end of file
Added: trunk/octave-forge/main/control/inst/__adjust_ss_data__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__adjust_ss_data__.m (rev 0)
+++ trunk/octave-forge/main/control/inst/__adjust_ss_data__.m 2010-10-16 21:35:46 UTC (rev 7850)
@@ -0,0 +1,43 @@
+## Copyright (C) 2010 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 adjusting SS model data.
+## Used by @ss/ss.m, others possibly follow.
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: October 2010
+## Version: 0.1
+
+function [a, b, c, d, tsam] = __adjust_ss_data__ (a, b, c, d, tsam);
+
+ if (isempty (a)) # static system
+ a = []; # avoid [](nx0) or [](0xn)
+ tsam = -1;
+ endif
+
+ if (isempty (d)) # ss (a, b, c), ss (a, b, c, [], ...)
+ d = zeros (rows (c), columns (b));
+ endif
+
+ if (isempty (b) && isempty (c)) # sys = ss ([], [], [], d)
+ b = zeros (0, columns (d));
+ c = zeros (rows(d), 0);
+ tsam = -1;
+ endif
+
+endfunction
\ No newline at end of file
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|
|
From: <par...@us...> - 2010-10-16 22:10:25
|
Revision: 7851
http://octave.svn.sourceforge.net/octave/?rev=7851&view=rev
Author: paramaniac
Date: 2010-10-16 22:10:19 +0000 (Sat, 16 Oct 2010)
Log Message:
-----------
control: support case sys = ss (a, b)
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@ss/ss.m
trunk/octave-forge/main/control/inst/__adjust_ss_data__.m
Modified: trunk/octave-forge/main/control/inst/@ss/ss.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/ss.m 2010-10-16 21:35:46 UTC (rev 7850)
+++ trunk/octave-forge/main/control/inst/@ss/ss.m 2010-10-16 22:10:19 UTC (rev 7851)
@@ -18,6 +18,7 @@
## -*- texinfo -*-
## @deftypefn {Function File} {@var{sys} =} ss (@var{sys})
## @deftypefnx {Function File} {@var{sys} =} ss (@var{d})
+## @deftypefnx {Function File} {@var{sys} =} ss (@var{a}, @var{b})
## @deftypefnx {Function File} {@var{sys} =} ss (@var{a}, @var{b}, @var{c})
## @deftypefnx {Function File} {@var{sys} =} ss (@var{a}, @var{b}, @var{c}, @var{d}, @dots{})
## @deftypefnx {Function File} {@var{sys} =} ss (@var{a}, @var{b}, @var{c}, @var{d}, @var{tsam}, @dots{})
@@ -31,11 +32,12 @@
## Input matrix (n-by-m).
## @item c
## Measurement matrix (p-by-n).
+## If @var{c} is empty @code{[]} or not specified, an identity matrix is assumed.
## @item d
## Feedthrough matrix (p-by-m).
+## If @var{d} is empty @code{[]} or not specified, a zero matrix is assumed.
## @item tsam
-## Sampling time. If @var{tsam} is not specified, a continuous-time
-## model is assumed.
+## Sampling time. If @var{tsam} is not specified, a continuous-time model is assumed.
## @item @dots{}
## Optional pairs of properties and values.
## Type @command{set (ss)} for more information.
@@ -47,6 +49,43 @@
## State-space model.
## @end table
##
+## @strong{Example}
+## @example
+## @group
+## octave:1> a = [1 2 3; 4 5 6; 7 8 9];
+## octave:2> b = [10; 11; 12];
+## octave:3> stname = {"V", "A", "kJ"};
+## octave:4> sys = ss (a, b, [], [], "stname", stname)
+##
+## sys.a =
+## V A kJ
+## V 1 2 3
+## A 4 5 6
+## kJ 7 8 9
+##
+## sys.b =
+## u1
+## V 10
+## A 11
+## kJ 12
+##
+## sys.c =
+## V A kJ
+## y1 1 0 0
+## y2 0 1 0
+## y3 0 0 1
+##
+## sys.d =
+## u1
+## y1 0
+## y2 0
+## y3 0
+##
+## Continuous-time model.
+## octave:5>
+## @end group
+## @end example
+##
## @seealso{tf, dss}
## @end deftypefn
@@ -64,7 +103,7 @@
tsam = 0; # initialize sampling time
switch (nargin)
- case {0, 3, 4} # ss (), ss (a, b, c), ss (a, b, c, d)
+ case {0, 2, 3, 4} # ss (), ss (a, b), ss (a, b, c), ss (a, b, c, d)
## nothing is done here
## case needed to prevent "otherwise"
@@ -83,9 +122,6 @@
print_usage ();
endif
- case 2
- print_usage ();
-
otherwise # default case sys = ss (a, b, c, d, "prop1, "val1", ...)
argc = numel (varargin); # number of additional arguments after d
if (issample (varargin{1}, 0)) # sys = ss (a, b, c, d, tsam, "prop1, "val1", ...)
Modified: trunk/octave-forge/main/control/inst/__adjust_ss_data__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__adjust_ss_data__.m 2010-10-16 21:35:46 UTC (rev 7850)
+++ trunk/octave-forge/main/control/inst/__adjust_ss_data__.m 2010-10-16 22:10:19 UTC (rev 7851)
@@ -30,8 +30,13 @@
tsam = -1;
endif
- if (isempty (d)) # ss (a, b, c), ss (a, b, c, [], ...)
- d = zeros (rows (c), columns (b));
+ if (isempty (d))
+ if (isempty (c)) # ss (a, b), ss (a, b, [], [], ...)
+ c = eye (size (a));
+ d = zeros (rows (a), columns (b));
+ else # ss (a, b, c), ss (a, b, c, [], ...)
+ d = zeros (rows (c), columns (b));
+ endif
endif
if (isempty (b) && isempty (c)) # sys = ss ([], [], [], d)
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|
|
From: <par...@us...> - 2010-10-16 22:45:42
|
Revision: 7852
http://octave.svn.sourceforge.net/octave/?rev=7852&view=rev
Author: paramaniac
Date: 2010-10-16 22:45:35 +0000 (Sat, 16 Oct 2010)
Log Message:
-----------
control: doc fixes
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/augw.m
trunk/octave-forge/main/control/inst/h2syn.m
trunk/octave-forge/main/control/inst/hinfsyn.m
trunk/octave-forge/main/control/inst/mixsyn.m
Modified: trunk/octave-forge/main/control/inst/augw.m
===================================================================
--- trunk/octave-forge/main/control/inst/augw.m 2010-10-16 22:10:19 UTC (rev 7851)
+++ trunk/octave-forge/main/control/inst/augw.m 2010-10-16 22:45:35 UTC (rev 7852)
@@ -17,7 +17,7 @@
## -*- texinfo -*-
## @deftypefn{Function File} {@var{P} =} augw (@var{G}, @var{W1}, @var{W2}, @var{W3})
-## Extend plant for stacked S/KS/T problem. Subsequently, the robust control problem
+## Extend plant for stacked S/KS/T problem. Subsequently, the robust control problem
## can be solved by h2syn or hinfsyn.
##
## @strong{Inputs}
@@ -25,16 +25,19 @@
## @item G
## LTI model of plant.
## @item W1
-## LTI model of performance weight. Bounds the largest singular values of sensitivity @var{S}.
-## Model must be empty, SISO or of appropriate size.
+## LTI model of performance weight. Bounds the largest singular values of sensitivity @var{S}.
+## Model must be empty @code{[]}, SISO or of appropriate size.
## @item W2
-## LTI model to penalize large control inputs. Bounds the largest singular values of @var{KS}.
-## Model must be empty, SISO or of appropriate size.
+## LTI model to penalize large control inputs. Bounds the largest singular values of @var{KS}.
+## Model must be empty @code{[]}, SISO or of appropriate size.
## @item W3
-## LTI model of robustness and noise sensitivity weight. Bounds the largest singular values of
-## complementary sensitivity @var{T}. Model must be empty, SISO or of appropriate size.
+## LTI model of robustness and noise sensitivity weight. Bounds the largest singular values of
+## complementary sensitivity @var{T}. Model must be empty @code{[]}, SISO or of appropriate size.
## @end table
##
+## All inputs must be proper/realizable.
+## Scalars, vectors and matrices are possible instead of LTI models.
+##
## @strong{Outputs}
## @table @var
## @item P
Modified: trunk/octave-forge/main/control/inst/h2syn.m
===================================================================
--- trunk/octave-forge/main/control/inst/h2syn.m 2010-10-16 22:10:19 UTC (rev 7851)
+++ trunk/octave-forge/main/control/inst/h2syn.m 2010-10-16 22:45:35 UTC (rev 7852)
@@ -24,14 +24,14 @@
## @strong{Inputs}
## @table @var
## @item P
-## Generalized plant.
+## Generalized plant. Must be a proper/realizable LTI model.
## @item nmeas
-## Number of measured outputs e. The last nmeas outputs of @var{P} are connected to the
-## inputs of controller @var{K}. The remaining outputs z (indices 1 to p-nmeas) are used
+## Number of measured outputs e. The last nmeas outputs of @var{P} are connected to the
+## inputs of controller @var{K}. The remaining outputs z (indices 1 to p-nmeas) are used
## to calculate the H-2 norm.
## @item ncon
-## Number of controlled inputs u. The last ncon inputs of @var{P} are connected to the
-## outputs of controller @var{K}. The remaining inputs r (indices 1 to m-ncon) are excited
+## Number of controlled inputs u. The last ncon inputs of @var{P} are connected to the
+## outputs of controller @var{K}. The remaining inputs r (indices 1 to m-ncon) are excited
## by a harmonic test signal.
## @end table
##
Modified: trunk/octave-forge/main/control/inst/hinfsyn.m
===================================================================
--- trunk/octave-forge/main/control/inst/hinfsyn.m 2010-10-16 22:10:19 UTC (rev 7851)
+++ trunk/octave-forge/main/control/inst/hinfsyn.m 2010-10-16 22:45:35 UTC (rev 7852)
@@ -25,17 +25,17 @@
## @strong{Inputs}
## @table @var
## @item P
-## Generalized plant.
+## Generalized plant. Must be a proper/realizable LTI model.
## @item nmeas
-## Number of measured outputs e. The last nmeas outputs of @var{P} are connected to the
-## inputs of controller @var{K}. The remaining outputs z (indices 1 to p-nmeas) are used
+## Number of measured outputs e. The last nmeas outputs of @var{P} are connected to the
+## inputs of controller @var{K}. The remaining outputs z (indices 1 to p-nmeas) are used
## to calculate the H-infinity norm.
## @item ncon
-## Number of controlled inputs u. The last ncon inputs of @var{P} are connected to the
-## outputs of controller @var{K}. The remaining inputs r (indices 1 to m-ncon) are excited
+## Number of controlled inputs u. The last ncon inputs of @var{P} are connected to the
+## outputs of controller @var{K}. The remaining inputs r (indices 1 to m-ncon) are excited
## by a harmonic test signal.
## @item gmax
-## The maximum value of the H-infinity norm of @var{N}. It is assumed that @var{gmax} is
+## The maximum value of the H-infinity norm of @var{N}. It is assumed that @var{gmax} is
## sufficiently large so that the controller is admissible.
## @end table
##
Modified: trunk/octave-forge/main/control/inst/mixsyn.m
===================================================================
--- trunk/octave-forge/main/control/inst/mixsyn.m 2010-10-16 22:10:19 UTC (rev 7851)
+++ trunk/octave-forge/main/control/inst/mixsyn.m 2010-10-16 22:45:35 UTC (rev 7852)
@@ -17,11 +17,11 @@
## -*- texinfo -*-
## @deftypefn{Function File} {[@var{K}, @var{N}, @var{gamma}] =} mixsyn (@var{G}, @var{W1}, @var{W2}, @var{W3}, @dots{})
-## Solve stacked S/KS/T H-inf problem. Bound the largest singular values
-## of S (for performance), K S (to penalize large inputs) and
-## T (for robustness and to avoid sensitivity to noise).
+## Solve stacked S/KS/T H-inf problem. Bound the largest singular values
+## of @var{S} (for performance), @var{K S} (to penalize large inputs) and
+## @var{T} (for robustness and to avoid sensitivity to noise).
## In other words, the inputs r are excited by a harmonic test signal.
-## Then the algorithm tries to find a controller K which minimizes
+## Then the algorithm tries to find a controller @var{K} which minimizes
## the H-infinity norm calculated from the outputs z.
##
## @strong{Inputs}
@@ -29,16 +29,21 @@
## @item G
## LTI model of plant.
## @item W1
-## LTI model of performance weight. Bounds the largest singular values of sensitivity @var{S}.
-## Model must be empty or proper, SISO or of appropriate size.
+## LTI model of performance weight. Bounds the largest singular values of sensitivity @var{S}.
+## Model must be empty @code{[]}, SISO or of appropriate size.
## @item W2
-## LTI model to penalize large control inputs. Bounds the largest singular values of @var{KS}.
-## Model must be empty or proper, SISO or of appropriate size.
+## LTI model to penalize large control inputs. Bounds the largest singular values of @var{KS}.
+## Model must be empty @code{[]}, SISO or of appropriate size.
## @item W3
-## LTI model of robustness and noise sensitivity weight. Bounds the largest singular values of
-## complementary sensitivity @var{T}. Model must be empty or proper, SISO or of appropriate size.
+## LTI model of robustness and noise sensitivity weight. Bounds the largest singular values of
+## complementary sensitivity @var{T}. Model must be empty @code{[]}, SISO or of appropriate size.
+## @item @dots{}
+## Optional arguments of @command {hinfsyn}. Type @command{help hinfsyn} for more information.
## @end table
##
+## All inputs must be proper/realizable.
+## Scalars, vectors and matrices are possible instead of LTI models.
+##
## @strong{Outputs}
## @table @var
## @item K
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2010-10-16 23:54:25
|
Revision: 7854
http://octave.svn.sourceforge.net/octave/?rev=7854&view=rev
Author: paramaniac
Date: 2010-10-16 23:54:18 +0000 (Sat, 16 Oct 2010)
Log Message:
-----------
control: improve check for label names
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@lti/set.m
trunk/octave-forge/main/control/inst/@ss/__set__.m
Added Paths:
-----------
trunk/octave-forge/main/control/inst/__adjust_labels__.m
Removed Paths:
-------------
trunk/octave-forge/main/control/inst/__check_name_numel__.m
Modified: trunk/octave-forge/main/control/inst/@lti/set.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/set.m 2010-10-16 23:10:35 UTC (rev 7853)
+++ trunk/octave-forge/main/control/inst/@lti/set.m 2010-10-16 23:54:18 UTC (rev 7854)
@@ -60,10 +60,10 @@
switch (prop)
case {"inname", "inputname"}
- sys.inname = __check_name_numel__ (val, m);
+ sys.inname = __adjust_labels__ (val, m);
case {"outname", "outputname"}
- sys.outname = __check_name_numel__ (val, p);
+ sys.outname = __adjust_labels__ (val, p);
case {"tsam", "ts"}
if (issample (val))
Modified: trunk/octave-forge/main/control/inst/@ss/__set__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/__set__.m 2010-10-16 23:10:35 UTC (rev 7853)
+++ trunk/octave-forge/main/control/inst/@ss/__set__.m 2010-10-16 23:54:18 UTC (rev 7854)
@@ -51,7 +51,7 @@
case {"stname", "statename"}
n = rows (sys.a);
- sys.stname = __check_name_numel__ (val, n);
+ sys.stname = __adjust_labels__ (val, n);
otherwise
error ("ss: set: invalid property name");
Added: trunk/octave-forge/main/control/inst/__adjust_labels__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__adjust_labels__.m (rev 0)
+++ trunk/octave-forge/main/control/inst/__adjust_labels__.m 2010-10-16 23:54:18 UTC (rev 7854)
@@ -0,0 +1,38 @@
+## Copyright (C) 2009, 2010 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 -*-
+## Check whether a cell contains the required number of strings.
+## Used by set and __set__.
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: October 2009
+## Version: 0.3
+
+function name = __adjust_labels__ (name, req_len)
+
+ if (iscell (name))
+ name = reshape (name, [], 1);
+ else # catch the siso case,
+ name = {name}; # e.g. sys = set (sys, "inname", "u_1")
+ endif
+
+ if (! iscellstr (name) || numel (name) != req_len)
+ error ("lti: set: cell must contain %d strings", req_len);
+ endif
+
+endfunction
\ No newline at end of file
Deleted: trunk/octave-forge/main/control/inst/__check_name_numel__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__check_name_numel__.m 2010-10-16 23:10:35 UTC (rev 7853)
+++ trunk/octave-forge/main/control/inst/__check_name_numel__.m 2010-10-16 23:54:18 UTC (rev 7854)
@@ -1,38 +0,0 @@
-## Copyright (C) 2009, 2010 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 -*-
-## Check whether a cell contains the required number of strings.
-## Used by set and __set__.
-
-## Author: Lukas Reichlin <luk...@gm...>
-## Created: October 2009
-## Version: 0.2
-
-function name = __check_name_numel__ (name, req_len)
-
- if (! iscell (name)) # catch the siso case,
- name = {name}; # e.g. sys = set (sys, "inname", "u_1")
- endif
-
- name = reshape (name, [], 1);
-
- if (numel (name) != req_len)
- error ("lti: set: cell must contain %d strings", req_len);
- endif
-
-endfunction
\ No newline at end of file
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2010-10-22 18:33:01
|
Revision: 7867
http://octave.svn.sourceforge.net/octave/?rev=7867&view=rev
Author: paramaniac
Date: 2010-10-22 18:32:54 +0000 (Fri, 22 Oct 2010)
Log Message:
-----------
doc fix
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/h2syn.m
trunk/octave-forge/main/control/inst/hinfsyn.m
Modified: trunk/octave-forge/main/control/inst/h2syn.m
===================================================================
--- trunk/octave-forge/main/control/inst/h2syn.m 2010-10-21 14:39:32 UTC (rev 7866)
+++ trunk/octave-forge/main/control/inst/h2syn.m 2010-10-22 18:32:54 UTC (rev 7867)
@@ -31,7 +31,7 @@
## to calculate the H-2 norm.
## @item ncon
## Number of controlled inputs u. The last ncon inputs of @var{P} are connected to the
-## outputs of controller @var{K}. The remaining inputs r (indices 1 to m-ncon) are excited
+## outputs of controller @var{K}. The remaining inputs w (indices 1 to m-ncon) are excited
## by a harmonic test signal.
## @end table
##
@@ -53,7 +53,7 @@
## K 2
##
## +--------+
-## r ----->| |-----> z
+## w ----->| |-----> z
## | P(s) |
## u +---->| |-----+ e
## | +--------+ |
@@ -63,7 +63,7 @@
## +--------+
##
## +--------+
-## r ----->| N(s) |-----> z
+## w ----->| N(s) |-----> z
## +--------+
## @end group
## @end example
Modified: trunk/octave-forge/main/control/inst/hinfsyn.m
===================================================================
--- trunk/octave-forge/main/control/inst/hinfsyn.m 2010-10-21 14:39:32 UTC (rev 7866)
+++ trunk/octave-forge/main/control/inst/hinfsyn.m 2010-10-22 18:32:54 UTC (rev 7867)
@@ -32,7 +32,7 @@
## to calculate the H-infinity norm.
## @item ncon
## Number of controlled inputs u. The last ncon inputs of @var{P} are connected to the
-## outputs of controller @var{K}. The remaining inputs r (indices 1 to m-ncon) are excited
+## outputs of controller @var{K}. The remaining inputs w (indices 1 to m-ncon) are excited
## by a harmonic test signal.
## @item gmax
## The maximum value of the H-infinity norm of @var{N}. It is assumed that @var{gmax} is
@@ -57,7 +57,7 @@
## K inf
##
## +--------+
-## r ----->| |-----> z
+## w ----->| |-----> z
## | P(s) |
## u +---->| |-----+ e
## | +--------+ |
@@ -67,7 +67,7 @@
## +--------+
##
## +--------+
-## r ----->| N(s) |-----> z
+## w ----->| N(s) |-----> z
## +--------+
## @end group
## @end example
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2010-10-27 20:37:13
|
Revision: 7884
http://octave.svn.sourceforge.net/octave/?rev=7884&view=rev
Author: paramaniac
Date: 2010-10-27 20:37:07 +0000 (Wed, 27 Oct 2010)
Log Message:
-----------
control: include zeros and poles in frequency vector when plotting (thanks to JP Keller)
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@ss/__sys2frd__.m
trunk/octave-forge/main/control/inst/@tf/__sys2frd__.m
trunk/octave-forge/main/control/inst/__frequency_response__.m
Added Paths:
-----------
trunk/octave-forge/main/control/inst/__frequency_vector__.m
Removed Paths:
-------------
trunk/octave-forge/main/control/inst/__frequency_range__.m
Modified: trunk/octave-forge/main/control/inst/@ss/__sys2frd__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/__sys2frd__.m 2010-10-27 09:34:34 UTC (rev 7883)
+++ trunk/octave-forge/main/control/inst/@ss/__sys2frd__.m 2010-10-27 20:37:07 UTC (rev 7884)
@@ -25,8 +25,7 @@
function [retsys, retlti] = __sys2frd__ (sys, w = [])
if (isempty (w)) # case sys = frd (sys)
- [dec_min, dec_max] = __frequency_range__ (sys);
- w = logspace (dec_min, dec_max, 500);
+ w = __frequency_vector__ (sys);
endif
H = __freqresp__ (sys, w);
Modified: trunk/octave-forge/main/control/inst/@tf/__sys2frd__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tf/__sys2frd__.m 2010-10-27 09:34:34 UTC (rev 7883)
+++ trunk/octave-forge/main/control/inst/@tf/__sys2frd__.m 2010-10-27 20:37:07 UTC (rev 7884)
@@ -25,8 +25,7 @@
function [retsys, retlti] = __sys2frd__ (sys, w = [])
if (isempty (w)) # case sys = frd (sys)
- [dec_min, dec_max] = __frequency_range__ (sys);
- w = logspace (dec_min, dec_max, 500);
+ w = __frequency_vector__ (sys);
endif
H = __freqresp__ (sys, w);
Deleted: trunk/octave-forge/main/control/inst/__frequency_range__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__frequency_range__.m 2010-10-27 09:34:34 UTC (rev 7883)
+++ trunk/octave-forge/main/control/inst/__frequency_range__.m 2010-10-27 20:37:07 UTC (rev 7884)
@@ -1,122 +0,0 @@
-## Copyright (C) 1996, 2000, 2004, 2005, 2006, 2007
-## Auburn University. All rights reserved.
-##
-##
-## 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; see the file COPYING. If not, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{dec_min}, @var{dec_max}] =} __frequency_range__ (@var{sys})
-## Get default range of frequencies based on cutoff frequencies of system
-## poles and zeros.
-## Frequency range is the interval
-## @iftex
-## @tex
-## $ [ 10^{w_{min}}, 10^{w_{max}} ] $
-## @end tex
-## @end iftex
-## @ifinfo
-## [10^@var{wmin}, 10^@var{wmax}]
-## @end ifinfo
-##
-## Used internally in @command{margin} (@command{bode}, @command{nyquist})
-## @end deftypefn
-
-## Adapted-By: Lukas Reichlin <luk...@gm...>
-## Date: October 2009
-## Version: 0.1
-
-function [dec_min, dec_max] = __frequency_range__ (sys, wbounds = "std")
-
- zer = zero (sys);
- pol = pole (sys);
- tsam = get (sys, "tsam");
- discrete = (tsam > 0); # static gains (tsam = -1) are continuous
-
- ## make sure zer, pol are row vectors
- pol = reshape (pol, 1, []);
- zer = reshape (zer, 1, []);
-
- ## check for natural frequencies away from omega = 0
- if (discrete)
- ## The 2nd conditions prevents log(0) in the next log command
- iiz = find (abs(zer-1) > norm(zer)*eps && abs(zer) > norm(zer)*eps);
- iip = find (abs(pol-1) > norm(pol)*eps && abs(pol) > norm(pol)*eps);
-
- ## avoid dividing empty matrices, it would work but looks nasty
- if (! isempty (iiz))
- czer = log (zer(iiz))/tsam;
- else
- czer = [];
- endif
-
- if (! isempty (iip))
- cpol = log (pol(iip))/tsam;
- else
- cpol = [];
- endif
- else
- ## continuous
- iip = find (abs(pol) > norm(pol)*eps);
- iiz = find (abs(zer) > norm(zer)*eps);
-
- if (! isempty (zer))
- czer = zer(iiz);
- else
- czer = [];
- endif
- if (! isempty (pol))
- cpol = pol(iip);
- else
- cpol = [];
- endif
- endif
-
- if (isempty (iip) && isempty (iiz))
- ## no poles/zeros away from omega = 0; pick defaults
- dec_min = 0; # -1
- dec_max = 2; # 3
- else
- dec_min = floor (log10 (min (abs ([cpol, czer]))));
- dec_max = ceil (log10 (max (abs ([cpol, czer]))));
- endif
-
- ## expand to show the entirety of the "interesting" portion of the plot
- switch (wbounds)
- case "std" # standard
- if (dec_min == dec_max)
- dec_min -= 2;
- dec_max += 2;
- else
- dec_min--;
- dec_max++;
- endif
- case "ext" # extended (for nyquist)
- if (any (abs (pol) < sqrt (eps))) # look for integrators
- ## dec_min -= 0.5;
- dec_max += 2;
- else
- dec_min -= 2;
- dec_max += 2;
- endif
- otherwise
- error ("frequency_range: second argument invalid");
- endswitch
-
- ## run discrete frequency all the way to pi
- if (discrete)
- dec_max = log10 (pi/tsam);
- endif
-
-endfunction
Modified: trunk/octave-forge/main/control/inst/__frequency_response__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__frequency_response__.m 2010-10-27 09:34:34 UTC (rev 7883)
+++ trunk/octave-forge/main/control/inst/__frequency_response__.m 2010-10-27 20:37:07 UTC (rev 7884)
@@ -17,7 +17,7 @@
## -*- texinfo -*-
## Return frequency response H and frequency vector w.
-## If w is empty, it will be calculated by __frequency_range__.
+## If w is empty, it will be calculated by __frequency_vector__.
## Author: Lukas Reichlin <luk...@gm...>
## Created: November 2009
@@ -40,15 +40,10 @@
else
warning ("frequency_response: second argument w is ignored");
endif
- else
- ## find interesting frequency range w if not specified
- if (isempty (w))
- ## begin plot at 10^dec_min, end plot at 10^dec_max [rad/s]
- [dec_min, dec_max] = __frequency_range__ (sys, wbounds);
- w = logspace (dec_min, dec_max, 500); # [rad/s]
- elseif (! is_real_vector (w))
- error ("frequency_response: second argument w must be a vector of frequencies");
- endif
+ elseif (isempty (w)) # find interesting frequency range w if not specified
+ w = __frequency_vector__ (sys, wbounds);
+ elseif (! is_real_vector (w))
+ error ("frequency_response: second argument w must be a vector of frequencies");
endif
## frequency response
Copied: trunk/octave-forge/main/control/inst/__frequency_vector__.m (from rev 7883, trunk/octave-forge/main/control/inst/__frequency_range__.m)
===================================================================
--- trunk/octave-forge/main/control/inst/__frequency_vector__.m (rev 0)
+++ trunk/octave-forge/main/control/inst/__frequency_vector__.m 2010-10-27 20:37:07 UTC (rev 7884)
@@ -0,0 +1,130 @@
+## Copyright (C) 1996, 2000, 2004, 2005, 2006, 2007
+## Auburn University. All rights reserved.
+##
+##
+## 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; see the file COPYING. If not, see
+## <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} {@var{w} =} __frequency_vector__ (@var{sys})
+## Get default range of frequencies based on cutoff frequencies of system
+## poles and zeros.
+## Frequency range is the interval
+## @iftex
+## @tex
+## $ [ 10^{w_{min}}, 10^{w_{max}} ] $
+## @end tex
+## @end iftex
+## @ifinfo
+## [10^@var{wmin}, 10^@var{wmax}]
+## @end ifinfo
+##
+## Used by @command{__frequency_response__}
+## @end deftypefn
+
+## Adapted-By: Lukas Reichlin <luk...@gm...>
+## Date: October 2009
+## Version: 0.2
+
+function w = __frequency_vector__ (sys, wbounds = "std")
+
+ zer = zero (sys);
+ pol = pole (sys);
+ tsam = get (sys, "tsam");
+ discrete = (tsam > 0); # static gains (tsam = -1) are continuous
+
+ ## make sure zer, pol are row vectors
+ pol = reshape (pol, 1, []);
+ zer = reshape (zer, 1, []);
+
+ ## check for natural frequencies away from omega = 0
+ if (discrete)
+ ## The 2nd conditions prevents log(0) in the next log command
+ iiz = find (abs(zer-1) > norm(zer)*eps && abs(zer) > norm(zer)*eps);
+ iip = find (abs(pol-1) > norm(pol)*eps && abs(pol) > norm(pol)*eps);
+
+ ## avoid dividing empty matrices, it would work but looks nasty
+ if (! isempty (iiz))
+ czer = log (zer(iiz))/tsam;
+ else
+ czer = [];
+ endif
+
+ if (! isempty (iip))
+ cpol = log (pol(iip))/tsam;
+ else
+ cpol = [];
+ endif
+ else
+ ## continuous
+ iip = find (abs(pol) > norm(pol)*eps);
+ iiz = find (abs(zer) > norm(zer)*eps);
+
+ if (! isempty (zer))
+ czer = zer(iiz);
+ else
+ czer = [];
+ endif
+ if (! isempty (pol))
+ cpol = pol(iip);
+ else
+ cpol = [];
+ endif
+ endif
+
+ if (isempty (iip) && isempty (iiz))
+ ## no poles/zeros away from omega = 0; pick defaults
+ dec_min = 0; # -1
+ dec_max = 2; # 3
+ else
+ dec_min = floor (log10 (min (abs ([cpol, czer]))));
+ dec_max = ceil (log10 (max (abs ([cpol, czer]))));
+ endif
+
+ ## expand to show the entirety of the "interesting" portion of the plot
+ switch (wbounds)
+ case "std" # standard
+ if (dec_min == dec_max)
+ dec_min -= 2;
+ dec_max += 2;
+ else
+ dec_min--;
+ dec_max++;
+ endif
+ case "ext" # extended (for nyquist)
+ if (any (abs (pol) < sqrt (eps))) # look for integrators
+ ## dec_min -= 0.5;
+ dec_max += 2;
+ else
+ dec_min -= 2;
+ dec_max += 2;
+ endif
+ otherwise
+ error ("frequency_range: second argument invalid");
+ endswitch
+
+ ## run discrete frequency all the way to pi
+ if (discrete)
+ dec_max = log10 (pi/tsam);
+ endif
+
+ ## create frequency vector
+ zp = [abs(zer), abs(pol)];
+ idx = find (zp > 10^dec_min & zp < 10^dec_max);
+ zp = zp(idx);
+
+ w = logspace (dec_min, dec_max, 500);
+ w = unique ([w, zp]); # unique also sorts frequency vector
+
+endfunction
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|
|
From: <par...@us...> - 2010-11-22 20:12:57
|
Revision: 7939
http://octave.svn.sourceforge.net/octave/?rev=7939&view=rev
Author: paramaniac
Date: 2010-11-22 20:12:51 +0000 (Mon, 22 Nov 2010)
Log Message:
-----------
control: display system name in various plot commands
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/__time_response__.m
trunk/octave-forge/main/control/inst/bode.m
trunk/octave-forge/main/control/inst/bodemag.m
trunk/octave-forge/main/control/inst/impulse.m
trunk/octave-forge/main/control/inst/initial.m
trunk/octave-forge/main/control/inst/lsim.m
trunk/octave-forge/main/control/inst/nichols.m
trunk/octave-forge/main/control/inst/nyquist.m
trunk/octave-forge/main/control/inst/pzmap.m
trunk/octave-forge/main/control/inst/rlocus.m
trunk/octave-forge/main/control/inst/sigma.m
trunk/octave-forge/main/control/inst/step.m
Modified: trunk/octave-forge/main/control/inst/__time_response__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__time_response__.m 2010-11-22 17:11:24 UTC (rev 7938)
+++ trunk/octave-forge/main/control/inst/__time_response__.m 2010-11-22 20:12:51 UTC (rev 7939)
@@ -22,7 +22,7 @@
## Created: October 2009
## Version: 0.2
-function [y, t, x_arr] = __time_response__ (sys, resptype, plotflag, tfinal, dt, x0)
+function [y, t, x_arr] = __time_response__ (sys, resptype, plotflag, tfinal, dt, x0, sysname)
if (! isa (sys, "ss"))
sys = ss (sys); # sys must be proper
@@ -64,7 +64,7 @@
switch (resptype)
case "initial"
- str = "Response to Initial Conditions";
+ str = ["Response of ", sysname, " to Initial Conditions"];
yfinal = zeros (p, 1);
## preallocate memory
@@ -86,7 +86,7 @@
endfor
case "step"
- str = "Step Response";
+ str = ["Step Response of ", sysname];
yfinal = dcgain (sys);
## preallocate memory
@@ -108,7 +108,7 @@
endfor
case "impulse"
- str = "Impulse Response";
+ str = ["Impulse Response of ", sysname];
yfinal = zeros (p, m);
## preallocate memory
Modified: trunk/octave-forge/main/control/inst/bode.m
===================================================================
--- trunk/octave-forge/main/control/inst/bode.m 2010-11-22 17:11:24 UTC (rev 7938)
+++ trunk/octave-forge/main/control/inst/bode.m 2010-11-22 20:12:51 UTC (rev 7939)
@@ -80,7 +80,7 @@
semilogx (w, mag_db)
axis (ax_vec_mag)
grid ("on")
- title ("Bode Diagram")
+ title (["Bode Diagram of ", inputname(1)])
ylabel ("Magnitude [dB]")
subplot (2, 1, 2)
Modified: trunk/octave-forge/main/control/inst/bodemag.m
===================================================================
--- trunk/octave-forge/main/control/inst/bodemag.m 2010-11-22 17:11:24 UTC (rev 7938)
+++ trunk/octave-forge/main/control/inst/bodemag.m 2010-11-22 20:12:51 UTC (rev 7939)
@@ -74,7 +74,7 @@
semilogx (w, mag_db)
axis (ax_vec_mag)
grid ("on")
- title ("Bode Magnitude Diagram")
+ title (["Bode Magnitude Diagram of ", inputname(1)])
xlabel (xl_str)
ylabel ("Magnitude [dB]")
else
Modified: trunk/octave-forge/main/control/inst/impulse.m
===================================================================
--- trunk/octave-forge/main/control/inst/impulse.m 2010-11-22 17:11:24 UTC (rev 7938)
+++ trunk/octave-forge/main/control/inst/impulse.m 2010-11-22 20:12:51 UTC (rev 7939)
@@ -64,7 +64,7 @@
print_usage ();
endif
- [y, t, x] = __time_response__ (sys, "impulse", ! nargout, tfinal, dt);
+ [y, t, x] = __time_response__ (sys, "impulse", ! nargout, tfinal, dt, [], inputname(1));
if (nargout)
y_r = y;
Modified: trunk/octave-forge/main/control/inst/initial.m
===================================================================
--- trunk/octave-forge/main/control/inst/initial.m 2010-11-22 17:11:24 UTC (rev 7938)
+++ trunk/octave-forge/main/control/inst/initial.m 2010-11-22 20:12:51 UTC (rev 7939)
@@ -76,7 +76,7 @@
print_usage ();
endif
- [y, t, x] = __time_response__ (sys, "initial", ! nargout, tfinal, dt, x0);
+ [y, t, x] = __time_response__ (sys, "initial", ! nargout, tfinal, dt, x0, inputname(1));
if (nargout)
y_r = y;
Modified: trunk/octave-forge/main/control/inst/lsim.m
===================================================================
--- trunk/octave-forge/main/control/inst/lsim.m 2010-11-22 17:11:24 UTC (rev 7938)
+++ trunk/octave-forge/main/control/inst/lsim.m 2010-11-22 20:12:51 UTC (rev 7939)
@@ -136,7 +136,7 @@
endfor
if (! nargout) # plot information
- str = "Linear Simulation Results";
+ str = ["Linear Simulation Results of ", inputname(1)];
outname = get (sys, "outname");
outname = __labels__ (outname, "y_");
Modified: trunk/octave-forge/main/control/inst/nichols.m
===================================================================
--- trunk/octave-forge/main/control/inst/nichols.m 2010-11-22 17:11:24 UTC (rev 7938)
+++ trunk/octave-forge/main/control/inst/nichols.m 2010-11-22 20:12:51 UTC (rev 7939)
@@ -68,7 +68,7 @@
plot (pha, mag_db)
axis (ax_vec)
grid ("on")
- title ("Nichols Chart")
+ title (["Nichols Chart of ", inputname(1)])
xlabel ("Phase [deg]")
ylabel ("Magnitude [dB]")
else
Modified: trunk/octave-forge/main/control/inst/nyquist.m
===================================================================
--- trunk/octave-forge/main/control/inst/nyquist.m 2010-11-22 17:11:24 UTC (rev 7938)
+++ trunk/octave-forge/main/control/inst/nyquist.m 2010-11-22 20:12:51 UTC (rev 7939)
@@ -67,7 +67,7 @@
plot (re, im, "b", re, -im, "r")
axis (ax_vec)
grid ("on")
- title ("Nyquist Diagram")
+ title (["Nyquist Diagram of ", inputname(1)])
xlabel ("Real Axis")
ylabel ("Imaginary Axis")
else
Modified: trunk/octave-forge/main/control/inst/pzmap.m
===================================================================
--- trunk/octave-forge/main/control/inst/pzmap.m 2010-11-22 17:11:24 UTC (rev 7938)
+++ trunk/octave-forge/main/control/inst/pzmap.m 2010-11-22 20:12:51 UTC (rev 7939)
@@ -49,7 +49,7 @@
plot (pol_re, pol_im, "xb", zer_re, zer_im, "sr")
grid ("on")
- title ("Pole-Zero Map")
+ title (["Pole-Zero Map of ", inputname(1)])
xlabel ("Real Axis")
ylabel ("Imaginary Axis")
else
Modified: trunk/octave-forge/main/control/inst/rlocus.m
===================================================================
--- trunk/octave-forge/main/control/inst/rlocus.m 2010-11-22 17:11:24 UTC (rev 7938)
+++ trunk/octave-forge/main/control/inst/rlocus.m 2010-11-22 20:12:51 UTC (rev 7939)
@@ -294,7 +294,7 @@
legend ("boxon", 2);
grid ("on");
axis (axlim);
- title ("Root Locus");
+ title (["Root Locus of ", inputname(1)]);
xlabel (sprintf ("Real Axis gain = [%g, %g]", gvec(1), gvec(ngain)));
ylabel ("Imaginary Axis");
set (gcf (), "visible", "on");
Modified: trunk/octave-forge/main/control/inst/sigma.m
===================================================================
--- trunk/octave-forge/main/control/inst/sigma.m 2010-11-22 17:11:24 UTC (rev 7938)
+++ trunk/octave-forge/main/control/inst/sigma.m 2010-11-22 20:12:51 UTC (rev 7939)
@@ -92,7 +92,7 @@
## plot results
semilogx (w, sv_db, "b")
axis (ax_vec)
- title ("Singular Values")
+ title (["Singular Values of ", inputname(1)])
xlabel (xl_str)
ylabel ("Singular Values [dB]")
grid ("on")
Modified: trunk/octave-forge/main/control/inst/step.m
===================================================================
--- trunk/octave-forge/main/control/inst/step.m 2010-11-22 17:11:24 UTC (rev 7938)
+++ trunk/octave-forge/main/control/inst/step.m 2010-11-22 20:12:51 UTC (rev 7939)
@@ -64,7 +64,7 @@
print_usage ();
endif
- [y, t, x] = __time_response__ (sys, "step", ! nargout, tfinal, dt);
+ [y, t, x] = __time_response__ (sys, "step", ! nargout, tfinal, dt, [], inputname(1));
if (nargout)
y_r = y;
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|
|
From: <par...@us...> - 2010-12-09 17:15:57
|
Revision: 8006
http://octave.svn.sourceforge.net/octave/?rev=8006&view=rev
Author: paramaniac
Date: 2010-12-09 17:15:50 +0000 (Thu, 09 Dec 2010)
Log Message:
-----------
control: avoid multiple calls to inputname since it is an m-file
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@ss/display.m
trunk/octave-forge/main/control/inst/@tf/display.m
Modified: trunk/octave-forge/main/control/inst/@ss/display.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/display.m 2010-12-09 08:50:57 UTC (rev 8005)
+++ trunk/octave-forge/main/control/inst/@ss/display.m 2010-12-09 17:15:50 UTC (rev 8006)
@@ -24,6 +24,7 @@
function display (sys)
+ inputname_str = inputname(1);
[inname, outname, tsam] = __lti_data__ (sys.lti);
stname = sys.stname;
@@ -34,16 +35,16 @@
disp ("");
if (! isempty (sys.e))
- __disp_mat__ (sys.e, [inputname(1), ".e"], stname, stname);
+ __disp_mat__ (sys.e, [inputname_str, ".e"], stname, stname);
endif
if (! isempty (sys.a))
- __disp_mat__ (sys.a, [inputname(1), ".a"], stname, stname);
- __disp_mat__ (sys.b, [inputname(1), ".b"], stname, inname);
- __disp_mat__ (sys.c, [inputname(1), ".c"], outname, stname);
+ __disp_mat__ (sys.a, [inputname_str, ".a"], stname, stname);
+ __disp_mat__ (sys.b, [inputname_str, ".b"], stname, inname);
+ __disp_mat__ (sys.c, [inputname_str, ".c"], outname, stname);
endif
- __disp_mat__ (sys.d, [inputname(1), ".d"], outname, inname);
+ __disp_mat__ (sys.d, [inputname_str, ".d"], outname, inname);
display (sys.lti); # display sampling time
Modified: trunk/octave-forge/main/control/inst/@tf/display.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tf/display.m 2010-12-09 08:50:57 UTC (rev 8005)
+++ trunk/octave-forge/main/control/inst/@tf/display.m 2010-12-09 17:15:50 UTC (rev 8006)
@@ -24,6 +24,7 @@
function display (sys)
+ inputname_str = inputname(1);
[inname, outname] = __lti_data__ (sys.lti);
[inname, m] = __labels__ (inname, "u");
@@ -32,7 +33,7 @@
disp ("");
for nu = 1 : m
- disp (["Transfer function \"", inputname(1), "\" from input \"", inname{nu}, "\" to output ..."]);
+ disp (["Transfer function \"", inputname_str, "\" from input \"", inname{nu}, "\" to output ..."]);
for ny = 1 : p
__disp_frac__ (sys.num{ny, nu}, sys.den{ny, nu}, sys.tfvar, outname{ny});
endfor
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2010-12-17 20:34:33
|
Revision: 8025
http://octave.svn.sourceforge.net/octave/?rev=8025&view=rev
Author: paramaniac
Date: 2010-12-17 20:34:26 +0000 (Fri, 17 Dec 2010)
Log Message:
-----------
control: improve error messages for Lyapunov equation solvers
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/dlyap.m
trunk/octave-forge/main/control/inst/dlyapchol.m
trunk/octave-forge/main/control/inst/lyap.m
trunk/octave-forge/main/control/inst/lyapchol.m
Modified: trunk/octave-forge/main/control/inst/dlyap.m
===================================================================
--- trunk/octave-forge/main/control/inst/dlyap.m 2010-12-17 18:30:10 UTC (rev 8024)
+++ trunk/octave-forge/main/control/inst/dlyap.m 2010-12-17 20:34:26 UTC (rev 8025)
@@ -39,7 +39,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: January 2010
-## Version: 0.2
+## Version: 0.2.1
function [x, scale] = dlyap (a, b, c, e)
@@ -49,11 +49,15 @@
case 2 # Lyapunov equation
if (! is_real_square_matrix (a, b))
- error ("dlyap: a, b must be real and square");
+ ## error ("dlyap: a, b must be real and square");
+ error ("dlyap: %s, %s must be real and square", \
+ inputname(1), inputname(2));
endif
if (rows (a) != rows (b))
- error ("dlyap: a, b must have the same number of rows");
+ ## error ("dlyap: a, b must have the same number of rows");
+ error ("dlyap: %s, %s must have the same number of rows", \
+ inputname(1), inputname(2));
endif
[x, scale] = slsb03md (a, -b, true); # AXA' - X = -B
@@ -63,11 +67,15 @@
case 3 # Sylvester equation
if (! is_real_square_matrix (a, b))
- error ("dlyap: a, b must be real and square");
+ ## error ("dlyap: a, b must be real and square");
+ error ("dlyap: %s, %s must be real and square", \
+ inputname(1), inputname(2));
endif
if (! is_real_matrix (c) || rows (c) != rows (a) || columns (c) != columns (b))
- error ("dlyap: c must be a real (%dx%d) matrix", rows (a), columns (b));
+ ## error ("dlyap: c must be a real (%dx%d) matrix", rows (a), columns (b));
+ error ("dlyap: %s must be a real (%dx%d) matrix", \
+ rows (a), columns (b), inputname(3));
endif
x = slsb04qd (-a, b, c); # AXB' - X = -C
@@ -79,15 +87,21 @@
endif
if (! is_real_square_matrix (a, b, e))
- error ("dlyap: a, b, e must be real and square");
+ ## error ("dlyap: a, b, e must be real and square");
+ error ("dlyap: %s, %s, %s must be real and square", \
+ inputname(1), inputname(2), inputname(4));
endif
if (rows (b) != rows (a) || rows (e) != rows (a))
- error ("dlyap: a, b, e must have the same number of rows");
+ ## error ("dlyap: a, b, e must have the same number of rows");
+ error ("dlyap: %s, %s, %s must have the same number of rows", \
+ inputname(1), inputname(2), inputname(4));
endif
if (! issymmetric (b))
- error ("dlyap: b must be symmetric");
+ ## error ("dlyap: b must be symmetric");
+ error ("dlyap: %s must be symmetric", \
+ inputname(2));
endif
[x, scale] = slsg03ad (a, e, -b, true); # AXA' - EXE' = -B
Modified: trunk/octave-forge/main/control/inst/dlyapchol.m
===================================================================
--- trunk/octave-forge/main/control/inst/dlyapchol.m 2010-12-17 18:30:10 UTC (rev 8024)
+++ trunk/octave-forge/main/control/inst/dlyapchol.m 2010-12-17 20:34:26 UTC (rev 8025)
@@ -36,7 +36,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: January 2010
-## Version: 0.2
+## Version: 0.2.1
function [u, scale] = dlyapchol (a, b, e)
@@ -44,15 +44,21 @@
case 2
if (! is_real_square_matrix (a))
- error ("dlyapchol: a must be real and square");
+ ## error ("dlyapchol: a must be real and square");
+ error ("dlyapchol: %s must be real and square", \
+ inputname(1));
endif
if (! is_real_matrix (b))
- error ("dlyapchol: b must be real")
+ ## error ("dlyapchol: b must be real")
+ error ("dlyapchol: %s must be real", \
+ inputname(2))
endif
if (rows (a) != rows (b))
- error ("dlyapchol: a and b must have the same number of rows");
+ ## error ("dlyapchol: a and b must have the same number of rows");
+ error ("dlyapchol: %s and %s must have the same number of rows", \
+ inputname(1), inputname(2));
endif
[u, scale] = slsb03od (a.', b.', true);
@@ -62,15 +68,21 @@
case 3
if (! is_real_square_matrix (a, e))
- error ("dlyapchol: a, e must be real and square");
+ ## error ("dlyapchol: a, e must be real and square");
+ error ("dlyapchol: %s, %s must be real and square", \
+ inputname(1), inputname(3));
endif
if (! is_real_matrix (b))
- error ("dlyapchol: b must be real");
+ ## error ("dlyapchol: b must be real");
+ error ("dlyapchol: %s must be real", \
+ inputname(2));
endif
if (rows (b) != rows (a) || rows (e) != rows (a))
- error ("dlyapchol: a, b, e must have the same number of rows");
+ ## error ("dlyapchol: a, b, e must have the same number of rows");
+ error ("dlyapchol: %s, %s, %s must have the same number of rows", \
+ inputname(1), inputname(2), inputname(3));
endif
[u, scale] = slsg03bd (a.', e.', b.', true);
Modified: trunk/octave-forge/main/control/inst/lyap.m
===================================================================
--- trunk/octave-forge/main/control/inst/lyap.m 2010-12-17 18:30:10 UTC (rev 8024)
+++ trunk/octave-forge/main/control/inst/lyap.m 2010-12-17 20:34:26 UTC (rev 8025)
@@ -39,7 +39,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: January 2010
-## Version: 0.2
+## Version: 0.2.1
function [x, scale] = lyap (a, b, c, e)
@@ -49,11 +49,16 @@
case 2 # Lyapunov equation
if (! is_real_square_matrix (a, b))
- error ("lyap: a, b must be real and square");
+ ## error ("lyap: a, b must be real and square");
+ error ("lyap: %s, %s must be real and square", \
+ inputname(1), inputname(2));
endif
if (rows (a) != rows (b))
- error ("lyap: a, b must have the same number of rows");
+ ## error ("lyap: a, b must have the same number of rows");
+ error ("lyap: %s, %s must have the same number of rows", \
+ inputname(1), inputname(2));
+
endif
[x, scale] = slsb03md (a, -b, false); # AX + XA' = -B
@@ -63,11 +68,15 @@
case 3 # Sylvester equation
if (! is_real_square_matrix (a, b))
- error ("lyap: a, b must be real and square");
+ ## error ("lyap: a, b must be real and square");
+ error ("lyap: %s, %s must be real and square", \
+ inputname(1), inputname(2));
endif
if (! is_real_matrix (c) || rows (c) != rows (a) || columns (c) != columns (b))
- error ("lyap: c must be a real (%dx%d) matrix", rows (a), columns (b));
+ ## error ("lyap: c must be a real (%dx%d) matrix", rows (a), columns (b));
+ error ("lyap: %s must be a real (%dx%d) matrix", \
+ rows (a), columns (b), inputname(3));
endif
x = slsb04md (a, b, -c); # AX + XB = -C
@@ -79,15 +88,21 @@
endif
if (! is_real_square_matrix (a, b, e))
- error ("lyap: a, b, e must be real and square");
+ ## error ("lyap: a, b, e must be real and square");
+ error ("lyap: %s, %s, %s must be real and square", \
+ inputname(1), inputname(2), inputname(4));
endif
if (rows (b) != rows (a) || rows (e) != rows (a))
- error ("lyap: a, b, e must have the same number of rows");
+ ## error ("lyap: a, b, e must have the same number of rows");
+ error ("lyap: %s, %s, %s must have the same number of rows", \
+ inputname(1), inputname(2), inputname(4));
endif
if (! issymmetric (b))
- error ("lyap: b must be symmetric");
+ ## error ("lyap: b must be symmetric");
+ error ("lyap: %s must be symmetric", \
+ inputname(2));
endif
[x, scale] = slsg03ad (a, e, -b, false); # AXE' + EXA' = -B
Modified: trunk/octave-forge/main/control/inst/lyapchol.m
===================================================================
--- trunk/octave-forge/main/control/inst/lyapchol.m 2010-12-17 18:30:10 UTC (rev 8024)
+++ trunk/octave-forge/main/control/inst/lyapchol.m 2010-12-17 20:34:26 UTC (rev 8025)
@@ -36,7 +36,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: January 2010
-## Version: 0.2
+## Version: 0.2.1
function [u, scale] = lyapchol (a, b, e)
@@ -44,15 +44,21 @@
case 2
if (! is_real_square_matrix (a))
- error ("lyapchol: a must be real and square");
+ ## error ("lyapchol: a must be real and square");
+ error ("lyapchol: %s must be real and square", \
+ inputname(1));
endif
if (! is_real_matrix (b))
- error ("lyapchol: b must be real")
+ ## error ("lyapchol: b must be real")
+ error ("lyapchol: %s must be real", \
+ inputname(2))
endif
if (rows (a) != rows (b))
- error ("lyapchol: a and b must have the same number of rows");
+ ## error ("lyapchol: a and b must have the same number of rows");
+ error ("lyapchol: %s and %s must have the same number of rows", \
+ inputname(1), inputname(2));
endif
[u, scale] = slsb03od (a.', b.', false);
@@ -62,15 +68,21 @@
case 3
if (! is_real_square_matrix (a, e))
- error ("lyapchol: a, e must be real and square");
+ ## error ("lyapchol: a, e must be real and square");
+ error ("lyapchol: %s, %s must be real and square", \
+ inputname(1), inputname(3));
endif
if (! is_real_matrix (b))
- error ("lyapchol: b must be real");
+ ## error ("lyapchol: b must be real");
+ error ("lyapchol: %s must be real", \
+ inputname(2));
endif
if (rows (b) != rows (a) || rows (e) != rows (a))
- error ("lyapchol: a, b, e must have the same number of rows");
+ ## error ("lyapchol: a, b, e must have the same number of rows");
+ error ("lyapchol: %s, %s, %s must have the same number of rows", \
+ inputname(1), inputname(2), inputname(3));
endif
[u, scale] = slsg03bd (a.', e.', b.', false);
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From: <par...@us...> - 2010-12-27 21:38:30
|
Revision: 8042
http://octave.svn.sourceforge.net/octave/?rev=8042&view=rev
Author: paramaniac
Date: 2010-12-27 21:38:23 +0000 (Mon, 27 Dec 2010)
Log Message:
-----------
control: avoid duplicate code
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@lti/isstable.m
trunk/octave-forge/main/control/inst/isstabilizable.m
Added Paths:
-----------
trunk/octave-forge/main/control/inst/__is_stable__.m
Modified: trunk/octave-forge/main/control/inst/@lti/isstable.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/isstable.m 2010-12-27 16:26:44 UTC (rev 8041)
+++ trunk/octave-forge/main/control/inst/@lti/isstable.m 2010-12-27 21:38:23 UTC (rev 8042)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009 Lukas F. Reichlin
+## Copyright (C) 2009, 2010 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -23,7 +23,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
-## Version: 0.1
+## Version: 0.2
function bool = isstable (sys, tol = 0)
@@ -32,11 +32,8 @@
endif
eigw = pole (sys);
+ ct = isct (sys);
- if (isct (sys))
- bool = all (real (eigw) < -tol*(1 + abs (eigw)));
- else
- bool = all (abs (eigw) < 1 - tol);
- endif
+ bool = __is_stable__ (eigw, ct, tol);
endfunction
\ No newline at end of file
Added: trunk/octave-forge/main/control/inst/__is_stable__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__is_stable__.m (rev 0)
+++ trunk/octave-forge/main/control/inst/__is_stable__.m 2010-12-27 21:38:23 UTC (rev 8042)
@@ -0,0 +1,33 @@
+## Copyright (C) 2010 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 -*-
+## Determine whether all poles in a vector are stable.
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: December 2010
+## Version: 0.1
+
+function bool = __is_stable__ (eigw, ct = true, tol = 0)
+
+ if (ct) # continuous-time
+ bool = all (real (eigw) < -tol*(1 + abs (eigw)));
+ else # discrete-time
+ bool = all (abs (eigw) < 1 - tol);
+ endif
+
+endfunction
\ No newline at end of file
Modified: trunk/octave-forge/main/control/inst/isstabilizable.m
===================================================================
--- trunk/octave-forge/main/control/inst/isstabilizable.m 2010-12-27 16:26:44 UTC (rev 8041)
+++ trunk/octave-forge/main/control/inst/isstabilizable.m 2010-12-27 21:38:23 UTC (rev 8042)
@@ -73,7 +73,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
-## Version: 0.3
+## Version: 0.3.1
function bool = isstabilizable (a, b = [], e = [], tol = [], dflg = 0)
@@ -124,10 +124,6 @@
endif
## check whether uncontrollable poles are stable
- if (dflg)
- bool = all (abs (eigw) < 1 - tol);
- else
- bool = all (real (eigw) < -tol*(1 + abs (eigw)));
- endif
+ bool = __is_stable__ (eigw, ! dflg, tol);
endfunction
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|
From: <par...@us...> - 2011-03-26 20:08:32
|
Revision: 8185
http://octave.svn.sourceforge.net/octave/?rev=8185&view=rev
Author: paramaniac
Date: 2011-03-26 20:08:25 +0000 (Sat, 26 Mar 2011)
Log Message:
-----------
control: rename a variable
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@ss/display.m
trunk/octave-forge/main/control/inst/@tf/display.m
Modified: trunk/octave-forge/main/control/inst/@ss/display.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/display.m 2011-03-25 09:55:01 UTC (rev 8184)
+++ trunk/octave-forge/main/control/inst/@ss/display.m 2011-03-26 20:08:25 UTC (rev 8185)
@@ -24,7 +24,7 @@
function display (sys)
- inputname_str = inputname (1);
+ sysname = inputname (1);
[inname, outname, tsam] = __lti_data__ (sys.lti);
stname = sys.stname;
@@ -35,16 +35,16 @@
disp ("");
if (! isempty (sys.e))
- __disp_mat__ (sys.e, [inputname_str, ".e"], stname, stname);
+ __disp_mat__ (sys.e, [sysname, ".e"], stname, stname);
endif
if (! isempty (sys.a))
- __disp_mat__ (sys.a, [inputname_str, ".a"], stname, stname);
- __disp_mat__ (sys.b, [inputname_str, ".b"], stname, inname);
- __disp_mat__ (sys.c, [inputname_str, ".c"], outname, stname);
+ __disp_mat__ (sys.a, [sysname, ".a"], stname, stname);
+ __disp_mat__ (sys.b, [sysname, ".b"], stname, inname);
+ __disp_mat__ (sys.c, [sysname, ".c"], outname, stname);
endif
- __disp_mat__ (sys.d, [inputname_str, ".d"], outname, inname);
+ __disp_mat__ (sys.d, [sysname, ".d"], outname, inname);
display (sys.lti); # display sampling time
Modified: trunk/octave-forge/main/control/inst/@tf/display.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tf/display.m 2011-03-25 09:55:01 UTC (rev 8184)
+++ trunk/octave-forge/main/control/inst/@tf/display.m 2011-03-26 20:08:25 UTC (rev 8185)
@@ -24,7 +24,7 @@
function display (sys)
- inputname_str = inputname (1);
+ sysname = inputname (1);
[inname, outname] = __lti_data__ (sys.lti);
[inname, m] = __labels__ (inname, "u");
@@ -33,7 +33,7 @@
disp ("");
for nu = 1 : m
- disp (["Transfer function \"", inputname_str, "\" from input \"", inname{nu}, "\" to output ..."]);
+ disp (["Transfer function \"", sysname, "\" from input \"", inname{nu}, "\" to output ..."]);
for ny = 1 : p
__disp_frac__ (sys.num{ny, nu}, sys.den{ny, nu}, sys.tfvar, outname{ny});
endfor
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|
|
From: <par...@us...> - 2011-03-27 00:48:56
|
Revision: 8186
http://octave.svn.sourceforge.net/octave/?rev=8186&view=rev
Author: paramaniac
Date: 2011-03-27 00:48:50 +0000 (Sun, 27 Mar 2011)
Log Message:
-----------
control: doc fix
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/h2syn.m
trunk/octave-forge/main/control/inst/hinfsyn.m
Modified: trunk/octave-forge/main/control/inst/h2syn.m
===================================================================
--- trunk/octave-forge/main/control/inst/h2syn.m 2011-03-26 20:08:25 UTC (rev 8185)
+++ trunk/octave-forge/main/control/inst/h2syn.m 2011-03-27 00:48:50 UTC (rev 8186)
@@ -26,7 +26,7 @@
## @item P
## Generalized plant. Must be a proper/realizable LTI model.
## @item nmeas
-## Number of measured outputs e. The last nmeas outputs of @var{P} are connected to the
+## Number of measured outputs v. The last nmeas outputs of @var{P} are connected to the
## inputs of controller @var{K}. The remaining outputs z (indices 1 to p-nmeas) are used
## to calculate the H-2 norm.
## @item ncon
@@ -55,7 +55,7 @@
## +--------+
## w ----->| |-----> z
## | P(s) |
-## u +---->| |-----+ e
+## u +---->| |-----+ v
## | +--------+ |
## | |
## | +--------+ |
Modified: trunk/octave-forge/main/control/inst/hinfsyn.m
===================================================================
--- trunk/octave-forge/main/control/inst/hinfsyn.m 2011-03-26 20:08:25 UTC (rev 8185)
+++ trunk/octave-forge/main/control/inst/hinfsyn.m 2011-03-27 00:48:50 UTC (rev 8186)
@@ -27,7 +27,7 @@
## @item P
## Generalized plant. Must be a proper/realizable LTI model.
## @item nmeas
-## Number of measured outputs e. The last nmeas outputs of @var{P} are connected to the
+## Number of measured outputs v. The last nmeas outputs of @var{P} are connected to the
## inputs of controller @var{K}. The remaining outputs z (indices 1 to p-nmeas) are used
## to calculate the H-infinity norm.
## @item ncon
@@ -59,7 +59,7 @@
## +--------+
## w ----->| |-----> z
## | P(s) |
-## u +---->| |-----+ e
+## u +---->| |-----+ v
## | +--------+ |
## | |
## | +--------+ |
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|
|
From: <par...@us...> - 2011-05-16 19:27:04
|
Revision: 8266
http://octave.svn.sourceforge.net/octave/?rev=8266&view=rev
Author: paramaniac
Date: 2011-05-16 19:26:57 +0000 (Mon, 16 May 2011)
Log Message:
-----------
control: style fixes
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@lti/norm.m
trunk/octave-forge/main/control/inst/covar.m
trunk/octave-forge/main/control/inst/h2syn.m
Modified: trunk/octave-forge/main/control/inst/@lti/norm.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/norm.m 2011-05-16 07:09:16 UTC (rev 8265)
+++ trunk/octave-forge/main/control/inst/@lti/norm.m 2011-05-16 19:26:57 UTC (rev 8266)
@@ -30,7 +30,7 @@
function [gain, varargout] = norm (sys, ntype = "2", tol = 0.01)
- if (nargin > 3) # norm () is caught by built-in function
+ if (nargin > 3) # norm () is caught by built-in function
print_usage ();
endif
@@ -68,7 +68,7 @@
[a, b, c, d] = ssdata (sys);
discrete = ! isct (sys);
- if (! discrete && any (any (d))) # continuous and non-zero feedthrough
+ if (! discrete && any (d(:))) # continuous and non-zero feedthrough
gain = inf;
else
[gain, iwarn] = slab13bd (a, b, c, d, discrete);
Modified: trunk/octave-forge/main/control/inst/covar.m
===================================================================
--- trunk/octave-forge/main/control/inst/covar.m 2011-05-16 07:09:16 UTC (rev 8265)
+++ trunk/octave-forge/main/control/inst/covar.m 2011-05-16 19:26:57 UTC (rev 8266)
@@ -59,7 +59,7 @@
[a, b, c, d] = ssdata (sys);
if (isct (sys))
- if (any (any (d)))
+ if (any (d(:)))
error ("covar: system is not strictly proper");
endif
Modified: trunk/octave-forge/main/control/inst/h2syn.m
===================================================================
--- trunk/octave-forge/main/control/inst/h2syn.m 2011-05-16 07:09:16 UTC (rev 8265)
+++ trunk/octave-forge/main/control/inst/h2syn.m 2011-05-16 19:26:57 UTC (rev 8266)
@@ -104,7 +104,7 @@
d11 = d(1:p1, 1:m1);
- if (isct (P) && any (any (d11)))
+ if (isct (P) && any (d11(:)))
warning ("h2syn: setting matrice D11 to zero");
d(1:p1, 1:m1) = 0;
endif
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|
|
From: <par...@us...> - 2011-06-29 21:42:50
|
Revision: 8368
http://octave.svn.sourceforge.net/octave/?rev=8368&view=rev
Author: paramaniac
Date: 2011-06-29 21:42:44 +0000 (Wed, 29 Jun 2011)
Log Message:
-----------
control: add texinfo strings
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@lti/prescale.m
trunk/octave-forge/main/control/inst/@ss/__prescale__.m
trunk/octave-forge/main/control/inst/@ss/__property_names__.m
Modified: trunk/octave-forge/main/control/inst/@lti/prescale.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/prescale.m 2011-06-29 18:47:23 UTC (rev 8367)
+++ trunk/octave-forge/main/control/inst/@lti/prescale.m 2011-06-29 21:42:44 UTC (rev 8368)
@@ -17,7 +17,40 @@
## -*- texinfo -*-
## @deftypefn {Function File} {[@var{scaledsys}, @var{info}] =} prescale (@var{sys})
-## Prescale
+## Prescale state-space model.
+## Uses SLICOT TB01ID and TG01AD by courtesy of
+## @uref{NICONET e.V., http://www.slicot.org}
+##
+## @strong{Inputs}
+## @table @var
+## @item sys
+## LTI model.
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item scaledsys
+## Scaled state-space model.
+## @item info
+## Structure containig additional information.
+## @item info.SL
+## Left scaling factors. @code{Tl = diag (info.SL)}.
+## @item info.SR
+## Right scaling factors. @code{Tr = diag (info.SR)}.
+## @end table
+##
+## @strong{Equations}
+## @example
+## @group
+## Es = Tl E Tr
+## As = Tl A Tr
+## Bs = Tl B
+## Cs = C Tr
+## Ds = D
+##
+## For proper state-space models, Tl and Tr are inverse of each other.
+## @end group
+## @end example
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
Modified: trunk/octave-forge/main/control/inst/@ss/__prescale__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/__prescale__.m 2011-06-29 18:47:23 UTC (rev 8367)
+++ trunk/octave-forge/main/control/inst/@ss/__prescale__.m 2011-06-29 21:42:44 UTC (rev 8368)
@@ -1,3 +1,27 @@
+## Copyright (C) 2011 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 -*-
+## Prescaling
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: June 2011
+## Version: 0.1
+
function [retsys, lscale, rscale] = __prescale__ (sys, optarg = 0.0)
if (isempty (sys.e))
Modified: trunk/octave-forge/main/control/inst/@ss/__property_names__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/__property_names__.m 2011-06-29 18:47:23 UTC (rev 8367)
+++ trunk/octave-forge/main/control/inst/@ss/__property_names__.m 2011-06-29 21:42:44 UTC (rev 8368)
@@ -43,7 +43,7 @@
"p-by-m matrix";
"n-by-n matrix";
"n-by-1 cell vector of strings";
- "1-by-1 logical value"};
+ "scalar logical value"};
if (nargin == 1)
[ltiprops, ltivals] = __property_names__ (sys.lti);
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