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From: <par...@us...> - 2011-06-29 22:01:10
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Revision: 8370
http://octave.svn.sourceforge.net/octave/?rev=8370&view=rev
Author: paramaniac
Date: 2011-06-29 22:01:03 +0000 (Wed, 29 Jun 2011)
Log Message:
-----------
control: use @uref in texinfo strings
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@lti/norm.m
trunk/octave-forge/main/control/inst/@ss/__minreal__.m
trunk/octave-forge/main/control/inst/@ss/__zero__.m
trunk/octave-forge/main/control/inst/care.m
trunk/octave-forge/main/control/inst/dare.m
trunk/octave-forge/main/control/inst/dlyap.m
trunk/octave-forge/main/control/inst/dlyapchol.m
trunk/octave-forge/main/control/inst/h2syn.m
trunk/octave-forge/main/control/inst/hinfsyn.m
trunk/octave-forge/main/control/inst/hsvd.m
trunk/octave-forge/main/control/inst/isctrb.m
trunk/octave-forge/main/control/inst/isdetectable.m
trunk/octave-forge/main/control/inst/isobsv.m
trunk/octave-forge/main/control/inst/isstabilizable.m
trunk/octave-forge/main/control/inst/lyap.m
trunk/octave-forge/main/control/inst/lyapchol.m
trunk/octave-forge/main/control/inst/place.m
Modified: trunk/octave-forge/main/control/inst/@lti/norm.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/norm.m 2011-06-29 21:52:06 UTC (rev 8369)
+++ trunk/octave-forge/main/control/inst/@lti/norm.m 2011-06-29 22:01:03 UTC (rev 8370)
@@ -20,8 +20,8 @@
## @deftypefnx {Function File} {[@var{gain}, @var{wpeak}] =} norm (@var{sys}, @var{inf})
## @deftypefnx {Function File} {[@var{gain}, @var{wpeak}] =} norm (@var{sys}, @var{inf}, @var{tol})
## Return H-2 or L-inf norm of LTI model.
-## Uses SLICOT AB13BD and AB13DD by courtesy of NICONET e.V.
-## <http://www.slicot.org>
+## Uses SLICOT AB13BD and AB13DD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
Modified: trunk/octave-forge/main/control/inst/@ss/__minreal__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/__minreal__.m 2011-06-29 21:52:06 UTC (rev 8369)
+++ trunk/octave-forge/main/control/inst/@ss/__minreal__.m 2011-06-29 22:01:03 UTC (rev 8370)
@@ -17,8 +17,8 @@
## -*- texinfo -*-
## Minimal realization of SS models. The physical meaning of states is lost.
-## Uses SLICOT TB01PD and TG01JD by courtesy of NICONET e.V.
-## <http://www.slicot.org>
+## Uses SLICOT TB01PD and TG01JD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
Modified: trunk/octave-forge/main/control/inst/@ss/__zero__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/__zero__.m 2011-06-29 21:52:06 UTC (rev 8369)
+++ trunk/octave-forge/main/control/inst/@ss/__zero__.m 2011-06-29 22:01:03 UTC (rev 8370)
@@ -17,8 +17,8 @@
## -*- texinfo -*-
## Transmission zeros of SS object.
-## Uses SLICOT AB08ND by courtesy of NICONET e.V.
-## <http://www.slicot.org>
+## Uses SLICOT AB08ND by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
Modified: trunk/octave-forge/main/control/inst/care.m
===================================================================
--- trunk/octave-forge/main/control/inst/care.m 2011-06-29 21:52:06 UTC (rev 8369)
+++ trunk/octave-forge/main/control/inst/care.m 2011-06-29 22:01:03 UTC (rev 8370)
@@ -21,8 +21,8 @@
## @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 and SG02AD by courtesy of NICONET e.V.
-## <http://www.slicot.org>
+## Uses SLICOT SB02OD and SG02AD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
##
## @strong{Inputs}
## @table @var
Modified: trunk/octave-forge/main/control/inst/dare.m
===================================================================
--- trunk/octave-forge/main/control/inst/dare.m 2011-06-29 21:52:06 UTC (rev 8369)
+++ trunk/octave-forge/main/control/inst/dare.m 2011-06-29 22:01:03 UTC (rev 8370)
@@ -21,8 +21,8 @@
## @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 and SG02AD by courtesy of NICONET e.V.
-## <http://www.slicot.org>
+## Uses SLICOT SB02OD and SG02AD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
##
## @strong{Inputs}
## @table @var
Modified: trunk/octave-forge/main/control/inst/dlyap.m
===================================================================
--- trunk/octave-forge/main/control/inst/dlyap.m 2011-06-29 21:52:06 UTC (rev 8369)
+++ trunk/octave-forge/main/control/inst/dlyap.m 2011-06-29 22:01:03 UTC (rev 8370)
@@ -20,8 +20,8 @@
## @deftypefnx{Function File} {@var{x} =} dlyap (@var{a}, @var{b}, @var{c})
## @deftypefnx{Function File} {@var{x} =} dlyap (@var{a}, @var{b}, @var{[]}, @var{e})
## Solve discrete-time Lyapunov or Sylvester equations.
-## Uses SLICOT SB03MD, SB04QD and SG03AD by courtesy of NICONET e.V.
-## <http://www.slicot.org>
+## Uses SLICOT SB03MD, SB04QD and SG03AD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
##
## @strong{Equations}
## @example
Modified: trunk/octave-forge/main/control/inst/dlyapchol.m
===================================================================
--- trunk/octave-forge/main/control/inst/dlyapchol.m 2011-06-29 21:52:06 UTC (rev 8369)
+++ trunk/octave-forge/main/control/inst/dlyapchol.m 2011-06-29 22:01:03 UTC (rev 8370)
@@ -19,8 +19,8 @@
## @deftypefn{Function File} {@var{u} =} dlyapchol (@var{a}, @var{b})
## @deftypefnx{Function File} {@var{u} =} dlyapchol (@var{a}, @var{b}, @var{e})
## Compute Cholesky factor of discrete-time Lyapunov equations.
-## Uses SLICOT SB03OD and SG03BD by courtesy of NICONET e.V.
-## <http://www.slicot.org>
+## Uses SLICOT SB03OD and SG03BD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
##
## @strong{Equations}
## @example
Modified: trunk/octave-forge/main/control/inst/h2syn.m
===================================================================
--- trunk/octave-forge/main/control/inst/h2syn.m 2011-06-29 21:52:06 UTC (rev 8369)
+++ trunk/octave-forge/main/control/inst/h2syn.m 2011-06-29 22:01:03 UTC (rev 8370)
@@ -18,8 +18,8 @@
## -*- texinfo -*-
## @deftypefn{Function File} {[@var{K}, @var{N}, @var{gamma}] =} h2syn (@var{P}, @var{nmeas}, @var{ncon})
## H-2 control synthesis for LTI plant.
-## Uses SLICOT SB10HD and SB10ED by courtesy of NICONET e.V.
-## <http://www.slicot.org>
+## Uses SLICOT SB10HD and SB10ED by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
##
## @strong{Inputs}
## @table @var
Modified: trunk/octave-forge/main/control/inst/hinfsyn.m
===================================================================
--- trunk/octave-forge/main/control/inst/hinfsyn.m 2011-06-29 21:52:06 UTC (rev 8369)
+++ trunk/octave-forge/main/control/inst/hinfsyn.m 2011-06-29 22:01:03 UTC (rev 8370)
@@ -19,8 +19,8 @@
## @deftypefn{Function File} {[@var{K}, @var{N}, @var{gamma}] =} hinfsyn (@var{P}, @var{nmeas}, @var{ncon})
## @deftypefnx{Function File} {[@var{K}, @var{N}, @var{gamma}] =} hinfsyn (@var{P}, @var{nmeas}, @var{ncon}, @var{gmax})
## H-infinity control synthesis for LTI plant.
-## Uses SLICOT SB10FD and SB10DD by courtesy of NICONET e.V.
-## <http://www.slicot.org>
+## Uses SLICOT SB10FD and SB10DD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
##
## @strong{Inputs}
## @table @var
Modified: trunk/octave-forge/main/control/inst/hsvd.m
===================================================================
--- trunk/octave-forge/main/control/inst/hsvd.m 2011-06-29 21:52:06 UTC (rev 8369)
+++ trunk/octave-forge/main/control/inst/hsvd.m 2011-06-29 22:01:03 UTC (rev 8370)
@@ -20,8 +20,8 @@
## @deftypefnx{Function File} {@var{hsv} =} hsvd (@var{sys}, @var{"offset"}, @var{alpha})
## Hankel singular values of the stable part of an LTI model. If no output arguments are
## given, the Hankel singular values are displayed in a plot.
-## Uses SLICOT AB13AD by courtesy of NICONET e.V.
-## <http://www.slicot.org>
+## Uses SLICOT AB13AD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
Modified: trunk/octave-forge/main/control/inst/isctrb.m
===================================================================
--- trunk/octave-forge/main/control/inst/isctrb.m 2011-06-29 21:52:06 UTC (rev 8369)
+++ trunk/octave-forge/main/control/inst/isctrb.m 2011-06-29 22:01:03 UTC (rev 8370)
@@ -23,8 +23,8 @@
## @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 and TG01HD by courtesy of NICONET e.V.
-## <http://www.slicot.org>
+## Uses SLICOT AB01OD and TG01HD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
##
## @strong{Inputs}
## @table @var
Modified: trunk/octave-forge/main/control/inst/isdetectable.m
===================================================================
--- trunk/octave-forge/main/control/inst/isdetectable.m 2011-06-29 21:52:06 UTC (rev 8369)
+++ trunk/octave-forge/main/control/inst/isdetectable.m 2011-06-29 22:01:03 UTC (rev 8370)
@@ -28,8 +28,8 @@
## @deftypefnx {Function File} {@var{bool} =} isdetectable (@var{a}, @var{c}, @var{e}, @var{tol}, @var{dflg})
## Logical test for system detectability.
## All unstable modes must be observable or all unobservable states must be stable.
-## Uses SLICOT AB01OD and TG01HD by courtesy of NICONET e.V.
-## <http://www.slicot.org>
+## Uses SLICOT AB01OD and TG01HD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
##
## @strong{Inputs}
## @table @var
Modified: trunk/octave-forge/main/control/inst/isobsv.m
===================================================================
--- trunk/octave-forge/main/control/inst/isobsv.m 2011-06-29 21:52:06 UTC (rev 8369)
+++ trunk/octave-forge/main/control/inst/isobsv.m 2011-06-29 22:01:03 UTC (rev 8370)
@@ -23,8 +23,8 @@
## @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 and TG01HD by courtesy of NICONET e.V.
-## <http://www.slicot.org>
+## Uses SLICOT AB01OD and TG01HD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
##
## @strong{Inputs}
## @table @var
Modified: trunk/octave-forge/main/control/inst/isstabilizable.m
===================================================================
--- trunk/octave-forge/main/control/inst/isstabilizable.m 2011-06-29 21:52:06 UTC (rev 8369)
+++ trunk/octave-forge/main/control/inst/isstabilizable.m 2011-06-29 22:01:03 UTC (rev 8370)
@@ -28,8 +28,8 @@
## @deftypefnx {Function File} {@var{bool} =} isstabilizable (@var{a}, @var{b}, @var{e}, @var{tol}, @var{dflg})
## Logical check for system stabilizability.
## All unstable modes must be controllable or all uncontrollable states must be stable.
-## Uses SLICOT AB01OD and TG01HD by courtesy of NICONET e.V.
-## <http://www.slicot.org>
+## Uses SLICOT AB01OD and TG01HD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
##
## @strong{Inputs}
## @table @var
Modified: trunk/octave-forge/main/control/inst/lyap.m
===================================================================
--- trunk/octave-forge/main/control/inst/lyap.m 2011-06-29 21:52:06 UTC (rev 8369)
+++ trunk/octave-forge/main/control/inst/lyap.m 2011-06-29 22:01:03 UTC (rev 8370)
@@ -20,8 +20,8 @@
## @deftypefnx{Function File} {@var{x} =} lyap (@var{a}, @var{b}, @var{c})
## @deftypefnx{Function File} {@var{x} =} lyap (@var{a}, @var{b}, @var{[]}, @var{e})
## Solve continuous-time Lyapunov or Sylvester equations.
-## Uses SLICOT SB03MD, SB04MD and SG03AD by courtesy of NICONET e.V.
-## <http://www.slicot.org>
+## Uses SLICOT SB03MD, SB04MD and SG03AD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
##
## @strong{Equations}
## @example
Modified: trunk/octave-forge/main/control/inst/lyapchol.m
===================================================================
--- trunk/octave-forge/main/control/inst/lyapchol.m 2011-06-29 21:52:06 UTC (rev 8369)
+++ trunk/octave-forge/main/control/inst/lyapchol.m 2011-06-29 22:01:03 UTC (rev 8370)
@@ -19,8 +19,8 @@
## @deftypefn{Function File} {@var{u} =} lyapchol (@var{a}, @var{b})
## @deftypefnx{Function File} {@var{u} =} lyapchol (@var{a}, @var{b}, @var{e})
## Compute Cholesky factor of continuous-time Lyapunov equations.
-## Uses SLICOT SB03OD and SG03BD by courtesy of NICONET e.V.
-## <http://www.slicot.org>
+## Uses SLICOT SB03OD and SG03BD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
##
## @strong{Equations}
## @example
Modified: trunk/octave-forge/main/control/inst/place.m
===================================================================
--- trunk/octave-forge/main/control/inst/place.m 2011-06-29 21:52:06 UTC (rev 8369)
+++ trunk/octave-forge/main/control/inst/place.m 2011-06-29 22:01:03 UTC (rev 8370)
@@ -23,8 +23,8 @@
## Pole assignment for a given matrix pair (@var{A},@var{B}) such that @code{p = eig (A-B*F)}.
## If parameter @var{alpha} is specified, poles with real parts (continuous-time)
## or moduli (discrete-time) below @var{alpha} are left untouched.
-## Uses SLICOT SB01BD by courtesy of NICONET e.V.
-## <http://www.slicot.org>
+## Uses SLICOT SB01BD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
##
## @strong{Inputs}
## @table @var
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2011-07-05 19:08:07
|
Revision: 8375
http://octave.svn.sourceforge.net/octave/?rev=8375&view=rev
Author: paramaniac
Date: 2011-07-05 19:08:00 +0000 (Tue, 05 Jul 2011)
Log Message:
-----------
control: add texinfo string to ssdata, use circle for zeros in pzmap
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@lti/ssdata.m
trunk/octave-forge/main/control/inst/pzmap.m
Modified: trunk/octave-forge/main/control/inst/@lti/ssdata.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/ssdata.m 2011-07-04 13:02:03 UTC (rev 8374)
+++ trunk/octave-forge/main/control/inst/@lti/ssdata.m 2011-07-05 19:08:00 UTC (rev 8375)
@@ -18,6 +18,29 @@
## -*- texinfo -*-
## @deftypefn {Function File} {[@var{a}, @var{b}, @var{c}, @var{d}, @var{tsam}] =} ssdata (@var{sys})
## Access state-space model data.
+## Argument @var{sys} is not limited to state-space models.
+## If @var{sys} is not a state-space model, it is converted automatically.
+##
+## @strong{Inputs}
+## @table @var
+## @item sys
+## Any type of LTI model.
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item a
+## State transition matrix (n-by-n).
+## @item b
+## Input matrix (n-by-m).
+## @item c
+## Measurement matrix (p-by-n).
+## @item d
+## Feedthrough matrix (p-by-m).
+## @item tsam
+## Sampling time in seconds. If @var{sys} is a continuous-time model,
+## a zero is returned.
+## @end table
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
Modified: trunk/octave-forge/main/control/inst/pzmap.m
===================================================================
--- trunk/octave-forge/main/control/inst/pzmap.m 2011-07-04 13:02:03 UTC (rev 8374)
+++ trunk/octave-forge/main/control/inst/pzmap.m 2011-07-05 19:08:00 UTC (rev 8375)
@@ -28,7 +28,6 @@
function [pol_r, zer_r] = pzmap (sys)
## TODO: multiplot feature: pzmap (sys1, "b", sys2, "r", ...)
- ## TODO: use better symbols for poles and zeros, fltk backend might be helpful
if (nargin != 1)
print_usage ();
@@ -47,7 +46,7 @@
zer_re = real (zer);
zer_im = imag (zer);
- plot (pol_re, pol_im, "xb", zer_re, zer_im, "sr")
+ plot (pol_re, pol_im, "xb", zer_re, zer_im, "or")
grid ("on")
title (["Pole-Zero Map of ", inputname(1)])
xlabel ("Real Axis")
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
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From: <par...@us...> - 2011-07-24 20:36:16
|
Revision: 8406
http://octave.svn.sourceforge.net/octave/?rev=8406&view=rev
Author: paramaniac
Date: 2011-07-24 20:36:09 +0000 (Sun, 24 Jul 2011)
Log Message:
-----------
control: minor improvements
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/h2syn.m
trunk/octave-forge/main/control/inst/hinfsyn.m
trunk/octave-forge/main/control/inst/hsvd.m
Modified: trunk/octave-forge/main/control/inst/h2syn.m
===================================================================
--- trunk/octave-forge/main/control/inst/h2syn.m 2011-07-24 06:25:59 UTC (rev 8405)
+++ trunk/octave-forge/main/control/inst/h2syn.m 2011-07-24 20:36:09 UTC (rev 8406)
@@ -16,7 +16,7 @@
## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>.
## -*- texinfo -*-
-## @deftypefn{Function File} {[@var{K}, @var{N}, @var{gamma}] =} h2syn (@var{P}, @var{nmeas}, @var{ncon})
+## @deftypefn{Function File} {[@var{K}, @var{N}, @var{gamma}, @var{rcond}] =} h2syn (@var{P}, @var{nmeas}, @var{ncon})
## H-2 control synthesis for LTI plant.
## Uses SLICOT SB10HD and SB10ED by courtesy of
## @uref{http://www.slicot.org, NICONET e.V.}
Modified: trunk/octave-forge/main/control/inst/hinfsyn.m
===================================================================
--- trunk/octave-forge/main/control/inst/hinfsyn.m 2011-07-24 06:25:59 UTC (rev 8405)
+++ trunk/octave-forge/main/control/inst/hinfsyn.m 2011-07-24 20:36:09 UTC (rev 8406)
@@ -16,8 +16,8 @@
## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>.
## -*- texinfo -*-
-## @deftypefn{Function File} {[@var{K}, @var{N}, @var{gamma}] =} hinfsyn (@var{P}, @var{nmeas}, @var{ncon})
-## @deftypefnx{Function File} {[@var{K}, @var{N}, @var{gamma}] =} hinfsyn (@var{P}, @var{nmeas}, @var{ncon}, @var{gmax})
+## @deftypefn{Function File} {[@var{K}, @var{N}, @var{gamma}, @var{rcond}] =} hinfsyn (@var{P}, @var{nmeas}, @var{ncon})
+## @deftypefnx{Function File} {[@var{K}, @var{N}, @var{gamma}, @var{rcond}] =} hinfsyn (@var{P}, @var{nmeas}, @var{ncon}, @var{gmax})
## H-infinity control synthesis for LTI plant.
## Uses SLICOT SB10FD and SB10DD by courtesy of
## @uref{http://www.slicot.org, NICONET e.V.}
Modified: trunk/octave-forge/main/control/inst/hsvd.m
===================================================================
--- trunk/octave-forge/main/control/inst/hsvd.m 2011-07-24 06:25:59 UTC (rev 8405)
+++ trunk/octave-forge/main/control/inst/hsvd.m 2011-07-24 20:36:09 UTC (rev 8406)
@@ -58,7 +58,7 @@
hsv_r = hsv;
else
bar ((1:ns) + (rows (a) - ns), hsv);
- title ("Hankel Singular Values of Stable Part");
+ title (["Hankel Singular Values of Stable Part of ", inputname(1)]);
xlabel ("State");
ylabel ("State Energy");
grid ("on");
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
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From: <par...@us...> - 2011-08-06 18:56:09
|
Revision: 8443
http://octave.svn.sourceforge.net/octave/?rev=8443&view=rev
Author: paramaniac
Date: 2011-08-06 18:56:03 +0000 (Sat, 06 Aug 2011)
Log Message:
-----------
control: improve texinfo strings
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@frd/frd.m
trunk/octave-forge/main/control/inst/@lti/isct.m
trunk/octave-forge/main/control/inst/@lti/isdt.m
trunk/octave-forge/main/control/inst/@lti/size.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/ctrb.m
trunk/octave-forge/main/control/inst/dss.m
trunk/octave-forge/main/control/inst/obsv.m
Modified: trunk/octave-forge/main/control/inst/@frd/frd.m
===================================================================
--- trunk/octave-forge/main/control/inst/@frd/frd.m 2011-08-06 12:32:14 UTC (rev 8442)
+++ trunk/octave-forge/main/control/inst/@frd/frd.m 2011-08-06 18:56:03 UTC (rev 8443)
@@ -25,7 +25,8 @@
## @strong{Inputs}
## @table @var
## @item sys
-## LTI model. If second argument @var{w} is omitted, the interesting
+## LTI model to be converted to frequency response data.
+## If second argument @var{w} is omitted, the interesting
## frequency range is calculated by the zeros and poles of @var{sys}.
## @item H
## Frequency response array (p-by-m-by-lw). In the SISO case,
Modified: trunk/octave-forge/main/control/inst/@lti/isct.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/isct.m 2011-08-06 12:32:14 UTC (rev 8442)
+++ trunk/octave-forge/main/control/inst/@lti/isct.m 2011-08-06 18:56:03 UTC (rev 8443)
@@ -18,6 +18,20 @@
## -*- texinfo -*-
## @deftypefn {Function File} {@var{bool} =} isct (@var{sys})
## Determine whether LTI model is a continuous-time system.
+##
+## @strong{Inputs}
+## @table @var
+## @item sys
+## LTI system.
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item bool = 0
+## @var{sys} is a discrete-time system.
+## @item bool = 1
+## @var{sys} is a continuous-time system or a static gain.
+## @end table
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
@@ -32,4 +46,4 @@
bool = (ltisys.tsam == 0 || ltisys.tsam == -2);
-endfunction
\ No newline at end of file
+endfunction
Modified: trunk/octave-forge/main/control/inst/@lti/isdt.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/isdt.m 2011-08-06 12:32:14 UTC (rev 8442)
+++ trunk/octave-forge/main/control/inst/@lti/isdt.m 2011-08-06 18:56:03 UTC (rev 8443)
@@ -18,6 +18,20 @@
## -*- texinfo -*-
## @deftypefn {Function File} {@var{bool} =} isdt (@var{sys})
## Determine whether LTI model is a discrete-time system.
+##
+## @strong{Inputs}
+## @table @var
+## @item sys
+## LTI system.
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item bool = 0
+## @var{sys} is a continuous-time system.
+## @item bool = 1
+## @var{sys} is a discrete-time system or a static gain.
+## @end table
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
@@ -32,4 +46,4 @@
bool = (ltisys.tsam != 0);
-endfunction
\ No newline at end of file
+endfunction
Modified: trunk/octave-forge/main/control/inst/@lti/size.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/size.m 2011-08-06 12:32:14 UTC (rev 8442)
+++ trunk/octave-forge/main/control/inst/@lti/size.m 2011-08-06 18:56:03 UTC (rev 8443)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009 Lukas F. Reichlin
+## Copyright (C) 2009, 2011 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -16,54 +16,76 @@
## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>.
## -*- texinfo -*-
-## @deftypefn {Function File} {@var{nvec} =} size (@var{ltisys})
-## @deftypefnx {Function File} {@var{n} =} size (@var{ltisys}, @var{idx})
-## @deftypefnx {Function File} {[@var{ny}, @var{nu}] =} size (@var{ltisys})
+## @deftypefn {Function File} {@var{nvec} =} size (@var{sys})
+## @deftypefnx {Function File} {@var{n} =} size (@var{sys}, @var{dim})
+## @deftypefnx {Function File} {[@var{p}, @var{m}] =} size (@var{sys})
## LTI model size, i.e. number of outputs and inputs.
+##
+## @strong{Inputs}
+## @table @var
+## @item sys
+## LTI system.
+## @item dim
+## If given a second argument, @command{size} will return the size of the
+## corresponding dimension.
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item nvec
+## Row vector. The first element is the number of outputs (rows) and the second
+## element the number of inputs (columns).
+## @item n
+## Scalar value. The size of the dimension @var{dim}.
+## @item p
+## Number of outputs.
+## @item m
+## Number of inputs.
+## @end table
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
## Created: September 2009
-## Version: 0.1
+## Version: 0.2
-function [n, varargout] = size (ltisys, idx = 0)
+function [n, varargout] = size (ltisys, dim = 0)
if (nargin > 2)
print_usage ();
endif
- ny = numel (ltisys.outname); # WARNING: system matrices may change without
- nu = numel (ltisys.inname); # being noticed by the i/o names!
+ p = numel (ltisys.outname); # WARNING: system matrices may change without
+ m = numel (ltisys.inname); # being noticed by the i/o names!
- switch (idx)
+ switch (dim)
case 0
switch (nargout)
case 0
- if (ny == 1)
+ if (p == 1)
stry = "";
else
stry = "s";
endif
- if (nu == 1)
+ if (m == 1)
stru = "";
else
stru = "s";
endif
disp (sprintf ("LTI model with %d output%s and %d input%s.", ny, stry, nu, stru));
case 1
- n = [ny, nu];
+ n = [p, m];
case 2
- n = ny;
- varargout{1} = nu;
+ n = p;
+ varargout{1} = m;
otherwise
print_usage ();
endswitch
case 1
- n = ny;
+ n = p;
case 2
- n = nu;
+ n = m;
otherwise
print_usage ();
endswitch
-endfunction
\ No newline at end of file
+endfunction
Modified: trunk/octave-forge/main/control/inst/@ss/ss.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/ss.m 2011-08-06 12:32:14 UTC (rev 8442)
+++ trunk/octave-forge/main/control/inst/@ss/ss.m 2011-08-06 18:56:03 UTC (rev 8443)
@@ -26,6 +26,8 @@
##
## @strong{Inputs}
## @table @var
+## @item sys
+## LTI model to be converted to state-space.
## @item a
## State transition matrix (n-by-n).
## @item b
Modified: trunk/octave-forge/main/control/inst/@tf/tf.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tf/tf.m 2011-08-06 12:32:14 UTC (rev 8442)
+++ trunk/octave-forge/main/control/inst/@tf/tf.m 2011-08-06 18:56:03 UTC (rev 8443)
@@ -25,6 +25,8 @@
##
## @strong{Inputs}
## @table @var
+## @item sys
+## LTI model to be converted to transfer function.
## @item num
## Numerator or cell of numerators. Each numerator must be a row vector
## containing the exponents of the polynomial in descending order.
Modified: trunk/octave-forge/main/control/inst/ctrb.m
===================================================================
--- trunk/octave-forge/main/control/inst/ctrb.m 2011-08-06 12:32:14 UTC (rev 8442)
+++ trunk/octave-forge/main/control/inst/ctrb.m 2011-08-06 18:56:03 UTC (rev 8443)
@@ -19,7 +19,36 @@
## -*- texinfo -*-
## @deftypefn {Function File} {@var{co} =} ctrb (@var{sys})
## @deftypefnx {Function File} {@var{co} =} ctrb (@var{a}, @var{b})
+## Return controllability matrix.
+##
+## @strong{Inputs}
+## @table @var
+## @item sys
+## LTI model.
+## @item a
+## State transition matrix (n-by-n).
+## @item b
+## Input matrix (n-by-m).
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item co
## Controllability matrix.
+## @end table
+##
+## @strong{Equation}
+## @iftex
+## @tex
+## $$ C_o = [ B AB A^2B \ldots A^{n-1}B ] $$
+## @end tex
+## @end iftex
+## @ifinfo
+## @example
+## 2 n-1
+## Co = [ B AB A B ... A B ]
+## @end example
+## @end ifinfo
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
Modified: trunk/octave-forge/main/control/inst/dss.m
===================================================================
--- trunk/octave-forge/main/control/inst/dss.m 2011-08-06 12:32:14 UTC (rev 8442)
+++ trunk/octave-forge/main/control/inst/dss.m 2011-08-06 18:56:03 UTC (rev 8443)
@@ -24,6 +24,8 @@
##
## @strong{Inputs}
## @table @var
+## @item sys
+## LTI model to be converted to state-space.
## @item a
## State transition matrix (n-by-n).
## @item b
@@ -85,4 +87,4 @@
##
## 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
+## There's no way to tell e and d apart if n = m = p.
Modified: trunk/octave-forge/main/control/inst/obsv.m
===================================================================
--- trunk/octave-forge/main/control/inst/obsv.m 2011-08-06 12:32:14 UTC (rev 8442)
+++ trunk/octave-forge/main/control/inst/obsv.m 2011-08-06 18:56:03 UTC (rev 8443)
@@ -19,7 +19,45 @@
## -*- texinfo -*-
## @deftypefn {Function File} {@var{ob} =} obsv (@var{sys})
## @deftypefnx {Function File} {@var{ob} =} obsv (@var{a}, @var{c})
+## Return observability matrix.
+##
+## @strong{Inputs}
+## @table @var
+## @item sys
+## LTI model.
+## @item a
+## State transition matrix (n-by-n).
+## @item c
+## Measurement matrix (p-by-n).
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item co
## Observability matrix.
+## @end table
+##
+## @strong{Equation}
+## @iftex
+## @tex
+## $$ O_b = \left[ \matrix{ C \cr
+## CA \cr
+## CA^2 \cr
+## \vdots \cr
+## CA^{n-1} } \right ] $$
+## @end tex
+## @end iftex
+## @ifinfo
+## @example
+## @group
+## | C |
+## | CA |
+## Ob = | CA^2 |
+## | ... |
+## | CA^(n-1) |
+## @end group
+## @end example
+## @end ifinfo
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2011-09-03 19:42:11
|
Revision: 8489
http://octave.svn.sourceforge.net/octave/?rev=8489&view=rev
Author: paramaniac
Date: 2011-09-03 19:42:05 +0000 (Sat, 03 Sep 2011)
Log Message:
-----------
control: add d2c (incomplete)
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@ss/__c2d__.m
trunk/octave-forge/main/control/inst/@tf/__c2d__.m
trunk/octave-forge/main/control/inst/ltimodels.m
Added Paths:
-----------
trunk/octave-forge/main/control/inst/@frd/__d2c__.m
trunk/octave-forge/main/control/inst/@lti/d2c.m
trunk/octave-forge/main/control/inst/@ss/__d2c__.m
trunk/octave-forge/main/control/inst/@tf/__d2c__.m
Added: trunk/octave-forge/main/control/inst/@frd/__d2c__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@frd/__d2c__.m (rev 0)
+++ trunk/octave-forge/main/control/inst/@frd/__d2c__.m 2011-09-03 19:42:05 UTC (rev 8489)
@@ -0,0 +1,31 @@
+## 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 -*-
+## Convert the discrete FRD object into its continuous-time equivalent.
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: September 2011
+## Version: 0.1
+
+function sys = __d2c__ (sys, tsam, method = "zoh")
+
+ error ("frd: d2c: conversion not possible");
+
+ ## NOTE: changing just the sampling time wouldn't make sense here
+
+endfunction
\ No newline at end of file
Added: trunk/octave-forge/main/control/inst/@lti/d2c.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/d2c.m (rev 0)
+++ trunk/octave-forge/main/control/inst/@lti/d2c.m 2011-09-03 19:42:05 UTC (rev 8489)
@@ -0,0 +1,45 @@
+## 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 -*-
+## @deftypefn {Function File} {@var{sys} =} d2c (@var{sys})
+## @deftypefnx {Function File} {@var{sys} =} d2c (@var{sys}, @var{method})
+## Convert the discrete lti model into its continuous-time equivalent.
+## @end deftypefn
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: September 2011
+## Version: 0.1
+
+function sys = d2c (sys, method = "std")
+
+ if (nargin == 0 || nargin > 2)
+ print_usage ();
+ endif
+
+ if (! isa (sys, "lti"))
+ error ("d2c: first argument is not an lti model");
+ endif
+
+ if (! ischar (method))
+ error ("c2d: second argument is not a string");
+ endif
+
+ sys = __d2c__ (sys, sys.tsam, method);
+ sys.tsam = 0;
+
+endfunction
\ No newline at end of file
Modified: trunk/octave-forge/main/control/inst/@ss/__c2d__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/__c2d__.m 2011-09-03 18:50:35 UTC (rev 8488)
+++ trunk/octave-forge/main/control/inst/@ss/__c2d__.m 2011-09-03 19:42:05 UTC (rev 8489)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009 Lukas F. Reichlin
+## Copyright (C) 2009, 2011 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -16,11 +16,11 @@
## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>.
## -*- texinfo -*-
-## Convert the continuous SS model into its discrete time equivalent.
+## Convert the continuous SS model into its discrete-time equivalent.
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
-## Version: 0.1
+## Version: 0.2
function sys = __c2d__ (sys, tsam, method = "zoh")
@@ -58,7 +58,7 @@
[sys.a, sys.b, sys.c, sys.d] = slab04md (sys.a, sys.b, sys.c, sys.d, 1, 2/tsam, false);
otherwise
- error ("ss: c2d: %s is an invalid method", method);
+ error ("ss: c2d: %s is an invalid or missing method", method);
endswitch
Added: trunk/octave-forge/main/control/inst/@ss/__d2c__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/__d2c__.m (rev 0)
+++ trunk/octave-forge/main/control/inst/@ss/__d2c__.m 2011-09-03 19:42:05 UTC (rev 8489)
@@ -0,0 +1,65 @@
+## 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 -*-
+## Convert the discrete SS model into its continuous-time equivalent.
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: September 2011
+## Version: 0.1
+
+function sys = __d2c__ (sys, tsam, method = "zoh")
+
+ switch (method)
+ case {"zoh", "std"}
+ if (! isempty (sys.e))
+ if (rcond (sys.e) < eps)
+ error ("ss: d2c: zero-order hold method requires proper system");
+ else
+ sys.a = sys.e \ sys.a;
+ sys.b = sys.e \ sys.b;
+ sys.e = []; # require ordinary state-space model
+ endif
+ endif
+
+ [n, m] = size (sys.b); # n: states, m: inputs
+
+ ## TODO: use SLICOT MB05OD
+ tmp = expm ([sys.a*tsam, sys.b*tsam; zeros(m, n+m)]);
+
+ sys.a = tmp (1:n, 1:n); # F
+ sys.b = tmp (1:n, n+(1:m)); # G
+
+ case {"tustin", "bilin"}
+ if (! isempty (sys.e))
+ if (rcond (sys.e) < eps)
+ error ("ss: d2c: tustin method requires proper system");
+ else
+ sys.a = sys.e \ sys.a;
+ sys.b = sys.e \ sys.b;
+ sys.e = []; # require ordinary state-space model
+ endif
+ endif
+
+ [sys.a, sys.b, sys.c, sys.d] = slab04md (sys.a, sys.b, sys.c, sys.d, 1, 2/tsam, true);
+
+ otherwise
+ error ("ss: d2c: %s is an invalid or missing method", method);
+
+ endswitch
+
+endfunction
\ No newline at end of file
Modified: trunk/octave-forge/main/control/inst/@tf/__c2d__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tf/__c2d__.m 2011-09-03 18:50:35 UTC (rev 8488)
+++ trunk/octave-forge/main/control/inst/@tf/__c2d__.m 2011-09-03 19:42:05 UTC (rev 8489)
@@ -16,7 +16,7 @@
## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>.
## -*- texinfo -*-
-## Convert the continuous TF model into its discrete time equivalent.
+## Convert the continuous TF model into its discrete-time equivalent.
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
Added: trunk/octave-forge/main/control/inst/@tf/__d2c__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tf/__d2c__.m (rev 0)
+++ trunk/octave-forge/main/control/inst/@tf/__d2c__.m 2011-09-03 19:42:05 UTC (rev 8489)
@@ -0,0 +1,29 @@
+## 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 -*-
+## Convert the discrete TF model into its continuous-time equivalent.
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: September 2011
+## Version: 0.1
+
+function sys = __d2c__ (sys, tsam, method = "zoh")
+
+ error ("tf: d2c: not implemented yet");
+
+endfunction
\ No newline at end of file
Modified: trunk/octave-forge/main/control/inst/ltimodels.m
===================================================================
--- trunk/octave-forge/main/control/inst/ltimodels.m 2011-09-03 18:50:35 UTC (rev 8488)
+++ trunk/octave-forge/main/control/inst/ltimodels.m 2011-09-03 19:42:05 UTC (rev 8489)
@@ -1297,3 +1297,25 @@
%! Me = [Ae, Be; Ce, De];
%!
%!assert (Mo, Me, 1e-4);
+
+
+## bilinear transformation
+%!shared Mo, Me
+%! A = [ 1.0 0.5
+%! 0.5 1.0 ];
+%!
+%! B = [ 0.0 -1.0
+%! 1.0 0.0 ];
+%!
+%! C = [ -1.0 0.0
+%! 0.0 1.0 ];
+%!
+%! D = [ 1.0 0.0
+%! 0.0 -1.0 ];
+%!
+%! [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "tustin"), "tustin"));
+%!
+%! Mo = [Ao, Bo; Co, Do];
+%! Me = [A, B; C, D];
+%!
+%!assert (Mo, Me, 1e-4);
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2011-09-06 06:03:16
|
Revision: 8505
http://octave.svn.sourceforge.net/octave/?rev=8505&view=rev
Author: paramaniac
Date: 2011-09-06 06:03:10 +0000 (Tue, 06 Sep 2011)
Log Message:
-----------
control: improve argument checking, add a test
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@lti/c2d.m
trunk/octave-forge/main/control/inst/@lti/d2c.m
trunk/octave-forge/main/control/inst/ltimodels.m
Modified: trunk/octave-forge/main/control/inst/@lti/c2d.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/c2d.m 2011-09-05 21:03:51 UTC (rev 8504)
+++ trunk/octave-forge/main/control/inst/@lti/c2d.m 2011-09-06 06:03:10 UTC (rev 8505)
@@ -24,7 +24,7 @@
## @strong{Inputs}
## @table @var
## @item sys
-## Continuous-time LTI model.
+## Continuous-time LTI model. Only state-space models have been implemented so far.
## @item tsam
## Sampling time in seconds.
## @item method
@@ -73,6 +73,10 @@
error ("c2d: third argument is not a string");
endif
+ if (! issample (w0, 0))
+ error ("c2d: fourth argument is not a valid pre-warping frequency");
+ endif
+
sys = __c2d__ (sys, tsam, lower (method), w0);
sys.tsam = tsam;
Modified: trunk/octave-forge/main/control/inst/@lti/d2c.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/d2c.m 2011-09-05 21:03:51 UTC (rev 8504)
+++ trunk/octave-forge/main/control/inst/@lti/d2c.m 2011-09-06 06:03:10 UTC (rev 8505)
@@ -24,7 +24,7 @@
## @strong{Inputs}
## @table @var
## @item sys
-## Discrete-time LTI model.
+## Discrete-time LTI model. Only state-space models have been implemented so far.
## @item method
## Optional conversion method. If not specified, default method @var{"zoh"}
## is taken.
@@ -67,6 +67,10 @@
error ("d2c: second argument is not a string");
endif
+ if (! issample (w0, 0))
+ error ("d2c: third argument is not a valid pre-warping frequency");
+ endif
+
sys = __d2c__ (sys, sys.tsam, lower (method), w0);
sys.tsam = 0;
Modified: trunk/octave-forge/main/control/inst/ltimodels.m
===================================================================
--- trunk/octave-forge/main/control/inst/ltimodels.m 2011-09-05 21:03:51 UTC (rev 8504)
+++ trunk/octave-forge/main/control/inst/ltimodels.m 2011-09-06 06:03:10 UTC (rev 8505)
@@ -1346,3 +1346,26 @@
%!
%!assert (Mo, Me, 1e-4);
+
+## bilinear transformation with pre-warping
+## both directions
+%!shared Mo, Me
+%! A = [ 1.0 0.5
+%! 0.5 1.0 ];
+%!
+%! B = [ 0.0 -1.0
+%! 1.0 0.0 ];
+%!
+%! C = [ -1.0 0.0
+%! 0.0 1.0 ];
+%!
+%! D = [ 1.0 0.0
+%! 0.0 -1.0 ];
+%!
+%! [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "prewarp", 1000), "prewarp", 1000));
+%!
+%! Mo = [Ao, Bo; Co, Do];
+%! Me = [A, B; C, D];
+%!
+%!assert (Mo, Me, 1e-4);
+
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|
|
From: <par...@us...> - 2011-09-18 07:27:47
|
Revision: 8549
http://octave.svn.sourceforge.net/octave/?rev=8549&view=rev
Author: paramaniac
Date: 2011-09-18 07:27:40 +0000 (Sun, 18 Sep 2011)
Log Message:
-----------
control: add more comments to constructors
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@frd/frd.m
trunk/octave-forge/main/control/inst/@ss/ss.m
trunk/octave-forge/main/control/inst/@tf/tf.m
Modified: trunk/octave-forge/main/control/inst/@frd/frd.m
===================================================================
--- trunk/octave-forge/main/control/inst/@frd/frd.m 2011-09-17 05:34:35 UTC (rev 8548)
+++ trunk/octave-forge/main/control/inst/@frd/frd.m 2011-09-18 07:27:40 UTC (rev 8549)
@@ -100,7 +100,7 @@
otherwise # default case
argc = numel (varargin); # number of additional arguments after H and w
if (issample (varargin{1}, -10)) # sys = frd (H, w, tsam, "prop1", val1, ...)
- tsam = varargin{1}; # discrete-time
+ tsam = varargin{1}; # sampling time, could be 0 as well
argc--; # tsam is not a property-value pair
if (argc > 0) # if there are any properties and values ...
varargin = varargin(2:end); # remove tsam from property-value list
@@ -111,7 +111,7 @@
endswitch
[H, w] = __adjust_frd_data__ (H, w);
- [p, m] = __frd_dim__ (H, w);
+ [p, m] = __frd_dim__ (H, w); # determine number of outputs and inputs
frdata = struct ("H", H, "w", w); # struct for frd-specific data
ltisys = lti (p, m, tsam); # parent class for general lti data
Modified: trunk/octave-forge/main/control/inst/@ss/ss.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/ss.m 2011-09-17 05:34:35 UTC (rev 8548)
+++ trunk/octave-forge/main/control/inst/@ss/ss.m 2011-09-18 07:27:40 UTC (rev 8549)
@@ -101,51 +101,51 @@
## inferiorto ("frd");
superiorto ("zpk", "tf", "double");
- argc = 0; # initialize argument count
- tsam = 0; # initialize sampling time
+ argc = 0; # initialize argument count
+ tsam = 0; # initialize sampling time
if (nargin == 1)
- if (isa (a, "ss")) # already in ss form
+ if (isa (a, "ss")) # already in ss form sys = ss (sssys)
sys = a;
return;
- elseif (isa (a, "lti")) # another lti object
+ elseif (isa (a, "lti")) # another lti object sys = ss (sys)
[sys, alti] = __sys2ss__ (a);
- sys.lti = alti; # preserve lti properties
+ sys.lti = alti; # preserve lti properties
return;
- elseif (is_real_matrix (a)) # static gain sys = ss (5)
+ elseif (is_real_matrix (a)) # static gain sys = ss (5), sys = ss (matrix)
d = a;
a = [];
else
print_usage ();
endif
- elseif (nargin > 4) # default case sys = ss (a, b, c, d, "prop1", val1, ...)
- argc = numel (varargin); # number of additional arguments after d
- if (issample (varargin{1}, -10)) # sys = ss (a, b, c, d, tsam, "prop1, "val1", ...)
- tsam = varargin{1};
- argc--;
- if (argc > 0)
- varargin = varargin(2:end);
+ elseif (nargin > 4) # default case sys = ss (a, b, c, d, "prop1", val1, ...)
+ argc = numel (varargin); # number of additional arguments after d
+ if (issample (varargin{1}, -10)) # sys = ss (a, b, c, d, tsam, "prop1, "val1", ...)
+ tsam = varargin{1}; # sampling time, could be 0 as well
+ argc--; # tsam is not a property-value pair
+ if (argc > 0) # if there are any properties and values ...
+ varargin = varargin(2:end); # remove tsam from property-value list
endif
endif
- endif # nothing to do for ss (), ss (a, b), ss (a, b, c), ss (a, b, c, d)
+ endif # nothing to do for ss (), ss (a, b), ss (a, b, c), ss (a, b, c, d)
[a, b, c, d, tsam] = __adjust_ss_data__ (a, b, c, d, tsam);
- [p, m, n] = __ss_dim__ (a, b, c, d);
+ [p, m, n] = __ss_dim__ (a, b, c, d); # determine number of outputs, inputs and states
- stname = repmat ({""}, n, 1);
+ stname = repmat ({""}, n, 1); # cell with empty state names
ssdata = struct ("a", a, "b", b,
"c", c, "d", d,
"e", [],
"stname", {stname},
- "scaled", false);
+ "scaled", false); # struct for ss-specific data
- ltisys = lti (p, m, tsam);
+ ltisys = lti (p, m, tsam); # parent class for general lti data
- sys = class (ssdata, "ss", ltisys);
+ sys = class (ssdata, "ss", ltisys); # create ss object
- if (argc > 0)
- sys = set (sys, varargin{:});
+ if (argc > 0) # if there are any properties and values, ...
+ sys = set (sys, varargin{:}); # use the general set function
endif
endfunction
Modified: trunk/octave-forge/main/control/inst/@tf/tf.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tf/tf.m 2011-09-17 05:34:35 UTC (rev 8548)
+++ trunk/octave-forge/main/control/inst/@tf/tf.m 2011-09-18 07:27:40 UTC (rev 8549)
@@ -84,28 +84,28 @@
## inferiorto ("frd", "ss", "zpk"); # error if de-commented. bug in octave?
superiorto ("double");
- argc = 0;
+ argc = 0; # initialize argument count
switch (nargin)
- case 0
- tsam = -2;
- tfvar = "x"; # undefined
+ case 0 # sys = tf ()
+ tsam = -2; # undefined sampling time
+ tfvar = "x"; # undefined transfer function variable
case 1
- if (isa (num, "tf")) # already in tf form
+ if (isa (num, "tf")) # already in tf form sys = tf (tfsys)
sys = num;
return;
- elseif (isa (num, "lti")) # another lti object
+ elseif (isa (num, "lti")) # another lti object sys = tf (sys)
[sys, numlti] = __sys2tf__ (num);
sys.lti = numlti; # preserve lti properties
return;
- elseif (is_real_matrix (num)) # static gain
+ elseif (is_real_matrix (num)) # static gain sys = tf (4), sys = tf (matrix)
num = num2cell (num);
num = __vec2tfpoly__ (num);
[p, m] = size (num);
- den = tfpolyones (p, m);
- tsam = -2;
- tfvar = "x"; # undefined
+ den = tfpolyones (p, m); # denominators are all 1
+ tsam = -2; # undefined sampling time
+ tfvar = "x"; # undefined transfer function variable
elseif (ischar (num)) # s = tf ("s")
tfvar = num;
num = __vec2tfpoly__ ([1, 0]);
@@ -128,44 +128,39 @@
tsam = 0;
endif
- otherwise # default case
+ otherwise # default case sys = tf (num, den, ...)
num = __vec2tfpoly__ (num);
den = __vec2tfpoly__ (den);
- argc = numel (varargin);
-
+ argc = numel (varargin); # number of additional arguments after num and den
if (issample (varargin{1}, -10)) # sys = tf (num, den, tsam, "prop1", val1, ...)
- tsam = varargin{1};
- argc--;
-
+ tsam = varargin{1}; # sampling time, could be 0 as well
+ argc--; # tsam is not a property-value pair
if (tsam == 0)
tfvar = "s";
else
tfvar = "z";
endif
-
- if (argc > 0)
- varargin = varargin(2:end);
+ if (argc > 0) # if there are any properties and values ...
+ varargin = varargin(2:end); # remove tsam from property-value list
endif
else # sys = tf (num, den, "prop1", val1, ...)
- tsam = 0;
+ tsam = 0; # continuous-time
tfvar = "s";
endif
-
endswitch
+ [p, m] = __tf_dim__ (num, den); # determine number of outputs and inputs
- [p, m] = __tf_dim__ (num, den);
-
tfdata = struct ("num", {num},
"den", {den},
- "tfvar", tfvar);
+ "tfvar", tfvar); # struct for tf-specific data
- ltisys = lti (p, m, tsam);
+ ltisys = lti (p, m, tsam); # parent class for general lti data
- sys = class (tfdata, "tf", ltisys);
+ sys = class (tfdata, "tf", ltisys); # create tf object
- if (argc > 0)
- sys = set (sys, varargin{:});
+ if (argc > 0) # if there are any properties and values, ...
+ sys = set (sys, varargin{:}); # use the general set function
endif
endfunction
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|
|
From: <par...@us...> - 2011-09-19 14:05:43
|
Revision: 8566
http://octave.svn.sourceforge.net/octave/?rev=8566&view=rev
Author: paramaniac
Date: 2011-09-19 14:05:34 +0000 (Mon, 19 Sep 2011)
Log Message:
-----------
control: improve texinfo help strings, fix a bug (thanks to Bernhard Weller)
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@lti/tfdata.m
trunk/octave-forge/main/control/inst/@tf/__get__.m
trunk/octave-forge/main/control/inst/@tf/tf.m
Modified: trunk/octave-forge/main/control/inst/@lti/tfdata.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/tfdata.m 2011-09-19 11:40:51 UTC (rev 8565)
+++ trunk/octave-forge/main/control/inst/@lti/tfdata.m 2011-09-19 14:05:34 UTC (rev 8566)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009, 2010 Lukas F. Reichlin
+## Copyright (C) 2009, 2010, 2011 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -19,11 +19,34 @@
## @deftypefn {Function File} {[@var{num}, @var{den}, @var{tsam}] =} tfdata (@var{sys})
## @deftypefnx {Function File} {[@var{num}, @var{den}, @var{tsam}] =} tfdata (@var{sys}, @var{"tfpoly"})
## Access transfer function data.
+## Argument @var{sys} is not limited to transfer function models.
+## If @var{sys} is not a transfer function, it is converted automatically.
+##
+## @strong{Inputs}
+## @table @var
+## @item sys
+## Any type of LTI model.
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item num
+## Cell of numerator(s). Each numerator is a row vector
+## containing the coefficients of the polynomial in descending powers of
+## the transfer function variable.
+## @item den
+## Cell of denominator(s). Each denominator is a row vector
+## containing the coefficients of the polynomial in descending powers of
+## the transfer function variable.
+## @item tsam
+## Sampling time in seconds. If @var{sys} is a continuous-time model,
+## a zero is returned.
+## @end table
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
## Created: September 2009
-## Version: 0.2
+## Version: 0.3
function [num, den, tsam] = tfdata (sys, rtype = "vector")
@@ -36,8 +59,8 @@
tsam = sys.tsam;
if (rtype(1) == "v")
- num = cellfun ("@tfpoly/get", num, "uniformoutput", false);
- den = cellfun ("@tfpoly/get", den, "uniformoutput", false);
+ num = cellfun (@get, num, "uniformoutput", false);
+ den = cellfun (@get, den, "uniformoutput", false);
endif
-endfunction
\ No newline at end of file
+endfunction
Modified: trunk/octave-forge/main/control/inst/@tf/__get__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tf/__get__.m 2011-09-19 11:40:51 UTC (rev 8565)
+++ trunk/octave-forge/main/control/inst/@tf/__get__.m 2011-09-19 14:05:34 UTC (rev 8566)
@@ -26,10 +26,10 @@
switch (prop) # {<internal name>, <user name>}
case "num"
- val = cellfun ("@tfpoly/get", sys.num, "uniformoutput", false);
+ val = cellfun (@get, sys.num, "uniformoutput", false);
case "den"
- val = cellfun ("@tfpoly/get", sys.den, "uniformoutput", false);
+ val = cellfun (@get, sys.den, "uniformoutput", false);
case {"tfvar", "variable"}
val = sys.tfvar;
@@ -38,4 +38,4 @@
error ("tf: get: invalid property name");
endswitch
-endfunction
\ No newline at end of file
+endfunction
Modified: trunk/octave-forge/main/control/inst/@tf/tf.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tf/tf.m 2011-09-19 11:40:51 UTC (rev 8565)
+++ trunk/octave-forge/main/control/inst/@tf/tf.m 2011-09-19 14:05:34 UTC (rev 8566)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009, 2010 Lukas F. Reichlin
+## Copyright (C) 2009, 2010, 2011 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -29,10 +29,12 @@
## LTI model to be converted to transfer function.
## @item num
## Numerator or cell of numerators. Each numerator must be a row vector
-## containing the exponents of the polynomial in descending order.
+## containing the coefficients of the polynomial in descending powers of
+## the transfer function variable.
## @item den
## Denominator or cell of denominators. Each denominator must be a row vector
-## containing the exponents of the polynomial in descending order.
+## containing the coefficients of the polynomial in descending powers of
+## the transfer function variable.
## @item tsam
## Sampling time in seconds. If @var{tsam} is not specified, a continuous-time
## model is assumed.
@@ -54,20 +56,49 @@
## octave:2> G = 1/(s+1)
##
## Transfer function "G" from input "u1" to output ...
+##
## 1
## y1: -----
## s + 1
-##
+##
+## Continuous-time model.
## 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>
+## Discrete-time model.
+## octave:5> num = @{[1, 5, 7], [1]; [1, 7], [1, 5, 5]@};
+## octave:6> den = @{[1, 5, 6], [1, 2]; [1, 8, 6], [1, 3, 2]@};
+## octave:7> sys = tf (num, den)
+##
+## Transfer function "sys" from input "u1" to output ...
+##
+## s^2 + 5 s + 7
+## y1: -------------
+## s^2 + 5 s + 6
+##
+## s + 7
+## y2: -------------
+## s^2 + 8 s + 6
+##
+## Transfer function "sys" from input "u2" to output ...
+##
+## 1
+## y1: -----
+## s + 2
+##
+## s^2 + 5 s + 5
+## y2: -------------
+## s^2 + 3 s + 2
+##
+## Continuous-time model.
+## octave:8>
## @end group
## @end example
##
@@ -76,7 +107,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: September 2009
-## Version: 0.2
+## Version: 0.2.1
function sys = tf (num = {}, den = {}, varargin)
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2011-10-17 12:07:35
|
Revision: 8760
http://octave.svn.sourceforge.net/octave/?rev=8760&view=rev
Author: paramaniac
Date: 2011-10-17 12:07:25 +0000 (Mon, 17 Oct 2011)
Log Message:
-----------
control: return number of controllable/observable states, improve doc
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 2011-10-17 04:18:56 UTC (rev 8759)
+++ trunk/octave-forge/main/control/inst/isctrb.m 2011-10-17 12:07:25 UTC (rev 8760)
@@ -16,20 +16,20 @@
## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>.
## -*- texinfo -*-
-## @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})
+## @deftypefn {Function File} {[@var{bool}, @var{ncon}] =} isctrb (@var{sys})
+## @deftypefnx {Function File} {[@var{bool}, @var{ncon}] =} isctrb (@var{sys}, @var{tol})
+## @deftypefnx {Function File} {[@var{bool}, @var{ncon}] =} isctrb (@var{a}, @var{b})
+## @deftypefnx {Function File} {[@var{bool}, @var{ncon}] =} isctrb (@var{a}, @var{b}, @var{e})
+## @deftypefnx {Function File} {[@var{bool}, @var{ncon}] =} isctrb (@var{a}, @var{b}, @var{[]}, @var{tol})
+## @deftypefnx {Function File} {[@var{bool}, @var{ncon}] =} isctrb (@var{a}, @var{b}, @var{e}, @var{tol})
## Logical check for system controllability.
-## Uses SLICOT AB01OD and TG01HD by courtesy of
-## @uref{http://www.slicot.org, NICONET e.V.}
+## For numerical reasons, @code{isctrb (sys)}
+## should be used instead of @code{rank (ctrb (sys))}.
##
## @strong{Inputs}
## @table @var
## @item sys
-## LTI model.
+## LTI model. Descriptor state-space models are possible.
## @item a
## State transition matrix.
## @item b
@@ -46,16 +46,22 @@
## System is not controllable.
## @item bool = 1
## System is controllable.
+## @item ncon
+## Number of controllable states.
## @end table
##
+## @strong{Algorithm}@*
+## Uses SLICOT AB01OD and TG01HD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
+##
## @seealso{isobsv}
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
-## Version: 0.3
+## Version: 0.4
-function bool = isctrb (a, b = [], e = [], tol = [])
+function [bool, ncont] = isctrb (a, b = [], e = [], tol = [])
if (nargin < 1 || nargin > 4)
print_usage ();
Modified: trunk/octave-forge/main/control/inst/isobsv.m
===================================================================
--- trunk/octave-forge/main/control/inst/isobsv.m 2011-10-17 04:18:56 UTC (rev 8759)
+++ trunk/octave-forge/main/control/inst/isobsv.m 2011-10-17 12:07:25 UTC (rev 8760)
@@ -16,20 +16,20 @@
## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>.
## -*- texinfo -*-
-## @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})
+## @deftypefn {Function File} {[@var{bool}, @var{nobs}] =} isobsv (@var{sys})
+## @deftypefnx {Function File} {[@var{bool}, @var{nobs}] =} isobsv (@var{sys}, @var{tol})
+## @deftypefnx {Function File} {[@var{bool}, @var{nobs}] =} isobsv (@var{a}, @var{c})
+## @deftypefnx {Function File} {[@var{bool}, @var{nobs}] =} isobsv (@var{a}, @var{c}, @var{e})
+## @deftypefnx {Function File} {[@var{bool}, @var{nobs}] =} isobsv (@var{a}, @var{c}, @var{[]}, @var{tol})
+## @deftypefnx {Function File} {[@var{bool}, @var{nobs}] =} isobsv (@var{a}, @var{c}, @var{e}, @var{tol})
## Logical check for system observability.
-## Uses SLICOT AB01OD and TG01HD by courtesy of
-## @uref{http://www.slicot.org, NICONET e.V.}
+## For numerical reasons, @code{isobsv (sys)}
+## should be used instead of @code{rank (obsv (sys))}.
##
## @strong{Inputs}
## @table @var
## @item sys
-## LTI model.
+## LTI model. Descriptor state-space models are possible.
## @item a
## State transition matrix.
## @item c
@@ -46,28 +46,34 @@
## System is not observable.
## @item bool = 1
## System is observable.
+## @item nobs
+## Number of observable states.
## @end table
##
+## @strong{Algorithm}@*
+## Uses SLICOT AB01OD and TG01HD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
+##
## @seealso{isctrb}
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
-## Version: 0.3
+## Version: 0.4
-function bool = isobsv (a, c = [], e = [], tol = [])
+function [bool, nobs] = 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 = isctrb (a.', c); # transpose is overloaded
+ [bool, nobs] = isctrb (a.', c); # transpose is overloaded
elseif (nargin < 2 || nargin > 4)
print_usage ();
- else # isobsv (a, c), isobsv (a, c, e), ...
- bool = isctrb (a.', c.', e.', tol);
+ else # isobsv (a, c), isobsv (a, c, e), ...
+ [bool, nobs] = isctrb (a.', c.', e.', tol);
endif
endfunction
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|
|
From: <par...@us...> - 2011-10-22 04:40:21
|
Revision: 8845
http://octave.svn.sourceforge.net/octave/?rev=8845&view=rev
Author: paramaniac
Date: 2011-10-22 04:40:15 +0000 (Sat, 22 Oct 2011)
Log Message:
-----------
control: minor doc fixes
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/mixsyn.m
trunk/octave-forge/main/control/inst/ncfsyn.m
Modified: trunk/octave-forge/main/control/inst/mixsyn.m
===================================================================
--- trunk/octave-forge/main/control/inst/mixsyn.m 2011-10-22 04:14:11 UTC (rev 8844)
+++ trunk/octave-forge/main/control/inst/mixsyn.m 2011-10-22 04:40:15 UTC (rev 8845)
@@ -17,7 +17,7 @@
## -*- 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
+## Solve stacked S/KS/T H-infinity 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.
Modified: trunk/octave-forge/main/control/inst/ncfsyn.m
===================================================================
--- trunk/octave-forge/main/control/inst/ncfsyn.m 2011-10-22 04:14:11 UTC (rev 8844)
+++ trunk/octave-forge/main/control/inst/ncfsyn.m 2011-10-22 04:40:15 UTC (rev 8845)
@@ -17,8 +17,8 @@
## -*- texinfo -*-
## @deftypefn{Function File} {[@var{K}, @var{N}, @var{gamma}, @var{info}] =} ncfsyn (@var{G}, @var{W1}, @var{W2}, @var{factor})
-## Normalized Coprime Factor (NCF) H-infinity synthesis.
-## Compute positive feedback controller using the McFarlane/Glover Loop Shaping Design Procedure.
+## Loop shaping H-infinity synthesis. Compute positive feedback controller using
+## the McFarlane/Glover normalized coprime factor (NCF) loop shaping design procedure.
##
## @strong{Inputs}
## @table @var
@@ -46,7 +46,7 @@
## @item N
## State-space model of the closed loop depicted below.
## @item gamma
-## L-infinity norm of @var{N}.
+## L-infinity norm of @var{N}. @code{gamma = norm (N, inf)}.
## @item info
## Structure containing additional information.
## @item info.emax
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|
|
From: <par...@us...> - 2011-11-25 07:20:54
|
Revision: 9178
http://octave.svn.sourceforge.net/octave/?rev=9178&view=rev
Author: paramaniac
Date: 2011-11-25 07:20:47 +0000 (Fri, 25 Nov 2011)
Log Message:
-----------
control: replace @ifinfo by @ifnottex to make text appear in help and html
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/Boeing707.m
trunk/octave-forge/main/control/inst/__frequency_vector__.m
trunk/octave-forge/main/control/inst/ctrb.m
trunk/octave-forge/main/control/inst/obsv.m
Modified: trunk/octave-forge/main/control/inst/Boeing707.m
===================================================================
--- trunk/octave-forge/main/control/inst/Boeing707.m 2011-11-24 22:01:00 UTC (rev 9177)
+++ trunk/octave-forge/main/control/inst/Boeing707.m 2011-11-25 07:20:47 UTC (rev 9178)
@@ -24,9 +24,9 @@
## ($M = 0.26$, $G_{a0} = -3^{\circ}$, ${\alpha}_0 = 4^{\circ}$, ${\kappa}= 50^{\circ}$).
## @end tex
## @end iftex
-## @ifinfo
+## @ifnottex
## (@var{M} = 0.26, @var{Ga0} = -3 deg, @var{alpha0} = 4 deg, @var{kappa} = 50 deg).
-## @end ifinfo
+## @end ifnottex
##
## System inputs: (1) thrust and (2) elevator angle.
##
Modified: trunk/octave-forge/main/control/inst/__frequency_vector__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__frequency_vector__.m 2011-11-24 22:01:00 UTC (rev 9177)
+++ trunk/octave-forge/main/control/inst/__frequency_vector__.m 2011-11-25 07:20:47 UTC (rev 9178)
@@ -26,9 +26,9 @@
## $ [ 10^{w_{min}}, 10^{w_{max}} ] $
## @end tex
## @end iftex
-## @ifinfo
+## @ifnottex
## [10^@var{wmin}, 10^@var{wmax}]
-## @end ifinfo
+## @end ifnottex
##
## Used by @command{__frequency_response__}
## @end deftypefn
Modified: trunk/octave-forge/main/control/inst/ctrb.m
===================================================================
--- trunk/octave-forge/main/control/inst/ctrb.m 2011-11-24 22:01:00 UTC (rev 9177)
+++ trunk/octave-forge/main/control/inst/ctrb.m 2011-11-25 07:20:47 UTC (rev 9178)
@@ -43,12 +43,12 @@
## $$ C_o = [ B \\ \\ AB \\ \\ A^2B \\ \\ldots \\ A^{n-1}B ] $$
## @end tex
## @end iftex
-## @ifinfo
+## @ifnottex
## @example
## 2 n-1
## Co = [ B AB A B ... A B ]
## @end example
-## @end ifinfo
+## @end ifnottex
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
Modified: trunk/octave-forge/main/control/inst/obsv.m
===================================================================
--- trunk/octave-forge/main/control/inst/obsv.m 2011-11-24 22:01:00 UTC (rev 9177)
+++ trunk/octave-forge/main/control/inst/obsv.m 2011-11-25 07:20:47 UTC (rev 9178)
@@ -47,7 +47,7 @@
## CA^{n-1} } \\right ] $$
## @end tex
## @end iftex
-## @ifinfo
+## @ifnottex
## @example
## @group
## | C |
@@ -57,7 +57,7 @@
## | CA^(n-1) |
## @end group
## @end example
-## @end ifinfo
+## @end ifnottex
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2011-11-26 15:59:03
|
Revision: 9198
http://octave.svn.sourceforge.net/octave/?rev=9198&view=rev
Author: paramaniac
Date: 2011-11-26 15:58:55 +0000 (Sat, 26 Nov 2011)
Log Message:
-----------
control: move tests from ltimodels to the files of individual LTI methods
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@lti/c2d.m
trunk/octave-forge/main/control/inst/@lti/d2c.m
trunk/octave-forge/main/control/inst/@lti/feedback.m
trunk/octave-forge/main/control/inst/@lti/horzcat.m
trunk/octave-forge/main/control/inst/@lti/inv.m
trunk/octave-forge/main/control/inst/@lti/minreal.m
trunk/octave-forge/main/control/inst/@lti/mtimes.m
trunk/octave-forge/main/control/inst/@lti/norm.m
trunk/octave-forge/main/control/inst/@lti/plus.m
trunk/octave-forge/main/control/inst/@lti/prescale.m
trunk/octave-forge/main/control/inst/@lti/sminreal.m
trunk/octave-forge/main/control/inst/@lti/zero.m
trunk/octave-forge/main/control/inst/ltimodels.m
trunk/octave-forge/main/control/inst/test_control.m
Modified: trunk/octave-forge/main/control/inst/@lti/c2d.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/c2d.m 2011-11-26 12:24:32 UTC (rev 9197)
+++ trunk/octave-forge/main/control/inst/@lti/c2d.m 2011-11-26 15:58:55 UTC (rev 9198)
@@ -49,7 +49,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
-## Version: 0.2
+## Version: 0.3
function sys = c2d (sys, tsam, method = "std", w0 = 0)
@@ -81,3 +81,142 @@
sys.tsam = tsam;
endfunction
+
+
+## bilinear transformation
+## using oct-file directly
+%!shared Mo, Me
+%! A = [ 1.0 0.5
+%! 0.5 1.0 ].';
+%!
+%! B = [ 0.0 -1.0
+%! 1.0 0.0 ].';
+%!
+%! C = [ -1.0 0.0
+%! 0.0 1.0 ].';
+%!
+%! D = [ 1.0 0.0
+%! 0.0 -1.0 ].';
+%!
+%! [Ao, Bo, Co, Do] = slab04md (A, B, C, D, 1.0, 1.0, false);
+%!
+%! Ae = [ -1.0000 -4.0000
+%! -4.0000 -1.0000 ];
+%!
+%! Be = [ 2.8284 0.0000
+%! 0.0000 -2.8284 ];
+%!
+%! Ce = [ 0.0000 2.8284
+%! -2.8284 0.0000 ];
+%!
+%! De = [ -1.0000 0.0000
+%! 0.0000 -3.0000 ];
+%!
+%! Mo = [Ao, Bo; Co, Do];
+%! Me = [Ae, Be; Ce, De];
+%!
+%!assert (Mo, Me, 1e-4);
+
+
+## bilinear transformation
+## user function
+%!shared Mo, Me
+%! A = [ 1.0 0.5
+%! 0.5 1.0 ].';
+%!
+%! B = [ 0.0 -1.0
+%! 1.0 0.0 ].';
+%!
+%! C = [ -1.0 0.0
+%! 0.0 1.0 ].';
+%!
+%! D = [ 1.0 0.0
+%! 0.0 -1.0 ].';
+%!
+%! [Ao, Bo, Co, Do] = ssdata (c2d (ss (A, B, C, D), 2, "tustin"));
+%!
+%! Ae = [ -1.0000 -4.0000
+%! -4.0000 -1.0000 ];
+%!
+%! Be = [ 2.8284 0.0000
+%! 0.0000 -2.8284 ];
+%!
+%! Ce = [ 0.0000 2.8284
+%! -2.8284 0.0000 ];
+%!
+%! De = [ -1.0000 0.0000
+%! 0.0000 -3.0000 ];
+%!
+%! Mo = [Ao, Bo; Co, Do];
+%! Me = [Ae, Be; Ce, De];
+%!
+%!assert (Mo, Me, 1e-4);
+
+
+## bilinear transformation
+## both directions
+%!shared Mo, Me
+%! A = [ 1.0 0.5
+%! 0.5 1.0 ];
+%!
+%! B = [ 0.0 -1.0
+%! 1.0 0.0 ];
+%!
+%! C = [ -1.0 0.0
+%! 0.0 1.0 ];
+%!
+%! D = [ 1.0 0.0
+%! 0.0 -1.0 ];
+%!
+%! [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "tustin"), "tustin"));
+%!
+%! Mo = [Ao, Bo; Co, Do];
+%! Me = [A, B; C, D];
+%!
+%!assert (Mo, Me, 1e-4);
+
+
+## zero-order hold
+## both directions
+%!shared Mo, Me
+%! A = [ 1.0 0.5
+%! 0.5 1.0 ];
+%!
+%! B = [ 0.0 -1.0
+%! 1.0 0.0 ];
+%!
+%! C = [ -1.0 0.0
+%! 0.0 1.0 ];
+%!
+%! D = [ 1.0 0.0
+%! 0.0 -1.0 ];
+%!
+%! [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "zoh"), "zoh"));
+%!
+%! Mo = [Ao, Bo; Co, Do];
+%! Me = [A, B; C, D];
+%!
+%!assert (Mo, Me, 1e-4);
+
+
+## bilinear transformation with pre-warping
+## both directions
+%!shared Mo, Me
+%! A = [ 1.0 0.5
+%! 0.5 1.0 ];
+%!
+%! B = [ 0.0 -1.0
+%! 1.0 0.0 ];
+%!
+%! C = [ -1.0 0.0
+%! 0.0 1.0 ];
+%!
+%! D = [ 1.0 0.0
+%! 0.0 -1.0 ];
+%!
+%! [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "prewarp", 1000), "prewarp", 1000));
+%!
+%! Mo = [Ao, Bo; Co, Do];
+%! Me = [A, B; C, D];
+%!
+%!assert (Mo, Me, 1e-4);
Modified: trunk/octave-forge/main/control/inst/@lti/d2c.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/d2c.m 2011-11-26 12:24:32 UTC (rev 9197)
+++ trunk/octave-forge/main/control/inst/@lti/d2c.m 2011-11-26 15:58:55 UTC (rev 9198)
@@ -47,7 +47,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: September 2011
-## Version: 0.1
+## Version: 0.2
function sys = d2c (sys, method = "std", w0 = 0)
@@ -75,3 +75,72 @@
sys.tsam = 0;
endfunction
+
+
+## bilinear transformation
+## both directions
+%!shared Mo, Me
+%! A = [ 1.0 0.5
+%! 0.5 1.0 ];
+%!
+%! B = [ 0.0 -1.0
+%! 1.0 0.0 ];
+%!
+%! C = [ -1.0 0.0
+%! 0.0 1.0 ];
+%!
+%! D = [ 1.0 0.0
+%! 0.0 -1.0 ];
+%!
+%! [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "tustin"), "tustin"));
+%!
+%! Mo = [Ao, Bo; Co, Do];
+%! Me = [A, B; C, D];
+%!
+%!assert (Mo, Me, 1e-4);
+
+
+## zero-order hold
+## both directions
+%!shared Mo, Me
+%! A = [ 1.0 0.5
+%! 0.5 1.0 ];
+%!
+%! B = [ 0.0 -1.0
+%! 1.0 0.0 ];
+%!
+%! C = [ -1.0 0.0
+%! 0.0 1.0 ];
+%!
+%! D = [ 1.0 0.0
+%! 0.0 -1.0 ];
+%!
+%! [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "zoh"), "zoh"));
+%!
+%! Mo = [Ao, Bo; Co, Do];
+%! Me = [A, B; C, D];
+%!
+%!assert (Mo, Me, 1e-4);
+
+
+## bilinear transformation with pre-warping
+## both directions
+%!shared Mo, Me
+%! A = [ 1.0 0.5
+%! 0.5 1.0 ];
+%!
+%! B = [ 0.0 -1.0
+%! 1.0 0.0 ];
+%!
+%! C = [ -1.0 0.0
+%! 0.0 1.0 ];
+%!
+%! D = [ 1.0 0.0
+%! 0.0 -1.0 ];
+%!
+%! [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "prewarp", 1000), "prewarp", 1000));
+%!
+%! Mo = [Ao, Bo; Co, Do];
+%! Me = [A, B; C, D];
+%!
+%!assert (Mo, Me, 1e-4);
Modified: trunk/octave-forge/main/control/inst/@lti/feedback.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/feedback.m 2011-11-26 12:24:32 UTC (rev 9197)
+++ trunk/octave-forge/main/control/inst/@lti/feedback.m 2011-11-26 15:58:55 UTC (rev 9198)
@@ -67,7 +67,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
-## Version: 0.4
+## Version: 0.5
function sys = feedback (sys1, sys2, feedin, feedout, fbsign = -1)
@@ -182,3 +182,82 @@
endif
endfunction
+
+
+## Feedback inter-connection of two systems in state-space form
+## Test from SLICOT AB05ND
+%!shared M, Me
+%! A1 = [ 1.0 0.0 -1.0
+%! 0.0 -1.0 1.0
+%! 1.0 1.0 2.0 ];
+%!
+%! B1 = [ 1.0 1.0 0.0
+%! 2.0 0.0 1.0 ].';
+%!
+%! C1 = [ 3.0 -2.0 1.0
+%! 0.0 1.0 0.0 ];
+%!
+%! D1 = [ 1.0 0.0
+%! 0.0 1.0 ];
+%!
+%! A2 = [-3.0 0.0 0.0
+%! 1.0 0.0 1.0
+%! 0.0 -1.0 2.0 ];
+%!
+%! B2 = [ 0.0 -1.0 0.0
+%! 1.0 0.0 2.0 ].';
+%!
+%! C2 = [ 1.0 1.0 0.0
+%! 1.0 1.0 -1.0 ];
+%!
+%! D2 = [ 1.0 1.0
+%! 0.0 1.0 ];
+%!
+%! sys1 = ss (A1, B1, C1, D1);
+%! sys2 = ss (A2, B2, C2, D2);
+%! sys = feedback (sys1, sys2);
+%! [A, B, C, D] = ssdata (sys);
+%! M = [A, B; C, D];
+%!
+%! Ae = [-0.5000 -0.2500 -1.5000 -1.2500 -1.2500 0.7500
+%! -1.5000 -0.2500 0.5000 -0.2500 -0.2500 -0.2500
+%! 1.0000 0.5000 2.0000 -0.5000 -0.5000 0.5000
+%! 0.0000 0.5000 0.0000 -3.5000 -0.5000 0.5000
+%! -1.5000 1.2500 -0.5000 1.2500 0.2500 1.2500
+%! 0.0000 1.0000 0.0000 -1.0000 -2.0000 3.0000 ];
+%!
+%! Be = [ 0.5000 0.7500
+%! 0.5000 -0.2500
+%! 0.0000 0.5000
+%! 0.0000 0.5000
+%! -0.5000 0.2500
+%! 0.0000 1.0000 ];
+%!
+%! Ce = [ 1.5000 -1.2500 0.5000 -0.2500 -0.2500 -0.2500
+%! 0.0000 0.5000 0.0000 -0.5000 -0.5000 0.5000 ];
+%!
+%! De = [ 0.5000 -0.2500
+%! 0.0000 0.5000 ];
+%!
+%! Me = [Ae, Be; Ce, De];
+%!
+%!assert (M, Me, 1e-4);
+
+
+## sensitivity function
+## Note the correct physical meaning of the states.
+## Test would fail on a commercial octave clone
+## because of wrong signs of matrices B and C.
+## NOTE: Don't use T = I - S for complementary sensitivity,
+## use T = feedback (L) instead!
+%!shared S1, S2
+%! P = ss (-2, 3, 4, 5); # meaningless numbers
+%! C = ss (-1, 1, 1, 0); # ditto
+%! L = P * C;
+%! I = eye (size (L));
+%! S1 = feedback (I, L*-I, "+"); # draw a block diagram for better understanding
+%! S2 = inv (I + L);
+%!assert (S1.a, S2.a, 1e-4);
+%!assert (S1.b, S2.b, 1e-4);
+%!assert (S1.c, S2.c, 1e-4);
+%!assert (S1.d, S2.d, 1e-4);
Modified: trunk/octave-forge/main/control/inst/@lti/horzcat.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/horzcat.m 2011-11-26 12:24:32 UTC (rev 9197)
+++ trunk/octave-forge/main/control/inst/@lti/horzcat.m 2011-11-26 15:58:55 UTC (rev 9198)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009 Lukas F. Reichlin
+## Copyright (C) 2009, 2011 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -21,7 +21,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: September 2009
-## Version: 0.1
+## Version: 0.2
function sys = horzcat (sys, varargin)
@@ -47,3 +47,63 @@
endfor
endfunction
+
+
+## Rowwise concatenation of two systems in state-space form
+## Test from SLICOT AB05OD
+%!shared M, Me
+%! A1 = [ 1.0 0.0 -1.0
+%! 0.0 -1.0 1.0
+%! 1.0 1.0 2.0 ];
+%!
+%! B1 = [ 1.0 1.0 0.0
+%! 2.0 0.0 1.0 ].';
+%!
+%! C1 = [ 3.0 -2.0 1.0
+%! 0.0 1.0 0.0 ];
+%!
+%! D1 = [ 1.0 0.0
+%! 0.0 1.0 ];
+%!
+%! A2 = [-3.0 0.0 0.0
+%! 1.0 0.0 1.0
+%! 0.0 -1.0 2.0 ];
+%!
+%! B2 = [ 0.0 -1.0 0.0
+%! 1.0 0.0 2.0 ].';
+%!
+%! C2 = [ 1.0 1.0 0.0
+%! 1.0 1.0 -1.0 ];
+%!
+%! D2 = [ 1.0 1.0
+%! 0.0 1.0 ];
+%!
+%! sys1 = ss (A1, B1, C1, D1);
+%! sys2 = ss (A2, B2, C2, D2);
+%! sys = [sys1, sys2];
+%! [A, B, C, D] = ssdata (sys);
+%! M = [A, B; C, D];
+%!
+%! Ae = [ 1.0000 0.0000 -1.0000 0.0000 0.0000 0.0000
+%! 0.0000 -1.0000 1.0000 0.0000 0.0000 0.0000
+%! 1.0000 1.0000 2.0000 0.0000 0.0000 0.0000
+%! 0.0000 0.0000 0.0000 -3.0000 0.0000 0.0000
+%! 0.0000 0.0000 0.0000 1.0000 0.0000 1.0000
+%! 0.0000 0.0000 0.0000 0.0000 -1.0000 2.0000 ];
+%!
+%! Be = [ 1.0000 2.0000 0.0000 0.0000
+%! 1.0000 0.0000 0.0000 0.0000
+%! 0.0000 1.0000 0.0000 0.0000
+%! 0.0000 0.0000 0.0000 1.0000
+%! 0.0000 0.0000 -1.0000 0.0000
+%! 0.0000 0.0000 0.0000 2.0000 ];
+%!
+%! Ce = [ 3.0000 -2.0000 1.0000 1.0000 1.0000 0.0000
+%! 0.0000 1.0000 0.0000 1.0000 1.0000 -1.0000 ];
+%!
+%! De = [ 1.0000 0.0000 1.0000 1.0000
+%! 0.0000 1.0000 0.0000 1.0000 ];
+%!
+%! Me = [Ae, Be; Ce, De];
+%!
+%!assert (M, Me, 1e-4);
Modified: trunk/octave-forge/main/control/inst/@lti/inv.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/inv.m 2011-11-26 12:24:32 UTC (rev 9197)
+++ trunk/octave-forge/main/control/inst/@lti/inv.m 2011-11-26 15:58:55 UTC (rev 9198)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009 Lukas F. Reichlin
+## Copyright (C) 2009, 2011 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -20,7 +20,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
-## Version: 0.1
+## Version: 0.2
function retsys = inv (sys)
@@ -38,4 +38,47 @@
## TODO: handle i/o names
-endfunction
\ No newline at end of file
+endfunction
+
+
+## inverse of state-space models
+## test from SLICOT AB07ND
+## result differs intentionally from a commercial
+## implementation of an octave-like language
+%!shared M, Me
+%! A = [ 1.0 2.0 0.0
+%! 4.0 -1.0 0.0
+%! 0.0 0.0 1.0 ];
+%!
+%! B = [ 1.0 0.0
+%! 0.0 1.0
+%! 1.0 0.0 ];
+%!
+%! C = [ 0.0 1.0 -1.0
+%! 0.0 0.0 1.0 ];
+%!
+%! D = [ 4.0 0.0
+%! 0.0 1.0 ];
+%!
+%! sys = ss (A, B, C, D);
+%! sysinv = inv (sys);
+%! [Ai, Bi, Ci, Di] = ssdata (sysinv);
+%! M = [Ai, Bi; Ci, Di];
+%!
+%! Ae = [ 1.0000 1.7500 0.2500
+%! 4.0000 -1.0000 -1.0000
+%! 0.0000 -0.2500 1.2500 ];
+%!
+%! Be = [-0.2500 0.0000
+%! 0.0000 -1.0000
+%! -0.2500 0.0000 ];
+%!
+%! Ce = [ 0.0000 0.2500 -0.2500
+%! 0.0000 0.0000 1.0000 ];
+%!
+%! De = [ 0.2500 0.0000
+%! 0.0000 1.0000 ];
+%!
+%! Me = [Ae, Be; Ce, De]; # Me = [Ae, -Be; -Ce, De];
+%!
+%!assert (M, Me, 1e-4);
Modified: trunk/octave-forge/main/control/inst/@lti/minreal.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/minreal.m 2011-11-26 12:24:32 UTC (rev 9197)
+++ trunk/octave-forge/main/control/inst/@lti/minreal.m 2011-11-26 15:58:55 UTC (rev 9198)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009, 2010 Lukas F. Reichlin
+## Copyright (C) 2009, 2010, 2011 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -23,7 +23,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
-## Version: 0.2
+## Version: 0.3
function sys = minreal (sys, tol = "def")
@@ -37,4 +37,149 @@
sys = __minreal__ (sys, tol);
-endfunction
\ No newline at end of file
+endfunction
+
+
+## ss: minreal (SLICOT TB01PD)
+%!shared C, D
+%!
+%! A = ss (-2, 3, 4, 5);
+%! B = A / A;
+%! C = minreal (B, 1e-15);
+%! D = ss (1);
+%!
+%!assert (C.a, D.a);
+%!assert (C.b, D.b);
+%!assert (C.c, D.c);
+%!assert (C.d, D.d);
+
+%!shared M, Me
+%! A = [ 1.0 2.0 0.0
+%! 4.0 -1.0 0.0
+%! 0.0 0.0 1.0 ];
+%!
+%! B = [ 1.0
+%! 0.0
+%! 1.0 ];
+%!
+%! C = [ 0.0 1.0 -1.0
+%! 0.0 0.0 1.0 ];
+%!
+%! D = zeros (2, 1);
+%!
+%! sys = ss (A, B, C, D, "scaled", true);
+%! sysmin = minreal (sys, 0.0);
+%! [Ar, Br, Cr, Dr] = ssdata (sysmin);
+%! M = [Ar, Br; Cr, Dr];
+%!
+%! Ae = [ 1.0000 -1.4142 1.4142
+%! -2.8284 0.0000 1.0000
+%! 2.8284 1.0000 0.0000 ];
+%!
+%! Be = [-1.0000
+%! 0.7071
+%! 0.7071 ];
+%!
+%! Ce = [ 0.0000 0.0000 -1.4142
+%! 0.0000 0.7071 0.7071 ];
+%!
+%! De = zeros (2, 1);
+%!
+%! Me = [Ae, Be; Ce, De];
+%!
+%!assert (M, Me, 1e-4);
+
+
+## dss: minreal (SLICOT TG01JD)
+## FIXME: Test fails with larger ldwork in sltg01jd.cc
+#%!shared Ar, Br, Cr, Dr, Er, Ae, Be, Ce, De, Ee
+#%! A = [ -2 -3 0 0 0 0 0 0 0
+#%! 1 0 0 0 0 0 0 0 0
+#%! 0 0 -2 -3 0 0 0 0 0
+#%! 0 0 1 0 0 0 0 0 0
+#%! 0 0 0 0 1 0 0 0 0
+#%! 0 0 0 0 0 1 0 0 0
+#%! 0 0 0 0 0 0 1 0 0
+#%! 0 0 0 0 0 0 0 1 0
+#%! 0 0 0 0 0 0 0 0 1 ];
+#%!
+#%! E = [ 1 0 0 0 0 0 0 0 0
+#%! 0 1 0 0 0 0 0 0 0
+#%! 0 0 1 0 0 0 0 0 0
+#%! 0 0 0 1 0 0 0 0 0
+#%! 0 0 0 0 0 0 0 0 0
+#%! 0 0 0 0 1 0 0 0 0
+#%! 0 0 0 0 0 0 0 0 0
+#%! 0 0 0 0 0 0 1 0 0
+#%! 0 0 0 0 0 0 0 1 0 ];
+#%!
+#%! B = [ 1 0
+#%! 0 0
+#%! 0 1
+#%! 0 0
+#%! -1 0
+#%! 0 0
+#%! 0 -1
+#%! 0 0
+#%! 0 0 ];
+#%!
+#%! C = [ 1 0 1 -3 0 1 0 2 0
+#%! 0 1 1 3 0 1 0 0 1 ];
+#%!
+#%! D = zeros (2, 2);
+#%!
+#%! sys = dss (A, B, C, D, E, "scaled", true);
+#%! sysmin = minreal (sys, 0.0);
+#%! [Ar, Br, Cr, Dr, Er] = dssdata (sysmin);
+#%!
+#%! Ae = [ 1.0000 -0.0393 -0.0980 -0.1066 0.0781 -0.2330 0.0777
+#%! 0.0000 1.0312 0.2717 0.2609 -0.1533 0.6758 -0.3553
+#%! 0.0000 0.0000 1.3887 0.6699 -0.4281 1.6389 -0.7615
+#%! 0.0000 0.0000 0.0000 -1.2147 0.2423 -0.9792 0.4788
+#%! 0.0000 0.0000 0.0000 0.0000 -1.0545 0.5035 -0.2788
+#%! 0.0000 0.0000 0.0000 0.0000 0.0000 1.6355 -0.4323
+#%! 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 ];
+#%!
+#%! Ee = [ 0.4100 0.2590 0.5080 -0.3109 0.0705 0.1429 -0.1477
+#%! -0.7629 -0.3464 0.0992 -0.3007 0.0619 0.2483 -0.0152
+#%! 0.1120 -0.2124 -0.4184 -0.1288 0.0569 -0.4213 -0.6182
+#%! 0.0000 0.1122 -0.0039 0.2771 -0.0758 0.0975 0.3923
+#%! 0.0000 0.0000 0.3708 -0.4290 0.1006 0.1402 -0.2699
+#%! 0.0000 0.0000 0.0000 0.0000 0.9458 -0.2211 0.2378
+#%! 0.0000 0.0000 0.0000 0.5711 0.2648 0.5948 -0.5000 ];
+#%!
+#%! Be = [ -0.5597 0.2363
+#%! -0.4843 -0.0498
+#%! -0.4727 -0.1491
+#%! 0.1802 1.1574
+#%! 0.5995 0.1556
+#%! -0.1729 -0.3999
+#%! 0.0000 0.2500 ];
+#%!
+#%! Ce = [ 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 4.0000
+#%! 0.0000 0.0000 0.0000 0.0000 0.0000 3.1524 -1.7500 ];
+#%!
+#%! De = zeros (2, 2);
+#%!
+#%!assert (Ar, Ae, 1e-4);
+#%!assert (Br, Be, 1e-4);
+#%!assert (Cr, Ce, 1e-4);
+#%!assert (Dr, De, 1e-4);
+#%!assert (Er, Ee, 1e-4);
+
+
+## tf: minreal
+%!shared a, b, c, d
+%! s = tf ("s");
+%! G1 = (s+1)*s*5/(s+1)/(s^2+s+1);
+%! G2 = tf ([1, 1, 1], [2, 2, 2]);
+%! G1min = minreal (G1);
+%! G2min = minreal (G2);
+%! a = G1min.num{1, 1};
+%! b = G1min.den{1, 1};
+%! c = G2min.num{1, 1};
+%! d = G2min.den{1, 1};
+%!assert (a, [5, 0], 1e-4);
+%!assert (b, [1, 1, 1], 1e-4);
+%!assert (c, 0.5, 1e-4);
+%!assert (d, 1, 1e-4);
Modified: trunk/octave-forge/main/control/inst/@lti/mtimes.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/mtimes.m 2011-11-26 12:24:32 UTC (rev 9197)
+++ trunk/octave-forge/main/control/inst/@lti/mtimes.m 2011-11-26 15:58:55 UTC (rev 9198)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009 Lukas F. Reichlin
+## Copyright (C) 2009, 2011 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -21,7 +21,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: September 2009
-## Version: 0.1
+## Version: 0.2
function sys = mtimes (sys2, sys1)
@@ -72,3 +72,83 @@
sys = __sys_group__ (sys1, sys2);
#}
## Don't forget to adapt @tf/__sys_connect__.m draft code
+
+
+## mtimes
+%!shared sysmat, sysmat_exp
+%! sys1 = ss ([0, 1; -3, -2], [0; 1], [-5, 1], [2]);
+%! sys2 = ss ([-10], [1], [-40], [5]);
+%! sys3 = sys2 * sys1;
+%! [A, B, C, D] = ssdata (sys3);
+%! sysmat = [A, B; C, D];
+%! A_exp = [ -10 -5 1
+%! 0 0 1
+%! 0 -3 -2 ];
+%! B_exp = [ 2
+%! 0
+%! 1 ];
+%! C_exp = [ -40 -25 5 ];
+%! D_exp = [ 10 ];
+%! sysmat_exp = [A_exp, B_exp; C_exp, D_exp];
+%!assert (sysmat, sysmat_exp)
+
+
+## Cascade inter-connection of two systems in state-space form
+## Test from SLICOT AB05MD
+## TODO: order of united state vector: consistency vs. compatibility?
+#%!shared M, Me
+#%! A1 = [ 1.0 0.0 -1.0
+#%! 0.0 -1.0 1.0
+#%! 1.0 1.0 2.0 ];
+#%!
+#%! B1 = [ 1.0 1.0 0.0
+#%! 2.0 0.0 1.0 ].';
+#%!
+#%! C1 = [ 3.0 -2.0 1.0
+#%! 0.0 1.0 0.0 ];
+#%!
+#%! D1 = [ 1.0 0.0
+#%! 0.0 1.0 ];
+#%!
+#%! A2 = [-3.0 0.0 0.0
+#%! 1.0 0.0 1.0
+#%! 0.0 -1.0 2.0 ];
+#%!
+#%! B2 = [ 0.0 -1.0 0.0
+#%! 1.0 0.0 2.0 ].';
+#%!
+#%! C2 = [ 1.0 1.0 0.0
+#%! 1.0 1.0 -1.0 ];
+#%!
+#%! D2 = [ 1.0 1.0
+#%! 0.0 1.0 ];
+#%!
+#%! sys1 = ss (A1, B1, C1, D1);
+#%! sys2 = ss (A2, B2, C2, D2);
+#%! sys = sys2 * sys1;
+#%! [A, B, C, D] = ssdata (sys);
+#%! M = [A, B; C, D];
+#%!
+#%! Ae = [ 1.0000 0.0000 -1.0000 0.0000 0.0000 0.0000
+#%! 0.0000 -1.0000 1.0000 0.0000 0.0000 0.0000
+#%! 1.0000 1.0000 2.0000 0.0000 0.0000 0.0000
+#%! 0.0000 1.0000 0.0000 -3.0000 0.0000 0.0000
+#%! -3.0000 2.0000 -1.0000 1.0000 0.0000 1.0000
+#%! 0.0000 2.0000 0.0000 0.0000 -1.0000 2.0000 ];
+#%!
+#%! Be = [ 1.0000 2.0000
+#%! 1.0000 0.0000
+#%! 0.0000 1.0000
+#%! 0.0000 1.0000
+#%! -1.0000 0.0000
+#%! 0.0000 2.0000 ];
+#%!
+#%! Ce = [ 3.0000 -1.0000 1.0000 1.0000 1.0000 0.0000
+#%! 0.0000 1.0000 0.0000 1.0000 1.0000 -1.0000 ];
+#%!
+#%! De = [ 1.0000 1.0000
+#%! 0.0000 1.0000 ];
+#%!
+#%! Me = [Ae, Be; Ce, De];
+#%!
+#%!assert (M, Me, 1e-4);
Modified: trunk/octave-forge/main/control/inst/@lti/norm.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/norm.m 2011-11-26 12:24:32 UTC (rev 9197)
+++ trunk/octave-forge/main/control/inst/@lti/norm.m 2011-11-26 15:58:55 UTC (rev 9198)
@@ -28,7 +28,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: November 2009
-## Version: 0.4.1
+## Version: 0.5
function [gain, varargout] = norm (sys, ntype = "2", tol = 0.01)
@@ -116,3 +116,29 @@
endif
endfunction
+
+
+## norm ct
+%!shared H2, Hinf
+%! sys = ss (-1, 1, 1, 0);
+%! H2 = norm (sys, 2);
+%! Hinf = norm (sys, inf);
+%!assert (H2, 0.7071, 1.5e-5);
+%!assert (Hinf, 1, 5e-4);
+
+
+## norm dt
+%!shared H2, Hinf
+%! a = [ 2.417 -1.002 0.5488
+%! 2 0 0
+%! 0 0.5 0 ];
+%! b = [ 1
+%! 0
+%! 0 ];
+%! c = [-0.424 0.436 -0.4552 ];
+%! d = [ 1 ];
+%! sys = ss (a, b, c, d, 0.1);
+%! H2 = norm (sys, 2);
+%! Hinf = norm (sys, inf);
+%!assert (H2, 1.2527, 1.5e-5);
+%!assert (Hinf, 2.7, 0.1);
Modified: trunk/octave-forge/main/control/inst/@lti/plus.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/plus.m 2011-11-26 12:24:32 UTC (rev 9197)
+++ trunk/octave-forge/main/control/inst/@lti/plus.m 2011-11-26 15:58:55 UTC (rev 9198)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009 Lukas F. Reichlin
+## Copyright (C) 2009, 2011 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -22,7 +22,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: September 2009
-## Version: 0.1
+## Version: 0.2
function sys = plus (sys1, sys2)
@@ -46,3 +46,63 @@
sys = out_scl * sys * in_scl;
endfunction
+
+
+## Parallel inter-connection of two systems in state-space form
+## Test from SLICOT AB05PD
+%!shared M, Me
+%! A1 = [ 1.0 0.0 -1.0
+%! 0.0 -1.0 1.0
+%! 1.0 1.0 2.0 ];
+%!
+%! B1 = [ 1.0 1.0 0.0
+%! 2.0 0.0 1.0 ].';
+%!
+%! C1 = [ 3.0 -2.0 1.0
+%! 0.0 1.0 0.0 ];
+%!
+%! D1 = [ 1.0 0.0
+%! 0.0 1.0 ];
+%!
+%! A2 = [-3.0 0.0 0.0
+%! 1.0 0.0 1.0
+%! 0.0 -1.0 2.0 ];
+%!
+%! B2 = [ 0.0 -1.0 0.0
+%! 1.0 0.0 2.0 ].';
+%!
+%! C2 = [ 1.0 1.0 0.0
+%! 1.0 1.0 -1.0 ];
+%!
+%! D2 = [ 1.0 1.0
+%! 0.0 1.0 ];
+%!
+%! sys1 = ss (A1, B1, C1, D1);
+%! sys2 = ss (A2, B2, C2, D2);
+%! sys = sys1 + sys2;
+%! [A, B, C, D] = ssdata (sys);
+%! M = [A, B; C, D];
+%!
+%! Ae = [ 1.0000 0.0000 -1.0000 0.0000 0.0000 0.0000
+%! 0.0000 -1.0000 1.0000 0.0000 0.0000 0.0000
+%! 1.0000 1.0000 2.0000 0.0000 0.0000 0.0000
+%! 0.0000 0.0000 0.0000 -3.0000 0.0000 0.0000
+%! 0.0000 0.0000 0.0000 1.0000 0.0000 1.0000
+%! 0.0000 0.0000 0.0000 0.0000 -1.0000 2.0000 ];
+%!
+%! Be = [ 1.0000 2.0000
+%! 1.0000 0.0000
+%! 0.0000 1.0000
+%! 0.0000 1.0000
+%! -1.0000 0.0000
+%! 0.0000 2.0000 ];
+%!
+%! Ce = [ 3.0000 -2.0000 1.0000 1.0000 1.0000 0.0000
+%! 0.0000 1.0000 0.0000 1.0000 1.0000 -1.0000 ];
+%!
+%! De = [ 2.0000 1.0000
+%! 0.0000 2.0000 ];
+%!
+%! Me = [Ae, Be; Ce, De];
+%!
+%!assert (M, Me, 1e-4);
Modified: trunk/octave-forge/main/control/inst/@lti/prescale.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/prescale.m 2011-11-26 12:24:32 UTC (rev 9197)
+++ trunk/octave-forge/main/control/inst/@lti/prescale.m 2011-11-26 15:58:55 UTC (rev 9198)
@@ -59,7 +59,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: June 2011
-## Version: 0.1
+## Version: 0.2
function [retsys, varargout] = prescale (sys)
@@ -79,3 +79,219 @@
endif
endfunction
+
+
+## Scaling of state-space models, direct access to TB01ID
+%!shared Ao, Bo, Co, SCALEo, MAXREDo, Ae, Be, Ce, SCALEe, MAXREDe
+%! A = [ 0.0 1.0000e+000 0.0 0.0 0.0
+%! -1.5800e+006 -1.2570e+003 0.0 0.0 0.0
+%! 3.5410e+014 0.0 -1.4340e+003 0.0 -5.3300e+011
+%! 0.0 0.0 0.0 0.0 1.0000e+000
+%! 0.0 0.0 0.0 -1.8630e+004 -1.4820e+000 ];
+%!
+%! B = [ 0.0 0.0
+%! 1.1030e+002 0.0
+%! 0.0 0.0
+%! 0.0 0.0
+%! 0.0 8.3330e-003 ];
+%!
+%! C = [ 1.0000e+000 0.0 0.0 0.0 0.0
+%! 0.0 0.0 1.0000e+000 0.0 0.0
+%! 0.0 0.0 0.0 1.0000e+000 0.0
+%! 6.6640e-001 0.0 -6.2000e-013 0.0 0.0
+%! 0.0 0.0 -1.0000e-003 1.8960e+006 1.5080e+002 ];
+%!
+%! MAXRED = 0.0;
+%!
+%! [Ao, Bo, Co, MAXREDo, SCALEo] = sltb01id (A, B, C, MAXRED);
+%!
+%! Ae = [ 0.0000000D+00 0.1000000D+05 0.0000000D+00 0.0000000D+00 0.0000000D+00
+%! -0.1580000D+03 -0.1257000D+04 0.0000000D+00 0.0000000D+00 0.0000000D+00
+%! 0.3541000D+05 0.0000000D+00 -0.1434000D+04 0.0000000D+00 -0.5330000D+03
+%! 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D+03
+%! 0.0000000D+00 0.0000000D+00 0.0000000D+00 -0.1863000D+03 -0.1482000D+01 ];
+%!
+%! Be = [ 0.0000000D+00 0.0000000D+00
+%! 0.1103000D+04 0.0000000D+00
+%! 0.0000000D+00 0.0000000D+00
+%! 0.0000000D+00 0.0000000D+00
+%! 0.0000000D+00 0.8333000D+02 ];
+%!
+%! Ce = [ 0.1000000D-04 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00
+%! 0.0000000D+00 0.0000000D+00 0.1000000D+06 0.0000000D+00 0.0000000D+00
+%! 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D-05 0.0000000D+00
+%! 0.6664000D-05 0.0000000D+00 -0.6200000D-07 0.0000000D+00 0.0000000D+00
+%! 0.0000000D+00 0.0000000D+00 -0.1000000D+03 0.1896000D+01 0.1508000D-01 ];
+%!
+%! SCALEe = [0.1000000D-04 0.1000000D+00 0.1000000D+06 0.1000000D-05 0.1000000D-03 ];
+%!
+%! MAXREDe = 0.3488E+10;
+%!
+%!assert (Ao, Ae, 1e-4);
+%!assert (Bo, Be, 1e-4);
+%!assert (Co, Ce, 1e-4);
+%!assert (MAXREDo, MAXREDe, 1e6);
+%!assert (SCALEo, SCALEe.', 1e-4);
+
+
+## Scaling of descriptor state-space models, direct access to TG01AD
+%!shared Ao, Eo, Bo, Co, LSCALEo, RSCALEo, Ae, Ee, Be, Ce, LSCALEe, RSCALEe
+%! A = [ -1 0 0 0.003
+%! 0 0 0.1000 0.02
+%! 100 10 0 0.4
+%! 0 0 0 0.0];
+%!
+%! E = [ 1 0.2 0 0.0
+%! 0 1 0 0.01
+%! 300 90 6 0.3
+%! 0 0 20 0.0];
+%!
+%! B = [ 10 0
+%! 0 0
+%! 0 1000
+%! 10000 10000];
+%!
+%! C = [ -0.1 0.0 0.001 0.0
+%! 0.0 0.01 -0.001 0.0001];
+%!
+%! TRESH = 0.0;
+%!
+%! [Ao, Eo, Bo, Co, LSCALEo, RSCALEo] = sltg01ad (A, E, B, C, TRESH);
+%!
+%! Ae = [ -1.0000 0.0000 0.0000 0.3000
+%! 0.0000 0.0000 1.0000 2.0000
+%! 1.0000 0.1000 0.0000 0.4000
+%! 0.0000 0.0000 0.0000 0.0000];
+%!
+%! Ee = [ 1.0000 0.2000 0.0000 0.0000
+%! 0.0000 1.0000 0.0000 1.0000
+%! 3.0000 0.9000 0.6000 0.3000
+%! 0.0000 0.0000 0.2000 0.0000 ];
+%!
+%! Be = [100.0000 0.0000
+%! 0.0000 0.0000
+%! 0.0000 100.0000
+%! 100.0000 100.0000 ];
+%!
+%! Ce = [ -0.0100 0.0000 0.0010 0.0000
+%! 0.0000 0.0010 -0.0010 0.0010];
+%!
+%! LSCALEe = [ 10.0000 10.0000 0.1000 0.0100 ];
+%!
+%! RSCALEe = [ 0.1000 0.1000 1.0000 10.0000 ];
+%!
+%!assert (Ao, Ae, 1e-4);
+%!assert (Eo, Ee, 1e-4);
+%!assert (Bo, Be, 1e-4);
+%!assert (Co, Ce, 1e-4);
+%!assert (LSCALEo, LSCALEe.', 1e-4);
+%!assert (RSCALEo, RSCALEe.', 1e-4);
+
+
+## Scaling of state-space models, user function
+%!shared Ao, Bo, Co, INFOo, Ae, Be, Ce, SCALEe
+%! A = [ 0.0 1.0000e+000 0.0 0.0 0.0
+%! -1.5800e+006 -1.2570e+003 0.0 0.0 0.0
+%! 3.5410e+014 0.0 -1.4340e+003 0.0 -5.3300e+011
+%! 0.0 0.0 0.0 0.0 1.0000e+000
+%! 0.0 0.0 0.0 -1.8630e+004 -1.4820e+000 ];
+%!
+%! B = [ 0.0 0.0
+%! 1.1030e+002 0.0
+%! 0.0 0.0
+%! 0.0 0.0
+%! 0.0 8.3330e-003 ];
+%!
+%! C = [ 1.0000e+000 0.0 0.0 0.0 0.0
+%! 0.0 0.0 1.0000e+000 0.0 0.0
+%! 0.0 0.0 0.0 1.0000e+000 0.0
+%! 6.6640e-001 0.0 -6.2000e-013 0.0 0.0
+%! 0.0 0.0 -1.0000e-003 1.8960e+006 1.5080e+002 ];
+%!
+%! SYS = ss (A, B, C);
+%!
+%! [SYSo, INFOo] = prescale (SYS);
+%!
+%! [Ao, Bo, Co] = ssdata (SYSo);
+%!
+%! Ae = [ 0.0000000D+00 0.1000000D+05 0.0000000D+00 0.0000000D+00 0.0000000D+00
+%! -0.1580000D+03 -0.1257000D+04 0.0000000D+00 0.0000000D+00 0.0000000D+00
+%! 0.3541000D+05 0.0000000D+00 -0.1434000D+04 0.0000000D+00 -0.5330000D+03
+%! 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D+03
+%! 0.0000000D+00 0.0000000D+00 0.0000000D+00 -0.1863000D+03 -0.1482000D+01 ];
+%!
+%! Be = [ 0.0000000D+00 0.0000000D+00
+%! 0.1103000D+04 0.0000000D+00
+%! 0.0000000D+00 0.0000000D+00
+%! 0.0000000D+00 0.0000000D+00
+%! 0.0000000D+00 0.8333000D+02 ];
+%!
+%! Ce = [ 0.1000000D-04 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00
+%! 0.0000000D+00 0.0000000D+00 0.1000000D+06 0.0000000D+00 0.0000000D+00
+%! 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D-05 0.0000000D+00
+%! 0.6664000D-05 0.0000000D+00 -0.6200000D-07 0.0000000D+00 0.0000000D+00
+%! 0.0000000D+00 0.0000000D+00 -0.1000000D+03 0.1896000D+01 0.1508000D-01 ];
+%!
+%! SCALEe = [0.1000000D-04 0.1000000D+00 0.1000000D+06 0.1000000D-05 0.1000000D-03 ];
+%!
+%!assert (Ao, Ae, 1e-4);
+%!assert (Bo, Be, 1e-4);
+%!assert (Co, Ce, 1e-4);
+%!assert (INFOo.SL.^-1, SCALEe.', 1e-4);
+%!assert (INFOo.SR, SCALEe.', 1e-4);
+
+
+## Scaling of descriptor state-space models, user function
+%!shared Ao, Eo, Bo, Co, INFOo, Ae, Ee, Be, Ce, LSCALEe, RSCALEe
+%! A = [ -1 0 0 0.003
+%! 0 0 0.1000 0.02
+%! 100 10 0 0.4
+%! 0 0 0 0.0];
+%!
+%! E = [ 1 0.2 0 0.0
+%! 0 1 0 0.01
+%! 300 90 6 0.3
+%! 0 0 20 0.0];
+%!
+%! B = [ 10 0
+%! 0 0
+%! 0 1000
+%! 10000 10000];
+%!
+%! C = [ -0.1 0.0 0.001 0.0
+%! 0.0 0.01 -0.001 0.0001];
+%!
+%! SYS = dss (A, B, C, [], E);
+%!
+%! [SYSo, INFOo] = prescale (SYS);
+%!
+%! [Ao, Bo, Co, ~, Eo] = dssdata (SYSo);
+%!
+%! Ae = [ -1.0000 0.0000 0.0000 0.3000
+%! 0.0000 0.0000 1.0000 2.0000
+%! 1.0000 0.1000 0.0000 0.4000
+%! 0.0000 0.0000 0.0000 0.0000];
+%!
+%! Ee = [ 1.0000 0.2000 0.0000 0.0000
+%! 0.0000 1.0000 0.0000 1.0000
+%! 3.0000 0.9000 0.6000 0.3000
+%! 0.0000 0.0000 0.2000 0.0000 ];
+%!
+%! Be = [100.0000 0.0000
+%! 0.0000 0.0000
+%! 0.0000 100.0000
+%! 100.0000 100.0000 ];
+%!
+%! Ce = [ -0.0100 0.0000 0.0010 0.0000
+%! 0.0000 0.0010 -0.0010 0.0010];
+%!
+%! LSCALEe = [ 10.0000 10.0000 0.1000 0.0100 ];
+%!
+%! RSCALEe = [ 0.1000 0.1000 1.0000 10.0000 ];
+%!
+%!assert (Ao, Ae, 1e-4);
+%!assert (Eo, Ee, 1e-4);
+%!assert (Bo, Be, 1e-4);
+%!assert (Co, Ce, 1e-4);
+%!assert (INFOo.SL, LSCALEe.', 1e-4);
+%!assert (INFOo.SR, RSCALEe.', 1e-4);
Modified: trunk/octave-forge/main/control/inst/@lti/sminreal.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/sminreal.m 2011-11-26 12:24:32 UTC (rev 9197)
+++ trunk/octave-forge/main/control/inst/@lti/sminreal.m 2011-11-26 15:58:55 UTC (rev 9198)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009, 2010 Lukas F. Reichlin
+## Copyright (C) 2009, 2010, 2011 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -43,7 +43,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
-## Version: 0.3
+## Version: 0.4
function sys = sminreal (sys, tol = 0)
@@ -110,3 +110,33 @@
endwhile
endfunction
+
+
+## ss: sminreal
+%!shared B, C
+%!
+%! A = ss (-2, 3, 4, 5);
+%! B = A / A;
+%! C = sminreal (B); # no states should be removed
+%!
+%!assert (C.a, B.a);
+%!assert (C.b, B.b);
+%!assert (C.c, B.c);
+%!assert (C.d, B.d);
+
+%!shared A, B, D, E
+%!
+%! A = ss (-1, 1, 1, 0);
+%! B = ss (-2, 3, 4, 5);
+%! C = [A, B];
+%! D = sminreal (C(:, 1));
+%! E = sminreal (C(:, 2));
+%!
+%!assert (D.a, A.a);
+%!assert (D.b, A.b);
+%!assert (D.c, A.c);
+%!assert (D.d, A.d);
+%!assert (E.a, B.a);
+%!assert (E.b, B.b);
+%!assert (E.c, B.c);
+%!assert (E.d, B.d);
Modified: trunk/octave-forge/main/control/inst/@lti/zero.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/zero.m 2011-11-26 12:24:32 UTC (rev 9197)
+++ trunk/octave-forge/main/control/inst/@lti/zero.m 2011-11-26 15:58:55 UTC (rev 9198)
@@ -37,7 +37,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
-## Version: 0.1.1
+## Version: 0.2
function [zer, gain] = zero (sys)
@@ -48,3 +48,118 @@
[zer, gain] = __zero__ (sys, nargout);
endfunction
+
+
+## transmission zeros of state-space models
+##
+## Results from the "Dark Side" 7.5 and 7.8
+##
+## -13.2759
+## 12.5774
+## -0.0155
+##
+## Results from Scilab 5.2.0b1 (trzeros)
+##
+## - 13.275931
+## 12.577369
+## - 0.0155265
+##
+%!shared z, z_exp
+%! A = [ -0.7 -0.0458 -12.2 0
+%! 0 -0.014 -0.2904 -0.562
+%! 1 -0.0057 -1.4 0
+%! 1 0 0 0 ];
+%!
+%! B = [ -19.1 -3.1
+%! -0.0119 -0.0096
+%! -0.14 -0.72
+%! 0 0 ];
+%!
+%! C = [ 0 0 -1 1
+%! 0 0 0.733 0 ];
+%!
+%! D = [ 0 0
+%! 0.0768 0.1134 ];
+%!
+%! sys = ss (A, B, C, D, "scaled", true);
+%! z = sort (zero (sys));
+%!
+%! z_exp = sort ([-13.2759; 12.5774; -0.0155]);
+%!
+%!assert (z, z_exp, 1e-4);
+
+
+## transmission zeros of descriptor state-space models
+%!shared z, z_exp
+%! A = [ 1 0 0 0 0 0 0 0 0
+%! 0 1 0 0 0 0 0 0 0
+%! 0 0 1 0 0 0 0 0 0
+%! 0 0 0 1 0 0 0 0 0
+%! 0 0 0 0 1 0 0 0 0
+%! 0 0 0 0 0 1 0 0 0
+%! 0 0 0 0 0 0 1 0 0
+%! 0 0 0 0 0 0 0 1 0
+%! 0 0 0 0 0 0 0 0 1 ];
+%!
+%! E = [ 0 0 0 0 0 0 0 0 0
+%! 1 0 0 0 0 0 0 0 0
+%! 0 1 0 0 0 0 0 0 0
+%! 0 0 0 0 0 0 0 0 0
+%! 0 0 0 1 0 0 0 0 0
+%! 0 0 0 0 1 0 0 0 0
+%! 0 0 0 0 0 0 0 0 0
+%! 0 0 0 0 0 0 1 0 0
+%! 0 0 0 0 0 0 0 1 0 ];
+%!
+%! B = [ -1 0 0
+%! 0 0 0
+%! 0 0 0
+%! 0 -1 0
+%! 0 0 0
+%! 0 0 0
+%! 0 0 -1
+%! 0 0 0
+%! 0 0 0 ];
+%!
+%! C = [ 0 1 1 0 3 4 0 0 2
+%! 0 1 0 0 4 0 0 2 0
+%! 0 0 1 0 -1 4 0 -2 2 ];
+%!
+%! D = [ 1 2 -2
+%! 0 -1 -2
+%! 0 0 0 ];
+%!
+%! sys = dss (A, B, C, D, E, "scaled", true);
+%! z = zero (sys);
+%!
+%! z_exp = 1;
+%!
+%!assert (z, z_exp, 1e-4);
+
+
+## Gain of descriptor state-space models
+%!shared p, pi, z, zi, k, ki, p_tf, pi_tf, z_tf, zi_tf, k_tf, ki_tf
+%! P = ss (-2, 3, 4, 5);
+%! Pi = inv (P);
+%!
+%! p = pole (P);
+%! [z, k] = zero (P);
+%!
+%! pi = pole (Pi);
+%! [zi, ki] = zero (Pi);
+%!
+%! P_tf = tf (P);
+%! Pi_tf = tf (Pi);
+%!
+%! p_tf = pole (P_tf);
+%! [z_tf, k_tf] = zero (P_tf);
+%!
+%! pi_tf = pole (Pi_tf);
+%! [zi_tf, ki_tf] = zero (Pi_tf);
+%!
+%!assert (p, zi, 1e-4);
+%!assert (z, pi, 1e-4);
+%!assert (k, inv (ki), 1e-4);
+%!assert (p_tf, zi_tf, 1e-4);
+%!assert (z_tf, pi_tf, 1e-4);
+%!assert (k_tf, inv (ki_tf), 1e-4);
Modified: trunk/octave-forge/main/control/inst/ltimodels.m
===================================================================
--- trunk/octave-forge/main/control/inst/ltimodels.m 2011-11-26 12:24:32 UTC (rev 9197)
+++ trunk/octave-forge/main/control/inst/ltimodels.m 2011-11-26 15:58:55 UTC (rev 9198)
@@ -1,5 +1,5 @@
-## Copyright (C) 2009 Luca Favatella
-## Copyright (C) 2009, 2010 Lukas Reichlin
+## Copyright (C) 2009 Luca Favatella
+## Copyright (C) 2009, 2010, 2011 Lukas Reichlin
##
## This file is part of LTI Syncope.
##
@@ -110,380 +110,13 @@
## TF Tests
## ==============================================================================
-## tf: minreal
-%!shared a, b, c, d
-%! s = tf ("s");
-%! G1 = (s+1)*s*5/(s+1)/(s^2+s+1);
-%! G2 = tf ([1, 1, 1], [2, 2, 2]);
-%! G1min = minreal (G1);
-%! G2min = minreal (G2);
-%! a = G1min.num{1, 1};
-%! b = G1min.den{1, 1};
-%! c = G2min.num{1, 1};
-%! d = G2min.den{1, 1};
-%!assert (a, [5, 0], 1e-4);
-%!assert (b, [1, 1, 1], 1e-4);
-%!assert (c, 0.5, 1e-4);
-%!assert (d, 1, 1e-4);
-
## ==============================================================================
## SS Tests
## ==============================================================================
-## norm ct
-%!shared H2, Hinf
-%! sys = ss (-1, 1, 1, 0);
-%! H2 = norm (sys, 2);
-%! Hinf = norm (sys, inf);
-%!assert (H2, 0.7071, 1.5e-5);
-%!assert (Hinf, 1, 5e-4);
-
-## norm dt
-%!shared H2, Hinf
-%! a = [ 2.417 -1.002 0.5488
-%! 2 0 0
-%! 0 0.5 0 ];
-%! b = [ 1
-%! 0
-%! 0 ];
-%! c = [-0.424 0.436 -0.4552 ];
-%! d = [ 1 ];
-%! sys = ss (a, b, c, d, 0.1);
-%! H2 = norm (sys, 2);
-%! Hinf = norm (sys, inf);
-%!assert (H2, 1.2527, 1.5e-5);
-%!assert (Hinf, 2.7, 0.1);
-
-
-## transmission zeros of state-space models
-##
-## Results from the "Dark Side" 7.5 and 7.8
-##
-## -13.2759
-## 12.5774
-## -0.0155
-##
-## Results from Scilab 5.2.0b1 (trzeros)
-##
-## - 13.275931
-## 12.577369
-## - 0.0155265
-##
-%!shared z, z_exp
-%! A = [ -0.7 -0.0458 -12.2 0
-%! 0 -0.014 -0.2904 -0.562
-%! 1 -0.0057 -1.4 0
-%! 1 0 0 0 ];
-%!
-%! B = [ -19.1 -3.1
-%! -0.0119 -0.0096
-%! -0.14 -0.72
-%! 0 0 ];
-%!
-%! C = [ 0 0 -1 1
-%! 0 0 0.733 0 ];
-%!
-%! D = [ 0 0
-%! 0.0768 0.1134 ];
-%!
-%! sys = ss (A, B, C, D, "scaled", true);
-%! z = sort (zero (sys));
-%!
-%! z_exp = sort ([-13.2759; 12.5774; -0.0155]);
-%!
-%!assert (z, z_exp, 1e-4);
-
-
-## transmission zeros of descriptor state-space models
-%!shared z, z_exp
-%! A = [ 1 0 0 0 0 0 0 0 0
-%! 0 1 0 0 0 0 0 0 0
-%! 0 0 1 0 0 0 0 0 0
-%! 0 0 0 1 0 0 0 0 0
-%! 0 0 0 0 1 0 0 0 0
-%! 0 0 0 0 0 1 0 0 0
-%! 0 0 0 0 0 0 1 0 0
-%! 0 0 0 0 0 0 0 1 0
-%! 0 0 0 0 0 0 0 0 1 ];
-%!
-%! E = [ 0 0 0 0 0 0 0 0 0
-%! 1 0 0 0 0 0 0 0 0
-%! 0 1 0 0 0 0 0 0 0
-%! 0 0 0 0 0 0 0 0 0
-%! 0 0 0 1 0 0 0 0 0
-%! 0 0 0 0 1 0 0 0 0
-%! 0 0 0 0 0 0 0 0 0
-%! 0 0 0 0 0 0 1 0 0
-%! 0 0 0 0 0 0 0 1 0 ];
-%!
-%! B = [ -1 0 0
-%! 0 0 0
-%! 0 0 0
-%! 0 -1 0
-%! 0 0 0
-%! 0 0 0
-%! 0 0 -1
-%! 0 0 0
-%! 0 0 0 ];
-%!
-%! C = [ 0 1 1 0 3 4 0 0 2
-%! 0 1 0 0 4 0 0 2 0
-%! 0 0 1 0 -1 4 0 -2 2 ];
-%!
-%! D = [ 1 2 -2
-%! 0 -1 -2
-%! 0 0 0 ];
-%!
-%! sys = dss (A, B, C, D, E, "scaled", true);
-%! z = zero (sys);
-%!
-%! z_exp = 1;
-%!
-%!assert (z, z_exp, 1e-4);
-
-
-## ss: minreal (SLICOT TB01PD)
-%!shared C, D
-%!
-%! A = ss (-2, 3, 4, 5);
-%! B = A / A;
-%! C = minreal (B, 1e-15);
-%! D = ss (1);
-%!
-%!assert (C.a, D.a);
-%!assert (C.b, D.b);
-%!assert (C.c, D.c);
-%!assert (C.d, D.d);
-
-%!shared M, Me
-%! A = [ 1.0 2.0 0.0
-%! 4.0 -1.0 0.0
-%! 0.0 0.0 1.0 ];
-%!
-%! B = [ 1.0
-%! 0.0
-%! 1.0 ];
-%!
-%! C = [ 0.0 1.0 -1.0
-%! 0.0 0.0 1.0 ];
-%!
-%! D = zeros (2, 1);
-%!
-%! sys = ss (A, B, C, D, "scaled", true);
-%! sysmin = minreal (sys, 0.0);
-%! [Ar, Br, Cr, Dr] = ssdata (sysmin);
-%! M = [Ar, Br; Cr, Dr];
-%!
-%! Ae = [ 1.0000 -1.4142 1.4142
-%! -2.8284 0.0000 1.0000
-%! 2.8284 1.0000 0.0000 ];
-%!
-%! Be = [-1.0000
-%! 0.7071
-%! 0.7071 ];
-%!
-%! Ce = [ 0.0000 0.0000 -1.4142
-%! 0.0000 0.7071 0.7071 ];
-%!
-%! De = zeros (2, 1);
-%!
-%! Me = [Ae, Be; Ce, De];
-%!
-%!assert (M, Me, 1e-4);
-
-
-## dss: minreal (SLICOT TG01JD)
-## FIXME: Test fails with larger ldwork in sltg01jd.cc
-#%!shared Ar, Br, Cr, Dr, Er, Ae, Be, Ce, De, Ee
-#%! A = [ -2 -3 0 0 0 0 0 0 0
-#%! 1 0 0 0 0 0 0 0 0
-#%! 0 0 -2 -3 0 0 0 0 0
-#%! 0 0 1 0 0 0 0 0 0
-#%! 0 0 0 0 1 0 0 0 0
-#%! 0 0 0 0 0 1 0 0 0
-#%! 0 0 0 0 0 0 1 0 0
-#%! 0 0 0 0 0 0 0 1 0
-#%! 0 0 0 0 0 0 0 0 1 ];
-#%!
-#%! E = [ 1 0 0 0 0 0 0 0 0
-#%! 0 1 0 0 0 0 0 0 0
-#%! 0 0 1 0 0 0 0 0 0
-#%! 0 0 0 1 0 0 0 0 0
-#%! 0 0 0 0 0 0 0 0 0
-#%! 0 0 0 0 1 0 0 0 0
-#%! 0 0 0 0 0 0 0 0 0
-#%! 0 0 0 0 0 0 1 0 0
-#%! 0 0 0 0 0 0 0 1 0 ];
-#%!
-#%! B = [ 1 0
-#%! 0 0
-#%! 0 1
-#%! 0 0
-#%! -1 0
-#%! 0 0
-#%! 0 -1
-#%! 0 0
-#%! 0 0 ];
-#%!
-#%! C = [ 1 0 1 -3 0 1 0 2 0
-#%! 0 1 1 3 0 1 0 0 1 ];
-#%!
-#%! D = zeros (2, 2);
-#%!
-#%! sys = dss (A, B, C, D, E, "scaled", true);
-#%! sysmin = minreal (sys, 0.0);
-#%! [Ar, Br, Cr, Dr, Er] = dssdata (sysmin);
-#%!
-#%! Ae = [ 1.0000 -0.0393 -0.0980 -0.1066 0.0781 -0.2330 0.0777
-#%! 0.0000 1.0312 0.2717 0.2609 -0.1533 0.6758 -0.3553
-#%! 0.0000 0.0000 1.3887 0.6699 -0.4281 1.6389 -0.7615
-#%! 0.0000 0.0000 0.0000 -1.2147 0.2423 -0.9792 0.4788
-#%! 0.0000 0.0000 0.0000 0.0000 -1.0545 0.5035 -0.2788
-#%! 0.0000 0.0000 0.0000 0.0000 0.0000 1.6355 -0.4323
-#%! 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 ];
-#%!
-#%! Ee = [ 0.4100 0.2590 0.5080 -0.3109 0.0705 0.1429 -0.1477
-#%! -0.7629 -0.3464 0.0992 -0.3007 0.0619 0.2483 -0.0152
-#%! 0.1120 -0.2124 -0.4184 -0.1288 0.0569 -0.4213 -0.6182
-#%! 0.0000 0.1122 -0.0039 0.2771 -0.0758 0.0975 0.3923
-#%! 0.0000 0.0000 0.3708 -0.4290 0.1006 0.1402 -0.2699
-#%! 0.0000 0.0000 0.0000 0.0000 0.9458 -0.2211 0.2378
-#%! 0.0000 0.0000 0.0000 0.5711 0.2648 0.5948 -0.5000 ];
-#%!
-#%! Be = [ -0.5597 0.2363
-#%! -0.4843 -0.0498
-#%! -0.4727 -0.1491
-#%! 0.1802 1.1574
-#%! 0.5995 0.1556
-#%! -0.1729 -0.3999
-#%! 0.0000 0.2500 ];
-#%!
-#%! Ce = [ 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 4.0000
-#%! 0.0000 0.0000 0.0000 0.0000 0.0000 3.1524 -1.7500 ];
-#%!
-#%! De = zeros (2, 2);
-#%!
-#%!assert (Ar, Ae, 1e-4);
-#%!assert (Br, Be, 1e-4);
-#%!assert (Cr, Ce, 1e-4);
-#%!assert (Dr, De, 1e-4);
-#%!assert (Er, Ee, 1e-4);
-
-
-## ss: sminreal
-%!shared B, C
-%!
-%! A = ss (-2, 3, 4, 5);
-%! B = A / A;
-%! C = sminreal (B); # no states should be removed
-%!
-%!assert (C.a, B.a);
-%!assert (C.b, B.b);
-%!assert (C.c, B.c);
-%!assert (C.d, B.d);
-
-%!shared A, B, D, E
-%!
-%! A = ss (-1, 1, 1, 0);
-%! B = ss (-2, 3, 4, 5);
-%! C = [A, B];
-%! D = sminreal (C(:, 1));
-%! E = sminreal (C(:, 2));
-%!
-%!assert (D.a, A.a);
-%!assert (D.b, A.b);
-%!assert (D.c, A.c);
-%!assert (D.d, A.d);
-%!assert (E.a, B.a);
-%!assert (E.b, B.b);
-%!assert (E.c, B.c);
-%!assert (E.d, B.d);
-
-
-## mtimes
-%!shared sysmat, sysmat_exp
-%! sys1 = ss ([0, 1; -3, -2], [0; 1], [-5, 1], [2]);
-%! sys2 = ss ([-10], [1], [-40], [5]);
-%! sys3 = sys2 * sys1;
-%! [A, B, C, D] = ssdata (sys3);
-%! sysmat = [A, B; C, D];
-%! A_exp = [ -10 -5 1
-%! 0 0 1
-%! 0 -3 -2 ];
-%! B_exp = [ 2
-%! 0
-%! 1 ];
-%! C_exp = [ -40 -25 5 ];
-%! D_exp = [ 10 ];
-%! sysmat_exp = [A_exp, B_exp; C_exp, D_exp];
-%!assert (sysmat, sysmat_exp)
-
-
-## inverse of state-space models
-## test from SLICOT AB07ND
-## result differs intentionally from a commercial
-## implementation of an octave-like language
-%!shared M, Me
-%! A = [ 1.0 2.0 0.0
-%! 4.0 -1.0 0.0
-%! 0.0 0.0 1.0 ];
-%!
-%! B = [ 1.0 0.0
-%! 0.0 1.0
-%! 1.0 0.0 ];
-%!
-%! C = [ 0.0 1.0 -1.0
-%! 0.0 0.0 1.0 ];
-%!
-%! D = [ 4.0 0.0
-%! 0.0 1.0 ];
-%!
-%! sys = ss (A, B, C, D);
-%! sysinv = inv (sys);
-%! [Ai, Bi, Ci, Di] = ssdata (sysinv);
-%! M = [Ai, Bi; Ci, Di];
-%!
-%! Ae = [ 1.0000 1.7500 0.2500
-%! 4.0000 -1.0000 -1.0000
-%! 0.0000 -0.2500 1.2500 ];
-%!
-%! Be = [-0.2500 0.0000
-%! 0.0000 -1.0000
-%! -0.2500 0.0000 ];
-%!
-%! Ce = [ 0.0000 0.2500 -0.2500
-%! 0.0000 0.0000 1.0000 ];
-%!
-%! De = [ 0.2500 0.0000
-%! 0.0000 1.0000 ];
-%!
-%! Me = [Ae, Be; Ce, De]; # Me = [Ae, -Be; -Ce, De];
-%!
-%!assert (M, Me, 1e-4);
-
-
-## sensitivity function
-## Note the correct physical meaning of the states.
-## Test would fail on a commercial octave clone
-## because of wrong signs of matrices B and C.
-## NOTE: Don't use T = I - S for complementary sensitivity,
-## use T = feedback (L) instead!
-%!shared S1, S2
-%! P = ss (-2, 3, 4, 5); # meaningless numbers
-%! C = ss (-1, 1, 1, 0); # ditto
-%! L = P * C;
-%! I = eye (size (L));
-%! S1 = feedback (I, L*-I, "+"); # draw a block diagram for better understanding
-%! S2 = inv (I + L);
-%!assert (S1.a, S2.a, 1e-4);
-%!assert (S1.b, S2.b, 1e-4);
-%!assert (S1.c, S2.c, 1e-4);
-%!assert (S1.d, S2.d, 1e-4);
-
-
## staircase (SLICOT AB01OD)
%!shared Ac, Bc, Ace, Bce
%! A = [ 17.0 24.0 1.0 8.0 15.0
@@ -699,491 +332,6 @@
%!assert (nobsv, nobsv_e);
-## Cascade inter-connection of two systems in state-space form
-## Test from SLICOT AB05MD
-## TODO: order of united state vector: consistency vs. compatibility?
-#%!shared M, Me
-#%! A1 = [ 1.0 0.0 -1.0
-#%! 0.0 -1.0 1.0
-#%! 1.0 1.0 2.0 ];
-#%!
-#%! B1 = [ 1.0 1.0 0.0
-#%! 2.0 0.0 1.0 ].';
-#%!
-#%! C1 = [ 3.0 -2.0 1.0
-#%! 0.0 1.0 0.0 ];
-#%!
-#%! D1 = [ 1.0 0.0
-#%! 0.0 1.0 ];
-#%!
-#%! A2 = [-3.0 0.0 0.0
-#%! 1.0 0.0 1.0
-#%! 0.0 -1.0 2.0 ];
-#%!
-#%! B2 = [ 0.0 -1.0 0.0
-#%! 1.0 0.0 2.0 ].';
-#%!
-#%! C2 = [ 1.0 1.0 0.0
-#%! 1.0 1.0 -1.0 ];
-#%!
-#%! D2 = [ 1.0 1.0
-#%! 0.0 1.0 ];
-#%!
-#%! sys1 = ss (A1, B1, C1, D1);
-#%! sys2 = ss (A2, B2, C2, D2);
-#%! sys = sys2 * sys1;
-#%! [A, B, C, D] = ssdata (sys);
-#%! M = [A, B; C, D];
-#%!
-#%! Ae = [ 1.0000 0.0000 -1.0000 0.0000 0.0000 0.0000
-#%! 0.0000 -1.0000 1.0000 0.0000 0.0000 0.0000
-#%! 1.0000 1.0000 2.0000 0.0000 0.0000 0.0000
-#%! 0.0000 1.0000 0.0000 -3.0000 0.0000 0.0000
-#%! -3.0000 2.0000 -1.0000 1.0000 0.0000 1.0000
-#%! 0.0000 2.0000 0.0000 0.0000 -1.0000 2.0000 ];
-#%!
-#%! Be = [ 1.0000 2.0000
-#%! 1.0000 0.0000
-#%! 0.0000 1.0000
-#%! 0.0000 1.0000
-#%! -1.0000 0.0000
-#%! 0.0000 2.0000 ];
-#%!
-#%! Ce = [ 3.0000 -1.0000 1.0000 1.0000 1.0000 0.0000
-#%! 0.0000 1.0000 0.0000 1.0000 1.0000 -1.0000 ];
-#%!
-#%! De = [ 1.0000 1.0000
-#%! 0.0000 1.0000 ];
-#%!
-#%! Me = [Ae, Be; Ce, De];
-#%!
-#%!assert (M, Me, 1e-4);
-
-
-## Feedback inter-connection of two systems in state-space form
-## Test from SLICOT AB05ND
-%!shared M, Me
-%! A1 = [ 1.0 0.0 -1.0
-%! 0.0 -1.0 1.0
-%! 1.0 1.0 2.0 ];
-%!
-%! B1 = [ 1.0 1.0 0.0
-%! 2.0 0.0 1.0 ].';
-%!
-%! C1 = [ 3.0 -2.0 1.0
-%! 0.0 1.0 0.0 ];
-%!
-%! D1 = [ 1.0 0.0
-%! 0.0 1.0 ];
-%!
-%! A2 = [-3.0 0.0 0.0
-%! 1.0 0.0 1.0
-%! 0.0 -1.0 2.0 ];
-%!
-%! B2 = [ 0.0 -1.0 0.0
-%! 1.0 0.0 2.0 ].';
-%!
-%! C2 = [ 1.0 1.0 0.0
-%! 1.0 1.0 -1.0 ];
-%!
-%! D2 = [ 1.0 1.0
-%! 0.0 1.0 ];
-%!
-%! sys1 = ss (A1, B1, C1, D1);
-%! sys2 = ss (A2, B2, C2, D2);
-%! sys = feedback (sys1, sys2);
-%! [A, B, C, D] = ssdata (sys);
-%! M = [A, B; C, D];
-%!
-%! Ae = [-0.5000 -0.2500 -1.5000 -1.2500 -1.2500 0.7500
-%! -1.5000 -0.2500 0.5000 -0.2500 -0.2500 -0.2500
-%! 1.0000 0.5000 2.0000 -0.5000 -0.5000 0.5000
-%! 0.0000 0.5000 0.0000 -3.5000 -0.5000 0.5000
-%! -1.5000 1.2500 -0.5000 1.2500 0.2500 1.2500
-%! 0.0000 1.0000 0.0000 -1.0000 -2.0000 3.0000 ];
-%!
-%! Be = [ 0.5000 0.7500
-%! 0.5000 -0.2500
-%! 0.0000 0.5000
-%! 0.0000 0.5000
-%! -0.5000 0.2500
-%! 0.0000 1.0000 ];
-%!
-%! Ce = [ 1.5000 -1.2500 0.5000 -0.2500 -0.2500 -0.2500
-%! 0.0000 0.5000 0.0000 -0.5000 -0.5000 0.5000 ];
-%!
-%! De = [ 0.5000 -0.2500
-%! 0.0000 0.5000 ];
-%!
-%! Me = [Ae, Be; Ce, De];
-%!
-%!assert (M, Me, 1e-4);
-
-
-## Rowwise concatenation of two systems in state-space form
-## Test from SLICOT AB05OD
-%!shared M, Me
-%! A1 = [ 1.0 0.0 -1.0
-%! 0.0 -1.0 1.0
-%! 1.0 1.0 2.0 ];
-%!
-%! B1 = [ 1.0 1.0 0.0
-%! 2.0 0.0 1.0 ].';
-%!
-%! C1 = [ 3.0 -2.0 1.0
-%! 0.0 1.0 0.0 ];
-%!
-%! D1 = [ 1.0 0.0
-%! 0.0 1.0 ];
-%!
-%! A2 = [-3.0 0.0 0.0
-%! 1.0 0.0 1.0
-%! 0.0 -1.0 2.0 ];
-%!
-%! B2 = [ 0.0 -1.0 0.0
-%! 1.0 0.0 2.0 ].';
-%!
-%! C2 = [ 1.0 1.0 0.0
-%! 1.0 1.0 -1.0 ];
-%!
-%! D2 = [ 1.0 1.0
-%! 0.0 1.0 ];
-%!
-%! sys1 = ss (A1, B1, C1, D1);
-%! sys2 = ss (A2, B2, C2, D2);
-%! sys = [sys1, sys2];
-%! [A, B, C, D] = ssdata (sys);
-%! M = [A, B; C, D];
-%!
-%! Ae = [ 1.0000 0.0000 -1.0000 0.0000 0.0000 0.0000
-%! 0.0000 -1.0000 1.0000 0.0000 0.0000 0.0000
-%! 1.0000 1.0000 2.0000 0.0000 0.0000 0.0000
-%! 0.0000 0.0000 0.0000 -3.0000 0.0000 0.0000
-%! 0.0000 0.0000 0.0000 1.0000 0.0000 1.0000
-%! 0.0000 0.0000 0.0000 0.0000 -1.0000 2.0000 ];
-%!
-%! Be = [ 1.0000 2.0000 0.0000 0.0000
-%! 1.0000 0.0000 0.0000 0.0000
-%! 0.0000 1.0000 0.0000 0.0000
-%! 0.0000 0.0000 0.0000 1.0000
-%! 0.0000 0.0000 -1.0000 0.0000
-%! 0.0000 0.0000 0.0000 2.0000 ];
-%!
-%! Ce = [ 3.0000 -2.0000 1.0000 1.0000 1.0000 0.0000
-%! 0.0000 1.0000 0.0000 1.0000 1.0000 -1.0000 ];
-%!
-%! De = [ 1.0000 0.0000 1.0000 1.0000
-%! 0.0000 1.0000 0.0000 1.0000 ];
-%!
-%! Me = [Ae, Be; Ce, De];
-%!
-%!assert (M, Me, 1e-4);
-
-
-## Parallel inter-connection of two systems in state-space form
-## Test from SLICOT AB05PD
-%!shared M, Me
-%! A1 = [ 1.0 0.0 -1.0
-%! 0.0 -1.0 1.0
-%! 1.0 1.0 2.0 ];
-%!
-%! B1 = [ 1.0 1.0 0.0
-%! 2.0 0.0 1.0 ].';
-%!
-%! C1 = [ 3.0 -2.0 1.0
-%! 0.0 1.0 0.0 ];
-%!
-%! D1 = [ 1.0 0.0
-%! 0.0 1.0 ];
-%!
-%! A2 = [-3.0 0.0 0.0
-%! 1.0 0.0 1.0
-%! 0.0 -1.0 2.0 ];
-%!
-%! B2 = [ 0.0 -1.0 0.0
-%! 1.0 0.0 2.0 ].';
-%!
-%! C2 = [ 1.0 1.0 0.0
-%! 1.0 1.0 -1.0 ];
-%!
-%! D2 = [ 1.0 1.0
-%! 0.0 1.0 ];
-%!
-%! sys1 = ss (A1, B1, C1, D1);
-%! sys2 = ss (A2, B2, C2, D2);
-%! sys = sys1 + sys2;
-%! [A, B, C, D] = ssdata (sys);
-%! M = [A, B; C, D];
-%!
-%! Ae = [ 1.0000 0.0000 -1.0000 0.0000 0.0000 0.0000
-%! 0.0000 -1.0000 1.0000 0.0000 0.0000 0.0000
-%! 1.0000 1.0000 2.0000 0.0000 0.0000 0.0000
-%! 0.0000 0.0000 0.0000 -3.0000 0.0000 0.0000
-%! 0.0000 0.0000 0.0000 1.0000 0.0000 1.0000
-%! 0.0000 0.0000 0.0000 0.0000 -1.0000 2.0000 ];
-%!
-%! Be = [ 1.0000 2.0000
-%! 1.0000 0.0000
-%! 0.0000 1.0000
-%! 0.0000 1.0000
-%! -1.0000 0.0000
-%! 0.0000 2.0000 ];
-%!
-%! Ce = [ 3.0000 -2.0000 1.0000 1.0000 1.0000 0.0000
-%! 0.0000 1.0000 0.0000 1.0000 1.0000 -1.0000 ];
-%!
-%! De = [ 2.0000 1.0000
-%! 0.0000 2.0000 ];
-%!
-%! Me = [Ae, Be; Ce, De];
-%!
-%!assert (M, Me, 1e-4);
-
-
-## Gain of descriptor state-space models
-%!shared p, pi, z, zi, k, ki, p_tf, pi_tf, z_tf, zi_tf, k_tf, ki_tf
-%! P = ss (-2, 3, 4, 5);
-%! Pi = inv (P);
-%!
-%! p = pole (P);
-%! [z, k] = zero (P);
-%!
-%! pi = pole (Pi);
-%! [zi, ki] = zero (Pi);
-%!
-%! P_tf = tf (P);
-%! Pi_tf = tf (Pi);
-%!
-%! p_tf = pole (P_tf);
-%! [z_tf, k_tf] = zero (P_tf);
-%!
-%! pi_tf = pole (Pi_tf);
-%! [zi_tf, ki_tf] = zero (Pi_tf);
-%!
-%!assert (p, zi, 1e-4);
-%!assert (z, pi, 1e-4);
-%!assert (k, inv (ki), 1e-4);
-%!assert (p_tf, zi_tf, 1e-4);
-%!assert (z_tf, pi_tf, 1e-4);
-%!assert (k_tf, inv (ki_tf), 1e-4);
-
-
-## Scaling of state-space models, direct access to TB01ID
-%!shared Ao, Bo, Co, SCALEo, MAXREDo, Ae, Be, Ce, SCALEe, MAXREDe
-%! A = [ 0.0 1.0000e+000 0.0 0.0 0.0
-%! -1.5800e+006 -1.2570e+003 0.0 0.0 0.0
-%! 3.5410e+014 0.0 -1.4340e+003 0.0 -5.3300e+011
-%! 0.0 0.0 0.0 0.0 1.0000e+000
-%! 0.0 0.0 0.0 -1.8630e+004 -1.4820e+000 ];
-%!
-%! B = [ 0.0 0.0
-%! 1.1030e+002 0.0
-%! 0.0 0.0
-%! 0.0 0.0
-%! 0.0 8.3330e-003 ];
-%!
-%! C = [ 1.0000e+000 0.0 0.0 0.0 0.0
-%! 0.0 0.0 1.0000e+000 0.0 0.0
-%! 0.0 0.0 0.0 1.0000e+000 0.0
-%! 6.6640e-001 0.0 -6.2000e-013 0.0 0.0
-%! 0.0 0.0 -1.0000e-003 1.8960e+006 1.5080e+002 ];
-%!
-%! MAXRED = 0.0;
-%!
-%! [Ao, Bo, Co, MAXREDo, SCALEo] = sltb01id (A, B, C, MAXRED);
-%!
-%! Ae = [ 0.0000000D+00 0.1000000D+05 0.0000000D+00 0.0000000D+00 0.0000000D+00
-%! -0.1580000D+03 -0.1257000D+04 0.0000000D+00 0.0000000D+00 0.0000000D+00
-%! 0.3541000D+05 0.0000000D+00 -0.1434000D+04 0.0000000D+00 -0.5330000D+03
-%! 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D+03
-%! 0.0000000D+00 0.0000000D+00 0.0000000D+00 -0.1863000D+03 -0.1482000D+01 ];
-%!
-%! Be = [ 0.0000000D+00 0.0000000D+00
-%! 0.1103000D+04 0.0000000D+00
-%! 0.0000000D+00 0.0000000D+00
-%! 0.0000000D+00 0.0000000D+00
-%! 0.0000000D+00 0.8333000D+02 ];
-%!
-%! Ce = [ 0.1000000D-04 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00
-%! 0.0000000D+00 0.0000000D+00 0.1000000D+06 0.0000000D+00 0.0000000D+00
-%! 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D-05 0.0000000D+00
-%! 0.6664000D-05 0.0000000D+00 -0.6200000D-07 0.0000000D+00 0.0000000D+00
-%! 0.0000000D+00 0.0000000D+00 -0.1000000D+03 0.1896000D+01 0.1508000D-01 ];
-%!
-%! SCALEe = [0.1000000D-04 0.1000000D+00 0.1000000D+06 0.1000000D-05 0.1000000D-03 ];
-%!
-%! MAXREDe = 0.3488E+10;
-%!
-%!assert (Ao, Ae, 1e-4);
-%!assert (Bo, Be, 1e-4);
-%!assert (Co, Ce, 1e-4);
-%!assert (MAXREDo, MAXREDe, 1e6);
-%!assert (SCALEo, SCALEe.', 1e-4);
-
-
-## Scaling of descriptor state-space models, direct access to TG01AD
-%!shared Ao, Eo, Bo, Co, LSCALEo, RSCALEo, Ae, Ee, Be, Ce, LSCALEe, RSCALEe
-%! A = [ -1 0 0 0.003
-%! 0 ...
[truncated message content] |
|
From: <par...@us...> - 2011-12-06 20:37:36
|
Revision: 9293
http://octave.svn.sourceforge.net/octave/?rev=9293&view=rev
Author: paramaniac
Date: 2011-12-06 20:37:29 +0000 (Tue, 06 Dec 2011)
Log Message:
-----------
control: replace "" by '
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@frd/display.m
trunk/octave-forge/main/control/inst/@lti/set.m
trunk/octave-forge/main/control/inst/@ss/__set__.m
trunk/octave-forge/main/control/inst/@tf/display.m
trunk/octave-forge/main/control/inst/gensig.m
Modified: trunk/octave-forge/main/control/inst/@frd/display.m
===================================================================
--- trunk/octave-forge/main/control/inst/@frd/display.m 2011-12-06 20:36:51 UTC (rev 9292)
+++ trunk/octave-forge/main/control/inst/@frd/display.m 2011-12-06 20:37:29 UTC (rev 9293)
@@ -35,7 +35,7 @@
disp ("");
for k = 1 : m
- disp (["Frequency response \"", sysname, "\" from input \"", inname{k}, "\" to output ..."]);
+ disp (["Frequency response '", sysname, "' from input '", inname{k}, "' to output ..."]);
disp ("");
__disp_resp__ (sys.H(:,k,:), w, outname);
endfor
Modified: trunk/octave-forge/main/control/inst/@lti/set.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/set.m 2011-12-06 20:36:51 UTC (rev 9292)
+++ trunk/octave-forge/main/control/inst/@lti/set.m 2011-12-06 20:37:29 UTC (rev 9293)
@@ -43,7 +43,7 @@
elseif (nargout == 0) # set (sys, "prop1", val1, ...)
- warning ("lti: set: use sys = get (sys, ""property1"", ...) to save changes");
+ warning ("lti: set: use sys = get (sys, 'property1', ...) to save changes");
warning (" octave does not support pass by reference");
else # sys = set (sys, "prop1", val1, ...)
@@ -68,7 +68,7 @@
case {"tsam", "ts"}
if (issample (val, -1))
sys.tsam = val;
- warning ("lti: set: use the editing of property ""%s"" with caution", prop);
+ warning ("lti: set: use the editing of property '%s' with caution", prop);
warning (" it may lead to corrupted models");
else
error ("lti: set: invalid sampling time");
@@ -79,7 +79,7 @@
if (ischar (val))
sys.name = val;
else
- error ("lti: set: property ""name"" requires a string");
+ error ("lti: set: property 'name' requires a string");
endif
case "notes"
@@ -88,7 +88,7 @@
elseif (ischar (val))
sys.notes = {val};
else
- error ("lti: set: property ""notes"" requires string or cell of strings");
+ error ("lti: set: property 'notes' requires string or cell of strings");
endif
case "userdata"
Modified: trunk/octave-forge/main/control/inst/@ss/__set__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/__set__.m 2011-12-06 20:36:51 UTC (rev 9292)
+++ trunk/octave-forge/main/control/inst/@ss/__set__.m 2011-12-06 20:37:29 UTC (rev 9293)
@@ -57,7 +57,7 @@
if (isscalar (val))
sys.scaled = logical (val);
else
- error ("ss: set: property ""scaled"" must be a logical value");
+ error ("ss: set: property 'scaled' must be a logical value");
endif
otherwise
Modified: trunk/octave-forge/main/control/inst/@tf/display.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tf/display.m 2011-12-06 20:36:51 UTC (rev 9292)
+++ trunk/octave-forge/main/control/inst/@tf/display.m 2011-12-06 20:37:29 UTC (rev 9293)
@@ -33,7 +33,7 @@
disp ("");
for nu = 1 : m
- disp (["Transfer function \"", sysname, "\" from input \"", inname{nu}, "\" to output ..."]);
+ disp (["Transfer function '", sysname, "' from input '", inname{nu}, "' to output ..."]);
disp ("");
for ny = 1 : p
__disp_frac__ (sys.num{ny, nu}, sys.den{ny, nu}, sys.tfvar, outname{ny});
Modified: trunk/octave-forge/main/control/inst/gensig.m
===================================================================
--- trunk/octave-forge/main/control/inst/gensig.m 2011-12-06 20:36:51 UTC (rev 9292)
+++ trunk/octave-forge/main/control/inst/gensig.m 2011-12-06 20:37:29 UTC (rev 9293)
@@ -92,7 +92,7 @@
case "pu"
u = double (rem (t, tau) < (1 - 1000*eps) * tsam);
otherwise
- error ("gensig: ""%s"" is an invalid signal type", sigtype);
+ error ("gensig: '%s' is an invalid signal type", sigtype);
endswitch
endfunction
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2011-12-07 15:17:21
|
Revision: 9300
http://octave.svn.sourceforge.net/octave/?rev=9300&view=rev
Author: paramaniac
Date: 2011-12-07 15:17:11 +0000 (Wed, 07 Dec 2011)
Log Message:
-----------
control: solve problem with purely imaginary poles and zeros
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/bode.m
trunk/octave-forge/main/control/inst/bodemag.m
trunk/octave-forge/main/control/inst/nichols.m
trunk/octave-forge/main/control/inst/sigma.m
Modified: trunk/octave-forge/main/control/inst/bode.m
===================================================================
--- trunk/octave-forge/main/control/inst/bode.m 2011-12-07 13:40:26 UTC (rev 9299)
+++ trunk/octave-forge/main/control/inst/bode.m 2011-12-07 15:17:11 UTC (rev 9300)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009, 2010 Lukas F. Reichlin
+## Copyright (C) 2009, 2010, 2011 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -45,7 +45,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: November 2009
-## Version: 0.2
+## Version: 0.3
function [mag_r, pha_r, w_r] = bode (sys, w = [])
@@ -78,6 +78,10 @@
subplot (2, 1, 1)
semilogx (w, mag_db)
+ ax = axis;
+ if (any (isinf (ax_vec_mag))) # catch case purely imaginary poles or zeros
+ ax_vec_mag(3:4) = ax(3:4);
+ endif
axis (ax_vec_mag)
grid ("on")
title (["Bode Diagram of ", inputname(1)])
Modified: trunk/octave-forge/main/control/inst/bodemag.m
===================================================================
--- trunk/octave-forge/main/control/inst/bodemag.m 2011-12-07 13:40:26 UTC (rev 9299)
+++ trunk/octave-forge/main/control/inst/bodemag.m 2011-12-07 15:17:11 UTC (rev 9300)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009, 2010 Lukas F. Reichlin
+## Copyright (C) 2009, 2010, 2011 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -43,7 +43,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: November 2009
-## Version: 0.2
+## Version: 0.3
function [mag_r, w_r] = bodemag (sys, w = [])
@@ -72,6 +72,10 @@
endif
semilogx (w, mag_db)
+ ax = axis;
+ if (any (isinf (ax_vec_mag))) # catch case purely imaginary poles or zeros
+ ax_vec_mag(3:4) = ax(3:4);
+ endif
axis (ax_vec_mag)
grid ("on")
title (["Bode Magnitude Diagram of ", inputname(1)])
Modified: trunk/octave-forge/main/control/inst/nichols.m
===================================================================
--- trunk/octave-forge/main/control/inst/nichols.m 2011-12-07 13:40:26 UTC (rev 9299)
+++ trunk/octave-forge/main/control/inst/nichols.m 2011-12-07 15:17:11 UTC (rev 9300)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009, 2010 Lukas F. Reichlin
+## Copyright (C) 2009, 2010, 2011 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -45,7 +45,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: November 2009
-## Version: 0.2
+## Version: 0.3
function [mag_r, pha_r, w_r] = nichols (sys, w = [])
@@ -66,6 +66,10 @@
ax_vec = __axis_limits__ ([reshape(pha, [], 1), reshape(mag_db, [], 1)]);
plot (pha, mag_db)
+ ax = axis;
+ if (any (isinf (ax_vec))) # catch case purely imaginary poles or zeros
+ ax_vec(3:4) = ax(3:4);
+ endif
axis (ax_vec)
grid ("on")
title (["Nichols Chart of ", inputname(1)])
Modified: trunk/octave-forge/main/control/inst/sigma.m
===================================================================
--- trunk/octave-forge/main/control/inst/sigma.m 2011-12-07 13:40:26 UTC (rev 9299)
+++ trunk/octave-forge/main/control/inst/sigma.m 2011-12-07 15:17:11 UTC (rev 9300)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009, 2010 Lukas F. Reichlin
+## Copyright (C) 2009, 2010, 2011 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -57,7 +57,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: May 2009
-## Version: 0.4
+## Version: 0.5
function [sv_r, w_r] = sigma (sys, w = [], resptype = 0)
@@ -91,6 +91,10 @@
## plot results
semilogx (w, sv_db, "b")
+ ax = axis;
+ if (any (isinf (ax_vec))) # catch case purely imaginary poles or zeros
+ ax_vec(3:4) = ax(3:4);
+ endif
axis (ax_vec)
title (["Singular Values of ", inputname(1)])
xlabel (xl_str)
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|
|
From: <par...@us...> - 2011-12-11 15:37:22
|
Revision: 9365
http://octave.svn.sourceforge.net/octave/?rev=9365&view=rev
Author: paramaniac
Date: 2011-12-11 15:37:14 +0000 (Sun, 11 Dec 2011)
Log Message:
-----------
control: rework axis limits of plotting
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/bode.m
Added Paths:
-----------
trunk/octave-forge/main/control/inst/__plot_margin__.m
Added: trunk/octave-forge/main/control/inst/__plot_margin__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__plot_margin__.m (rev 0)
+++ trunk/octave-forge/main/control/inst/__plot_margin__.m 2011-12-11 15:37:14 UTC (rev 9365)
@@ -0,0 +1,61 @@
+## Copyright (C) 1998, 2000, 2004, 2005, 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} {} __plot_margin__ (@var{axdata})
+## Determine axis limits for 2-D data (column vectors); leaves a 10%
+## margin around the plots.
+## Inserts margins of +/- 0.1 if data is one-dimensional
+## (or a single point).
+##
+## @strong{Input}
+## @table @var
+## @item axdata
+## @var{n} by 2 matrix of data [@var{x}, @var{y}].
+## @end table
+##
+## @strong{Output}
+## @table @var
+## @item axvec
+## Vector of axis limits appropriate for call to @command{axis} function.
+## @end table
+## @end deftypefn
+
+function axvec = __plot_margin__ (axdata)
+
+ ## compute axis limits
+ minv = axdata(1);
+ maxv = axdata(2);
+ delv = (maxv-minv)/2; # breadth of the plot
+ midv = (minv + maxv)/2; # midpoint of the plot
+ axmid = [midv, midv];
+ axdel = [-0.1, 0.1]; # default plot width (if less than 2-d data)
+ if (delv == 0)
+ if (midv != 0)
+ axdel = [-0.1*midv, 0.1*midv];
+ endif
+ else
+ ## they're at least one-dimensional
+ tolv = max(1e-8, 1e-8*abs(midv));
+ if (abs (delv) >= tolv)
+ axdel = 1.1*[-delv,delv];
+ endif
+ endif
+ axvec = axmid + axdel;
+
+endfunction
Modified: trunk/octave-forge/main/control/inst/bode.m
===================================================================
--- trunk/octave-forge/main/control/inst/bode.m 2011-12-11 15:04:33 UTC (rev 9364)
+++ trunk/octave-forge/main/control/inst/bode.m 2011-12-11 15:37:14 UTC (rev 9365)
@@ -64,12 +64,6 @@
if (! nargout)
mag_db = 20 * log10 (mag);
- wv = [min(w), max(w)];
- ax_vec_mag = __axis_limits__ ([reshape(w, [], 1), reshape(mag_db, [], 1)]);
- ax_vec_mag(1:2) = wv;
- ax_vec_pha = __axis_limits__ ([reshape(w, [], 1), reshape(pha, [], 1)]);
- ax_vec_pha(1:2) = wv;
-
if (isct (sys))
xl_str = "Frequency [rad/s]";
else
@@ -78,18 +72,16 @@
subplot (2, 1, 1)
semilogx (w, mag_db)
- ax = axis;
- if (any (isinf (ax_vec_mag))) # catch case purely imaginary poles or zeros
- ax_vec_mag(3:4) = ax(3:4);
- endif
- axis (ax_vec_mag)
+ axis ("tight")
+ ylim (__plot_margin__ (ylim));
grid ("on")
title (["Bode Diagram of ", inputname(1)])
ylabel ("Magnitude [dB]")
subplot (2, 1, 2)
semilogx (w, pha)
- axis (ax_vec_pha)
+ axis ("tight")
+ ylim (__plot_margin__ (ylim));
grid ("on")
xlabel (xl_str)
ylabel ("Phase [deg]")
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|
|
From: <par...@us...> - 2011-12-11 16:49:45
|
Revision: 9366
http://octave.svn.sourceforge.net/octave/?rev=9366&view=rev
Author: paramaniac
Date: 2011-12-11 16:49:39 +0000 (Sun, 11 Dec 2011)
Log Message:
-----------
control: rework axis limits of plotting (2)
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/__plot_margin__.m
trunk/octave-forge/main/control/inst/bode.m
Modified: trunk/octave-forge/main/control/inst/__plot_margin__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__plot_margin__.m 2011-12-11 15:37:14 UTC (rev 9365)
+++ trunk/octave-forge/main/control/inst/__plot_margin__.m 2011-12-11 16:49:39 UTC (rev 9366)
@@ -38,6 +38,11 @@
function axvec = __plot_margin__ (axdata)
+ if (any (isinf (axdata)))
+ axvec = "tight";
+ return;
+ endif
+
## compute axis limits
minv = axdata(1);
maxv = axdata(2);
@@ -45,6 +50,7 @@
midv = (minv + maxv)/2; # midpoint of the plot
axmid = [midv, midv];
axdel = [-0.1, 0.1]; # default plot width (if less than 2-d data)
+
if (delv == 0)
if (midv != 0)
axdel = [-0.1*midv, 0.1*midv];
@@ -56,6 +62,7 @@
axdel = 1.1*[-delv,delv];
endif
endif
+
axvec = axmid + axdel;
endfunction
Modified: trunk/octave-forge/main/control/inst/bode.m
===================================================================
--- trunk/octave-forge/main/control/inst/bode.m 2011-12-11 15:37:14 UTC (rev 9365)
+++ trunk/octave-forge/main/control/inst/bode.m 2011-12-11 16:49:39 UTC (rev 9366)
@@ -73,7 +73,7 @@
subplot (2, 1, 1)
semilogx (w, mag_db)
axis ("tight")
- ylim (__plot_margin__ (ylim));
+ %ylim (__plot_margin__ (ylim));
grid ("on")
title (["Bode Diagram of ", inputname(1)])
ylabel ("Magnitude [dB]")
@@ -81,7 +81,7 @@
subplot (2, 1, 2)
semilogx (w, pha)
axis ("tight")
- ylim (__plot_margin__ (ylim));
+ %ylim (__plot_margin__ (ylim));
grid ("on")
xlabel (xl_str)
ylabel ("Phase [deg]")
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2011-12-11 19:06:00
|
Revision: 9367
http://octave.svn.sourceforge.net/octave/?rev=9367&view=rev
Author: paramaniac
Date: 2011-12-11 19:05:54 +0000 (Sun, 11 Dec 2011)
Log Message:
-----------
control: fix axis problem
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/bode.m
Added Paths:
-----------
trunk/octave-forge/main/control/inst/__axis_margin__.m
Removed Paths:
-------------
trunk/octave-forge/main/control/inst/__plot_margin__.m
Copied: trunk/octave-forge/main/control/inst/__axis_margin__.m (from rev 9366, trunk/octave-forge/main/control/inst/__plot_margin__.m)
===================================================================
--- trunk/octave-forge/main/control/inst/__axis_margin__.m (rev 0)
+++ trunk/octave-forge/main/control/inst/__axis_margin__.m 2011-12-11 19:05:54 UTC (rev 9367)
@@ -0,0 +1,63 @@
+## Copyright (C) 1998, 2000, 2004, 2005, 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} {} __axis_margin__ (@var{axdata})
+## Determine axis limits for 2-D data (column vectors); leaves a 10%
+## margin around the plots.
+## Inserts margins of +/- 0.1 if data is one-dimensional
+## (or a single point).
+##
+## @strong{Input}
+## @table @var
+## @item axdata
+## @var{n} by 2 matrix of data [@var{x}, @var{y}].
+## @end table
+##
+## @strong{Output}
+## @table @var
+## @item axvec
+## Vector of axis limits appropriate for call to @command{axis} function.
+## @end table
+## @end deftypefn
+
+function axvec = __axis_margin__ (axdata, left, right)
+
+ ## compute axis limits
+ minv = axdata(3);
+ maxv = axdata(4);
+ delv = (maxv-minv)/2; # breadth of the plot
+ midv = (minv + maxv)/2; # midpoint of the plot
+ axmid = [midv, midv];
+ axdel = [-0.1, 0.1]; # default plot width (if less than 2-d data)
+
+ if (delv == 0)
+ if (midv != 0)
+ axdel = [-0.1*midv, 0.1*midv];
+ endif
+ else
+ ## they're at least one-dimensional
+ tolv = max(1e-8, 1e-8*abs(midv));
+ if (abs (delv) >= tolv)
+ axdel = 1.1*[-delv,delv];
+ endif
+ endif
+
+ axvec = [left, right, axmid + axdel];
+
+endfunction
Deleted: trunk/octave-forge/main/control/inst/__plot_margin__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__plot_margin__.m 2011-12-11 16:49:39 UTC (rev 9366)
+++ trunk/octave-forge/main/control/inst/__plot_margin__.m 2011-12-11 19:05:54 UTC (rev 9367)
@@ -1,68 +0,0 @@
-## Copyright (C) 1998, 2000, 2004, 2005, 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} {} __plot_margin__ (@var{axdata})
-## Determine axis limits for 2-D data (column vectors); leaves a 10%
-## margin around the plots.
-## Inserts margins of +/- 0.1 if data is one-dimensional
-## (or a single point).
-##
-## @strong{Input}
-## @table @var
-## @item axdata
-## @var{n} by 2 matrix of data [@var{x}, @var{y}].
-## @end table
-##
-## @strong{Output}
-## @table @var
-## @item axvec
-## Vector of axis limits appropriate for call to @command{axis} function.
-## @end table
-## @end deftypefn
-
-function axvec = __plot_margin__ (axdata)
-
- if (any (isinf (axdata)))
- axvec = "tight";
- return;
- endif
-
- ## compute axis limits
- minv = axdata(1);
- maxv = axdata(2);
- delv = (maxv-minv)/2; # breadth of the plot
- midv = (minv + maxv)/2; # midpoint of the plot
- axmid = [midv, midv];
- axdel = [-0.1, 0.1]; # default plot width (if less than 2-d data)
-
- if (delv == 0)
- if (midv != 0)
- axdel = [-0.1*midv, 0.1*midv];
- endif
- else
- ## they're at least one-dimensional
- tolv = max(1e-8, 1e-8*abs(midv));
- if (abs (delv) >= tolv)
- axdel = 1.1*[-delv,delv];
- endif
- endif
-
- axvec = axmid + axdel;
-
-endfunction
Modified: trunk/octave-forge/main/control/inst/bode.m
===================================================================
--- trunk/octave-forge/main/control/inst/bode.m 2011-12-11 16:49:39 UTC (rev 9366)
+++ trunk/octave-forge/main/control/inst/bode.m 2011-12-11 19:05:54 UTC (rev 9367)
@@ -72,16 +72,14 @@
subplot (2, 1, 1)
semilogx (w, mag_db)
- axis ("tight")
- %ylim (__plot_margin__ (ylim));
+ axis (__axis_margin__ (axis, w(1), w(end)))
grid ("on")
title (["Bode Diagram of ", inputname(1)])
ylabel ("Magnitude [dB]")
subplot (2, 1, 2)
semilogx (w, pha)
- axis ("tight")
- %ylim (__plot_margin__ (ylim));
+ axis (__axis_margin__ (axis, w(1), w(end)))
grid ("on")
xlabel (xl_str)
ylabel ("Phase [deg]")
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2011-12-11 19:46:12
|
Revision: 9368
http://octave.svn.sourceforge.net/octave/?rev=9368&view=rev
Author: paramaniac
Date: 2011-12-11 19:46:06 +0000 (Sun, 11 Dec 2011)
Log Message:
-----------
control: axis problem still not fixed
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/__axis_margin__.m
trunk/octave-forge/main/control/inst/bode.m
Modified: trunk/octave-forge/main/control/inst/__axis_margin__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__axis_margin__.m 2011-12-11 19:05:54 UTC (rev 9367)
+++ trunk/octave-forge/main/control/inst/__axis_margin__.m 2011-12-11 19:46:06 UTC (rev 9368)
@@ -36,11 +36,11 @@
## @end table
## @end deftypefn
-function axvec = __axis_margin__ (axdata, left, right)
+function axvec = __axis_margin__ (axdata)
## compute axis limits
- minv = axdata(3);
- maxv = axdata(4);
+ minv = axdata(1);
+ maxv = axdata(2);
delv = (maxv-minv)/2; # breadth of the plot
midv = (minv + maxv)/2; # midpoint of the plot
axmid = [midv, midv];
@@ -58,6 +58,6 @@
endif
endif
- axvec = [left, right, axmid + axdel];
+ axvec = axmid + axdel;
endfunction
Modified: trunk/octave-forge/main/control/inst/bode.m
===================================================================
--- trunk/octave-forge/main/control/inst/bode.m 2011-12-11 19:05:54 UTC (rev 9367)
+++ trunk/octave-forge/main/control/inst/bode.m 2011-12-11 19:46:06 UTC (rev 9368)
@@ -72,14 +72,16 @@
subplot (2, 1, 1)
semilogx (w, mag_db)
- axis (__axis_margin__ (axis, w(1), w(end)))
+ axis ("tight")
+ ylim (__axis_margin__ (ylim))
grid ("on")
title (["Bode Diagram of ", inputname(1)])
ylabel ("Magnitude [dB]")
subplot (2, 1, 2)
semilogx (w, pha)
- axis (__axis_margin__ (axis, w(1), w(end)))
+ axis ("tight")
+ ylim (__axis_margin__ (ylim))
grid ("on")
xlabel (xl_str)
ylabel ("Phase [deg]")
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2012-01-18 14:41:27
|
Revision: 9532
http://octave.svn.sourceforge.net/octave/?rev=9532&view=rev
Author: paramaniac
Date: 2012-01-18 14:41:16 +0000 (Wed, 18 Jan 2012)
Log Message:
-----------
control: support frequency response in the range {wmin, wmax}, e.g. bode (sys, {wmin, wmax})
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/__frequency_response__.m
trunk/octave-forge/main/control/inst/__frequency_vector__.m
Modified: trunk/octave-forge/main/control/inst/__frequency_response__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__frequency_response__.m 2012-01-18 14:02:54 UTC (rev 9531)
+++ trunk/octave-forge/main/control/inst/__frequency_response__.m 2012-01-18 14:41:16 UTC (rev 9532)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009, 2010 Lukas F. Reichlin
+## Copyright (C) 2009, 2010, 2012 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -21,7 +21,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: November 2009
-## Version: 0.2
+## Version: 0.3
function [H, w] = __frequency_response__ (sys, w = [], mimoflag = 0, resptype = 0, wbounds = "std", cellflag = false)
@@ -42,6 +42,8 @@
endif
elseif (isempty (w)) # find interesting frequency range w if not specified
w = __frequency_vector__ (sys, wbounds);
+ elseif (iscell (w) && numel (w) == 2 && issample (w{1}) && issample (w{2}))
+ w = __frequency_vector__ (sys, wbounds, w{1}, w{2});
elseif (! is_real_vector (w))
error ("frequency_response: second argument w must be a vector of frequencies");
endif
Modified: trunk/octave-forge/main/control/inst/__frequency_vector__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__frequency_vector__.m 2012-01-18 14:02:54 UTC (rev 9531)
+++ trunk/octave-forge/main/control/inst/__frequency_vector__.m 2012-01-18 14:41:16 UTC (rev 9532)
@@ -35,9 +35,9 @@
## Adapted-By: Lukas Reichlin <luk...@gm...>
## Date: October 2009
-## Version: 0.2
+## Version: 0.3
-function w = __frequency_vector__ (sys, wbounds = "std")
+function w = __frequency_vector__ (sys, wbounds = "std", wmin, wmax)
zer = zero (sys);
pol = pole (sys);
@@ -119,6 +119,11 @@
dec_max = log10 (pi/tsam);
endif
+ if (nargin == 4) # w = {wmin, wmax}
+ dec_min = log10 (wmin);
+ dec_max = log10 (wmax);
+ endif
+
## create frequency vector
zp = [abs(zer), abs(pol)];
idx = find (zp > 10^dec_min & zp < 10^dec_max);
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2012-02-09 13:42:51
|
Revision: 9599
http://octave.svn.sourceforge.net/octave/?rev=9599&view=rev
Author: paramaniac
Date: 2012-02-09 13:42:44 +0000 (Thu, 09 Feb 2012)
Log Message:
-----------
control: document new feature of frequency response commands
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/bode.m
trunk/octave-forge/main/control/inst/bodemag.m
trunk/octave-forge/main/control/inst/nichols.m
trunk/octave-forge/main/control/inst/nyquist.m
trunk/octave-forge/main/control/inst/sigma.m
Modified: trunk/octave-forge/main/control/inst/bode.m
===================================================================
--- trunk/octave-forge/main/control/inst/bode.m 2012-02-08 21:46:43 UTC (rev 9598)
+++ trunk/octave-forge/main/control/inst/bode.m 2012-02-09 13:42:44 UTC (rev 9599)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009, 2010, 2011 Lukas F. Reichlin
+## Copyright (C) 2009, 2010, 2011, 2012 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -28,6 +28,9 @@
## @item w
## Optional vector of frequency values. If @var{w} is not specified,
## it is calculated by the zeros and poles of the system.
+## Alternatively, the cell @code{@{wmin, wmax@}} specifies a frequency range,
+## where @var{wmin} and @var{wmax} denote minimum and maximum frequencies
+## in rad/s.
## @end table
##
## @strong{Outputs}
Modified: trunk/octave-forge/main/control/inst/bodemag.m
===================================================================
--- trunk/octave-forge/main/control/inst/bodemag.m 2012-02-08 21:46:43 UTC (rev 9598)
+++ trunk/octave-forge/main/control/inst/bodemag.m 2012-02-09 13:42:44 UTC (rev 9599)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009, 2010, 2011 Lukas F. Reichlin
+## Copyright (C) 2009, 2010, 2011, 2012 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -28,6 +28,9 @@
## @item w
## Optional vector of frequency values. If @var{w} is not specified,
## it is calculated by the zeros and poles of the system.
+## Alternatively, the cell @code{@{wmin, wmax@}} specifies a frequency range,
+## where @var{wmin} and @var{wmax} denote minimum and maximum frequencies
+## in rad/s.
## @end table
##
## @strong{Outputs}
Modified: trunk/octave-forge/main/control/inst/nichols.m
===================================================================
--- trunk/octave-forge/main/control/inst/nichols.m 2012-02-08 21:46:43 UTC (rev 9598)
+++ trunk/octave-forge/main/control/inst/nichols.m 2012-02-09 13:42:44 UTC (rev 9599)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009, 2010, 2011 Lukas F. Reichlin
+## Copyright (C) 2009, 2010, 2011, 2012 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -28,6 +28,9 @@
## @item w
## Optional vector of frequency values. If @var{w} is not specified,
## it is calculated by the zeros and poles of the system.
+## Alternatively, the cell @code{@{wmin, wmax@}} specifies a frequency range,
+## where @var{wmin} and @var{wmax} denote minimum and maximum frequencies
+## in rad/s.
## @end table
##
## @strong{Outputs}
Modified: trunk/octave-forge/main/control/inst/nyquist.m
===================================================================
--- trunk/octave-forge/main/control/inst/nyquist.m 2012-02-08 21:46:43 UTC (rev 9598)
+++ trunk/octave-forge/main/control/inst/nyquist.m 2012-02-09 13:42:44 UTC (rev 9599)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009, 2010 Lukas F. Reichlin
+## Copyright (C) 2009, 2010, 2012 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -28,6 +28,9 @@
## @item w
## Optional vector of frequency values. If @var{w} is not specified,
## it is calculated by the zeros and poles of the system.
+## Alternatively, the cell @code{@{wmin, wmax@}} specifies a frequency range,
+## where @var{wmin} and @var{wmax} denote minimum and maximum frequencies
+## in rad/s.
## @end table
##
## @strong{Outputs}
Modified: trunk/octave-forge/main/control/inst/sigma.m
===================================================================
--- trunk/octave-forge/main/control/inst/sigma.m 2012-02-08 21:46:43 UTC (rev 9598)
+++ trunk/octave-forge/main/control/inst/sigma.m 2012-02-09 13:42:44 UTC (rev 9599)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009, 2010, 2011 Lukas F. Reichlin
+## Copyright (C) 2009, 2010, 2011, 2012 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -30,6 +30,9 @@
## @item w
## Optional vector of frequency values. If @var{w} is not specified,
## it is calculated by the zeros and poles of the system.
+## Alternatively, the cell @code{@{wmin, wmax@}} specifies a frequency range,
+## where @var{wmin} and @var{wmax} denote minimum and maximum frequencies
+## in rad/s.
## @item ptype = 0
## Singular values of the frequency response @var{H} of system @var{sys}. Default Value.
## @item ptype = 1
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2012-02-09 17:41:22
|
Revision: 9602
http://octave.svn.sourceforge.net/octave/?rev=9602&view=rev
Author: paramaniac
Date: 2012-02-09 17:41:11 +0000 (Thu, 09 Feb 2012)
Log Message:
-----------
control: replace num2cell + cellfun by arrayfun (arrayfun became an oct-file in octave 3.6.0)
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@frd/__sys_group__.m
trunk/octave-forge/main/control/inst/@frd/display.m
trunk/octave-forge/main/control/inst/@ss/__freqresp__.m
trunk/octave-forge/main/control/inst/@tf/__sys2ss__.m
trunk/octave-forge/main/control/inst/ctrb.m
trunk/octave-forge/main/control/inst/strseq.m
Modified: trunk/octave-forge/main/control/inst/@frd/__sys_group__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@frd/__sys_group__.m 2012-02-09 14:14:36 UTC (rev 9601)
+++ trunk/octave-forge/main/control/inst/@frd/__sys_group__.m 2012-02-09 17:41:11 UTC (rev 9602)
@@ -1,4 +1,4 @@
-## Copyright (C) 2010 Lukas F. Reichlin
+## Copyright (C) 2010, 2012 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -22,7 +22,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2010
-## Version: 0.1
+## Version: 0.2
function retsys = __sys_group__ (sys1, sys2)
@@ -53,11 +53,10 @@
else # differing frequency vectors
## find common frequencies
retsys.w = w = intersect (sys1.w, sys2.w);
- w = num2cell (w);
## indices of common frequencies
- w1_idx = cellfun (@(x) find (sys1.w == x), w);
- w2_idx = cellfun (@(x) find (sys2.w == x), w);
+ w1_idx = arrayfun (@(x) find (sys1.w == x), w);
+ w2_idx = arrayfun (@(x) find (sys2.w == x), w);
## extract common responses
H1 = sys1.H(:, :, w1_idx);
Modified: trunk/octave-forge/main/control/inst/@frd/display.m
===================================================================
--- trunk/octave-forge/main/control/inst/@frd/display.m 2012-02-09 14:14:36 UTC (rev 9601)
+++ trunk/octave-forge/main/control/inst/@frd/display.m 2012-02-09 17:41:11 UTC (rev 9602)
@@ -1,4 +1,4 @@
-## Copyright (C) 2010, 2011 Lukas F. Reichlin
+## Copyright (C) 2010, 2011, 2012 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -20,7 +20,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: February 2010
-## Version: 0.1
+## Version: 0.2
function display (sys)
@@ -123,13 +123,12 @@
vec = vec(:);
tmp = isfinite (vec);
tmp = abs (vec(tmp & vec != 0));
- vec = num2cell (vec);
if (isempty (tmp) || min (tmp) < 1e-3 || max (tmp) > 1e4)
- str = cellfun (@(x) sprintf ("%.3e", x), vec, "uniformoutput", false);
+ str = arrayfun (@(x) sprintf ("%.3e", x), vec, "uniformoutput", false);
elseif (all (floor (tmp) == tmp))
- str = cellfun (@(x) sprintf ("%d", x), vec, "uniformoutput", false);
+ str = arrayfun (@(x) sprintf ("%d", x), vec, "uniformoutput", false);
else
- str = cellfun (@(x) sprintf ("%.4f", x), vec, "uniformoutput", false);
+ str = arrayfun (@(x) sprintf ("%.4f", x), vec, "uniformoutput", false);
endif
str = strjust (char (str), "right");
if (nargin > 1)
Modified: trunk/octave-forge/main/control/inst/@ss/__freqresp__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@ss/__freqresp__.m 2012-02-09 14:14:36 UTC (rev 9601)
+++ trunk/octave-forge/main/control/inst/@ss/__freqresp__.m 2012-02-09 17:41:11 UTC (rev 9602)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009, 2010, 2011 Lukas F. Reichlin
+## Copyright (C) 2009, 2010, 2011, 2012 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -20,7 +20,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
-## Version: 0.4
+## Version: 0.5
function H = __freqresp__ (sys, w, resptype = 0, cellflag = false)
@@ -35,25 +35,25 @@
endif
if (isct (sys)) # continuous system
- s = num2cell (i * w);
+ s = i * w;
else # discrete system
- s = num2cell (exp (i * w * abs (tsam)));
+ s = exp (i * w * abs (tsam));
endif
switch (resptype)
case 0 # default system
- H = cellfun (@(x) c/(x*e - a)*b + d, s, "uniformoutput", false);
+ H = arrayfun (@(x) c/(x*e - a)*b + d, s, "uniformoutput", false);
case 1 # inversed system
- H = cellfun (@(x) inv (c/(x*e - a)*b + d), s, "uniformoutput", false);
+ H = arrayfun (@(x) inv (c/(x*e - a)*b + d), s, "uniformoutput", false);
case 2 # inversed sensitivity
j = eye (columns (b));
- H = cellfun (@(x) j + c/(x*e - a)*b + d, s, "uniformoutput", false);
+ H = arrayfun (@(x) j + c/(x*e - a)*b + d, s, "uniformoutput", false);
case 3 # inversed complementary sensitivity
j = eye (columns (b));
- H = cellfun (@(x) j + inv (c/(x*e - a)*b + d), s, "uniformoutput", false);
+ H = arrayfun (@(x) j + inv (c/(x*e - a)*b + d), s, "uniformoutput", false);
otherwise
error ("ss: freqresp: invalid response type");
Modified: trunk/octave-forge/main/control/inst/@tf/__sys2ss__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tf/__sys2ss__.m 2012-02-09 14:14:36 UTC (rev 9601)
+++ trunk/octave-forge/main/control/inst/@tf/__sys2ss__.m 2012-02-09 17:41:11 UTC (rev 9602)
@@ -128,8 +128,8 @@
max_len_numq = max (len_numq(:));
numq = cellfun (@(x) prepad (x, max_len_numq, 0, 2), numq, "uniformoutput", false);
f = @(y) cellfun (@(x) x(y), numq);
- s = num2cell (1 : max_len_numq);
- D = cellfun (f, s, "uniformoutput", false);
+ s = 1 : max_len_numq;
+ D = arrayfun (f, s, "uniformoutput", false);
e2 = diag (ones (p*(max_len_numq-1), 1), -p);
a2 = eye (p*max_len_numq);
Modified: trunk/octave-forge/main/control/inst/ctrb.m
===================================================================
--- trunk/octave-forge/main/control/inst/ctrb.m 2012-02-09 14:14:36 UTC (rev 9601)
+++ trunk/octave-forge/main/control/inst/ctrb.m 2012-02-09 17:41:11 UTC (rev 9602)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009, 2010 Lukas F. Reichlin
+## Copyright (C) 2009, 2010, 2012 Lukas F. Reichlin
## Copyright (C) 2009 Luca Favatella <sla...@gm...>
##
## This file is part of LTI Syncope.
@@ -53,7 +53,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
-## Version: 0.2
+## Version: 0.3
function co = ctrb (a, b)
@@ -71,9 +71,9 @@
endif
n = rows (a); # number of states
- k = num2cell (0:n-1); # exponents for a
+ k = 0:n-1; # exponents for a
- tmp = cellfun (@(x) a^x*b, k, "uniformoutput", false);
+ tmp = arrayfun (@(x) a^x*b, k, "uniformoutput", false);
co = horzcat (tmp{:});
Modified: trunk/octave-forge/main/control/inst/strseq.m
===================================================================
--- trunk/octave-forge/main/control/inst/strseq.m 2012-02-09 14:14:36 UTC (rev 9601)
+++ trunk/octave-forge/main/control/inst/strseq.m 2012-02-09 17:41:11 UTC (rev 9602)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009, 2010 Lukas F. Reichlin
+## Copyright (C) 2009, 2010, 2012 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -28,7 +28,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: September 2009
-## Version: 0.2
+## Version: 0.3
function strvec = strseq (str, idx)
@@ -36,8 +36,6 @@
print_usage ();
endif
- idx = reshape (num2cell (idx), [], 1);
+ strvec = arrayfun (@(x) sprintf ("%s%d", str, x), idx(:), "uniformoutput", false);
- strvec = cellfun (@(x) sprintf ("%s%d", str, x), idx, "uniformoutput", false);
-
endfunction
\ No newline at end of file
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|
|
From: <par...@us...> - 2012-02-09 18:12:31
|
Revision: 9604
http://octave.svn.sourceforge.net/octave/?rev=9604&view=rev
Author: paramaniac
Date: 2012-02-09 18:12:24 +0000 (Thu, 09 Feb 2012)
Log Message:
-----------
control: simplify frequency response commands (all except margin which is still missing)
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/bode.m
trunk/octave-forge/main/control/inst/bodemag.m
trunk/octave-forge/main/control/inst/nichols.m
trunk/octave-forge/main/control/inst/nyquist.m
trunk/octave-forge/main/control/inst/sigma.m
Modified: trunk/octave-forge/main/control/inst/bode.m
===================================================================
--- trunk/octave-forge/main/control/inst/bode.m 2012-02-09 17:47:18 UTC (rev 9603)
+++ trunk/octave-forge/main/control/inst/bode.m 2012-02-09 18:12:24 UTC (rev 9604)
@@ -48,7 +48,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: November 2009
-## Version: 0.3
+## Version: 0.4
function [mag_r, pha_r, w_r] = bode (sys, w = [])
@@ -67,12 +67,6 @@
if (! nargout)
mag_db = 20 * log10 (mag);
- wv = [min(w), max(w)];
- ax_vec_mag = __axis_limits__ ([reshape(w, [], 1), reshape(mag_db, [], 1)]);
- ax_vec_mag(1:2) = wv;
- ax_vec_pha = __axis_limits__ ([reshape(w, [], 1), reshape(pha, [], 1)]);
- ax_vec_pha(1:2) = wv;
-
if (isct (sys))
xl_str = "Frequency [rad/s]";
else
@@ -81,18 +75,16 @@
subplot (2, 1, 1)
semilogx (w, mag_db)
- ax = axis;
- if (any (isinf (ax_vec_mag))) # catch case purely imaginary poles or zeros
- ax_vec_mag(3:4) = ax(3:4);
- endif
- axis (ax_vec_mag)
+ axis ("tight")
+ ylim (__axis_margin__ (ylim))
grid ("on")
title (["Bode Diagram of ", inputname(1)])
ylabel ("Magnitude [dB]")
subplot (2, 1, 2)
semilogx (w, pha)
- axis (ax_vec_pha)
+ axis ("tight")
+ ylim (__axis_margin__ (ylim))
grid ("on")
xlabel (xl_str)
ylabel ("Phase [deg]")
Modified: trunk/octave-forge/main/control/inst/bodemag.m
===================================================================
--- trunk/octave-forge/main/control/inst/bodemag.m 2012-02-09 17:47:18 UTC (rev 9603)
+++ trunk/octave-forge/main/control/inst/bodemag.m 2012-02-09 18:12:24 UTC (rev 9604)
@@ -46,7 +46,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: November 2009
-## Version: 0.3
+## Version: 0.4
function [mag_r, w_r] = bodemag (sys, w = [])
@@ -64,10 +64,6 @@
if (! nargout)
mag_db = 20 * log10 (mag);
- wv = [min(w), max(w)];
- ax_vec_mag = __axis_limits__ ([reshape(w, [], 1), reshape(mag_db, [], 1)]);
- ax_vec_mag(1:2) = wv;
-
if (isct (sys))
xl_str = "Frequency [rad/s]";
else
@@ -75,11 +71,8 @@
endif
semilogx (w, mag_db)
- ax = axis;
- if (any (isinf (ax_vec_mag))) # catch case purely imaginary poles or zeros
- ax_vec_mag(3:4) = ax(3:4);
- endif
- axis (ax_vec_mag)
+ axis ("tight")
+ ylim (__axis_margin__ (ylim))
grid ("on")
title (["Bode Magnitude Diagram of ", inputname(1)])
xlabel (xl_str)
Modified: trunk/octave-forge/main/control/inst/nichols.m
===================================================================
--- trunk/octave-forge/main/control/inst/nichols.m 2012-02-09 17:47:18 UTC (rev 9603)
+++ trunk/octave-forge/main/control/inst/nichols.m 2012-02-09 18:12:24 UTC (rev 9604)
@@ -48,7 +48,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: November 2009
-## Version: 0.3
+## Version: 0.4
function [mag_r, pha_r, w_r] = nichols (sys, w = [])
@@ -66,14 +66,11 @@
if (! nargout)
mag_db = 20 * log10 (mag);
- ax_vec = __axis_limits__ ([reshape(pha, [], 1), reshape(mag_db, [], 1)]);
plot (pha, mag_db)
- ax = axis;
- if (any (isinf (ax_vec))) # catch case purely imaginary poles or zeros
- ax_vec(3:4) = ax(3:4);
- endif
- axis (ax_vec)
+ axis ("tight")
+ xlim (__axis_margin__ (xlim))
+ ylim (__axis_margin__ (ylim))
grid ("on")
title (["Nichols Chart of ", inputname(1)])
xlabel ("Phase [deg]")
Modified: trunk/octave-forge/main/control/inst/nyquist.m
===================================================================
--- trunk/octave-forge/main/control/inst/nyquist.m 2012-02-09 17:47:18 UTC (rev 9603)
+++ trunk/octave-forge/main/control/inst/nyquist.m 2012-02-09 18:12:24 UTC (rev 9604)
@@ -48,7 +48,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: November 2009
-## Version: 0.2
+## Version: 0.3
function [re_r, im_r, w_r] = nyquist (sys, w = [])
@@ -65,10 +65,10 @@
im = imag (H);
if (! nargout)
- ax_vec = __axis_limits__ ([re, im; re, -im]);
-
plot (re, im, "b", re, -im, "r")
- axis (ax_vec)
+ axis ("tight")
+ xlim (__axis_margin__ (xlim))
+ ylim (__axis_margin__ (ylim))
grid ("on")
title (["Nyquist Diagram of ", inputname(1)])
xlabel ("Real Axis")
Modified: trunk/octave-forge/main/control/inst/sigma.m
===================================================================
--- trunk/octave-forge/main/control/inst/sigma.m 2012-02-09 17:47:18 UTC (rev 9603)
+++ trunk/octave-forge/main/control/inst/sigma.m 2012-02-09 18:12:24 UTC (rev 9604)
@@ -60,7 +60,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: May 2009
-## Version: 0.5
+## Version: 0.6
function [sv_r, w_r] = sigma (sys, w = [], resptype = 0)
@@ -80,11 +80,6 @@
## convert to dB for plotting
sv_db = 20 * log10 (sv);
- ## determine axes
- ax_vec = __axis_limits__ ([reshape(w, [], 1), reshape(min(sv_db, [], 1), [], 1);
- reshape(w, [], 1), reshape(max(sv_db, [], 1), [], 1)]);
- ax_vec(1:2) = [min(w), max(w)];
-
## determine xlabel
if (isct (sys))
xl_str = "Frequency [rad/s]";
@@ -94,15 +89,12 @@
## plot results
semilogx (w, sv_db, "b")
- ax = axis;
- if (any (isinf (ax_vec))) # catch case purely imaginary poles or zeros
- ax_vec(3:4) = ax(3:4);
- endif
- axis (ax_vec)
+ axis ("tight")
+ ylim (__axis_margin__ (ylim))
+ grid ("on")
title (["Singular Values of ", inputname(1)])
xlabel (xl_str)
ylabel ("Singular Values [dB]")
- grid ("on")
else # return values
sv_r = sv;
w_r = reshape (w, [], 1);
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2012-02-25 20:06:08
|
Revision: 9680
http://octave.svn.sourceforge.net/octave/?rev=9680&view=rev
Author: paramaniac
Date: 2012-02-25 20:06:02 +0000 (Sat, 25 Feb 2012)
Log Message:
-----------
control: tinker with example
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/optiPID.m
trunk/octave-forge/main/control/inst/optiPIDfun.m
Added Paths:
-----------
trunk/octave-forge/main/control/inst/optiPIDctrl.m
Modified: trunk/octave-forge/main/control/inst/optiPID.m
===================================================================
--- trunk/octave-forge/main/control/inst/optiPID.m 2012-02-25 15:59:51 UTC (rev 9679)
+++ trunk/octave-forge/main/control/inst/optiPID.m 2012-02-25 20:06:02 UTC (rev 9680)
@@ -48,9 +48,7 @@
Td_AH = Tu * 0.15 * exp ( -1.40 * kappa + 0.56 * kappa^2 )
tau_AH = Td_AH / 10
-numC_AH = kp_AH * [Ti_AH * Td_AH, Ti_AH, 1];
-denC_AH = conv ([Ti_AH, 0], [tau_AH^2, 2 * tau_AH, 1]);
-C_AH = tf (numC_AH, denC_AH);
+C_AH = optiPIDctrl (kp_AH, Ti_AH, Td_AH, tau_AH);
% Initial Values
C_par_0 = [kp_AH; Ti_AH; Td_AH];
@@ -71,9 +69,7 @@
Td_opt = C_par_opt(3)
tau_opt = Td_opt / 10
-numC_opt = kp_opt * [Ti_opt * Td_opt, Ti_opt, 1];
-denC_opt = conv ([Ti_opt, 0], [tau_opt^2, 2 * tau_opt, 1]);
-C_opt = tf (numC_opt, denC_opt);
+C_opt = optiPIDctrl (kp_opt, Ti_opt, Td_opt, tau_opt);
% Open Loop
L_AH = P * C_AH;
Added: trunk/octave-forge/main/control/inst/optiPIDctrl.m
===================================================================
--- trunk/octave-forge/main/control/inst/optiPIDctrl.m (rev 0)
+++ trunk/octave-forge/main/control/inst/optiPIDctrl.m 2012-02-25 20:06:02 UTC (rev 9680)
@@ -0,0 +1,8 @@
+function C = optiPIDctrl (Kp, Ti, Td, tau)
+
+ num = Kp * [Ti*Td, Ti, 1];
+ den = conv ([Ti, 0], [tau^2, 2*tau, 1]);
+
+ C = tf (num, den);
+
+end
\ No newline at end of file
Modified: trunk/octave-forge/main/control/inst/optiPIDfun.m
===================================================================
--- trunk/octave-forge/main/control/inst/optiPIDfun.m 2012-02-25 15:59:51 UTC (rev 9679)
+++ trunk/octave-forge/main/control/inst/optiPIDfun.m 2012-02-25 20:06:02 UTC (rev 9680)
@@ -18,9 +18,7 @@
tau = Td / 10;
% PID Controller with Roll-Off
- numC = kp * [Ti*Td, Ti, 1];
- denC = conv ([Ti, 0], [tau^2, 2*tau, 1]);
- C = tf (numC, denC);
+ C = optiPIDctrl (kp, Ti, Td, tau);
% Open Loop
L = P * C;
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2012-02-25 20:14:58
|
Revision: 9681
http://octave.svn.sourceforge.net/octave/?rev=9681&view=rev
Author: paramaniac
Date: 2012-02-25 20:14:52 +0000 (Sat, 25 Feb 2012)
Log Message:
-----------
control: tinker with example (2)
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/optiPID.m
trunk/octave-forge/main/control/inst/optiPIDctrl.m
trunk/octave-forge/main/control/inst/optiPIDfun.m
Modified: trunk/octave-forge/main/control/inst/optiPID.m
===================================================================
--- trunk/octave-forge/main/control/inst/optiPID.m 2012-02-25 20:06:02 UTC (rev 9680)
+++ trunk/octave-forge/main/control/inst/optiPID.m 2012-02-25 20:14:52 UTC (rev 9681)
@@ -46,9 +46,8 @@
kp_AH = ku * 0.72 * exp ( -1.60 * kappa + 1.20 * kappa^2 )
Ti_AH = Tu * 0.59 * exp ( -1.30 * kappa + 0.38 * kappa^2 )
Td_AH = Tu * 0.15 * exp ( -1.40 * kappa + 0.56 * kappa^2 )
-tau_AH = Td_AH / 10
-C_AH = optiPIDctrl (kp_AH, Ti_AH, Td_AH, tau_AH);
+C_AH = optiPIDctrl (kp_AH, Ti_AH, Td_AH);
% Initial Values
C_par_0 = [kp_AH; Ti_AH; Td_AH];
@@ -69,7 +68,7 @@
Td_opt = C_par_opt(3)
tau_opt = Td_opt / 10
-C_opt = optiPIDctrl (kp_opt, Ti_opt, Td_opt, tau_opt);
+C_opt = optiPIDctrl (kp_opt, Ti_opt, Td_opt);
% Open Loop
L_AH = P * C_AH;
Modified: trunk/octave-forge/main/control/inst/optiPIDctrl.m
===================================================================
--- trunk/octave-forge/main/control/inst/optiPIDctrl.m 2012-02-25 20:06:02 UTC (rev 9680)
+++ trunk/octave-forge/main/control/inst/optiPIDctrl.m 2012-02-25 20:14:52 UTC (rev 9681)
@@ -1,5 +1,7 @@
-function C = optiPIDctrl (Kp, Ti, Td, tau)
+function C = optiPIDctrl (Kp, Ti, Td)
+ tau = Td / 10;
+
num = Kp * [Ti*Td, Ti, 1];
den = conv ([Ti, 0], [tau^2, 2*tau, 1]);
Modified: trunk/octave-forge/main/control/inst/optiPIDfun.m
===================================================================
--- trunk/octave-forge/main/control/inst/optiPIDfun.m 2012-02-25 20:06:02 UTC (rev 9680)
+++ trunk/octave-forge/main/control/inst/optiPIDfun.m 2012-02-25 20:14:52 UTC (rev 9681)
@@ -11,15 +11,9 @@
% Global Variables
global P t dt mu_1 mu_2 mu_3
- % Function Argument -> Controller Parameters
- kp = C_par(1);
- Ti = C_par(2);
- Td = C_par(3);
- tau = Td / 10;
+ % Function Argument -> PID Controller with Roll-Off
+ C = optiPIDctrl (num2cell (C_par){:});
- % PID Controller with Roll-Off
- C = optiPIDctrl (kp, Ti, Td, tau);
-
% Open Loop
L = P * C;
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From: <par...@us...> - 2012-02-28 07:40:03
|
Revision: 9715
http://octave.svn.sourceforge.net/octave/?rev=9715&view=rev
Author: paramaniac
Date: 2012-02-28 07:39:52 +0000 (Tue, 28 Feb 2012)
Log Message:
-----------
control: describe and return argument rcond
Modified Paths:
--------------
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/h2syn.m
===================================================================
--- trunk/octave-forge/main/control/inst/h2syn.m 2012-02-28 06:58:23 UTC (rev 9714)
+++ trunk/octave-forge/main/control/inst/h2syn.m 2012-02-28 07:39:52 UTC (rev 9715)
@@ -41,6 +41,13 @@
## State-space model of the lower LFT of @var{P} and @var{K}.
## @item gamma
## H-2 norm of @var{N}.
+## @item rcond
+## Vector @var{rcond} contains estimates of the reciprocal condition
+## numbers of the matrices which are to be inverted and
+## estimates of the reciprocal condition numbers of the
+## Riccati equations which have to be solved during the
+## computation of the controller @var{K}. For details,
+## see the description of the corresponding SLICOT algorithm.
## @end table
##
## @strong{Block Diagram}
Modified: trunk/octave-forge/main/control/inst/hinfsyn.m
===================================================================
--- trunk/octave-forge/main/control/inst/hinfsyn.m 2012-02-28 06:58:23 UTC (rev 9714)
+++ trunk/octave-forge/main/control/inst/hinfsyn.m 2012-02-28 07:39:52 UTC (rev 9715)
@@ -45,6 +45,13 @@
## State-space model of the lower LFT of @var{P} and @var{K}.
## @item gamma
## L-infinity norm of @var{N}.
+## @item rcond
+## Vector @var{rcond} contains estimates of the reciprocal condition
+## numbers of the matrices which are to be inverted and
+## estimates of the reciprocal condition numbers of the
+## Riccati equations which have to be solved during the
+## computation of the controller @var{K}. For details,
+## see the description of the corresponding SLICOT algorithm.
## @end table
##
## @strong{Block Diagram}
Modified: trunk/octave-forge/main/control/inst/mixsyn.m
===================================================================
--- trunk/octave-forge/main/control/inst/mixsyn.m 2012-02-28 06:58:23 UTC (rev 9714)
+++ trunk/octave-forge/main/control/inst/mixsyn.m 2012-02-28 07:39:52 UTC (rev 9715)
@@ -16,7 +16,7 @@
## along with LTI Syncope. 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}, @dots{})
+## @deftypefn{Function File} {[@var{K}, @var{N}, @var{gamma}, @var{rcond}] =} mixsyn (@var{G}, @var{W1}, @var{W2}, @var{W3}, @dots{})
## Solve stacked S/KS/T H-infinity 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).
@@ -52,6 +52,13 @@
## State-space model of the lower LFT of @var{P} and @var{K}.
## @item gamma
## L-infinity norm of @var{N}.
+## @item rcond
+## Vector @var{rcond} contains estimates of the reciprocal condition
+## numbers of the matrices which are to be inverted and
+## estimates of the reciprocal condition numbers of the
+## Riccati equations which have to be solved during the
+## computation of the controller @var{K}. For details,
+## see the description of the corresponding SLICOT algorithm.
## @end table
##
## @strong{Block Diagram}
@@ -127,6 +134,12 @@
## Chapter 3.8: General Control Problem Formulation
## @end group
## @end example
+##
+## @strong{Algorithm}@*
+## Relies on commands @command{augw} and @command{hinfsyn},
+## which use SLICOT SB10FD and SB10DD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
+##
## @seealso{hinfsyn, augw}
## @end deftypefn
@@ -134,7 +147,7 @@
## Created: December 2009
## Version: 0.1
-function [K, N, gamma] = mixsyn (G, W1 = [], W2 = [], W3 = [], varargin)
+function [K, N, gamma, rcond] = mixsyn (G, W1 = [], W2 = [], W3 = [], varargin)
if (nargin == 0)
print_usage ();
@@ -144,6 +157,6 @@
P = augw (G, W1, W2, W3);
- [K, N, gamma] = hinfsyn (P, p, m, varargin{:});
+ [K, N, gamma, rcond] = hinfsyn (P, p, m, varargin{:});
endfunction
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