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From: <par...@us...> - 2012-02-29 20:09:12
|
Revision: 9723
http://octave.svn.sourceforge.net/octave/?rev=9723&view=rev
Author: paramaniac
Date: 2012-02-29 20:09:03 +0000 (Wed, 29 Feb 2012)
Log Message:
-----------
control: touch up example
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 2012-02-29 10:07:16 UTC (rev 9722)
+++ trunk/octave-forge/main/control/inst/optiPID.m 2012-02-29 20:09:03 UTC (rev 9723)
@@ -66,7 +66,6 @@
kp_opt = C_par_opt(1)
Ti_opt = C_par_opt(2)
Td_opt = C_par_opt(3)
-tau_opt = Td_opt / 10
C_opt = optiPIDctrl (kp_opt, Ti_opt, Td_opt);
Modified: trunk/octave-forge/main/control/inst/optiPIDctrl.m
===================================================================
--- trunk/octave-forge/main/control/inst/optiPIDctrl.m 2012-02-29 10:07:16 UTC (rev 9722)
+++ trunk/octave-forge/main/control/inst/optiPIDctrl.m 2012-02-29 20:09:03 UTC (rev 9723)
@@ -1,10 +1,18 @@
+% ===============================================================================
+% optiPIDctrl Lukas Reichlin February 2012
+% ===============================================================================
+% Return PID controller with roll-off for given parameters Kp, Ti and Td.
+% ===============================================================================
+
function C = optiPIDctrl (Kp, Ti, Td)
- tau = Td / 10;
+ tau = Td / 10; % roll-off
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
+end
+
+% ===============================================================================
Modified: trunk/octave-forge/main/control/inst/optiPIDfun.m
===================================================================
--- trunk/octave-forge/main/control/inst/optiPIDfun.m 2012-02-29 10:07:16 UTC (rev 9722)
+++ trunk/octave-forge/main/control/inst/optiPIDfun.m 2012-02-29 20:09:03 UTC (rev 9723)
@@ -11,9 +11,14 @@
% Global Variables
global P t dt mu_1 mu_2 mu_3
- % Function Argument -> PID Controller with Roll-Off
- C = optiPIDctrl (num2cell (C_par){:});
+ % Function Argument -> Controller Parameters
+ kp = C_par(1);
+ Ti = C_par(2);
+ Td = C_par(3);
+ % PID Controller with Roll-Off
+ C = optiPIDctrl (kp, Ti, Td);
+
% Open Loop
L = P * C;
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|
From: <par...@us...> - 2012-03-05 21:38:41
|
Revision: 9750
http://octave.svn.sourceforge.net/octave/?rev=9750&view=rev
Author: paramaniac
Date: 2012-03-05 21:38:35 +0000 (Mon, 05 Mar 2012)
Log Message:
-----------
control: docfixes for order reduction functions
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/bstmodred.m
trunk/octave-forge/main/control/inst/btaconred.m
trunk/octave-forge/main/control/inst/btamodred.m
trunk/octave-forge/main/control/inst/cfconred.m
trunk/octave-forge/main/control/inst/hnamodred.m
trunk/octave-forge/main/control/inst/spaconred.m
trunk/octave-forge/main/control/inst/spamodred.m
Modified: trunk/octave-forge/main/control/inst/bstmodred.m
===================================================================
--- trunk/octave-forge/main/control/inst/bstmodred.m 2012-03-05 18:46:32 UTC (rev 9749)
+++ trunk/octave-forge/main/control/inst/bstmodred.m 2012-03-05 21:38:35 UTC (rev 9750)
@@ -152,35 +152,16 @@
## performed on system @var{G} prior to order reduction.
## Default value is true if @code{G.scaled == false} and
## false if @code{G.scaled == true}.
+## Note that for @acronym{MIMO} models, proper scaling of both inputs and outputs
+## is of utmost importance. The input and output scaling can @strong{not}
+## be done by the equilibration option or the @command{prescale} command
+## because these functions perform state transformations only.
+## Furthermore, signals should not be scaled simply to a certain range.
+## For all inputs (or outputs), a certain change should be of the same
+## importance for the model.
## @end table
##
##
-## For the H-infinity norm, the best approximation problem is
-## unsolved so far. Nevertheless, balanced truncation and related
-## methods can be used to obtain good approximations using this measure.
-##
-## Available approximation methods are the accuracy-enhancing square-root (SR)
-## or the balancing-free square-root (BFSR) versions of
-## the Balance & Truncate (BTA) or Singular Perturbation Approximation (SPA)
-## model reduction methods for the ALPHA-stable part of the system.
-##
-## Unstable models are handled by separating the stable and unstable
-## parts additively, applying the model reduction only to the stable
-## part and by joining the reduced stable with the original unstable part.
-## The order of the reduced system can be selected by the user or
-## can be determined automatically on the basis of the computed
-## Hankel singular values.
-##
-## For MIMO models, proper scaling of input-output channels is of
-## utmost importance. This can @strong{not} be done by the equilibration
-## option or the @command{prescale} command because these perform state
-## transformations only. While enhancing numerics, state transformations
-## have no influence on the input-output behaviour and the magnitude of
-## the corresponding signals. Since the algorithm calculates the
-## H-infinity norm of these signals, important behaviour of @var{G}
-## could be neglected just because the corresponding signals have smaller
-## numbers than those of other, less important effects of @var{G}.
-##
## BST is often suitable to perform model reduction in order to obtain
## low order design models for controller synthesis.
##
Modified: trunk/octave-forge/main/control/inst/btaconred.m
===================================================================
--- trunk/octave-forge/main/control/inst/btaconred.m 2012-03-05 18:46:32 UTC (rev 9749)
+++ trunk/octave-forge/main/control/inst/btaconred.m 2012-03-05 21:38:35 UTC (rev 9750)
@@ -205,6 +205,13 @@
## performed on @var{G} and @var{K} prior to order reduction.
## Default value is false if both @code{G.scaled == true, K.scaled == true}
## and true otherwise.
+## Note that for @acronym{MIMO} models, proper scaling of both inputs and outputs
+## is of utmost importance. The input and output scaling can @strong{not}
+## be done by the equilibration option or the @command{prescale} command
+## because these functions perform state transformations only.
+## Furthermore, signals should not be scaled simply to a certain range.
+## For all inputs (or outputs), a certain change should be of the same
+## importance for the model.
## @end table
##
## @strong{Algorithm}@*
Modified: trunk/octave-forge/main/control/inst/btamodred.m
===================================================================
--- trunk/octave-forge/main/control/inst/btamodred.m 2012-03-05 18:46:32 UTC (rev 9749)
+++ trunk/octave-forge/main/control/inst/btamodred.m 2012-03-05 21:38:35 UTC (rev 9750)
@@ -183,22 +183,16 @@
## This is done by state transformations.
## Default value is true if @code{G.scaled == false} and
## false if @code{G.scaled == true}.
-## Note that for @acronym{MIMO} models,.
-## @end table
-##
-## For @acronym{MIMO} models, proper scaling of both inputs and outputs
+## Note that for @acronym{MIMO} models, proper scaling of both inputs and outputs
## is of utmost importance. The input and output scaling can @strong{not}
## be done by the equilibration option or the @command{prescale} command
## because these functions perform state transformations only.
-## Signals should not be scaled simply to the range of, say, -1 to +1.
-## For all inputs (or outputs), a change from +1 to +2 should be of the
-## same importance for the model.
-## Think of a chemical reactor, the importance could be the cost to control this
-## reactor. Then a change on each input from +1.5 to +2.0 would cost 50$.
-## Otherwise, important behaviour of @var{G} could be neglected just because
-## the corresponding signals have smaller numbers than those of other,
-## less important effects of @var{G}.
+## Furthermore, signals should not be scaled simply to a certain range.
+## For all inputs (or outputs), a certain change should be of the same
+## importance for the model.
+## @end table
##
+##
## Approximation Properties:
## @itemize @bullet
## @item
Modified: trunk/octave-forge/main/control/inst/cfconred.m
===================================================================
--- trunk/octave-forge/main/control/inst/cfconred.m 2012-03-05 18:46:32 UTC (rev 9749)
+++ trunk/octave-forge/main/control/inst/cfconred.m 2012-03-05 21:38:35 UTC (rev 9750)
@@ -119,6 +119,13 @@
## performed on system @var{G} prior to order reduction.
## Default value is true if @code{G.scaled == false} and
## false if @code{G.scaled == true}.
+## Note that for @acronym{MIMO} models, proper scaling of both inputs and outputs
+## is of utmost importance. The input and output scaling can @strong{not}
+## be done by the equilibration option or the @command{prescale} command
+## because these functions perform state transformations only.
+## Furthermore, signals should not be scaled simply to a certain range.
+## For all inputs (or outputs), a certain change should be of the same
+## importance for the model.
## @end table
##
## @strong{Algorithm}@*
Modified: trunk/octave-forge/main/control/inst/hnamodred.m
===================================================================
--- trunk/octave-forge/main/control/inst/hnamodred.m 2012-03-05 18:46:32 UTC (rev 9749)
+++ trunk/octave-forge/main/control/inst/hnamodred.m 2012-03-05 21:38:35 UTC (rev 9750)
@@ -245,13 +245,16 @@
## performed on system @var{G} prior to order reduction.
## Default value is true if @code{G.scaled == false} and
## false if @code{G.scaled == true}.
+## Note that for @acronym{MIMO} models, proper scaling of both inputs and outputs
+## is of utmost importance. The input and output scaling can @strong{not}
+## be done by the equilibration option or the @command{prescale} command
+## because these functions perform state transformations only.
+## Furthermore, signals should not be scaled simply to a certain range.
+## For all inputs (or outputs), a certain change should be of the same
+## importance for the model.
## @end table
##
##
-## UNSTABLE (from bstmodred)
-##
-## MIMO (from bstmodred)
-##
## Approximation Properties:
## @itemize @bullet
## @item
Modified: trunk/octave-forge/main/control/inst/spaconred.m
===================================================================
--- trunk/octave-forge/main/control/inst/spaconred.m 2012-03-05 18:46:32 UTC (rev 9749)
+++ trunk/octave-forge/main/control/inst/spaconred.m 2012-03-05 21:38:35 UTC (rev 9750)
@@ -205,6 +205,13 @@
## performed on @var{G} and @var{K} prior to order reduction.
## Default value is false if both @code{G.scaled == true, K.scaled == true}
## and true otherwise.
+## Note that for @acronym{MIMO} models, proper scaling of both inputs and outputs
+## is of utmost importance. The input and output scaling can @strong{not}
+## be done by the equilibration option or the @command{prescale} command
+## because these functions perform state transformations only.
+## Furthermore, signals should not be scaled simply to a certain range.
+## For all inputs (or outputs), a certain change should be of the same
+## importance for the model.
## @end table
##
## @strong{Algorithm}@*
Modified: trunk/octave-forge/main/control/inst/spamodred.m
===================================================================
--- trunk/octave-forge/main/control/inst/spamodred.m 2012-03-05 18:46:32 UTC (rev 9749)
+++ trunk/octave-forge/main/control/inst/spamodred.m 2012-03-05 21:38:35 UTC (rev 9750)
@@ -182,6 +182,13 @@
## performed on system @var{G} prior to order reduction.
## Default value is true if @code{G.scaled == false} and
## false if @code{G.scaled == true}.
+## Note that for @acronym{MIMO} models, proper scaling of both inputs and outputs
+## is of utmost importance. The input and output scaling can @strong{not}
+## be done by the equilibration option or the @command{prescale} command
+## because these functions perform state transformations only.
+## Furthermore, signals should not be scaled simply to a certain range.
+## For all inputs (or outputs), a certain change should be of the same
+## importance for the model.
## @end table
##
##
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From: <par...@us...> - 2012-03-06 15:52:19
|
Revision: 9755
http://octave.svn.sourceforge.net/octave/?rev=9755&view=rev
Author: paramaniac
Date: 2012-03-06 15:52:10 +0000 (Tue, 06 Mar 2012)
Log Message:
-----------
control: fix bug with scaling option
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/cfconred.m
trunk/octave-forge/main/control/inst/fwcfconred.m
Modified: trunk/octave-forge/main/control/inst/cfconred.m
===================================================================
--- trunk/octave-forge/main/control/inst/cfconred.m 2012-03-06 13:49:13 UTC (rev 9754)
+++ trunk/octave-forge/main/control/inst/cfconred.m 2012-03-06 15:52:10 UTC (rev 9755)
@@ -197,7 +197,7 @@
tol2 = 0.0;
jobcf = 0;
jobmr = 2; # balancing-free BTA
- equil = scaled && scaledc;
+ equil = scaled # equil: 0 means "S", 1 means "N"
ordsel = 1;
ncr = 0;
negfb = true; # A-BK, A-LC Hurwitz
Modified: trunk/octave-forge/main/control/inst/fwcfconred.m
===================================================================
--- trunk/octave-forge/main/control/inst/fwcfconred.m 2012-03-06 13:49:13 UTC (rev 9754)
+++ trunk/octave-forge/main/control/inst/fwcfconred.m 2012-03-06 15:52:10 UTC (rev 9755)
@@ -151,7 +151,7 @@
error ("fwcfconred: keys and values must come in pairs");
endif
- [a, b, c, d, tsam, scaled] = ssdata (G);
+ [a, b, c, d, tsam] = ssdata (G);
[p, m] = size (G);
n = rows (a);
[mf, nf] = size (F);
@@ -173,7 +173,6 @@
tol1 = 0.0;
jobcf = 1;
jobmr = 1; # balancing-free BTA
- equil = scaled && scaledc;
ordsel = 1;
ncr = 0;
negfb = true; # A-BK, A-LC Hurwitz
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...> - 2012-04-22 08:37:30
|
Revision: 10309
http://octave.svn.sourceforge.net/octave/?rev=10309&view=rev
Author: paramaniac
Date: 2012-04-22 08:37:24 +0000 (Sun, 22 Apr 2012)
Log Message:
-----------
control: style fixes (use strncmpi)
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@lti/frdata.m
trunk/octave-forge/main/control/inst/@lti/tfdata.m
trunk/octave-forge/main/control/inst/@lti/zpkdata.m
trunk/octave-forge/main/control/inst/gram.m
Modified: trunk/octave-forge/main/control/inst/@lti/frdata.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/frdata.m 2012-04-22 08:22:39 UTC (rev 10308)
+++ trunk/octave-forge/main/control/inst/@lti/frdata.m 2012-04-22 08:37:24 UTC (rev 10309)
@@ -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.
##
@@ -48,7 +48,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2010
-## Version: 0.2
+## Version: 0.3
function [H, w, tsam] = frdata (sys, rtype = "array")
@@ -60,7 +60,7 @@
tsam = sys.tsam;
- if (lower (rtype(1)) == "v" && issiso (sys))
+ if (strncmpi (rtype, "v", 1) && issiso (sys))
H = reshape (H, [], 1);
endif
Modified: trunk/octave-forge/main/control/inst/@lti/tfdata.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/tfdata.m 2012-04-22 08:22:39 UTC (rev 10308)
+++ trunk/octave-forge/main/control/inst/@lti/tfdata.m 2012-04-22 08:37:24 UTC (rev 10309)
@@ -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.
##
@@ -54,7 +54,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: September 2009
-## Version: 0.4
+## Version: 0.5
function [num, den, tsam] = tfdata (sys, rtype = "cell")
@@ -66,12 +66,12 @@
tsam = sys.tsam;
- if (lower (rtype(1)) != "t") # != tfpoly
+ if (! strncmpi (rtype, "t", 1)) # != tfpoly
num = cellfun (@get, num, "uniformoutput", false);
den = cellfun (@get, den, "uniformoutput", false);
endif
- if (lower (rtype(1)) == "v" && issiso (sys)) # == vector
+ if (strncmpi (rtype, "v", 1) && issiso (sys)) # == vector
num = num{1};
den = den{1};
endif
Modified: trunk/octave-forge/main/control/inst/@lti/zpkdata.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/zpkdata.m 2012-04-22 08:22:39 UTC (rev 10308)
+++ trunk/octave-forge/main/control/inst/@lti/zpkdata.m 2012-04-22 08:37:24 UTC (rev 10309)
@@ -58,7 +58,7 @@
p = cellfun (@roots, den, "uniformoutput", false);
k = cellfun (@(n,d) n(1)/d(1), num, den);
- if (lower (rtype(1)) == "v" && issiso (sys))
+ if (strncmpi (rtype, "v", 1) && issiso (sys))
z = z{1};
p = p{1};
endif
Modified: trunk/octave-forge/main/control/inst/gram.m
===================================================================
--- trunk/octave-forge/main/control/inst/gram.m 2012-04-22 08:22:39 UTC (rev 10308)
+++ trunk/octave-forge/main/control/inst/gram.m 2012-04-22 08:37:24 UTC (rev 10309)
@@ -33,7 +33,7 @@
## Adapted-By: Lukas Reichlin <luk...@gm...>
## Date: October 2009
-## Version: 0.1
+## Version: 0.2
function W = gram (argin1, argin2)
@@ -43,7 +43,6 @@
if (ischar (argin2)) # the function was called as "gram (sys, mode)"
sys = argin1;
- argin2 = lower (argin2);
if (! isa (sys, "lti"))
error ("gram: first argument must be an LTI model");
@@ -51,10 +50,10 @@
[a, b, c] = ssdata (sys);
- if (strcmp (argin2, "o"))
+ if (strncmpi (argin2, "o", 1))
a = a.';
b = c.';
- elseif (! strcmp (argin2, "c"))
+ elseif (! strncmpi (argin2, "c", 1))
print_usage ();
endif
else # the function was called as "gram (a, b)"
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|
|
From: <par...@us...> - 2012-05-06 19:37:01
|
Revision: 10368
http://octave.svn.sourceforge.net/octave/?rev=10368&view=rev
Author: paramaniac
Date: 2012-05-06 19:36:54 +0000 (Sun, 06 May 2012)
Log Message:
-----------
control: support transfer function variable z^-1
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@tf/__set__.m
trunk/octave-forge/main/control/inst/@tf/__sys_group__.m
trunk/octave-forge/main/control/inst/@tf/display.m
trunk/octave-forge/main/control/inst/@tf/tf.m
trunk/octave-forge/main/control/inst/filt.m
Added Paths:
-----------
trunk/octave-forge/main/control/inst/tfpoly2str.m
Modified: trunk/octave-forge/main/control/inst/@tf/__set__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tf/__set__.m 2012-05-06 15:53:35 UTC (rev 10367)
+++ trunk/octave-forge/main/control/inst/@tf/__set__.m 2012-05-06 19:36:54 UTC (rev 10368)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009 Lukas F. Reichlin
+## Copyright (C) 2009, 2012 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -20,7 +20,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
-## Version: 0.1
+## Version: 0.2
function sys = __set__ (sys, prop, val)
@@ -42,6 +42,13 @@
error ("tf: set: invalid transfer function variable");
endif
+ case "inv"
+ if (islogical (val))
+ sys.inv = logical (val);
+ else
+ error ("tf: set: property 'inv' must be a logical");
+ endif
+
otherwise
error ("tf: set: invalid property name");
Modified: trunk/octave-forge/main/control/inst/@tf/__sys_group__.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tf/__sys_group__.m 2012-05-06 15:53:35 UTC (rev 10367)
+++ trunk/octave-forge/main/control/inst/@tf/__sys_group__.m 2012-05-06 19:36:54 UTC (rev 10368)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009 Lukas F. Reichlin
+## Copyright (C) 2009, 2012 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 retsys = __sys_group__ (sys1, sys2)
@@ -61,4 +61,8 @@
retsys.tfvar = sys1.tfvar;
endif
-endfunction
\ No newline at end of file
+ if (sys1.inv && sys2.inv)
+ retsys.inv = true;
+ endif
+
+endfunction
Modified: trunk/octave-forge/main/control/inst/@tf/display.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tf/display.m 2012-05-06 15:53:35 UTC (rev 10367)
+++ trunk/octave-forge/main/control/inst/@tf/display.m 2012-05-06 19:36:54 UTC (rev 10368)
@@ -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: September 2009
-## Version: 0.3
+## Version: 0.4
function display (sys)
@@ -31,12 +31,19 @@
[outname, p] = __labels__ (outname, "y");
disp ("");
+
+ if (sys.inv)
+ [num, den] = filtdata (sys);
+ else
+ num = sys.num;
+ den = sys.den;
+ endif
for nu = 1 : m
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});
+ __disp_frac__ (num{ny, nu}, den{ny, nu}, sys.tfvar, outname{ny});
endfor
endfor
@@ -56,10 +63,12 @@
function __disp_frac__ (num, den, tfvar, name)
MAX_LEN = 12; # max length of output name
+
+ tfp = isa (num, "tfpoly");
- if (num == 0)
+ if (tfp && num == 0)
str = [" ", name, ": 0"];
- elseif (den == 1)
+ elseif (tfp && den == 1)
str = [" ", name, ": "];
numstr = tfpoly2str (num, tfvar);
str = [str, numstr];
Modified: trunk/octave-forge/main/control/inst/@tf/tf.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tf/tf.m 2012-05-06 15:53:35 UTC (rev 10367)
+++ trunk/octave-forge/main/control/inst/@tf/tf.m 2012-05-06 19:36:54 UTC (rev 10368)
@@ -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.
##
@@ -119,7 +119,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: September 2009
-## Version: 0.2.1
+## Version: 0.3
function sys = tf (num = {}, den = {}, varargin)
@@ -196,7 +196,8 @@
tfdata = struct ("num", {num},
"den", {den},
- "tfvar", tfvar); # struct for tf-specific data
+ "tfvar", tfvar,
+ "inv", false); # struct for tf-specific data
ltisys = lti (p, m, tsam); # parent class for general lti data
Modified: trunk/octave-forge/main/control/inst/filt.m
===================================================================
--- trunk/octave-forge/main/control/inst/filt.m 2012-05-06 15:53:35 UTC (rev 10367)
+++ trunk/octave-forge/main/control/inst/filt.m 2012-05-06 19:36:54 UTC (rev 10368)
@@ -116,7 +116,7 @@
## use standard tf constructor
## sys is stored and displayed in standard z form, not z^-1
- sys = tf (num, den, tsam, varargin{:});
+ sys = tf (num, den, tsam, "inv", true, varargin{:});
endswitch
endfunction
Added: trunk/octave-forge/main/control/inst/tfpoly2str.m
===================================================================
--- trunk/octave-forge/main/control/inst/tfpoly2str.m (rev 0)
+++ trunk/octave-forge/main/control/inst/tfpoly2str.m 2012-05-06 19:36:54 UTC (rev 10368)
@@ -0,0 +1,89 @@
+## Copyright (C) 2012 Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} {@var{str} =} tfpoly2str (@var{p})
+## @deftypefnx {Function File} {@var{str} =} tfpoly2str (@var{p}, @var{tfvar})
+## Return the string of a polynomial with string @var{tfvar} as variable.
+## @end deftypefn
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: May 2012
+## Version: 0.1
+
+function str = tfpoly2str (p, tfvar = "x")
+
+ str = "";
+
+ lp = numel (p);
+
+ if (lp > 0)
+ ## first element (lowest order 0)
+ a = p(1);
+
+ if (a < 0)
+ cs = "-";
+ else
+ cs = "";
+ endif
+
+ str = [cs, num2str(abs (a), 4)];
+
+ if (lp > 1)
+ ## remaining elements of higher order
+ for k = 2 : lp
+ a = p(k);
+
+ if (a != 0)
+ if (a < 0)
+ cs = " - ";
+ else
+ cs = " + ";
+ endif
+
+ if (abs (a) == 1)
+ str = [str, cs, __variable__(tfvar, k-1)];
+ else
+ str = [str, cs, __coefficient__(a), " ", __variable__(tfvar, k-1)];
+ endif
+ endif
+ endfor
+
+ endif
+ endif
+
+endfunction
+
+
+function str = __coefficient__ (a)
+
+ b = abs (a);
+
+ if (b == 1)
+ str = "";
+ else
+ str = num2str (b, 4);
+ endif
+
+endfunction
+
+
+function str = __variable__ (tfvar, n)
+
+ str = [tfvar, "^-", num2str(n)];
+
+endfunction
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From: <par...@us...> - 2012-05-06 20:17:49
|
Revision: 10369
http://octave.svn.sourceforge.net/octave/?rev=10369&view=rev
Author: paramaniac
Date: 2012-05-06 20:17:43 +0000 (Sun, 06 May 2012)
Log Message:
-----------
control: fix display of transfer function variable z^-1
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/filt.m
trunk/octave-forge/main/control/inst/tfpoly2str.m
Modified: trunk/octave-forge/main/control/inst/filt.m
===================================================================
--- trunk/octave-forge/main/control/inst/filt.m 2012-05-06 19:36:54 UTC (rev 10368)
+++ trunk/octave-forge/main/control/inst/filt.m 2012-05-06 20:17:43 UTC (rev 10369)
@@ -57,9 +57,9 @@
##
## Transfer function 'H' from input 'u1' to output ...
##
-## 3 z
-## y1: -------------
-## z^2 + 4 z + 2
+## 3 z^-1
+## y1: -------------------
+## 1 + 4 z^-1 + 2 z^-2
##
## Sampling time: unspecified
## Discrete-time model.
Modified: trunk/octave-forge/main/control/inst/tfpoly2str.m
===================================================================
--- trunk/octave-forge/main/control/inst/tfpoly2str.m 2012-05-06 19:36:54 UTC (rev 10368)
+++ trunk/octave-forge/main/control/inst/tfpoly2str.m 2012-05-06 20:17:43 UTC (rev 10369)
@@ -27,13 +27,21 @@
function str = tfpoly2str (p, tfvar = "x")
+ ## TODO: simplify this ugly code
+
str = "";
lp = numel (p);
- if (lp > 0)
- ## first element (lowest order 0)
- a = p(1);
+ if (lp > 0) # first element (lowest order)
+ idx = find (p); # first non-zero element
+ if (isempty (idx))
+ str = "0";
+ return;
+ else
+ idx = idx(1);
+ endif
+ a = p(idx);
if (a < 0)
cs = "-";
@@ -41,11 +49,18 @@
cs = "";
endif
- str = [cs, num2str(abs (a), 4)];
+ if (idx == 1)
+ str = [cs, num2str(abs (a), 4)];
+ else
+ if (abs (a) == 1)
+ str = [cs, __variable__(tfvar, idx-1)];
+ else
+ str = [cs, __coefficient__(a), " ", __variable__(tfvar, idx-1)];
+ endif
+ endif
- if (lp > 1)
- ## remaining elements of higher order
- for k = 2 : lp
+ if (lp > idx) # remaining elements of higher order
+ for k = idx+1 : lp
a = p(k);
if (a != 0)
@@ -84,6 +99,6 @@
function str = __variable__ (tfvar, n)
- str = [tfvar, "^-", num2str(n)];
+ str = [tfvar, "^-", num2str(n)];
endfunction
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From: <par...@us...> - 2012-05-07 04:39:48
|
Revision: 10372
http://octave.svn.sourceforge.net/octave/?rev=10372&view=rev
Author: paramaniac
Date: 2012-05-07 04:39:42 +0000 (Mon, 07 May 2012)
Log Message:
-----------
control: handle special case num=0 or den=1 when displaying z^-1
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@tf/display.m
trunk/octave-forge/main/control/inst/filt.m
Modified: trunk/octave-forge/main/control/inst/@tf/display.m
===================================================================
--- trunk/octave-forge/main/control/inst/@tf/display.m 2012-05-07 03:27:54 UTC (rev 10371)
+++ trunk/octave-forge/main/control/inst/@tf/display.m 2012-05-07 04:39:42 UTC (rev 10372)
@@ -66,9 +66,11 @@
tfp = isa (num, "tfpoly");
- if (tfp && num == 0)
+ if (num == tfpoly (0))
str = [" ", name, ": 0"];
- elseif (tfp && den == 1)
+ elseif ((tfp && den == 1) || (! tfp && isequal (den, 1)))
+ ## elseif (den == tfpoly (1)) doesn't work because it
+ ## would mistakingly accept non-tfpoly denominators like [0, 1]
str = [" ", name, ": "];
numstr = tfpoly2str (num, tfvar);
str = [str, numstr];
Modified: trunk/octave-forge/main/control/inst/filt.m
===================================================================
--- trunk/octave-forge/main/control/inst/filt.m 2012-05-07 03:27:54 UTC (rev 10371)
+++ trunk/octave-forge/main/control/inst/filt.m 2012-05-07 04:39:42 UTC (rev 10372)
@@ -78,11 +78,13 @@
switch (nargin)
case 0 # filt ()
sys = tf ();
+ ## sys.inv = true;
return;
case 1 # filt (sys), filt (matrix)
if (isa (num, "lti") || is_real_matrix (num))
sys = tf (num);
+ ## sys.inv = true; # would be a problem for continuous-time LTI models
return;
else
print_usage ();
@@ -115,7 +117,9 @@
den = cellfun (@postpad, den, lmax, "uniformoutput", false);
## use standard tf constructor
- ## sys is stored and displayed in standard z form, not z^-1
+ ## sys is stored in standard z form, not z^-1
+ ## so we can mix it with regular transfer function models
+ ## property "inv", true displays sys in z^-1 form
sys = tf (num, den, tsam, "inv", true, varargin{:});
endswitch
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From: <par...@us...> - 2012-06-09 09:02:46
|
Revision: 10609
http://octave.svn.sourceforge.net/octave/?rev=10609&view=rev
Author: paramaniac
Date: 2012-06-09 09:02:40 +0000 (Sat, 09 Jun 2012)
Log Message:
-----------
control: relocate test
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@lti/subsref.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/subsref.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/subsref.m 2012-06-09 07:37:08 UTC (rev 10608)
+++ trunk/octave-forge/main/control/inst/@lti/subsref.m 2012-06-09 09:02:40 UTC (rev 10609)
@@ -21,7 +21,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: September 2009
-## Version: 0.3
+## Version: 0.4
function a = subsref (a, s)
@@ -50,3 +50,11 @@
a = subsref (a, s(2:end));
endfunction
+
+
+## lti: subsref
+%!shared a
+%! s = tf ("s");
+%! G = (s+1)*s*5/(s+1)/(s^2+s+1);
+%! a = G(1,1).num{1,1}(1);
+%!assert (a, 5, 1e-4);
Modified: trunk/octave-forge/main/control/inst/ltimodels.m
===================================================================
--- trunk/octave-forge/main/control/inst/ltimodels.m 2012-06-09 07:37:08 UTC (rev 10608)
+++ trunk/octave-forge/main/control/inst/ltimodels.m 2012-06-09 09:02:40 UTC (rev 10609)
@@ -97,15 +97,7 @@
%!assert (isdt (ltisys));
-## lti: subsref
-%!shared a
-%! s = tf ("s");
-%! G = (s+1)*s*5/(s+1)/(s^2+s+1);
-%! a = G(1,1).num{1,1}(1);
-%!assert (a, 5, 1e-4);
-
-
## ==============================================================================
## TF Tests
## ==============================================================================
Modified: trunk/octave-forge/main/control/inst/test_control.m
===================================================================
--- trunk/octave-forge/main/control/inst/test_control.m 2012-06-09 07:37:08 UTC (rev 10608)
+++ trunk/octave-forge/main/control/inst/test_control.m 2012-06-09 09:02:40 UTC (rev 10609)
@@ -54,6 +54,7 @@
test @lti/plus
test @lti/prescale
test @lti/sminreal
+test @lti/subsref
test @lti/zero
## robust control
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|
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From: <par...@us...> - 2012-06-09 09:29:40
|
Revision: 10610
http://octave.svn.sourceforge.net/octave/?rev=10610&view=rev
Author: paramaniac
Date: 2012-06-09 09:29:34 +0000 (Sat, 09 Jun 2012)
Log Message:
-----------
control: remove infinite poles, rename variable
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@lti/isstable.m
trunk/octave-forge/main/control/inst/__is_stable__.m
trunk/octave-forge/main/control/inst/isstabilizable.m
Modified: trunk/octave-forge/main/control/inst/@lti/isstable.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/isstable.m 2012-06-09 09:02:40 UTC (rev 10609)
+++ trunk/octave-forge/main/control/inst/@lti/isstable.m 2012-06-09 09:29:34 UTC (rev 10610)
@@ -31,9 +31,9 @@
print_usage ();
endif
- eigw = pole (sys);
+ pol = pole (sys);
ct = isct (sys);
- bool = __is_stable__ (eigw, ct, tol);
+ bool = __is_stable__ (pol, ct, tol);
-endfunction
\ No newline at end of file
+endfunction
Modified: trunk/octave-forge/main/control/inst/__is_stable__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__is_stable__.m 2012-06-09 09:02:40 UTC (rev 10609)
+++ trunk/octave-forge/main/control/inst/__is_stable__.m 2012-06-09 09:29:34 UTC (rev 10610)
@@ -22,12 +22,12 @@
## Created: December 2010
## Version: 0.1
-function bool = __is_stable__ (eigw, ct = true, tol = 0)
+function bool = __is_stable__ (pol, ct = true, tol = 0)
if (ct) # continuous-time
- bool = all (real (eigw) < -tol*(1 + abs (eigw)));
+ bool = all (real (pol) < -tol*(1 + abs (pol)));
else # discrete-time
- bool = all (abs (eigw) < 1 - tol);
+ bool = all (abs (pol) < 1 - tol);
endif
-endfunction
\ No newline at end of file
+endfunction
Modified: trunk/octave-forge/main/control/inst/isstabilizable.m
===================================================================
--- trunk/octave-forge/main/control/inst/isstabilizable.m 2012-06-09 09:02:40 UTC (rev 10609)
+++ trunk/octave-forge/main/control/inst/isstabilizable.m 2012-06-09 09:29:34 UTC (rev 10610)
@@ -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.
##
@@ -73,7 +73,7 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
-## Version: 0.3.1
+## Version: 0.4
function bool = isstabilizable (a, b = [], e = [], tol = [], dflg = 0)
@@ -109,7 +109,7 @@
auncont = ac(uncont_idx, uncont_idx);
## calculate poles of uncontrollable part
- eigw = eig (auncont);
+ pol = eig (auncont);
else
## controllability staircase form - output matrix c has no influence
[ac, ec, ~, ~, ~, ~, ncont] = sltg01hd (a, e, b, zeros (1, columns (a)), tol);
@@ -120,10 +120,15 @@
euncont = ec(uncont_idx, uncont_idx);
## calculate poles of uncontrollable part
- eigw = eig (auncont, euncont);
+ pol = eig (auncont, euncont);
+
+ ## remove infinite poles
+ tolinf = norm ([auncont, euncont], 2);
+ idx = find (abs (pol) < tolinf/eps);
+ pol = pol(idx);
endif
## check whether uncontrollable poles are stable
- bool = __is_stable__ (eigw, ! dflg, tol);
+ bool = __is_stable__ (pol, ! dflg, tol);
endfunction
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|
From: <par...@us...> - 2012-06-20 05:43:02
|
Revision: 10642
http://octave.svn.sourceforge.net/octave/?rev=10642&view=rev
Author: paramaniac
Date: 2012-06-20 05:42:56 +0000 (Wed, 20 Jun 2012)
Log Message:
-----------
control: specify matrix dimensions in help texts
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/dlqr.m
trunk/octave-forge/main/control/inst/lqr.m
Modified: trunk/octave-forge/main/control/inst/dlqr.m
===================================================================
--- trunk/octave-forge/main/control/inst/dlqr.m 2012-06-19 20:23:47 UTC (rev 10641)
+++ trunk/octave-forge/main/control/inst/dlqr.m 2012-06-20 05:42:56 UTC (rev 10642)
@@ -27,29 +27,29 @@
## @strong{Inputs}
## @table @var
## @item sys
-## Continuous or discrete-time LTI model.
+## Continuous or discrete-time LTI model (p-by-m, n states).
## @item a
-## State transition matrix of discrete-time system.
+## State transition matrix of discrete-time system (n-by-n).
## @item b
-## Input matrix of discrete-time system.
+## Input matrix of discrete-time system (n-by-m).
## @item q
-## State weighting matrix.
+## State weighting matrix (n-by-n).
## @item r
-## Input weighting matrix.
+## Input weighting matrix (m-by-m).
## @item s
-## Optional cross term matrix. If @var{s} is not specified, a zero matrix is assumed.
+## Optional cross term matrix (n-by-m). If @var{s} is not specified, a zero matrix is assumed.
## @item e
-## Optional descriptor matrix. If @var{e} is not specified, an identity matrix is assumed.
+## Optional descriptor matrix (n-by-n). If @var{e} is not specified, an identity matrix is assumed.
## @end table
##
## @strong{Outputs}
## @table @var
## @item g
-## State feedback matrix.
+## State feedback matrix (m-by-n).
## @item x
-## Unique stabilizing solution of the discrete-time Riccati equation.
+## Unique stabilizing solution of the discrete-time Riccati equation (n-by-n).
## @item l
-## Closed-loop poles.
+## Closed-loop poles (n-by-1).
## @end table
##
## @strong{Equations}
Modified: trunk/octave-forge/main/control/inst/lqr.m
===================================================================
--- trunk/octave-forge/main/control/inst/lqr.m 2012-06-19 20:23:47 UTC (rev 10641)
+++ trunk/octave-forge/main/control/inst/lqr.m 2012-06-20 05:42:56 UTC (rev 10642)
@@ -27,29 +27,29 @@
## @strong{Inputs}
## @table @var
## @item sys
-## Continuous or discrete-time LTI model.
+## Continuous or discrete-time LTI model (p-by-m, n states).
## @item a
-## State transition matrix of continuous-time system.
+## State transition matrix of continuous-time system (n-by-n).
## @item b
-## Input matrix of continuous-time system.
+## Input matrix of continuous-time system (n-by-m).
## @item q
-## State weighting matrix.
+## State weighting matrix (n-by-n).
## @item r
-## Input weighting matrix.
+## Input weighting matrix (m-by-m).
## @item s
-## Optional cross term matrix. If @var{s} is not specified, a zero matrix is assumed.
+## Optional cross term matrix (n-by-m). If @var{s} is not specified, a zero matrix is assumed.
## @item e
-## Optional descriptor matrix. If @var{e} is not specified, an identity matrix is assumed.
+## Optional descriptor matrix (n-by-n). If @var{e} is not specified, an identity matrix is assumed.
## @end table
##
## @strong{Outputs}
## @table @var
## @item g
-## State feedback matrix.
+## State feedback matrix (m-by-n).
## @item x
-## Unique stabilizing solution of the continuous-time Riccati equation.
+## Unique stabilizing solution of the continuous-time Riccati equation (n-by-n).
## @item l
-## Closed-loop poles.
+## Closed-loop poles (n-by-1).
## @end table
##
## @strong{Equations}
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From: <par...@us...> - 2012-06-21 11:26:33
|
Revision: 10654
http://octave.svn.sourceforge.net/octave/?rev=10654&view=rev
Author: paramaniac
Date: 2012-06-21 11:26:26 +0000 (Thu, 21 Jun 2012)
Log Message:
-----------
control: doc fixes
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/dlqe.m
trunk/octave-forge/main/control/inst/lqe.m
Modified: trunk/octave-forge/main/control/inst/dlqe.m
===================================================================
--- trunk/octave-forge/main/control/inst/dlqe.m 2012-06-21 09:21:55 UTC (rev 10653)
+++ trunk/octave-forge/main/control/inst/dlqe.m 2012-06-21 11:26:26 UTC (rev 10654)
@@ -17,10 +17,10 @@
## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>.
## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{l}, @var{p}, @var{z}, @var{e}] =} lqe (@var{a}, @var{g}, @var{c}, @var{q}, @var{r})
-## @deftypefnx {Function File} {[@var{l}, @var{p}, @var{z}, @var{e}] =} lqe (@var{a}, @var{g}, @var{c}, @var{q}, @var{r}, @var{s})
-## @deftypefnx {Function File} {[@var{l}, @var{p}, @var{z}, @var{e}] =} lqe (@var{a}, @var{[]}, @var{c}, @var{q}, @var{r})
-## @deftypefnx {Function File} {[@var{l}, @var{p}, @var{z}, @var{e}] =} lqe (@var{a}, @var{[]}, @var{c}, @var{q}, @var{r}, @var{s})
+## @deftypefn {Function File} {[@var{l}, @var{p}, @var{z}, @var{e}] =} dlqe (@var{a}, @var{g}, @var{c}, @var{q}, @var{r})
+## @deftypefnx {Function File} {[@var{l}, @var{p}, @var{z}, @var{e}] =} dlqe (@var{a}, @var{g}, @var{c}, @var{q}, @var{r}, @var{s})
+## @deftypefnx {Function File} {[@var{l}, @var{p}, @var{z}, @var{e}] =} dlqe (@var{a}, @var{[]}, @var{c}, @var{q}, @var{r})
+## @deftypefnx {Function File} {[@var{l}, @var{p}, @var{z}, @var{e}] =} dlqe (@var{a}, @var{[]}, @var{c}, @var{q}, @var{r}, @var{s})
## Kalman filter for discrete-time systems.
##
## @example
@@ -33,8 +33,6 @@
##
## @strong{Inputs}
## @table @var
-## @item sys
-## Continuous or discrete-time LTI model (p-by-m, n states).
## @item a
## State transition matrix of discrete-time system (n-by-n).
## @item g
@@ -46,7 +44,8 @@
## @item r
## Measurement noise covariance matrix (p-by-p).
## @item s
-## Optional cross term covariance matrix (g-by-p), s = cov(w,v) If @var{s} is not specified, a zero matrix is assumed.
+## Optional cross term covariance matrix (g-by-p), s = cov(w,v).
+## If @var{s} is not specified, a zero matrix is assumed.
## @end table
##
## @strong{Outputs}
@@ -55,6 +54,7 @@
## Kalman filter gain matrix (n-by-p).
## @item p
## Unique stabilizing solution of the discrete-time Riccati equation (n-by-n).
+## Symmetric matrix.
## @item z
## Error covariance (n-by-n), cov(x(k|k)-x)
## @item e
Modified: trunk/octave-forge/main/control/inst/lqe.m
===================================================================
--- trunk/octave-forge/main/control/inst/lqe.m 2012-06-21 09:21:55 UTC (rev 10653)
+++ trunk/octave-forge/main/control/inst/lqe.m 2012-06-21 11:26:26 UTC (rev 10654)
@@ -49,7 +49,8 @@
## @item r
## Measurement noise covariance matrix (p-by-p).
## @item s
-## Optional cross term covariance matrix (g-by-p), s = cov(w,v) If @var{s} is not specified, a zero matrix is assumed.
+## Optional cross term covariance matrix (g-by-p), s = cov(w,v).
+## If @var{s} is not specified, a zero matrix is assumed.
## @end table
##
## @strong{Outputs}
@@ -58,6 +59,8 @@
## Kalman filter gain matrix (n-by-p).
## @item p
## Unique stabilizing solution of the continuous-time Riccati equation (n-by-n).
+## Symmetric matrix. If @var{sys} is a discrete-time model, the solution of the
+## corresponding discrete-time Riccati equation is returned.
## @item e
## Closed-loop poles (n-by-1).
## @end table
@@ -102,5 +105,8 @@
endif
l = l.';
+
+ ## NOTE: for discrete-time sys, the solution L' from DARE
+ ## is different to L from DLQE (a, s)
endfunction
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|
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From: <par...@us...> - 2012-06-23 07:34:22
|
Revision: 10674
http://octave.svn.sourceforge.net/octave/?rev=10674&view=rev
Author: paramaniac
Date: 2012-06-23 07:34:15 +0000 (Sat, 23 Jun 2012)
Log Message:
-----------
control: minor doc enhancements
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/covar.m
trunk/octave-forge/main/control/inst/dlqe.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/lqe.m
Modified: trunk/octave-forge/main/control/inst/covar.m
===================================================================
--- trunk/octave-forge/main/control/inst/covar.m 2012-06-22 15:52:36 UTC (rev 10673)
+++ trunk/octave-forge/main/control/inst/covar.m 2012-06-23 07:34:15 UTC (rev 10674)
@@ -24,7 +24,7 @@
## @item sys
## LTI model.
## @item w
-## Intensity of white noise inputs which drive @var{sys}.
+## Intensity of Gaussian white noise inputs which drive @var{sys}.
## @end table
##
## @strong{Outputs}
Modified: trunk/octave-forge/main/control/inst/dlqe.m
===================================================================
--- trunk/octave-forge/main/control/inst/dlqe.m 2012-06-22 15:52:36 UTC (rev 10673)
+++ trunk/octave-forge/main/control/inst/dlqe.m 2012-06-23 07:34:15 UTC (rev 10674)
@@ -37,6 +37,7 @@
## State transition matrix of discrete-time system (n-by-n).
## @item g
## Process noise matrix of discrete-time system (n-by-g).
+## If @var{g} is empty @code{[]}, an identity matrix is assumed.
## @item c
## Measurement matrix of discrete-time system (p-by-n).
## @item q
@@ -45,7 +46,7 @@
## Measurement noise covariance matrix (p-by-p).
## @item s
## Optional cross term covariance matrix (g-by-p), s = cov(w,v).
-## If @var{s} is not specified, a zero matrix is assumed.
+## If @var{s} is empty @code{[]} or not specified, a zero matrix is assumed.
## @end table
##
## @strong{Outputs}
Modified: trunk/octave-forge/main/control/inst/isctrb.m
===================================================================
--- trunk/octave-forge/main/control/inst/isctrb.m 2012-06-22 15:52:36 UTC (rev 10673)
+++ trunk/octave-forge/main/control/inst/isctrb.m 2012-06-23 07:34:15 UTC (rev 10674)
@@ -36,6 +36,7 @@
## Input matrix.
## @item e
## Descriptor matrix.
+## If @var{e} is empty @code{[]} or not specified, an identity matrix is assumed.
## @item tol
## Optional roundoff parameter. Default value is 0.
## @end table
Modified: trunk/octave-forge/main/control/inst/isdetectable.m
===================================================================
--- trunk/octave-forge/main/control/inst/isdetectable.m 2012-06-22 15:52:36 UTC (rev 10673)
+++ trunk/octave-forge/main/control/inst/isdetectable.m 2012-06-23 07:34:15 UTC (rev 10674)
@@ -39,6 +39,7 @@
## Measurement matrix.
## @item e
## Descriptor matrix.
+## If @var{e} is empty @code{[]} or not specified, an identity matrix is assumed.
## @item tol
## Optional tolerance for stability. Default value is 0.
## @item dflg = 0
Modified: trunk/octave-forge/main/control/inst/isobsv.m
===================================================================
--- trunk/octave-forge/main/control/inst/isobsv.m 2012-06-22 15:52:36 UTC (rev 10673)
+++ trunk/octave-forge/main/control/inst/isobsv.m 2012-06-23 07:34:15 UTC (rev 10674)
@@ -36,6 +36,7 @@
## Measurement matrix.
## @item e
## Descriptor matrix.
+## If @var{e} is empty @code{[]} or not specified, an identity matrix is assumed.
## @item tol
## Optional roundoff parameter. Default value is 0.
## @end table
Modified: trunk/octave-forge/main/control/inst/isstabilizable.m
===================================================================
--- trunk/octave-forge/main/control/inst/isstabilizable.m 2012-06-22 15:52:36 UTC (rev 10673)
+++ trunk/octave-forge/main/control/inst/isstabilizable.m 2012-06-23 07:34:15 UTC (rev 10674)
@@ -39,6 +39,7 @@
## Input matrix.
## @item e
## Descriptor matrix.
+## If @var{e} is empty @code{[]} or not specified, an identity matrix is assumed.
## @item tol
## Optional tolerance for stability. Default value is 0.
## @item dflg = 0
Modified: trunk/octave-forge/main/control/inst/lqe.m
===================================================================
--- trunk/octave-forge/main/control/inst/lqe.m 2012-06-22 15:52:36 UTC (rev 10673)
+++ trunk/octave-forge/main/control/inst/lqe.m 2012-06-23 07:34:15 UTC (rev 10674)
@@ -42,6 +42,7 @@
## State transition matrix of continuous-time system (n-by-n).
## @item g
## Process noise matrix of continuous-time system (n-by-g).
+## If @var{g} is empty @code{[]}, an identity matrix is assumed.
## @item c
## Measurement matrix of continuous-time system (p-by-n).
## @item q
@@ -50,7 +51,7 @@
## Measurement noise covariance matrix (p-by-p).
## @item s
## Optional cross term covariance matrix (g-by-p), s = cov(w,v).
-## If @var{s} is not specified, a zero matrix is assumed.
+## If @var{s} is empty @code{[]} or not specified, a zero matrix is assumed.
## @end table
##
## @strong{Outputs}
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|
|
From: <par...@us...> - 2012-06-23 14:07:25
|
Revision: 10675
http://octave.svn.sourceforge.net/octave/?rev=10675&view=rev
Author: paramaniac
Date: 2012-06-23 14:07:19 +0000 (Sat, 23 Jun 2012)
Log Message:
-----------
control: minor doc enhancements (2)
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@lti/isminimumphase.m
trunk/octave-forge/main/control/inst/@lti/isstable.m
trunk/octave-forge/main/control/inst/h2syn.m
trunk/octave-forge/main/control/inst/hinfsyn.m
Modified: trunk/octave-forge/main/control/inst/@lti/isminimumphase.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/isminimumphase.m 2012-06-23 07:34:15 UTC (rev 10674)
+++ trunk/octave-forge/main/control/inst/@lti/isminimumphase.m 2012-06-23 14:07:19 UTC (rev 10675)
@@ -22,6 +22,29 @@
## The zeros must lie in the left complex half-plane.
## The name minimum-phase refers to the fact that such a system has the
## minimum possible phase lag for the given magnitude response |sys(jw)|.
+##
+## @strong{Inputs}
+## @table @var
+## @item sys
+## LTI system.
+## @item tol
+## Optional tolerance. Default value is 0.
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item bool = 0
+## System is not minimum phase.
+## @item bool = 1
+## System is minimum phase.
+## @end table
+##
+## @example
+## @group
+## real (z) < -tol*(1 + abs (z)) continuous-time
+## abs (z) < 1 - tol discrete-time
+## @end group
+## @end example
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
Modified: trunk/octave-forge/main/control/inst/@lti/isstable.m
===================================================================
--- trunk/octave-forge/main/control/inst/@lti/isstable.m 2012-06-23 07:34:15 UTC (rev 10674)
+++ trunk/octave-forge/main/control/inst/@lti/isstable.m 2012-06-23 14:07:19 UTC (rev 10675)
@@ -19,6 +19,29 @@
## @deftypefn {Function File} {@var{bool} =} isstable (@var{sys})
## @deftypefnx {Function File} {@var{bool} =} isstable (@var{sys}, @var{tol})
## Determine whether LTI system is stable.
+##
+## @strong{Inputs}
+## @table @var
+## @item sys
+## LTI system.
+## @item tol
+## Optional tolerance for stability. Default value is 0.
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item bool = 0
+## System is not stable.
+## @item bool = 1
+## System is stable.
+## @end table
+##
+## @example
+## @group
+## real (p) < -tol*(1 + abs (p)) continuous-time
+## abs (p) < 1 - tol discrete-time
+## @end group
+## @end example
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
Modified: trunk/octave-forge/main/control/inst/h2syn.m
===================================================================
--- trunk/octave-forge/main/control/inst/h2syn.m 2012-06-23 07:34:15 UTC (rev 10674)
+++ trunk/octave-forge/main/control/inst/h2syn.m 2012-06-23 14:07:19 UTC (rev 10675)
@@ -24,11 +24,11 @@
## @item P
## Generalized plant. Must be a proper/realizable LTI model.
## @item nmeas
-## Number of measured outputs v. The last nmeas outputs of @var{P} are connected to the
+## Number of measured outputs v. The last @var{nmeas} outputs of @var{P} are connected to the
## inputs of controller @var{K}. The remaining outputs z (indices 1 to p-nmeas) are used
## to calculate the H-2 norm.
## @item ncon
-## Number of controlled inputs u. The last ncon inputs of @var{P} are connected to the
+## Number of controlled inputs u. The last @var{ncon} inputs of @var{P} are connected to the
## outputs of controller @var{K}. The remaining inputs w (indices 1 to m-ncon) are excited
## by a harmonic test signal.
## @end table
Modified: trunk/octave-forge/main/control/inst/hinfsyn.m
===================================================================
--- trunk/octave-forge/main/control/inst/hinfsyn.m 2012-06-23 07:34:15 UTC (rev 10674)
+++ trunk/octave-forge/main/control/inst/hinfsyn.m 2012-06-23 14:07:19 UTC (rev 10675)
@@ -25,11 +25,11 @@
## @item P
## Generalized plant. Must be a proper/realizable LTI model.
## @item nmeas
-## Number of measured outputs v. The last nmeas outputs of @var{P} are connected to the
+## Number of measured outputs v. The last @var{nmeas} outputs of @var{P} are connected to the
## inputs of controller @var{K}. The remaining outputs z (indices 1 to p-nmeas) are used
## to calculate the H-infinity norm.
## @item ncon
-## Number of controlled inputs u. The last ncon inputs of @var{P} are connected to the
+## Number of controlled inputs u. The last @var{ncon} inputs of @var{P} are connected to the
## outputs of controller @var{K}. The remaining inputs w (indices 1 to m-ncon) are excited
## by a harmonic test signal.
## @item gmax
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|
|
From: <par...@us...> - 2012-08-08 15:56:36
|
Revision: 10844
http://octave.svn.sourceforge.net/octave/?rev=10844&view=rev
Author: paramaniac
Date: 2012-08-08 15:56:29 +0000 (Wed, 08 Aug 2012)
Log Message:
-----------
control: doc enhancements
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/WestlandLynx.m
trunk/octave-forge/main/control/inst/augw.m
trunk/octave-forge/main/control/inst/btamodred.m
trunk/octave-forge/main/control/inst/mixsyn.m
trunk/octave-forge/main/control/inst/spamodred.m
Modified: trunk/octave-forge/main/control/inst/WestlandLynx.m
===================================================================
--- trunk/octave-forge/main/control/inst/WestlandLynx.m 2012-08-08 13:19:12 UTC (rev 10843)
+++ trunk/octave-forge/main/control/inst/WestlandLynx.m 2012-08-08 15:56:29 UTC (rev 10844)
@@ -34,14 +34,12 @@
## pitch rate q [rad/s]
## @end group
## @end example
-## @example
-## @group
-## Reference:
-## Skogestad, S. and Postlethwaite I.
-## Multivariable Feedback Control: Analysis and Design
-## Second Edition
-## Wiley 2005
-## http://www.nt.ntnu.no/users/skoge/book/2nd_edition/matlab_m/matfiles.html
+##
+## @strong{References}@*
+## [1] Skogestad, S. and Postlethwaite I. (2005)
+## @cite{Multivariable Feedback Control: Analysis and Design:
+## Second Edition}. Wiley.
+## @url{http://www.nt.ntnu.no/users/skoge/book/2nd_edition/matlab_m/matfiles.html}
## @end group
## @end example
## @end deftypefn
Modified: trunk/octave-forge/main/control/inst/augw.m
===================================================================
--- trunk/octave-forge/main/control/inst/augw.m 2012-08-08 13:19:12 UTC (rev 10843)
+++ trunk/octave-forge/main/control/inst/augw.m 2012-08-08 15:56:29 UTC (rev 10844)
@@ -93,16 +93,12 @@
## +--------+
## @end group
## @end example
-## @example
-## @group
-## Reference:
-## Skogestad, S. and Postlethwaite I.
-## Multivariable Feedback Control: Analysis and Design
-## Second Edition
-## Wiley 2005
-## Chapter 3.8: General Control Problem Formulation
-## @end group
-## @end example
+##
+## @strong{References}@*
+## [1] Skogestad, S. and Postlethwaite I. (2005)
+## @cite{Multivariable Feedback Control: Analysis and Design:
+## Second Edition}. Wiley.
+##
## @seealso{h2syn, hinfsyn, mixsyn}
## @end deftypefn
Modified: trunk/octave-forge/main/control/inst/btamodred.m
===================================================================
--- trunk/octave-forge/main/control/inst/btamodred.m 2012-08-08 13:19:12 UTC (rev 10843)
+++ trunk/octave-forge/main/control/inst/btamodred.m 2012-08-08 15:56:29 UTC (rev 10844)
@@ -211,23 +211,23 @@
##
## @strong{References}@*
## [1] Enns, D.
-## Model reduction with balanced realizations: An error bound
-## and a frequency weighted generalization.
+## @cite{Model reduction with balanced realizations: An error bound
+## and a frequency weighted generalization}.
## Proc. 23-th CDC, Las Vegas, pp. 127-132, 1984.
##
## [2] Lin, C.-A. and Chiu, T.-Y.
-## Model reduction via frequency-weighted balanced realization.
+## @cite{Model reduction via frequency-weighted balanced realization}.
## Control Theory and Advanced Technology, vol. 8,
## pp. 341-351, 1992.
##
## [3] Sreeram, V., Anderson, B.D.O and Madievski, A.G.
-## New results on frequency weighted balanced reduction
-## technique.
+## @cite{New results on frequency weighted balanced reduction
+## technique}.
## Proc. ACC, Seattle, Washington, pp. 4004-4009, 1995.
##
## [4] Varga, A. and Anderson, B.D.O.
-## Square-root balancing-free methods for the frequency-weighted
-## balancing related model reduction.
+## @cite{Square-root balancing-free methods for the frequency-weighted
+## balancing related model reduction}.
## (report in preparation)
##
##
Modified: trunk/octave-forge/main/control/inst/mixsyn.m
===================================================================
--- trunk/octave-forge/main/control/inst/mixsyn.m 2012-08-08 13:19:12 UTC (rev 10843)
+++ trunk/octave-forge/main/control/inst/mixsyn.m 2012-08-08 15:56:29 UTC (rev 10844)
@@ -124,22 +124,17 @@
## Closed Loop: T = feedback (L)
## @end group
## @end example
-## @example
-## @group
-## Reference:
-## Skogestad, S. and Postlethwaite I.
-## Multivariable Feedback Control: Analysis and Design
-## Second Edition
-## Wiley 2005
-## 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.}
##
+## @strong{References}@*
+## [1] Skogestad, S. and Postlethwaite I. (2005)
+## @cite{Multivariable Feedback Control: Analysis and Design:
+## Second Edition}. Wiley.
+##
## @seealso{hinfsyn, augw}
## @end deftypefn
Modified: trunk/octave-forge/main/control/inst/spamodred.m
===================================================================
--- trunk/octave-forge/main/control/inst/spamodred.m 2012-08-08 13:19:12 UTC (rev 10843)
+++ trunk/octave-forge/main/control/inst/spamodred.m 2012-08-08 15:56:29 UTC (rev 10844)
@@ -194,23 +194,23 @@
##
## @strong{References}@*
## [1] Enns, D.
-## Model reduction with balanced realizations: An error bound
-## and a frequency weighted generalization.
+## @cite{Model reduction with balanced realizations: An error bound
+## and a frequency weighted generalization}.
## Proc. 23-th CDC, Las Vegas, pp. 127-132, 1984.
##
## [2] Lin, C.-A. and Chiu, T.-Y.
-## Model reduction via frequency-weighted balanced realization.
+## @cite{Model reduction via frequency-weighted balanced realization}.
## Control Theory and Advanced Technology, vol. 8,
## pp. 341-351, 1992.
##
## [3] Sreeram, V., Anderson, B.D.O and Madievski, A.G.
-## New results on frequency weighted balanced reduction
-## technique.
+## @cite{New results on frequency weighted balanced reduction
+## technique}.
## Proc. ACC, Seattle, Washington, pp. 4004-4009, 1995.
##
## [4] Varga, A. and Anderson, B.D.O.
-## Square-root balancing-free methods for the frequency-weighted
-## balancing related model reduction.
+## @cite{Square-root balancing-free methods for the frequency-weighted
+## balancing related model reduction}.
## (report in preparation)
##
##
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|
|
From: <par...@us...> - 2012-08-17 10:51:57
|
Revision: 10882
http://octave.svn.sourceforge.net/octave/?rev=10882&view=rev
Author: paramaniac
Date: 2012-08-17 10:51:51 +0000 (Fri, 17 Aug 2012)
Log Message:
-----------
control: mute warning in test
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@iddata/fft.m
trunk/octave-forge/main/control/inst/__iddata_dim__.m
Modified: trunk/octave-forge/main/control/inst/@iddata/fft.m
===================================================================
--- trunk/octave-forge/main/control/inst/@iddata/fft.m 2012-08-16 21:00:23 UTC (rev 10881)
+++ trunk/octave-forge/main/control/inst/@iddata/fft.m 2012-08-17 10:51:51 UTC (rev 10882)
@@ -88,7 +88,10 @@
%!shared DATD, Y, U
%! Y = 1:10;
%! U = 20:-2:1;
+%! W = warning ("query", "iddata:transpose");
+%! warning ("off", W.identifier);
%! DAT = iddata (Y, U);
%! DATD = fft (DAT);
+%! warning (W.identifier, W.state);
%!assert (DATD.y{1}, Y, 1e-10);
%!assert (DATD.u{1}, U, 1e-10);
Modified: trunk/octave-forge/main/control/inst/__iddata_dim__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__iddata_dim__.m 2012-08-16 21:00:23 UTC (rev 10881)
+++ trunk/octave-forge/main/control/inst/__iddata_dim__.m 2012-08-17 10:51:51 UTC (rev 10882)
@@ -43,11 +43,11 @@
endif
if (ly < p)
- warning ("iddata: more outputs than samples - matrice 'y' should probably be transposed");
+ warning ("iddata:transpose", "iddata: more outputs than samples - matrice 'y' should probably be transposed");
endif
if (lu < m)
- warning ("iddata: more inputs than samples - matrice 'u' should probably be transposed");
+ warning ("iddata:transpose", "iddata: more inputs than samples - matrice 'u' should probably be transposed");
endif
endfunction
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|
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From: <par...@us...> - 2012-08-23 17:15:28
|
Revision: 10898
http://octave.svn.sourceforge.net/octave/?rev=10898&view=rev
Author: paramaniac
Date: 2012-08-23 17:15:22 +0000 (Thu, 23 Aug 2012)
Log Message:
-----------
control: rename key again to 'noiseinput'
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/__slicot_identification__.m
trunk/octave-forge/main/control/inst/moen4.m
trunk/octave-forge/main/control/inst/moesp.m
trunk/octave-forge/main/control/inst/n4sid.m
Modified: trunk/octave-forge/main/control/inst/__slicot_identification__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__slicot_identification__.m 2012-08-23 16:18:49 UTC (rev 10897)
+++ trunk/octave-forge/main/control/inst/__slicot_identification__.m 2012-08-23 17:15:22 UTC (rev 10898)
@@ -115,7 +115,7 @@
rcond = val;
case "confirm"
conf = logical (val);
- case {"input", "inputs"}
+ case {"noiseinput", "noiseinputs", "noise", "input", "inputs"}
noise = val;
otherwise
warning ("%s: invalid property name '%s' ignored", method, key);
Modified: trunk/octave-forge/main/control/inst/moen4.m
===================================================================
--- trunk/octave-forge/main/control/inst/moen4.m 2012-08-23 16:18:49 UTC (rev 10897)
+++ trunk/octave-forge/main/control/inst/moen4.m 2012-08-23 17:15:22 UTC (rev 10898)
@@ -129,7 +129,7 @@
## No confirmation. Default value.
## @end table
##
-## @item 'input'
+## @item 'noiseinput'
## The desired type of noise input channels.
## @table @var
## @item 'n'
Modified: trunk/octave-forge/main/control/inst/moesp.m
===================================================================
--- trunk/octave-forge/main/control/inst/moesp.m 2012-08-23 16:18:49 UTC (rev 10897)
+++ trunk/octave-forge/main/control/inst/moesp.m 2012-08-23 17:15:22 UTC (rev 10898)
@@ -128,7 +128,7 @@
## No confirmation. Default value.
## @end table
##
-## @item 'input'
+## @item 'noiseinput'
## The desired type of noise input channels.
## @table @var
## @item 'n'
Modified: trunk/octave-forge/main/control/inst/n4sid.m
===================================================================
--- trunk/octave-forge/main/control/inst/n4sid.m 2012-08-23 16:18:49 UTC (rev 10897)
+++ trunk/octave-forge/main/control/inst/n4sid.m 2012-08-23 17:15:22 UTC (rev 10898)
@@ -128,7 +128,7 @@
## No confirmation. Default value.
## @end table
##
-## @item 'input'
+## @item 'noiseinput'
## The desired type of noise input channels.
## @table @var
## @item 'n'
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|
|
From: <par...@us...> - 2012-08-25 05:44:30
|
Revision: 10912
http://octave.svn.sourceforge.net/octave/?rev=10912&view=rev
Author: paramaniac
Date: 2012-08-25 05:44:24 +0000 (Sat, 25 Aug 2012)
Log Message:
-----------
control: doc enhancements
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/margin.m
trunk/octave-forge/main/control/inst/sensitivity.m
Modified: trunk/octave-forge/main/control/inst/margin.m
===================================================================
--- trunk/octave-forge/main/control/inst/margin.m 2012-08-24 16:27:38 UTC (rev 10911)
+++ trunk/octave-forge/main/control/inst/margin.m 2012-08-25 05:44:24 UTC (rev 10912)
@@ -18,9 +18,11 @@
## -*- texinfo -*-
## @deftypefn{Function File} {[@var{gamma}, @var{phi}, @var{w_gamma}, @var{w_phi}] =} margin (@var{sys})
## @deftypefnx{Function File} {[@var{gamma}, @var{phi}, @var{w_gamma}, @var{w_phi}] =} margin (@var{sys}, @var{tol})
-## Gain and phase margin of a system. If no output arguments are given, both gain and phase margin
-## are plotted on a bode diagram. Otherwise, the margins and their corresponding frequencies are
-## computed and returned.
+## Gain and phase margin of a system.
+## If no output arguments are given, both gain and phase margin are plotted on a bode diagram.
+## Otherwise, the margins and their corresponding frequencies are computed and returned.
+## A more robust criterion to assess the stability of a feedback system is the sensitivity Ms
+## computed by command @command{sensitivity}.
##
## @strong{Inputs}
## @table @var
Modified: trunk/octave-forge/main/control/inst/sensitivity.m
===================================================================
--- trunk/octave-forge/main/control/inst/sensitivity.m 2012-08-24 16:27:38 UTC (rev 10911)
+++ trunk/octave-forge/main/control/inst/sensitivity.m 2012-08-25 05:44:24 UTC (rev 10912)
@@ -37,7 +37,10 @@
##
## @end ifnottex
## If no output arguments are given, the critical distance 1/Ms
-## is plotted on a Nyquist diagram.
+## is plotted on a Nyquist diagram.
+## In contrast to gain and phase margin as computed by command
+## @command{margin}, the sensitivity @var{Ms} is a more robust
+## criterion to assess the stability of a feedback system.
##
## @strong{Inputs}
## @table @var
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From: <par...@us...> - 2012-08-25 06:15:07
|
Revision: 10913
http://octave.svn.sourceforge.net/octave/?rev=10913&view=rev
Author: paramaniac
Date: 2012-08-25 06:15:01 +0000 (Sat, 25 Aug 2012)
Log Message:
-----------
control: fix tex warning by replacing \ by \\
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/ctrbf.m
trunk/octave-forge/main/control/inst/obsvf.m
Modified: trunk/octave-forge/main/control/inst/ctrbf.m
===================================================================
--- trunk/octave-forge/main/control/inst/ctrbf.m 2012-08-25 05:44:24 UTC (rev 10912)
+++ trunk/octave-forge/main/control/inst/ctrbf.m 2012-08-25 06:15:01 UTC (rev 10913)
@@ -27,7 +27,7 @@
##
## @example
## @group
-## Abar = Tc \ A * Tc , Bbar = Tc \ B , Cbar = C * Tc
+## Abar = Tc \\ A * Tc , Bbar = Tc \\ B , Cbar = C * Tc
## @end group
## @end example
##
Modified: trunk/octave-forge/main/control/inst/obsvf.m
===================================================================
--- trunk/octave-forge/main/control/inst/obsvf.m 2012-08-25 05:44:24 UTC (rev 10912)
+++ trunk/octave-forge/main/control/inst/obsvf.m 2012-08-25 06:15:01 UTC (rev 10913)
@@ -27,7 +27,7 @@
##
## @example
## @group
-## Abar = To \ A * To , Bbar = To \ B , Cbar = C * To
+## Abar = To \\ A * To , Bbar = To \\ B , Cbar = C * To
## @end group
## @end example
##
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From: <par...@us...> - 2012-09-12 10:39:16
|
Revision: 10997
http://octave.svn.sourceforge.net/octave/?rev=10997&view=rev
Author: paramaniac
Date: 2012-09-12 10:39:10 +0000 (Wed, 12 Sep 2012)
Log Message:
-----------
control: remove anonymous function calls in cellfun statements if possible
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/@iddata/cat.m
trunk/octave-forge/main/control/inst/@iddata/detrend.m
trunk/octave-forge/main/control/inst/@iddata/diff.m
trunk/octave-forge/main/control/inst/@iddata/resample.m
trunk/octave-forge/main/control/inst/__adjust_iddata_tsam__.m
Modified: trunk/octave-forge/main/control/inst/@iddata/cat.m
===================================================================
--- trunk/octave-forge/main/control/inst/@iddata/cat.m 2012-09-11 09:09:31 UTC (rev 10996)
+++ trunk/octave-forge/main/control/inst/@iddata/cat.m 2012-09-12 10:39:10 UTC (rev 10997)
@@ -231,7 +231,7 @@
if (nargin > 1)
## compare n-th string of first cell with n-th string of remaining cells
- tmp = cellfun (@(x) strcmp (str, x), varargin, "uniformoutput", false);
+ tmp = cellfun (@strcmp, {str}, varargin, "uniformoutput", false);
## check whether all strings of each pair are equal
tmp = cellfun (@all, tmp);
## check whether all pairs are equal
Modified: trunk/octave-forge/main/control/inst/@iddata/detrend.m
===================================================================
--- trunk/octave-forge/main/control/inst/@iddata/detrend.m 2012-09-11 09:09:31 UTC (rev 10996)
+++ trunk/octave-forge/main/control/inst/@iddata/detrend.m 2012-09-12 10:39:10 UTC (rev 10997)
@@ -40,8 +40,8 @@
[n, p, m] = size (dat);
- dat.y = cellfun (@(y) detrend (y, ord), dat.y, "uniformoutput", false);
- dat.u = cellfun (@(u) detrend (u, ord), dat.u, "uniformoutput", false);
+ dat.y = cellfun (@detrend, dat.y, {ord}, "uniformoutput", false);
+ dat.u = cellfun (@detrend, dat.u, {ord}, "uniformoutput", false);
## if a MIMO experiment has only 1 sample, detrend works
## row-wisely instead of column-wisely
Modified: trunk/octave-forge/main/control/inst/@iddata/diff.m
===================================================================
--- trunk/octave-forge/main/control/inst/@iddata/diff.m 2012-09-11 09:09:31 UTC (rev 10996)
+++ trunk/octave-forge/main/control/inst/@iddata/diff.m 2012-09-12 10:39:10 UTC (rev 10997)
@@ -32,7 +32,7 @@
print_usage ();
endif
- dat.y = cellfun (@(y) diff (y, k, 1), dat.y, "uniformoutput", false);
- dat.u = cellfun (@(u) diff (u, k, 1), dat.u, "uniformoutput", false);
+ dat.y = cellfun (@diff, dat.y, {k}, {1}, "uniformoutput", false);
+ dat.u = cellfun (@diff, dat.u, {k}, {1}, "uniformoutput", false);
endfunction
Modified: trunk/octave-forge/main/control/inst/@iddata/resample.m
===================================================================
--- trunk/octave-forge/main/control/inst/@iddata/resample.m 2012-09-11 09:09:31 UTC (rev 10996)
+++ trunk/octave-forge/main/control/inst/@iddata/resample.m 2012-09-12 10:39:10 UTC (rev 10997)
@@ -66,7 +66,7 @@
error ("iddata: resample: fourth argument invalid");
endif
- dat.y = cellfun (@(y) resample (y, p, q, h), dat.y, "uniformoutput", false);
- dat.u = cellfun (@(u) resample (u, p, q, h), dat.u, "uniformoutput", false);
+ dat.y = cellfun (@resample, dat.y, {p}, {q}, {h}, "uniformoutput", false);
+ dat.u = cellfun (@resample, dat.u, {p}, {q}, {h}, "uniformoutput", false);
endfunction
Modified: trunk/octave-forge/main/control/inst/__adjust_iddata_tsam__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__adjust_iddata_tsam__.m 2012-09-11 09:09:31 UTC (rev 10996)
+++ trunk/octave-forge/main/control/inst/__adjust_iddata_tsam__.m 2012-09-12 10:39:10 UTC (rev 10997)
@@ -34,7 +34,7 @@
tsam = {tsam};
endif
- tmp = cellfun (@(x) issample (x, -1), tsam);
+ tmp = cellfun (@issample, tsam, {-1});
if (any (! tmp))
error ("iddata: invalid sampling time");
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From: <par...@us...> - 2012-09-14 11:55:49
|
Revision: 11013
http://octave.svn.sourceforge.net/octave/?rev=11013&view=rev
Author: paramaniac
Date: 2012-09-14 11:55:40 +0000 (Fri, 14 Sep 2012)
Log Message:
-----------
control: fix bug, use new multiplot bode in example Madievski.m
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/Madievski.m
trunk/octave-forge/main/control/inst/__frequency_response__.m
Modified: trunk/octave-forge/main/control/inst/Madievski.m
===================================================================
--- trunk/octave-forge/main/control/inst/Madievski.m 2012-09-14 11:44:35 UTC (rev 11012)
+++ trunk/octave-forge/main/control/inst/Madievski.m 2012-09-14 11:55:40 UTC (rev 11013)
@@ -86,30 +86,7 @@
w = {1e-2, 1e1};
% Bode Plot of Controller
-[mag, pha, w] = bode (K, w);
-[magr4, phar4, wr4] = bode (Kr4, w);
-[magr2, phar2, wr2] = bode (Kr2, w);
-
-mag = 20 * log10 (mag);
-magr4 = 20 * log10 (magr4);
-magr2 = 20 * log10 (magr2);
-
-figure (1)
-subplot (2, 1, 1)
-semilogx (w, mag, wr4, magr4, wr2, magr2)
-axis ('tight')
-ylim (__axis_margin__ (ylim))
-grid ('on')
-title ('Bode Diagrams of K and Kr')
-ylabel ('Magnitude [dB]')
-
-subplot (2, 1, 2)
-semilogx (w, pha, wr4, phar4, wr2, phar2)
-axis ('tight')
-ylim (__axis_margin__ (ylim))
-grid ('on')
-xlabel ('Frequency [rad/s]')
-ylabel ('Phase [deg]')
+bode (K, Kr4, Kr2, w)
legend ('K (8 states)', 'Kr (4 states)', 'Kr (2 states)', 'location', 'southwest')
% Step Response of Closed Loop
Modified: trunk/octave-forge/main/control/inst/__frequency_response__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__frequency_response__.m 2012-09-14 11:44:35 UTC (rev 11012)
+++ trunk/octave-forge/main/control/inst/__frequency_response__.m 2012-09-14 11:55:40 UTC (rev 11013)
@@ -50,7 +50,7 @@
error ("frequency_response: invalid cell");
endif
elseif (any (w_idx)) # are there any frequency vectors?
- w = args(w_idx){end};
+ w = args(w_idx)(end);
else # there are neither frequency ranges nor vectors
w = __frequency_vector__ (sys_cell, wbounds);
endif
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|
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From: <par...@us...> - 2012-09-14 17:01:30
|
Revision: 11016
http://octave.svn.sourceforge.net/octave/?rev=11016&view=rev
Author: paramaniac
Date: 2012-09-14 17:01:20 +0000 (Fri, 14 Sep 2012)
Log Message:
-----------
control: fix bug
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/__frequency_vector__.m
trunk/octave-forge/main/control/inst/nyquist.m
Modified: trunk/octave-forge/main/control/inst/__frequency_vector__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__frequency_vector__.m 2012-09-14 14:31:20 UTC (rev 11015)
+++ trunk/octave-forge/main/control/inst/__frequency_vector__.m 2012-09-14 17:01:20 UTC (rev 11016)
@@ -42,7 +42,7 @@
isc = iscell (sys_cell);
if (! isc) # __sys2frd__ methods pass LTI models not in cells
- sys_cell = {sys_cell}
+ sys_cell = {sys_cell};
endif
idx = cellfun (@(x) isa (x, "lti"), sys_cell);
@@ -53,14 +53,12 @@
if (strcmpi (wbounds, "std")) # plots with explicit frequencies
- if (nargin == 2)
- dec_min = min (cell2mat (dec_min));
- dec_max = max (cell2mat (dec_max));
- elseif (nargin == 4) # w = {wmin, wmax}
+ if (nargin == 4) # w = {wmin, wmax}
dec_min = log10 (wmin);
dec_max = log10 (wmax);
else
- print_usage ();
+ dec_min = min (cell2mat (dec_min));
+ dec_max = max (cell2mat (dec_max));
endif
zp = horzcat (zp{:});
Modified: trunk/octave-forge/main/control/inst/nyquist.m
===================================================================
--- trunk/octave-forge/main/control/inst/nyquist.m 2012-09-14 14:31:20 UTC (rev 11015)
+++ trunk/octave-forge/main/control/inst/nyquist.m 2012-09-14 17:01:20 UTC (rev 11016)
@@ -50,7 +50,7 @@
## Created: November 2009
## Version: 0.4
-function [re_r, im_r, w_r] = nyquist2 (varargin)
+function [re_r, im_r, w_r] = nyquist (varargin)
if (nargin == 0)
print_usage ();
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|
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From: <par...@us...> - 2012-09-14 18:38:07
|
Revision: 11019
http://octave.svn.sourceforge.net/octave/?rev=11019&view=rev
Author: paramaniac
Date: 2012-09-14 18:38:01 +0000 (Fri, 14 Sep 2012)
Log Message:
-----------
control: fix margin
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/__frequency_response__.m
trunk/octave-forge/main/control/inst/margin.m
Modified: trunk/octave-forge/main/control/inst/__frequency_response__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__frequency_response__.m 2012-09-14 18:20:47 UTC (rev 11018)
+++ trunk/octave-forge/main/control/inst/__frequency_response__.m 2012-09-14 18:38:01 UTC (rev 11019)
@@ -25,10 +25,12 @@
function [H, w] = __frequency_response__ (args, mimoflag = 0, resptype = 0, wbounds = "std", cellflag = false)
- %if (! iscell (args))
- % args = {args};
- %endif
+ isc = iscell (args);
+ if (! isc)
+ args = {args};
+ endif
+
sys_idx = cellfun (@isa, args, {"lti"}); # look for LTI models
w_idx = cellfun (@(x) is_real_vector (x) && length (x) > 1, args); # look for frequency vectors
r_idx = cellfun (@iscell, args); # look for frequency ranges {wmin, wmax}
@@ -65,4 +67,9 @@
## restore frequency vectors of FRD models in w
w(frd_idx) = w_frd;
+ if (! isc) # for old non-multiplot functions
+ H = H{1};
+ w = w{1};
+ endif
+
endfunction
Modified: trunk/octave-forge/main/control/inst/margin.m
===================================================================
--- trunk/octave-forge/main/control/inst/margin.m 2012-09-14 18:20:47 UTC (rev 11018)
+++ trunk/octave-forge/main/control/inst/margin.m 2012-09-14 18:38:01 UTC (rev 11019)
@@ -269,7 +269,7 @@
if (nargout == 0) # show bode diagram
- [H, w] = __frequency_response__ (sys, [], false, 0, "std");
+ [H, w] = __frequency_response__ (sys, false, 0, "std");
H = reshape (H, [], 1);
mag_db = 20 * log10 (abs (H));
@@ -301,14 +301,14 @@
endif
subplot (2, 1, 1)
- semilogx (w, mag_db, "b", wv, [0, 0], ":k", wgm, mgmh, ":k", wgm, mgm, "r", wpm, mpm, ":k")
+ semilogx (w, mag_db, "b", wv, [0, 0], "-.k", wgm, mgmh, "-.k", wgm, mgm, "r", wpm, mpm, "-.k")
axis (ax_vec_mag)
grid ("on")
title (title_str)
ylabel ("Magnitude [dB]")
subplot (2, 1, 2)
- semilogx (w, pha, "b", wv, [-180, -180], ":k", wgm, pgm, ":k", wpm, ppmh, ":k", wpm, ppm, "r")
+ semilogx (w, pha, "b", wv, [-180, -180], "-.k", wgm, pgm, "-.k", wpm, ppmh, "-.k", wpm, ppm, "r")
axis (ax_vec_pha)
grid ("on")
xlabel (xl_str)
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|
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From: <par...@us...> - 2012-09-15 07:07:25
|
Revision: 11025
http://octave.svn.sourceforge.net/octave/?rev=11025&view=rev
Author: paramaniac
Date: 2012-09-15 07:07:18 +0000 (Sat, 15 Sep 2012)
Log Message:
-----------
control: document multiplot feature in helpstring (deftypefn)
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/pzmap.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 2012-09-14 21:33:53 UTC (rev 11024)
+++ trunk/octave-forge/main/control/inst/bode.m 2012-09-15 07:07:18 UTC (rev 11025)
@@ -16,7 +16,11 @@
## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>.
## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{mag}, @var{pha}, @var{w}] =} bode (@var{sys})
+## @deftypefn {Function File} bode (@var{sys})
+## @deftypefnx {Function File} bode (@var{sys1}, @var{sys2}, @dots{}, @var{sysN})
+## @deftypefnx {Function File} bode (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}, @var{w})
+## @deftypefnx {Function File} bode (@var{sys1}, @var{'style1'}, @dots{}, @var{sysN}, @var{'styleN'})
+## @deftypefnx {Function File} {[@var{mag}, @var{pha}, @var{w}] =} bode (@var{sys})
## @deftypefnx {Function File} {[@var{mag}, @var{pha}, @var{w}] =} bode (@var{sys}, @var{w})
## Bode diagram of frequency response. If no output arguments are given,
## the response is printed on the screen.
Modified: trunk/octave-forge/main/control/inst/bodemag.m
===================================================================
--- trunk/octave-forge/main/control/inst/bodemag.m 2012-09-14 21:33:53 UTC (rev 11024)
+++ trunk/octave-forge/main/control/inst/bodemag.m 2012-09-15 07:07:18 UTC (rev 11025)
@@ -16,7 +16,11 @@
## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>.
## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{mag}, @var{w}] =} bodemag (@var{sys})
+## @deftypefn {Function File} bodemag (@var{sys})
+## @deftypefnx {Function File} bodemag (@var{sys1}, @var{sys2}, @dots{}, @var{sysN})
+## @deftypefnx {Function File} bodemag (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}, @var{w})
+## @deftypefnx {Function File} bodemag (@var{sys1}, @var{'style1'}, @dots{}, @var{sysN}, @var{'styleN'})
+## @deftypefnx {Function File} {[@var{mag}, @var{w}] =} bodemag (@var{sys})
## @deftypefnx {Function File} {[@var{mag}, @var{w}] =} bodemag (@var{sys}, @var{w})
## Bode magnitude diagram of frequency response. If no output arguments are given,
## the response is printed on the screen.
Modified: trunk/octave-forge/main/control/inst/nichols.m
===================================================================
--- trunk/octave-forge/main/control/inst/nichols.m 2012-09-14 21:33:53 UTC (rev 11024)
+++ trunk/octave-forge/main/control/inst/nichols.m 2012-09-15 07:07:18 UTC (rev 11025)
@@ -16,7 +16,11 @@
## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>.
## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{mag}, @var{pha}, @var{w}] =} nichols (@var{sys})
+## @deftypefn {Function File} nichols (@var{sys})
+## @deftypefnx {Function File} nichols (@var{sys1}, @var{sys2}, @dots{}, @var{sysN})
+## @deftypefnx {Function File} nichols (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}, @var{w})
+## @deftypefnx {Function File} nichols (@var{sys1}, @var{'style1'}, @dots{}, @var{sysN}, @var{'styleN'})
+## @deftypefnx {Function File} {[@var{mag}, @var{pha}, @var{w}] =} nichols (@var{sys})
## @deftypefnx {Function File} {[@var{mag}, @var{pha}, @var{w}] =} nichols (@var{sys}, @var{w})
## Nichols chart of frequency response. If no output arguments are given,
## the response is printed on the screen.
Modified: trunk/octave-forge/main/control/inst/nyquist.m
===================================================================
--- trunk/octave-forge/main/control/inst/nyquist.m 2012-09-14 21:33:53 UTC (rev 11024)
+++ trunk/octave-forge/main/control/inst/nyquist.m 2012-09-15 07:07:18 UTC (rev 11025)
@@ -16,7 +16,11 @@
## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>.
## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{re}, @var{im}, @var{w}] =} nyquist (@var{sys})
+## @deftypefn {Function File} nyquist (@var{sys})
+## @deftypefnx {Function File} nyquist (@var{sys1}, @var{sys2}, @dots{}, @var{sysN})
+## @deftypefnx {Function File} nyquist (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}, @var{w})
+## @deftypefnx {Function File} nyquist (@var{sys1}, @var{'style1'}, @dots{}, @var{sysN}, @var{'styleN'})
+## @deftypefnx {Function File} {[@var{re}, @var{im}, @var{w}] =} nyquist (@var{sys})
## @deftypefnx {Function File} {[@var{re}, @var{im}, @var{w}] =} nyquist (@var{sys}, @var{w})
## Nyquist diagram of frequency response. If no output arguments are given,
## the response is printed on the screen.
Modified: trunk/octave-forge/main/control/inst/pzmap.m
===================================================================
--- trunk/octave-forge/main/control/inst/pzmap.m 2012-09-14 21:33:53 UTC (rev 11024)
+++ trunk/octave-forge/main/control/inst/pzmap.m 2012-09-15 07:07:18 UTC (rev 11025)
@@ -17,6 +17,8 @@
## -*- texinfo -*-
## @deftypefn {Function File} pzmap (@var{sys})
+## @deftypefnx {Function File} pzmap (@var{sys1}, @var{sys2}, @dots{}, @var{sysN})
+## @deftypefnx {Function File} pzmap (@var{sys1}, @var{'style1'}, @dots{}, @var{sysN}, @var{'styleN'})
## @deftypefnx {Function File} {[@var{p}, @var{z}] =} pzmap (@var{sys})
## Plot the poles and zeros of an LTI system in the complex plane.
## If no output arguments are given, the result is plotted on the screen.
Modified: trunk/octave-forge/main/control/inst/sigma.m
===================================================================
--- trunk/octave-forge/main/control/inst/sigma.m 2012-09-14 21:33:53 UTC (rev 11024)
+++ trunk/octave-forge/main/control/inst/sigma.m 2012-09-15 07:07:18 UTC (rev 11025)
@@ -16,7 +16,11 @@
## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>.
## -*- texinfo -*-
-## @deftypefn{Function File} {[@var{sv}, @var{w}] =} sigma (@var{sys})
+## @deftypefn {Function File} sigma (@var{sys})
+## @deftypefnx {Function File} sigma (@var{sys1}, @var{sys2}, @dots{}, @var{sysN})
+## @deftypefnx {Function File} sigma (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}, @var{w})
+## @deftypefnx {Function File} sigma (@var{sys1}, @var{'style1'}, @dots{}, @var{sysN}, @var{'styleN'})
+## @deftypefnx{Function File} {[@var{sv}, @var{w}] =} sigma (@var{sys})
## @deftypefnx{Function File} {[@var{sv}, @var{w}] =} sigma (@var{sys}, @var{w})
## @deftypefnx{Function File} {[@var{sv}, @var{w}] =} sigma (@var{sys}, @var{[]}, @var{ptype})
## @deftypefnx{Function File} {[@var{sv}, @var{w}] =} sigma (@var{sys}, @var{w}, @var{ptype})
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|
|
From: <par...@us...> - 2012-09-15 11:15:56
|
Revision: 11026
http://octave.svn.sourceforge.net/octave/?rev=11026&view=rev
Author: paramaniac
Date: 2012-09-15 11:15:50 +0000 (Sat, 15 Sep 2012)
Log Message:
-----------
control: solve possible problem with inputname
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/pzmap.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 2012-09-15 07:07:18 UTC (rev 11025)
+++ trunk/octave-forge/main/control/inst/bode.m 2012-09-15 11:15:50 UTC (rev 11026)
@@ -77,7 +77,7 @@
len = numel (H);
mag_args = {};
pha_args = {};
- legend_args = cell (len, 1);
+ legend_args = {};
for k = 1:len
if (k == len)
@@ -88,7 +88,9 @@
style = varargin(style_idx(style_idx > sys_idx(k) & style_idx <= lim));
mag_args = cat (2, mag_args, w(k), mag_db(k), style);
pha_args = cat (2, pha_args, w(k), pha(k), style);
- legend_args{k} = inputname(sys_idx(k)); # watch out for bode (lticell{:})
+ try
+ legend_args = cat (2, legend_args, inputname(sys_idx(k))); # watch out for bode (lticell{:})
+ end_try_catch
endfor
subplot (2, 1, 1)
Modified: trunk/octave-forge/main/control/inst/bodemag.m
===================================================================
--- trunk/octave-forge/main/control/inst/bodemag.m 2012-09-15 07:07:18 UTC (rev 11025)
+++ trunk/octave-forge/main/control/inst/bodemag.m 2012-09-15 11:15:50 UTC (rev 11026)
@@ -73,7 +73,7 @@
len = numel (H);
mag_args = {};
- legend_args = cell (len, 1);
+ legend_args = {};
for k = 1:len
if (k == len)
@@ -83,7 +83,9 @@
endif
style = varargin(style_idx(style_idx > sys_idx(k) & style_idx <= lim));
mag_args = cat (2, mag_args, w(k), mag_db(k), style);
- legend_args{k} = inputname(sys_idx(k)); # watch out for bode (lticell{:})
+ try
+ legend_args = cat (2, legend_args, inputname(sys_idx(k))); # watch out for bodemag (lticell{:})
+ end_try_catch
endfor
semilogx (mag_args{:})
Modified: trunk/octave-forge/main/control/inst/nichols.m
===================================================================
--- trunk/octave-forge/main/control/inst/nichols.m 2012-09-15 07:07:18 UTC (rev 11025)
+++ trunk/octave-forge/main/control/inst/nichols.m 2012-09-15 11:15:50 UTC (rev 11026)
@@ -86,7 +86,11 @@
endif
style = varargin(style_idx(style_idx > sys_idx(k) & style_idx <= lim));
plot_args = cat (2, plot_args, pha(k), mag_db(k), style);
- legend_args{k} = inputname(sys_idx(k)); # watch out for nichols (lticell{:})
+ try
+ legend_args{k} = inputname(sys_idx(k));
+ catch
+ legend_args{k} = "";
+ end_try_catch
endfor
plot (plot_args{:})
Modified: trunk/octave-forge/main/control/inst/nyquist.m
===================================================================
--- trunk/octave-forge/main/control/inst/nyquist.m 2012-09-15 07:07:18 UTC (rev 11025)
+++ trunk/octave-forge/main/control/inst/nyquist.m 2012-09-15 11:15:50 UTC (rev 11026)
@@ -94,7 +94,11 @@
pos_args = cat (2, pos_args, re{k}, im{k}, style);
neg_args = cat (2, neg_args, re{k}, -im{k}, style);
endif
- legend_args{k} = inputname(sys_idx(k));
+ try
+ legend_args{k} = inputname(sys_idx(k));
+ catch
+ legend_args{k} = "";
+ end_try_catch
endfor
## FIXME: pos_args = cat (2, pos_args, re{k}, im{k}, {"-", "color", col}, style);
Modified: trunk/octave-forge/main/control/inst/pzmap.m
===================================================================
--- trunk/octave-forge/main/control/inst/pzmap.m 2012-09-15 07:07:18 UTC (rev 11025)
+++ trunk/octave-forge/main/control/inst/pzmap.m 2012-09-15 11:15:50 UTC (rev 11026)
@@ -86,11 +86,14 @@
pol_args = cat (2, pol_args, pol_re{k}, pol_im{k}, style);
zer_args = cat (2, zer_args, zer_re{k}, zer_im{k}, style);
endif
+ try
+ legend_args{k} = inputname(sys_idx(k));
+ catch
+ legend_args{k} = "";
+ end_try_catch
+ endfor
- ## FIXME: try to combine "x", "o" and style for custom colors
-
- legend_args{k} = inputname(sys_idx(k));
- endfor
+ ## FIXME: try to combine "x", "o" and style for custom colors
h = plot (pol_args{:}, zer_args{:});
grid ("on")
Modified: trunk/octave-forge/main/control/inst/sigma.m
===================================================================
--- trunk/octave-forge/main/control/inst/sigma.m 2012-09-15 07:07:18 UTC (rev 11025)
+++ trunk/octave-forge/main/control/inst/sigma.m 2012-09-15 11:15:50 UTC (rev 11026)
@@ -106,7 +106,11 @@
else
plot_args = cat (2, plot_args, w(k), sv_db(k), style);
endif
- legend_args{k} = inputname(sys_idx(k)); # watch out for sigma (lticell{:})
+ try
+ legend_args{k} = inputname(sys_idx(k)); # watch out for sigma (lticell{:})
+ catch
+ legend_args{k} = "";
+ end_try_catch
endfor
## adjust line colors in legend
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2012-09-22 10:23:30
|
Revision: 11074
http://octave.svn.sourceforge.net/octave/?rev=11074&view=rev
Author: paramaniac
Date: 2012-09-22 10:23:23 +0000 (Sat, 22 Sep 2012)
Log Message:
-----------
control: move multiplot time response into place
Modified Paths:
--------------
trunk/octave-forge/main/control/inst/__time_response__.m
trunk/octave-forge/main/control/inst/step.m
Modified: trunk/octave-forge/main/control/inst/__time_response__.m
===================================================================
--- trunk/octave-forge/main/control/inst/__time_response__.m 2012-09-22 10:14:12 UTC (rev 11073)
+++ trunk/octave-forge/main/control/inst/__time_response__.m 2012-09-22 10:23:23 UTC (rev 11074)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009, 2010 Lukas F. Reichlin
+## Copyright (C) 2009, 2010, 2012 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -20,241 +20,350 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
-## Version: 0.2
+## Version: 0.3
-function [y, t, x_arr] = __time_response__ (sys, resptype, plotflag, tfinal, dt, x0, sysname)
+function [y, t, x] = __time_response__ (response, args, sysname, plotflag)
- if (! isa (sys, "ss"))
- sys = ss (sys); # sys must be proper
- endif
+ sys_idx = find (cellfun (@isa, args, {"lti"})); # look for LTI models, 'find' needed for plot styles
+ sys_cell = cellfun (@ss, args(sys_idx), "uniformoutput", false); # convert to state-space
- if (is_real_vector (tfinal) && length (tfinal) > 1) # time vector t passed
- dt = tfinal(2) - tfinal(1); # assume that t is regularly spaced
- tfinal = tfinal(end);
+ if (! size_equal (sys_cell{:}))
+ error ("%s: models must have equal sizes", response);
endif
- [A, B, C, D, tsam] = ssdata (sys);
+ vec_idx = find (cellfun (@is_real_matrix, args)); # indices of vector arguments
+ n_vec = length (vec_idx); # number of vector arguments
+ n_sys = length (sys_cell); # number of LTI systems
- discrete = ! isct (sys); # static gains are treated as analog systems
- tsam = abs (tsam); # use 1 second if tsam is unspecified (-1)
+ tfinal = [];
+ dt = [];
+ x0 = [];
- if (discrete)
- if (! isempty (dt))
- warning ("time_response: argument dt has no effect on sampling time of discrete system");
+ ## extract tfinal/t, dt, x0 from args
+ if (strcmpi (response, "initial"))
+ if (n_vec < 1)
+ error ("initial: require initial state vector 'x0'");
+ else # initial state vector x0 specified
+ arg = args{vec_idx(1)};
+ if (is_real_vector (arg))
+ x0 = arg;
+ else
+ error ("initial: initial state vector 'x0' must be a vector of real values");
+ endif
+ if (n_vec > 1) # tfinal or time vector t specified
+ arg = args{vec_idx(2)};
+ if (issample (arg))
+ tfinal = arg;
+ elseif (isempty (arg))
+ ## tfinal = []; # nothing to do here
+ elseif (is_real_vector (arg))
+ dt = abs (arg(2) - arg(1)); # assume that t is regularly spaced
+ tfinal = arg(end);
+ else
+ warning ("initial: argument number %d ignored", vec_idx(2));
+ endif
+ if (n_vec > 2) # sampling time dt specified
+ arg = args{vec_idx(3)};
+ if (issample (arg))
+ dt = arg;
+ else
+ warning ("initial: argument number %d ignored", vec_idx(3));
+ endif
+ if (n_vec > 3)
+ warning ("initial: ignored");
+ endif
+ endif
+ endif
+ endif
+ else # step or impulse response
+ if (n_vec > 0) # tfinal or time vector t specified
+ arg = args{vec_idx(1)};
+ if (issample (arg))
+ tfinal = arg;
+ elseif (isempty (arg))
+ ## tfinal = []; # nothing to do here
+ elseif (is_real_vector (arg))
+ dt = abs (arg(2) - arg(1)); # assume that t is regularly spaced
+ tfinal = arg(end);
+ else
+ warning ("%s: argument number %d ignored", response, vec_idx(1));
+ endif
+ if (n_vec > 1) # sampling time dt specified
+ arg = args{vec_idx(2)};
+ if (issample (arg))
+ dt = arg;
+ else
+ warning ("%s: argument number %d ignored", response, vec_idx(2));
+ endif
+ if (n_vec > 2)
+ warning ("%s: ignored", response);
+ endif
+ endif
endif
-
- dt = tsam;
endif
+ ## TODO: share common code between initial and step/impulse
- [tfinal, dt] = __sim_horizon__ (A, discrete, tfinal, dt);
+ [tfinal, dt] = cellfun (@__sim_horizon__, sys_cell, {tfinal}, {dt}, "uniformoutput", false);
+ tfinal = max ([tfinal{:}]);
- if (! discrete)
- sys = c2d (sys, dt, "zoh");
- endif
+ ct_idx = cellfun (@isct, sys_cell);
+ sys_dt_cell = sys_cell;
+ tmp = cellfun (@c2d, sys_cell(ct_idx), dt(ct_idx), {"zoh"}, "uniformoutput", false);
+ sys_dt_cell(ct_idx) = tmp;
- [F, G] = ssdata (sys); # matrices C and D don't change
+ ## time vector
+ t = @cellfun (@(dt) reshape (0 : dt : tfinal, [], 1), dt, "uniformoutput", false);
- n = rows (F); # number of states
- m = columns (G); # number of inputs
- p = rows (C); # number of outputs
+ ## function [y, x_arr] = __initial_response__ (sys, sys_dt, t, x0)
+ ## function [y, x_arr] = __step_response__ (sys_dt, t)
+ ## function [y, x_arr] = __impulse_response__ (sys, sys_dt, t)
- ## time vector
- t = reshape (0 : dt : tfinal, [], 1);
- l_t = length (t);
-
- switch (resptype)
+ switch (response)
case "initial"
- str = ["Response of ", sysname, " to Initial Conditions"];
- yfinal = zeros (p, 1);
+ [y, x] = cellfun (@__initial_response__, sys_dt_cell, t, {x0}, "uniformoutput", false);
+ case "step"
+ [y, x] = cellfun (@__step_response__, sys_dt_cell, t, "uniformoutput", false);
+ case "impulse"
+ [y, x] = cellfun (@__impulse_response__, sys_cell, sys_dt_cell, t, "uniformoutput", false);
+ otherwise
+ error ("time_response: invalid response type");
+ endswitch
- ## preallocate memory
- y = zeros (l_t, p);
- x_arr = zeros (l_t, n);
- ## initial conditions
- x = reshape (x0, [], 1); # make sure that x is a column vector
-
- if (n != length (x0) || ! is_real_vector (x0))
- error ("initial: x0 must be a real vector with %d elements", n);
+ if (plotflag) # display plot
+ [p, m] = size (sys_cell{1});
+ switch (response)
+ case "initial"
+ str = "Response to Initial Conditions";
+ cols = 1;
+ ## yfinal = zeros (p, 1);
+ case "step"
+ str = "Step Response";
+ cols = m;
+ ## yfinal = dcgain (sys_cell{1});
+ case "impulse"
+ str = "Impulse Response";
+ cols = m;
+ ## yfinal = zeros (p, m);
+ otherwise
+ error ("time_response: invalid response type");
+ endswitch
+
+ style_idx = find (cellfun (@ischar, args));
+ outname = get (sys_cell{end}, "outname");
+ outname = __labels__ (outname, "y");
+ colororder = get (gca, "colororder");
+ rc = rows (colororder);
+
+ for k = 1 : n_sys # for every system
+ if (k == n_sys)
+ lim = numel (args);
+ else
+ lim = sys_idx(k+1);
endif
+ style = args(style_idx(style_idx > sys_idx(k) & style_idx <= lim));
+ if (isempty (style))
+ color = colororder(1+rem (k-1, rc), :);
+ style = {"color", color};
+ endif
+ discrete = ! ct_idx(k);
+ if (discrete) # discrete-time system
+ for i = 1 : p # for every output
+ for j = 1 : cols # for every input (except for initial where cols=1)
+ subplot (p, cols, (i-1)*cols+j);
+ stairs (t{k}, y{k}(:, i, j), style{:});
+ hold on;
+ grid on;
+ if (k == n_sys)
+ axis tight;
+ ylim (__axis_margin__ (ylim))
+ if (j == 1)
+ ylabel (outname{i});
+ if (i == 1)
+ title (str);
+ endif
+ endif
+ endif
+ endfor
+ endfor
+ else # continuous-time system
+ for i = 1 : p # for every output
+ for j = 1 : cols # for every input (except for initial where cols=1)
+ subplot (p, cols, (i-1)*cols+j);
+ ##if (n_sys == 1 && isstable (sys_cell{1}))
+ ## plot (t{k}, y{k}(:, i, j), style{:}, [t{k}(1), t{k}(end)], repmat (yfinal(i,j), 1, 2));
+ ## ## TODO: plot final value first such that its line doesn't overprint the response
+ ##else
+ plot (t{k}, y{k}(:, i, j), style{:});
+ ##endif
+ hold on;
+ grid on;
+ if (k == n_sys)
+ axis tight
+ ylim (__axis_margin__ (ylim))
+ if (j == 1)
+ ylabel (outname{i});
+ if (i == 1)
+ title (str);
+ endif
+ endif
+ endif
+ endfor
+ endfor
+ endif
+ endfor
+ xlabel ("Time [s]");
+ if (p == 1 && m == 1)
+ legend (sysname)
+ endif
+ hold off;
+ endif
- ## simulation
- for k = 1 : l_t
- y(k, :) = C * x;
- x_arr(k, :) = x;
- x = F * x;
- endfor
+endfunction
- case "step"
- str = ["Step Response of ", sysname];
- yfinal = dcgain (sys);
- ## preallocate memory
- y = zeros (l_t, p, m);
- x_arr = zeros (l_t, n, m);
+function [y, x_arr] = __initial_response__ (sys_dt, t, x0)
- for j = 1 : m # for every input channel
- ## initial conditions
- x = zeros (n, 1);
- u = zeros (m, 1);
- u(j) = 1;
+ [F, G, C, D] = ssdata (sys_dt); # system must be proper
- ## simulation
- for k = 1 : l_t
- y(k, :, j) = C * x + D * u;
- x_arr(k, :, j) = x;
- x = F * x + G * u;
- endfor
- endfor
+ n = rows (F); # number of states
+ m = columns (G); # number of inputs
+ p = rows (C); # number of outputs
+ l_t = length (t);
- case "impulse"
- str = ["Impulse Response of ", sysname];
- yfinal = zeros (p, m);
+ ## preallocate memory
+ y = zeros (l_t, p);
+ x_arr = zeros (l_t, n);
- ## preallocate memory
- y = zeros (l_t, p, m);
- x_arr = zeros (l_t, n, m);
+ ## initial conditions
+ x = reshape (x0, [], 1); # make sure that x is a column vector
- for j = 1 : m # for every input channel
- ## initial conditions
- u = zeros (m, 1);
- u(j) = 1;
+ if (n != length (x0) || ! is_real_vector (x0))
+ error ("initial: x0 must be a real vector with %d elements", n);
+ endif
- if (discrete)
- x = zeros (n, 1); # zero by definition
- y(1, :, j) = D * u / dt;
- x_arr(1, :, j) = x;
- x = G * u / dt;
- else
- x = B * u; # B, not G!
- y(1, :, j) = C * x;
- x_arr(1, :, j) = x;
- x = F * x;
- endif
+ ## simulation
+ for k = 1 : l_t
+ y(k, :) = C * x;
+ x_arr(k, :) = x;
+ x = F * x;
+ endfor
- ## simulation
- for k = 2 : l_t
- y (k, :, j) = C * x;
- x_arr(k, :, j) = x;
- x = F * x;
- endfor
- endfor
-
- if (discrete)
- y *= dt;
- x_arr *= dt;
- endif
-
- otherwise
- error ("time_response: invalid response type");
-
- endswitch
-
+endfunction
- if (plotflag) # display plot
- ## TODO: Set correct titles, especially for multi-input systems
+function [y, x_arr] = __step_response__ (sys_dt, t)
- stable = isstable (sys);
- outname = get (sys, "outname");
- outname = __labels__ (outname, "y_");
+ [F, G, C, D] = ssdata (sys_dt); # system must be proper
- if (strcmp (resptype, "initial"))
- cols = 1;
- else
- cols = m;
- endif
+ n = rows (F); # number of states
+ m = columns (G); # number of inputs
+ p = rows (C); # number of outputs
+ l_t = length (t);
- if (discrete) # discrete system
- for k = 1 : p
- for j = 1 : cols
+ ## preallocate memory
+ y = zeros (l_t, p, m);
+ x_arr = zeros (l_t, n, m);
- subplot (p, cols, (k-1)*cols+j);
+ for j = 1 : m # for every input channel
+ ## initial conditions
+ x = zeros (n, 1);
+ u = zeros (m, 1);
+ u(j) = 1;
- if (stable)
- stairs (t, [y(:, k, j), yfinal(k, j) * ones(l_t, 1)]);
- else
- stairs (t, y(:, k, j));
- endif
+ ## simulation
+ for k = 1 : l_t
+ y(k, :, j) = C * x + D * u;
+ x_arr(k, :, j) = x;
+ x = F * x + G * u;
+ endfor
+ endfor
- grid ("on");
+endfunction
- if (k == 1 && j == 1)
- title (str);
- endif
- if (j == 1)
- ylabel (sprintf ("Amplitude %s", outname{k}));
- endif
+function [y, x_arr] = __impulse_response__ (sys, sys_dt, t)
- endfor
- endfor
+ [~, B] = ssdata (sys);
+ [F, G, C, D, dt] = ssdata (sys_dt); # system must be proper
+ dt = abs (dt); # use 1 second if tsam is unspecified (-1)
+ discrete = ! isct (sys);
- xlabel ("Time [s]");
+ n = rows (F); # number of states
+ m = columns (G); # number of inputs
+ p = rows (C); # number of outputs
+ l_t = length (t);
- else # continuous system
- for k = 1 : p
- for j = 1 : cols
+ ## preallocate memory
+ y = zeros (l_t, p, m);
+ x_arr = zeros (l_t, n, m);
- subplot (p, cols, (k-1)*cols+j);
+ for j = 1 : m # for every input channel
+ ## initial conditions
+ u = zeros (m, 1);
+ u(j) = 1;
- if (stable)
- plot (t, [y(:, k, j), yfinal(k, j) * ones(l_t, 1)]);
- else
- plot (t, y(:, k, j));
- endif
+ if (discrete)
+ x = zeros (n, 1); # zero by definition
+ y(1, :, j) = D * u / dt;
+ x_arr(1, :, j) = x;
+ x = G * u / dt;
+ else
+ x = B * u; # B, not G!
+ y(1, :, j) = C * x;
+ x_arr(1, :, j) = x;
+ x = F * x;
+ endif
- grid ("on");
+ ## simulation
+ for k = 2 : l_t
+ y (k, :, j) = C * x;
+ x_arr(k, :, j) = x;
+ x = F * x;
+ endfor
+ endfor
- if (k == 1 && j == 1)
- title (str);
- endif
-
- if (j == 1)
- ylabel (sprintf ("Amplitude %s", outname{k}));
- endif
-
- endfor
- endfor
-
- xlabel ("Time [s]");
-
- endif
+ if (discrete)
+ y *= dt;
+ x_arr *= dt;
endif
endfunction
-function [tfinal, dt] = __sim_horizon__ (A, discrete, tfinal, Ts)
+function [tfinal, dt] = __sim_horizon__ (sys, tfinal, Ts)
## code based on __stepimp__.m of Kai P. Mueller and A. Scottedward Hodel
- TOL = 1.0e-10; # values below TOL are assumed to be zero
- N_MIN = 50; # min number of points
- N_MAX = 2000; # max number of points
- N_DEF = 1000; # default number of points
- T_DEF = 10; # default simulation time
+ TOL = 1.0e-10; # values below TOL are assumed to be zero
+ N_MIN = 50; # min number of points
+ N_MAX = 2000; # max number of points
+ N_DEF = 1000; # default number of points
+ T_DEF = 10; # default simulation time
- n = rows (A);
- eigw = eig (A);
+ ev = pole (sys);
+ n = length (ev); # number of states/poles
+ continuous = isct (sys);
+ discrete = ! continuous;
if (discrete)
+ dt = Ts = abs (get (sys, "tsam"));
## perform bilinear transformation on poles in z
for k = 1 : n
- pol = eigw(k);
+ pol = ev(k);
if (abs (pol + 1) < TOL)
- eigw(k) = 0;
+ ev(k) = 0;
else
- eigw(k) = 2 / Ts * (pol - 1) / (pol + 1);
+ ev(k) = 2 / Ts * (pol - 1) / (pol + 1);
endif
endfor
endif
- ## remove poles near zero from eigenvalue array eigw
+ ## remove poles near zero from eigenvalue array ev
nk = n;
for k = 1 : n
- if (abs (real (eigw(k))) < TOL)
- eigw(k) = 0;
+ if (abs (real (ev(k))) < TOL)
+ ev(k) = 0;
nk -= 1;
endif
endfor
@@ -264,27 +373,27 @@
tfinal = T_DEF;
endif
- if (! discrete)
+ if (continuous)
dt = tfinal / N_DEF;
endif
else
- eigw = eigw(find (eigw));
- eigw_max = max (abs (eigw));
+ ev = ev(find (ev));
+ ev_max = max (abs (ev));
- if (! discrete)
- dt = 0.2 * pi / eigw_max;
+ if (continuous)
+ dt = 0.2 * pi / ev_max;
endif
if (isempty (tfinal))
- eigw_min = min (abs (real (eigw)));
- tfinal = 5.0 / eigw_min;
+ ev_min = min (abs (real (ev)));
+ tfinal = 5.0 / ev_min;
## round up
yy = 10^(ceil (log10 (tfinal)) - 1);
tfinal = yy * ceil (tfinal / yy);
endif
- if (! discrete)
+ if (continuous)
N = tfinal / dt;
if (N < N_MIN)
@@ -297,7 +406,7 @@
endif
endif
- if (! isempty (Ts)) # catch case cont. system with dt specified
+ if (continuous && ! isempty (Ts)) # catch case cont. system with dt specified
dt = Ts;
endif
Modified: trunk/octave-forge/main/control/inst/step.m
===================================================================
--- trunk/octave-forge/main/control/inst/step.m 2012-09-22 10:14:12 UTC (rev 11073)
+++ trunk/octave-forge/main/control/inst/step.m 2012-09-22 10:23:23 UTC (rev 11074)
@@ -1,4 +1,4 @@
-## Copyright (C) 2009 Lukas F. Reichlin
+## Copyright (C) 2009, 2012 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -54,22 +54,35 @@
## Author: Lukas Reichlin <luk...@gm...>
## Created: October 2009
-## Version: 0.1
+## Version: 0.2
-function [y_r, t_r, x_r] = step (sys, tfinal = [], dt = [])
+function [y_r, t_r, x_r] = step2 (varargin)
- ## TODO: multiplot feature: step (sys1, "b", sys2, "r", ...)
-
- if (nargin == 0 || nargin > 3)
+ if (nargin == 0)
print_usage ();
endif
- [y, t, x] = __time_response__ (sys, "step", ! nargout, tfinal, dt, [], inputname (1));
+ if (nargout)
+ sysname = {};
+ else
+ sys_idx = find (cellfun (@isa, varargin, {"lti"}));
+ len = length (sys_idx);
+ sysname = cell (len, 1);
+ for k = 1 : len
+ try
+ sysname{k} = inputname(sys_idx(k));
+ catch
+ sysname{k} = "";
+ end_try_catch
+ endfor
+ endif
+ [y, t, x] = __time_response_2__ ("step", varargin, sysname, ! nargout);
+
if (nargout)
- y_r = y;
- t_r = t;
- x_r = x;
+ y_r = y{1};
+ t_r = t{1};
+ x_r = x{1};
endif
endfunction
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