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From: <par...@us...> - 2010-10-05 07:44:59
|
Revision: 7803
http://octave.svn.sourceforge.net/octave/?rev=7803&view=rev
Author: paramaniac
Date: 2010-10-05 07:44:52 +0000 (Tue, 05 Oct 2010)
Log Message:
-----------
control: add compatibility notes
Modified Paths:
--------------
trunk/octave-forge/main/control/devel/makefile_chol.m
trunk/octave-forge/main/control/devel/makefile_h2syn.m
trunk/octave-forge/main/control/devel/makefile_hankel.m
trunk/octave-forge/main/control/devel/makefile_hinfsyn.m
trunk/octave-forge/main/control/devel/makefile_lqr.m
trunk/octave-forge/main/control/devel/makefile_lyap.m
trunk/octave-forge/main/control/devel/makefile_minreal.m
trunk/octave-forge/main/control/devel/makefile_norm.m
trunk/octave-forge/main/control/devel/makefile_place.m
trunk/octave-forge/main/control/devel/makefile_staircase.m
trunk/octave-forge/main/control/devel/makefile_zero.m
Modified: trunk/octave-forge/main/control/devel/makefile_chol.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_chol.m 2010-10-05 06:29:05 UTC (rev 7802)
+++ trunk/octave-forge/main/control/devel/makefile_chol.m 2010-10-05 07:44:52 UTC (rev 7803)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
Modified: trunk/octave-forge/main/control/devel/makefile_h2syn.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_h2syn.m 2010-10-05 06:29:05 UTC (rev 7802)
+++ trunk/octave-forge/main/control/devel/makefile_h2syn.m 2010-10-05 07:44:52 UTC (rev 7803)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
Modified: trunk/octave-forge/main/control/devel/makefile_hankel.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_hankel.m 2010-10-05 06:29:05 UTC (rev 7802)
+++ trunk/octave-forge/main/control/devel/makefile_hankel.m 2010-10-05 07:44:52 UTC (rev 7803)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
Modified: trunk/octave-forge/main/control/devel/makefile_hinfsyn.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_hinfsyn.m 2010-10-05 06:29:05 UTC (rev 7802)
+++ trunk/octave-forge/main/control/devel/makefile_hinfsyn.m 2010-10-05 07:44:52 UTC (rev 7803)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
Modified: trunk/octave-forge/main/control/devel/makefile_lqr.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_lqr.m 2010-10-05 06:29:05 UTC (rev 7802)
+++ trunk/octave-forge/main/control/devel/makefile_lqr.m 2010-10-05 07:44:52 UTC (rev 7803)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
Modified: trunk/octave-forge/main/control/devel/makefile_lyap.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_lyap.m 2010-10-05 06:29:05 UTC (rev 7802)
+++ trunk/octave-forge/main/control/devel/makefile_lyap.m 2010-10-05 07:44:52 UTC (rev 7803)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
Modified: trunk/octave-forge/main/control/devel/makefile_minreal.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_minreal.m 2010-10-05 06:29:05 UTC (rev 7802)
+++ trunk/octave-forge/main/control/devel/makefile_minreal.m 2010-10-05 07:44:52 UTC (rev 7803)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
Modified: trunk/octave-forge/main/control/devel/makefile_norm.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_norm.m 2010-10-05 06:29:05 UTC (rev 7802)
+++ trunk/octave-forge/main/control/devel/makefile_norm.m 2010-10-05 07:44:52 UTC (rev 7803)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
Modified: trunk/octave-forge/main/control/devel/makefile_place.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_place.m 2010-10-05 06:29:05 UTC (rev 7802)
+++ trunk/octave-forge/main/control/devel/makefile_place.m 2010-10-05 07:44:52 UTC (rev 7803)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
Modified: trunk/octave-forge/main/control/devel/makefile_staircase.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_staircase.m 2010-10-05 06:29:05 UTC (rev 7802)
+++ trunk/octave-forge/main/control/devel/makefile_staircase.m 2010-10-05 07:44:52 UTC (rev 7803)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
Modified: trunk/octave-forge/main/control/devel/makefile_zero.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_zero.m 2010-10-05 06:29:05 UTC (rev 7802)
+++ trunk/octave-forge/main/control/devel/makefile_zero.m 2010-10-05 07:44:52 UTC (rev 7803)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2010-10-05 20:23:55
|
Revision: 7804
http://octave.svn.sourceforge.net/octave/?rev=7804&view=rev
Author: paramaniac
Date: 2010-10-05 20:23:48 +0000 (Tue, 05 Oct 2010)
Log Message:
-----------
control: add documentation
Added Paths:
-----------
trunk/octave-forge/main/control/devel/INFO
trunk/octave-forge/main/control/devel/PROJECTS
trunk/octave-forge/main/control/devel/RELEASE_PACKAGE
Added: trunk/octave-forge/main/control/devel/INFO
===================================================================
--- trunk/octave-forge/main/control/devel/INFO (rev 0)
+++ trunk/octave-forge/main/control/devel/INFO 2010-10-05 20:23:48 UTC (rev 7804)
@@ -0,0 +1,3 @@
+With the current Makefile, the folder "devel" and its content
+is ignored by "pkg install". The folder is intended for draft
+code and other stuff which is not suitable for "normal" users.
\ No newline at end of file
Added: trunk/octave-forge/main/control/devel/PROJECTS
===================================================================
--- trunk/octave-forge/main/control/devel/PROJECTS (rev 0)
+++ trunk/octave-forge/main/control/devel/PROJECTS 2010-10-05 20:23:48 UTC (rev 7804)
@@ -0,0 +1,80 @@
+<html>
+<pre>
+Control PROJECTS -*- text -*-
+================
+
+grep FIXME and/or TODO for more information
+
+
+-------
+General:
+-------
+
+ * Multiplot feature for time and frequency response functions.
+ sigma (sys1, sys2, ...), step (sys1, "b", sys2, "r", ...)
+
+ * Improve c2d, e.g. "tustin" option.
+
+ * Implement d2c.
+
+ * Improve @lti/subsasgn.m
+
+ * Improve @lti/parallel.m
+
+ * n-th order approximation of time delay exp (tau*s)
+ sys = pade (tau, n)
+
+ * Implement frd models (easy) and adapt __frequency_response__.m
+
+ * Implement zpk models (harder) and @zpset similar to @tfpoly.
+
+ * SLICOT model and controller reduction. Separate control-reduction package?
+
+ * SLICOT system identification. Separate control-identification package?
+
+------------------
+State-Space Models:
+------------------
+
+ * Fix poles of descriptor models (@ss/__pole__.m)
+
+ * Fix gain of descriptor models (slag08bd.cc)
+
+ * Scaling: TB01ID/TD (ss) and TG01AD (dss) ?
+
+ * Balancing: TB01TD ?
+
+ * Use SLICOT for @ss/__sys2tf__.m
+
+ * Prescaling for __freqresp__.m ?
+
+------------------------
+Transfer Function Models:
+------------------------
+
+ * Support "z^-1" as tfvar (@tf and @tfpoly)
+
+ * MIMO tf interconnections (@tf/__sys_connect__.m)
+
+ * Use SLICOT for tf2ss conversion (@tf/__sys2ss__.m)
+
+ * Implement c2d conversion (@tf/__c2d__.m)
+
+------
+Always:
+------
+
+ * Squash bugs.
+
+ * Write/improve documentation. If you implement a feature without documentation,
+ nobody besides you will ever use it! Don't waste your time :-)
+
+ * Add tests.
+
+ * Test the control package on different platforms.
+
+ * Compare results to those from other free and non-free implementations of an
+ Octave-like language.
+
+</pre>
+</html>
\ No newline at end of file
Added: trunk/octave-forge/main/control/devel/RELEASE_PACKAGE
===================================================================
--- trunk/octave-forge/main/control/devel/RELEASE_PACKAGE (rev 0)
+++ trunk/octave-forge/main/control/devel/RELEASE_PACKAGE 2010-10-05 20:23:48 UTC (rev 7804)
@@ -0,0 +1,47 @@
+=====================================================================================
+Prepare control-2.0 Package for Release
+=====================================================================================
+USAGE: * update version number in the commands below
+ * copy-paste entire block at once to the terminal
+ * <http://octave.sourceforge.net/developers.html>
+
+TODO: * create a nice shell script for this task
+=====================================================================================
+
+cd
+mkdir ~/octave/__TEMP__
+cd
+svn export control ~/octave/__TEMP__/control
+rm -R ~/octave/__TEMP__/control/devel
+cd ~/octave/__TEMP__
+grep -i version control/DESCRIPTION
+tar czf control-2.0.0.tar.gz control/
+md5 control-2.0.0.tar.gz
+md5 control-2.0.0.tar.gz > md5_control_pkg.txt
+uuencode control-2.0.0.tar.gz < control-2.0.0.tar.gz > control-2.0.0.tar.gz.uue
+octave -q --eval \
+"pkg install control-2.0.0.tar.gz"
+octave -q --eval \
+"pkg load generate_html; generate_package_html ('control', 'control-html', 'octave-forge')"
+tar czf control-html.tar.gz control-html
+md5 control-html.tar.gz
+md5 control-html.tar.gz > md5_control_html.txt
+uuencode control-html.tar.gz < control-html.tar.gz > control-html.tar.gz.uue
+
+
+=====================================================================================
+Aftermath
+=====================================================================================
+
+rm -R ~/octave/__TEMP__
+rm -R ~/octave/control-2.0.0
+
+
+=====================================================================================
+Clean up after makefile_*.m
+=====================================================================================
+
+rm ~/control/src/*.o
+
+
+=====================================================================================
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|
|
From: <par...@us...> - 2010-10-08 22:17:26
|
Revision: 7818
http://octave.svn.sourceforge.net/octave/?rev=7818&view=rev
Author: paramaniac
Date: 2010-10-08 22:17:19 +0000 (Fri, 08 Oct 2010)
Log Message:
-----------
control: add FRD models in a very early development stage
Added Paths:
-----------
trunk/octave-forge/main/control/devel/@frd/
trunk/octave-forge/main/control/devel/@frd/display.m
trunk/octave-forge/main/control/devel/@frd/frd.m
trunk/octave-forge/main/control/devel/__frd_dim__.m
trunk/octave-forge/main/control/devel/frd_test.m
Added: trunk/octave-forge/main/control/devel/@frd/display.m
===================================================================
--- trunk/octave-forge/main/control/devel/@frd/display.m (rev 0)
+++ trunk/octave-forge/main/control/devel/@frd/display.m 2010-10-08 22:17:19 UTC (rev 7818)
@@ -0,0 +1,49 @@
+## Copyright (C) 2010 Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## Display routine for SS objects.
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: February 2010
+## Version: 0.1
+
+function display (sys)
+
+ [inname, outname, tsam] = __lti_data__ (sys.lti);
+
+ [inname, m] = __labels__ (inname, "u");
+ [outname, p] = __labels__ (outname, "y");
+
+ disp ("");
+
+ disp (["Frequency response """, inputname(1), """ from input "]);
+
+ sys.H
+ sys.w
+
+ display (sys.lti); # display sampling time
+
+ if (tsam == -1)
+ disp ("Static gain.");
+ elseif (tsam == 0)
+ disp ("Continuous-time model.");
+ else
+ disp ("Discrete-time model.");
+ endif
+
+endfunction
Added: trunk/octave-forge/main/control/devel/@frd/frd.m
===================================================================
--- trunk/octave-forge/main/control/devel/@frd/frd.m (rev 0)
+++ trunk/octave-forge/main/control/devel/@frd/frd.m 2010-10-08 22:17:19 UTC (rev 7818)
@@ -0,0 +1,93 @@
+## Copyright (C) 2010 Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} {@var{sys} =} frd (@var{sys}, @var{w})
+## @deftypefnx {Function File} {@var{sys} =} frd (@var{H}, @var{w})
+## @deftypefnx {Function File} {@var{sys} =} frd (@var{H}, @var{w}, @var{tsam})
+## Create or convert to frequency response data.
+## @end deftypefn
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: February 2010
+## Version: 0.1
+
+function sys = frd (H = [], w = [], varargin)
+
+ ## model precedence: frd > ss > zpk > tf > double
+ superiorto ("ss", "zpk", "tf", "double");
+
+ argc = 0;
+
+ switch (nargin)
+ case 0
+ tsam = -1;
+
+ case 1
+ if (isa (H, "frd")) # already in frd form
+ sys = H;
+ return;
+ else
+ print_usage ();
+ endif
+
+ case 2
+ if (isa (H, "lti")) # another lti object
+ [sys, alti] = __sys2frd__ (H, w);
+ sys.lti = alti; # preserve lti properties
+ return;
+ else # sys = frd (H, w)
+ tsam = 0;
+ endif
+
+ otherwise # default case
+ argc = numel (varargin);
+
+ if (issample (varargin{1}, 1)) # sys = frd (H, w, tsam, "prop1, "val1", ...)
+ tsam = varargin{1};
+ argc--;
+ if (argc > 0)
+ varargin = varargin(2:end);
+ endif
+ else # sys = frd (H, w, "prop1, "val1", ...)
+ tsam = 0;
+ endif
+
+ endswitch
+
+ if (ndims (H) != 3 && ! isempty (H))
+ H = reshape (H, 1, 1, []);
+ elseif (isempty (H))
+ H = zeros (0, 0, 0);
+ tsam = -1;
+ endif
+
+ w = reshape (w, [], 1);
+
+ [p, m] = __frd_dim__ (H, w);
+
+ frdata = struct ("H", H, "w", w);
+
+ ltisys = lti (p, m, tsam);
+
+ sys = class (frdata, "frd", ltisys);
+
+ if (argc > 0)
+ sys = set (sys, varargin{:});
+ endif
+
+endfunction
Added: trunk/octave-forge/main/control/devel/__frd_dim__.m
===================================================================
--- trunk/octave-forge/main/control/devel/__frd_dim__.m (rev 0)
+++ trunk/octave-forge/main/control/devel/__frd_dim__.m 2010-10-08 22:17:19 UTC (rev 7818)
@@ -0,0 +1,49 @@
+## Copyright (C) 2010 Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## Number of outputs and inputs of transfer function numerator and
+## denominator. For internal use only.
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: February 2010
+## Version: 0.1
+
+function [p, m, l] = __frd_dim__ (H, w)
+
+ if (! isnumeric (H)) # TODO: watch out for __set__ vector case
+ error ("frd: H must be a 3-dimensional numeric array");
+ endif
+
+ if (! isempty (w) && (! is_real_vector (w) || any (w < 0)))
+ error ("frd: w must be a vector of positive real numbers");
+ endif
+
+ if (isempty (H))
+ p = m = l = 0;
+ else
+ [p, m, l] = size (H);
+ endif
+
+ lw = length (w);
+
+ if (l != lw)
+ error ("frd: H (%dx%dx%d) and w (%d) must have equal length",
+ p, m, l, lw);
+ endif
+
+endfunction
\ No newline at end of file
Added: trunk/octave-forge/main/control/devel/frd_test.m
===================================================================
--- trunk/octave-forge/main/control/devel/frd_test.m (rev 0)
+++ trunk/octave-forge/main/control/devel/frd_test.m 2010-10-08 22:17:19 UTC (rev 7818)
@@ -0,0 +1,9 @@
+sys = frd (1, 1)
+
+sys = frd (2+5i, 3, 0.1)
+
+sys = frd (ones (2, 3, 5), 1:5)
+
+frd
+
+frd ([], [])
\ No newline at end of file
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|
|
From: <par...@us...> - 2010-10-08 19:53:23
|
Revision: 7817
http://octave.svn.sourceforge.net/octave/?rev=7817&view=rev
Author: paramaniac
Date: 2010-10-08 19:53:14 +0000 (Fri, 08 Oct 2010)
Log Message:
-----------
control: add draft code
Added Paths:
-----------
trunk/octave-forge/main/control/devel/ss2tf/
trunk/octave-forge/main/control/devel/ss2tf/MA02AD.f
trunk/octave-forge/main/control/devel/ss2tf/MB01PD.f
trunk/octave-forge/main/control/devel/ss2tf/MB01QD.f
trunk/octave-forge/main/control/devel/ss2tf/MB02RD.f
trunk/octave-forge/main/control/devel/ss2tf/MB02SD.f
trunk/octave-forge/main/control/devel/ss2tf/MC01PD.f
trunk/octave-forge/main/control/devel/ss2tf/MC01PY.f
trunk/octave-forge/main/control/devel/ss2tf/TB01ID.f
trunk/octave-forge/main/control/devel/ss2tf/TB01ZD.f
trunk/octave-forge/main/control/devel/ss2tf/TB04BD.dat
trunk/octave-forge/main/control/devel/ss2tf/TB04BD.f
trunk/octave-forge/main/control/devel/ss2tf/TB04BD.html
trunk/octave-forge/main/control/devel/ss2tf/TB04BD.res
trunk/octave-forge/main/control/devel/ss2tf/TB04BX.f
trunk/octave-forge/main/control/devel/ss2tf/common.cc
trunk/octave-forge/main/control/devel/ss2tf/makefile_ss2tf.m
trunk/octave-forge/main/control/devel/ss2tf/sltb04bd.cc
trunk/octave-forge/main/control/devel/ss2tf/test_ss2tf.m
Added: trunk/octave-forge/main/control/devel/ss2tf/MA02AD.f
===================================================================
--- trunk/octave-forge/main/control/devel/ss2tf/MA02AD.f (rev 0)
+++ trunk/octave-forge/main/control/devel/ss2tf/MA02AD.f 2010-10-08 19:53:14 UTC (rev 7817)
@@ -0,0 +1,108 @@
+ SUBROUTINE MA02AD( JOB, M, N, A, LDA, B, LDB )
+C
+C SLICOT RELEASE 5.0.
+C
+C Copyright (c) 2002-2009 NICONET e.V.
+C
+C This program is free software: you can redistribute it and/or
+C modify it under the terms of the GNU General Public License as
+C published by the Free Software Foundation, either version 2 of
+C the License, or (at your option) any later version.
+C
+C This program is distributed in the hope that it will be useful,
+C but WITHOUT ANY WARRANTY; without even the implied warranty of
+C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+C GNU General Public License for more details.
+C
+C You should have received a copy of the GNU General Public License
+C along with this program. If not, see
+C <http://www.gnu.org/licenses/>.
+C
+C PURPOSE
+C
+C To transpose all or part of a two-dimensional matrix A into
+C another matrix B.
+C
+C ARGUMENTS
+C
+C Mode Parameters
+C
+C JOB CHARACTER*1
+C Specifies the part of the matrix A to be transposed into B
+C as follows:
+C = 'U': Upper triangular part;
+C = 'L': Lower triangular part;
+C Otherwise: All of the matrix A.
+C
+C Input/Output Parameters
+C
+C M (input) INTEGER
+C The number of rows of the matrix A. M >= 0.
+C
+C N (input) INTEGER
+C The number of columns of the matrix A. N >= 0.
+C
+C A (input) DOUBLE PRECISION array, dimension (LDA,N)
+C The m-by-n matrix A. If JOB = 'U', only the upper
+C triangle or trapezoid is accessed; if JOB = 'L', only the
+C lower triangle or trapezoid is accessed.
+C
+C LDA INTEGER
+C The leading dimension of the array A. LDA >= max(1,M).
+C
+C B (output) DOUBLE PRECISION array, dimension (LDB,M)
+C B = A' in the locations specified by JOB.
+C
+C LDB INTEGER
+C The leading dimension of the array B. LDB >= max(1,N).
+C
+C CONTRIBUTOR
+C
+C A. Varga, German Aerospace Center,
+C DLR Oberpfaffenhofen, March 1998.
+C Based on the RASP routine DMTRA.
+C
+C REVISIONS
+C
+C -
+C
+C ******************************************************************
+C
+C .. Scalar Arguments ..
+ CHARACTER JOB
+ INTEGER LDA, LDB, M, N
+C .. Array Arguments ..
+ DOUBLE PRECISION A(LDA,*), B(LDB,*)
+C .. Local Scalars ..
+ INTEGER I, J
+C .. External Functions ..
+ LOGICAL LSAME
+ EXTERNAL LSAME
+C .. Intrinsic Functions ..
+ INTRINSIC MIN
+C
+C .. Executable Statements ..
+C
+ IF( LSAME( JOB, 'U' ) ) THEN
+ DO 20 J = 1, N
+ DO 10 I = 1, MIN( J, M )
+ B(J,I) = A(I,J)
+ 10 CONTINUE
+ 20 CONTINUE
+ ELSE IF( LSAME( JOB, 'L' ) ) THEN
+ DO 40 J = 1, N
+ DO 30 I = J, M
+ B(J,I) = A(I,J)
+ 30 CONTINUE
+ 40 CONTINUE
+ ELSE
+ DO 60 J = 1, N
+ DO 50 I = 1, M
+ B(J,I) = A(I,J)
+ 50 CONTINUE
+ 60 CONTINUE
+ END IF
+C
+ RETURN
+C *** Last line of MA02AD ***
+ END
Added: trunk/octave-forge/main/control/devel/ss2tf/MB01PD.f
===================================================================
--- trunk/octave-forge/main/control/devel/ss2tf/MB01PD.f (rev 0)
+++ trunk/octave-forge/main/control/devel/ss2tf/MB01PD.f 2010-10-08 19:53:14 UTC (rev 7817)
@@ -0,0 +1,271 @@
+ SUBROUTINE MB01PD( SCUN, TYPE, M, N, KL, KU, ANRM, NBL, NROWS, A,
+ $ LDA, INFO )
+C
+C SLICOT RELEASE 5.0.
+C
+C Copyright (c) 2002-2009 NICONET e.V.
+C
+C This program is free software: you can redistribute it and/or
+C modify it under the terms of the GNU General Public License as
+C published by the Free Software Foundation, either version 2 of
+C the License, or (at your option) any later version.
+C
+C This program is distributed in the hope that it will be useful,
+C but WITHOUT ANY WARRANTY; without even the implied warranty of
+C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+C GNU General Public License for more details.
+C
+C You should have received a copy of the GNU General Public License
+C along with this program. If not, see
+C <http://www.gnu.org/licenses/>.
+C
+C PURPOSE
+C
+C To scale a matrix or undo scaling. Scaling is performed, if
+C necessary, so that the matrix norm will be in a safe range of
+C representable numbers.
+C
+C ARGUMENTS
+C
+C Mode Parameters
+C
+C SCUN CHARACTER*1
+C SCUN indicates the operation to be performed.
+C = 'S': scale the matrix.
+C = 'U': undo scaling of the matrix.
+C
+C TYPE CHARACTER*1
+C TYPE indicates the storage type of the input matrix.
+C = 'G': A is a full matrix.
+C = 'L': A is a (block) lower triangular matrix.
+C = 'U': A is an (block) upper triangular matrix.
+C = 'H': A is an (block) upper Hessenberg matrix.
+C = 'B': A is a symmetric band matrix with lower bandwidth
+C KL and upper bandwidth KU and with the only the
+C lower half stored.
+C = 'Q': A is a symmetric band matrix with lower bandwidth
+C KL and upper bandwidth KU and with the only the
+C upper half stored.
+C = 'Z': A is a band matrix with lower bandwidth KL and
+C upper bandwidth KU.
+C
+C Input/Output Parameters
+C
+C M (input) INTEGER
+C The number of rows of the matrix A. M >= 0.
+C
+C N (input) INTEGER
+C The number of columns of the matrix A. N >= 0.
+C
+C KL (input) INTEGER
+C The lower bandwidth of A. Referenced only if TYPE = 'B',
+C 'Q' or 'Z'.
+C
+C KU (input) INTEGER
+C The upper bandwidth of A. Referenced only if TYPE = 'B',
+C 'Q' or 'Z'.
+C
+C ANRM (input) DOUBLE PRECISION
+C The norm of the initial matrix A. ANRM >= 0.
+C When ANRM = 0 then an immediate return is effected.
+C ANRM should be preserved between the call of the routine
+C with SCUN = 'S' and the corresponding one with SCUN = 'U'.
+C
+C NBL (input) INTEGER
+C The number of diagonal blocks of the matrix A, if it has a
+C block structure. To specify that matrix A has no block
+C structure, set NBL = 0. NBL >= 0.
+C
+C NROWS (input) INTEGER array, dimension max(1,NBL)
+C NROWS(i) contains the number of rows and columns of the
+C i-th diagonal block of matrix A. The sum of the values
+C NROWS(i), for i = 1: NBL, should be equal to min(M,N).
+C The elements of the array NROWS are not referenced if
+C NBL = 0.
+C
+C A (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+C On entry, the leading M by N part of this array must
+C contain the matrix to be scaled/unscaled.
+C On exit, the leading M by N part of A will contain
+C the modified matrix.
+C The storage mode of A is specified by TYPE.
+C
+C LDA (input) INTEGER
+C The leading dimension of the array A. LDA >= max(1,M).
+C
+C Error Indicator
+C
+C INFO (output) INTEGER
+C = 0: successful exit
+C < 0: if INFO = -i, the i-th argument had an illegal
+C value.
+C
+C METHOD
+C
+C Denote by ANRM the norm of the matrix, and by SMLNUM and BIGNUM,
+C two positive numbers near the smallest and largest safely
+C representable numbers, respectively. The matrix is scaled, if
+C needed, such that the norm of the result is in the range
+C [SMLNUM, BIGNUM]. The scaling factor is represented as a ratio
+C of two numbers, one of them being ANRM, and the other one either
+C SMLNUM or BIGNUM, depending on ANRM being less than SMLNUM or
+C larger than BIGNUM, respectively. For undoing the scaling, the
+C norm is again compared with SMLNUM or BIGNUM, and the reciprocal
+C of the previous scaling factor is used.
+C
+C CONTRIBUTOR
+C
+C V. Sima, Katholieke Univ. Leuven, Belgium, Nov. 1996.
+C
+C REVISIONS
+C
+C Oct. 2001, V. Sima, Research Institute for Informatics, Bucharest.
+C
+C ******************************************************************
+C
+C .. Parameters ..
+ DOUBLE PRECISION ZERO, ONE
+ PARAMETER ( ZERO = 0.0D0, ONE = 1.0D0 )
+C .. Scalar Arguments ..
+ CHARACTER SCUN, TYPE
+ INTEGER INFO, KL, KU, LDA, M, MN, N, NBL
+ DOUBLE PRECISION ANRM
+C .. Array Arguments ..
+ INTEGER NROWS ( * )
+ DOUBLE PRECISION A( LDA, * )
+C .. Local Scalars ..
+ LOGICAL FIRST, LSCALE
+ INTEGER I, ISUM, ITYPE
+ DOUBLE PRECISION BIGNUM, SMLNUM
+C .. External Functions ..
+ LOGICAL LSAME
+ DOUBLE PRECISION DLAMCH
+ EXTERNAL DLAMCH, LSAME
+C ..
+C .. External Subroutines ..
+ EXTERNAL DLABAD, MB01QD, XERBLA
+C .. Intrinsic Functions ..
+ INTRINSIC MAX, MIN
+C .. Save statement ..
+ SAVE BIGNUM, FIRST, SMLNUM
+C .. Data statements ..
+ DATA FIRST/.TRUE./
+C ..
+C .. Executable Statements ..
+C
+C Test the input scalar arguments.
+C
+ INFO = 0
+ LSCALE = LSAME( SCUN, 'S' )
+ IF( LSAME( TYPE, 'G' ) ) THEN
+ ITYPE = 0
+ ELSE IF( LSAME( TYPE, 'L' ) ) THEN
+ ITYPE = 1
+ ELSE IF( LSAME( TYPE, 'U' ) ) THEN
+ ITYPE = 2
+ ELSE IF( LSAME( TYPE, 'H' ) ) THEN
+ ITYPE = 3
+ ELSE IF( LSAME( TYPE, 'B' ) ) THEN
+ ITYPE = 4
+ ELSE IF( LSAME( TYPE, 'Q' ) ) THEN
+ ITYPE = 5
+ ELSE IF( LSAME( TYPE, 'Z' ) ) THEN
+ ITYPE = 6
+ ELSE
+ ITYPE = -1
+ END IF
+C
+ MN = MIN( M, N )
+C
+ ISUM = 0
+ IF( NBL.GT.0 ) THEN
+ DO 10 I = 1, NBL
+ ISUM = ISUM + NROWS(I)
+ 10 CONTINUE
+ END IF
+C
+ IF( .NOT.LSCALE .AND. .NOT.LSAME( SCUN, 'U' ) ) THEN
+ INFO = -1
+ ELSE IF( ITYPE.EQ.-1 ) THEN
+ INFO = -2
+ ELSE IF( M.LT.0 ) THEN
+ INFO = -3
+ ELSE IF( N.LT.0 .OR.
+ $ ( ( ITYPE.EQ.4 .OR. ITYPE.EQ.5 ) .AND. N.NE.M ) ) THEN
+ INFO = -4
+ ELSE IF( ANRM.LT.ZERO ) THEN
+ INFO = -7
+ ELSE IF( NBL.LT.0 ) THEN
+ INFO = -8
+ ELSE IF( NBL.GT.0 .AND. ISUM.NE.MN ) THEN
+ INFO = -9
+ ELSE IF( ITYPE.LE.3 .AND. LDA.LT.MAX( 1, M ) ) THEN
+ INFO = -11
+ ELSE IF( ITYPE.GE.4 ) THEN
+ IF( KL.LT.0 .OR. KL.GT.MAX( M-1, 0 ) ) THEN
+ INFO = -5
+ ELSE IF( KU.LT.0 .OR. KU.GT.MAX( N-1, 0 ) .OR.
+ $ ( ( ITYPE.EQ.4 .OR. ITYPE.EQ.5 ) .AND. KL.NE.KU ) )
+ $ THEN
+ INFO = -6
+ ELSE IF( ( ITYPE.EQ.4 .AND. LDA.LT.KL+1 ) .OR.
+ $ ( ITYPE.EQ.5 .AND. LDA.LT.KU+1 ) .OR.
+ $ ( ITYPE.EQ.6 .AND. LDA.LT.2*KL+KU+1 ) ) THEN
+ INFO = -11
+ END IF
+ END IF
+C
+ IF( INFO.NE.0 ) THEN
+ CALL XERBLA( 'MB01PD', -INFO )
+ RETURN
+ END IF
+C
+C Quick return if possible.
+C
+ IF( MN.EQ.0 .OR. ANRM.EQ.ZERO )
+ $ RETURN
+C
+ IF ( FIRST ) THEN
+C
+C Get machine parameters.
+C
+ SMLNUM = DLAMCH( 'S' ) / DLAMCH( 'P' )
+ BIGNUM = ONE / SMLNUM
+ CALL DLABAD( SMLNUM, BIGNUM )
+ FIRST = .FALSE.
+ END IF
+C
+ IF ( LSCALE ) THEN
+C
+C Scale A, if its norm is outside range [SMLNUM,BIGNUM].
+C
+ IF( ANRM.LT.SMLNUM ) THEN
+C
+C Scale matrix norm up to SMLNUM.
+C
+ CALL MB01QD( TYPE, M, N, KL, KU, ANRM, SMLNUM, NBL, NROWS,
+ $ A, LDA, INFO )
+ ELSE IF( ANRM.GT.BIGNUM ) THEN
+C
+C Scale matrix norm down to BIGNUM.
+C
+ CALL MB01QD( TYPE, M, N, KL, KU, ANRM, BIGNUM, NBL, NROWS,
+ $ A, LDA, INFO )
+ END IF
+C
+ ELSE
+C
+C Undo scaling.
+C
+ IF( ANRM.LT.SMLNUM ) THEN
+ CALL MB01QD( TYPE, M, N, KL, KU, SMLNUM, ANRM, NBL, NROWS,
+ $ A, LDA, INFO )
+ ELSE IF( ANRM.GT.BIGNUM ) THEN
+ CALL MB01QD( TYPE, M, N, KL, KU, BIGNUM, ANRM, NBL, NROWS,
+ $ A, LDA, INFO )
+ END IF
+ END IF
+C
+ RETURN
+C *** Last line of MB01PD ***
+ END
Added: trunk/octave-forge/main/control/devel/ss2tf/MB01QD.f
===================================================================
--- trunk/octave-forge/main/control/devel/ss2tf/MB01QD.f (rev 0)
+++ trunk/octave-forge/main/control/devel/ss2tf/MB01QD.f 2010-10-08 19:53:14 UTC (rev 7817)
@@ -0,0 +1,334 @@
+ SUBROUTINE MB01QD( TYPE, M, N, KL, KU, CFROM, CTO, NBL, NROWS, A,
+ $ LDA, INFO )
+C
+C SLICOT RELEASE 5.0.
+C
+C Copyright (c) 2002-2009 NICONET e.V.
+C
+C This program is free software: you can redistribute it and/or
+C modify it under the terms of the GNU General Public License as
+C published by the Free Software Foundation, either version 2 of
+C the License, or (at your option) any later version.
+C
+C This program is distributed in the hope that it will be useful,
+C but WITHOUT ANY WARRANTY; without even the implied warranty of
+C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+C GNU General Public License for more details.
+C
+C You should have received a copy of the GNU General Public License
+C along with this program. If not, see
+C <http://www.gnu.org/licenses/>.
+C
+C PURPOSE
+C
+C To multiply the M by N real matrix A by the real scalar CTO/CFROM.
+C This is done without over/underflow as long as the final result
+C CTO*A(I,J)/CFROM does not over/underflow. TYPE specifies that
+C A may be full, (block) upper triangular, (block) lower triangular,
+C (block) upper Hessenberg, or banded.
+C
+C ARGUMENTS
+C
+C Mode Parameters
+C
+C TYPE CHARACTER*1
+C TYPE indices the storage type of the input matrix.
+C = 'G': A is a full matrix.
+C = 'L': A is a (block) lower triangular matrix.
+C = 'U': A is a (block) upper triangular matrix.
+C = 'H': A is a (block) upper Hessenberg matrix.
+C = 'B': A is a symmetric band matrix with lower bandwidth
+C KL and upper bandwidth KU and with the only the
+C lower half stored.
+C = 'Q': A is a symmetric band matrix with lower bandwidth
+C KL and upper bandwidth KU and with the only the
+C upper half stored.
+C = 'Z': A is a band matrix with lower bandwidth KL and
+C upper bandwidth KU.
+C
+C Input/Output Parameters
+C
+C M (input) INTEGER
+C The number of rows of the matrix A. M >= 0.
+C
+C N (input) INTEGER
+C The number of columns of the matrix A. N >= 0.
+C
+C KL (input) INTEGER
+C The lower bandwidth of A. Referenced only if TYPE = 'B',
+C 'Q' or 'Z'.
+C
+C KU (input) INTEGER
+C The upper bandwidth of A. Referenced only if TYPE = 'B',
+C 'Q' or 'Z'.
+C
+C CFROM (input) DOUBLE PRECISION
+C CTO (input) DOUBLE PRECISION
+C The matrix A is multiplied by CTO/CFROM. A(I,J) is
+C computed without over/underflow if the final result
+C CTO*A(I,J)/CFROM can be represented without over/
+C underflow. CFROM must be nonzero.
+C
+C NBL (input) INTEGER
+C The number of diagonal blocks of the matrix A, if it has a
+C block structure. To specify that matrix A has no block
+C structure, set NBL = 0. NBL >= 0.
+C
+C NROWS (input) INTEGER array, dimension max(1,NBL)
+C NROWS(i) contains the number of rows and columns of the
+C i-th diagonal block of matrix A. The sum of the values
+C NROWS(i), for i = 1: NBL, should be equal to min(M,N).
+C The array NROWS is not referenced if NBL = 0.
+C
+C A (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+C The matrix to be multiplied by CTO/CFROM. See TYPE for
+C the storage type.
+C
+C LDA (input) INTEGER
+C The leading dimension of the array A. LDA >= max(1,M).
+C
+C Error Indicator
+C
+C INFO INTEGER
+C Not used in this implementation.
+C
+C METHOD
+C
+C Matrix A is multiplied by the real scalar CTO/CFROM, taking into
+C account the specified storage mode of the matrix.
+C MB01QD is a version of the LAPACK routine DLASCL, modified for
+C dealing with block triangular, or block Hessenberg matrices.
+C For efficiency, no tests of the input scalar parameters are
+C performed.
+C
+C CONTRIBUTOR
+C
+C V. Sima, Katholieke Univ. Leuven, Belgium, Nov. 1996.
+C
+C ******************************************************************
+C
+C .. Parameters ..
+ DOUBLE PRECISION ZERO, ONE
+ PARAMETER ( ZERO = 0.0D0, ONE = 1.0D0 )
+C ..
+C .. Scalar Arguments ..
+ CHARACTER TYPE
+ INTEGER INFO, KL, KU, LDA, M, N, NBL
+ DOUBLE PRECISION CFROM, CTO
+C ..
+C .. Array Arguments ..
+ INTEGER NROWS ( * )
+ DOUBLE PRECISION A( LDA, * )
+C ..
+C .. Local Scalars ..
+ LOGICAL DONE, NOBLC
+ INTEGER I, IFIN, ITYPE, J, JFIN, JINI, K, K1, K2, K3,
+ $ K4
+ DOUBLE PRECISION BIGNUM, CFROM1, CFROMC, CTO1, CTOC, MUL, SMLNUM
+C ..
+C .. External Functions ..
+ LOGICAL LSAME
+ DOUBLE PRECISION DLAMCH
+ EXTERNAL LSAME, DLAMCH
+C ..
+C .. Intrinsic Functions ..
+ INTRINSIC ABS, MAX, MIN
+C ..
+C .. Executable Statements ..
+C
+ IF( LSAME( TYPE, 'G' ) ) THEN
+ ITYPE = 0
+ ELSE IF( LSAME( TYPE, 'L' ) ) THEN
+ ITYPE = 1
+ ELSE IF( LSAME( TYPE, 'U' ) ) THEN
+ ITYPE = 2
+ ELSE IF( LSAME( TYPE, 'H' ) ) THEN
+ ITYPE = 3
+ ELSE IF( LSAME( TYPE, 'B' ) ) THEN
+ ITYPE = 4
+ ELSE IF( LSAME( TYPE, 'Q' ) ) THEN
+ ITYPE = 5
+ ELSE
+ ITYPE = 6
+ END IF
+C
+C Quick return if possible.
+C
+ IF( MIN( M, N ).EQ.0 )
+ $ RETURN
+C
+C Get machine parameters.
+C
+ SMLNUM = DLAMCH( 'S' )
+ BIGNUM = ONE / SMLNUM
+C
+ CFROMC = CFROM
+ CTOC = CTO
+C
+ 10 CONTINUE
+ CFROM1 = CFROMC*SMLNUM
+ CTO1 = CTOC / BIGNUM
+ IF( ABS( CFROM1 ).GT.ABS( CTOC ) .AND. CTOC.NE.ZERO ) THEN
+ MUL = SMLNUM
+ DONE = .FALSE.
+ CFROMC = CFROM1
+ ELSE IF( ABS( CTO1 ).GT.ABS( CFROMC ) ) THEN
+ MUL = BIGNUM
+ DONE = .FALSE.
+ CTOC = CTO1
+ ELSE
+ MUL = CTOC / CFROMC
+ DONE = .TRUE.
+ END IF
+C
+ NOBLC = NBL.EQ.0
+C
+ IF( ITYPE.EQ.0 ) THEN
+C
+C Full matrix
+C
+ DO 30 J = 1, N
+ DO 20 I = 1, M
+ A( I, J ) = A( I, J )*MUL
+ 20 CONTINUE
+ 30 CONTINUE
+C
+ ELSE IF( ITYPE.EQ.1 ) THEN
+C
+ IF ( NOBLC ) THEN
+C
+C Lower triangular matrix
+C
+ DO 50 J = 1, N
+ DO 40 I = J, M
+ A( I, J ) = A( I, J )*MUL
+ 40 CONTINUE
+ 50 CONTINUE
+C
+ ELSE
+C
+C Block lower triangular matrix
+C
+ JFIN = 0
+ DO 80 K = 1, NBL
+ JINI = JFIN + 1
+ JFIN = JFIN + NROWS( K )
+ DO 70 J = JINI, JFIN
+ DO 60 I = JINI, M
+ A( I, J ) = A( I, J )*MUL
+ 60 CONTINUE
+ 70 CONTINUE
+ 80 CONTINUE
+ END IF
+C
+ ELSE IF( ITYPE.EQ.2 ) THEN
+C
+ IF ( NOBLC ) THEN
+C
+C Upper triangular matrix
+C
+ DO 100 J = 1, N
+ DO 90 I = 1, MIN( J, M )
+ A( I, J ) = A( I, J )*MUL
+ 90 CONTINUE
+ 100 CONTINUE
+C
+ ELSE
+C
+C Block upper triangular matrix
+C
+ JFIN = 0
+ DO 130 K = 1, NBL
+ JINI = JFIN + 1
+ JFIN = JFIN + NROWS( K )
+ IF ( K.EQ.NBL ) JFIN = N
+ DO 120 J = JINI, JFIN
+ DO 110 I = 1, MIN( JFIN, M )
+ A( I, J ) = A( I, J )*MUL
+ 110 CONTINUE
+ 120 CONTINUE
+ 130 CONTINUE
+ END IF
+C
+ ELSE IF( ITYPE.EQ.3 ) THEN
+C
+ IF ( NOBLC ) THEN
+C
+C Upper Hessenberg matrix
+C
+ DO 150 J = 1, N
+ DO 140 I = 1, MIN( J+1, M )
+ A( I, J ) = A( I, J )*MUL
+ 140 CONTINUE
+ 150 CONTINUE
+C
+ ELSE
+C
+C Block upper Hessenberg matrix
+C
+ JFIN = 0
+ DO 180 K = 1, NBL
+ JINI = JFIN + 1
+ JFIN = JFIN + NROWS( K )
+C
+ IF ( K.EQ.NBL ) THEN
+ JFIN = N
+ IFIN = N
+ ELSE
+ IFIN = JFIN + NROWS( K+1 )
+ END IF
+C
+ DO 170 J = JINI, JFIN
+ DO 160 I = 1, MIN( IFIN, M )
+ A( I, J ) = A( I, J )*MUL
+ 160 CONTINUE
+ 170 CONTINUE
+ 180 CONTINUE
+ END IF
+C
+ ELSE IF( ITYPE.EQ.4 ) THEN
+C
+C Lower half of a symmetric band matrix
+C
+ K3 = KL + 1
+ K4 = N + 1
+ DO 200 J = 1, N
+ DO 190 I = 1, MIN( K3, K4-J )
+ A( I, J ) = A( I, J )*MUL
+ 190 CONTINUE
+ 200 CONTINUE
+C
+ ELSE IF( ITYPE.EQ.5 ) THEN
+C
+C Upper half of a symmetric band matrix
+C
+ K1 = KU + 2
+ K3 = KU + 1
+ DO 220 J = 1, N
+ DO 210 I = MAX( K1-J, 1 ), K3
+ A( I, J ) = A( I, J )*MUL
+ 210 CONTINUE
+ 220 CONTINUE
+C
+ ELSE IF( ITYPE.EQ.6 ) THEN
+C
+C Band matrix
+C
+ K1 = KL + KU + 2
+ K2 = KL + 1
+ K3 = 2*KL + KU + 1
+ K4 = KL + KU + 1 + M
+ DO 240 J = 1, N
+ DO 230 I = MAX( K1-J, K2 ), MIN( K3, K4-J )
+ A( I, J ) = A( I, J )*MUL
+ 230 CONTINUE
+ 240 CONTINUE
+C
+ END IF
+C
+ IF( .NOT.DONE )
+ $ GO TO 10
+C
+ RETURN
+C *** Last line of MB01QD ***
+ END
Added: trunk/octave-forge/main/control/devel/ss2tf/MB02RD.f
===================================================================
--- trunk/octave-forge/main/control/devel/ss2tf/MB02RD.f (rev 0)
+++ trunk/octave-forge/main/control/devel/ss2tf/MB02RD.f 2010-10-08 19:53:14 UTC (rev 7817)
@@ -0,0 +1,197 @@
+ SUBROUTINE MB02RD( TRANS, N, NRHS, H, LDH, IPIV, B, LDB, INFO )
+C
+C SLICOT RELEASE 5.0.
+C
+C Copyright (c) 2002-2009 NICONET e.V.
+C
+C This program is free software: you can redistribute it and/or
+C modify it under the terms of the GNU General Public License as
+C published by the Free Software Foundation, either version 2 of
+C the License, or (at your option) any later version.
+C
+C This program is distributed in the hope that it will be useful,
+C but WITHOUT ANY WARRANTY; without even the implied warranty of
+C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+C GNU General Public License for more details.
+C
+C You should have received a copy of the GNU General Public License
+C along with this program. If not, see
+C <http://www.gnu.org/licenses/>.
+C
+C PURPOSE
+C
+C To solve a system of linear equations
+C H * X = B or H' * X = B
+C with an upper Hessenberg N-by-N matrix H using the LU
+C factorization computed by MB02SD.
+C
+C ARGUMENTS
+C
+C Mode Parameters
+C
+C TRANS CHARACTER*1
+C Specifies the form of the system of equations:
+C = 'N': H * X = B (No transpose)
+C = 'T': H'* X = B (Transpose)
+C = 'C': H'* X = B (Conjugate transpose = Transpose)
+C
+C Input/Output Parameters
+C
+C N (input) INTEGER
+C The order of the matrix H. N >= 0.
+C
+C NRHS (input) INTEGER
+C The number of right hand sides, i.e., the number of
+C columns of the matrix B. NRHS >= 0.
+C
+C H (input) DOUBLE PRECISION array, dimension (LDH,N)
+C The factors L and U from the factorization H = P*L*U
+C as computed by MB02SD.
+C
+C LDH INTEGER
+C The leading dimension of the array H. LDH >= max(1,N).
+C
+C IPIV (input) INTEGER array, dimension (N)
+C The pivot indices from MB02SD; for 1<=i<=N, row i of the
+C matrix was interchanged with row IPIV(i).
+C
+C B (input/output) DOUBLE PRECISION array, dimension
+C (LDB,NRHS)
+C On entry, the right hand side matrix B.
+C On exit, the solution matrix X.
+C
+C LDB INTEGER
+C The leading dimension of the array B. LDB >= max(1,N).
+C
+C Error Indicator
+C
+C INFO (output) INTEGER
+C = 0: successful exit;
+C < 0: if INFO = -i, the i-th argument had an illegal
+C value.
+C
+C METHOD
+C
+C The routine uses the factorization
+C H = P * L * U
+C where P is a permutation matrix, L is lower triangular with unit
+C diagonal elements (and one nonzero subdiagonal), and U is upper
+C triangular.
+C
+C REFERENCES
+C
+C -
+C
+C NUMERICAL ASPECTS
+C 2
+C The algorithm requires 0( N x NRHS ) operations.
+C
+C CONTRIBUTOR
+C
+C V. Sima, Katholieke Univ. Leuven, Belgium, June 1998.
+C
+C REVISIONS
+C
+C -
+C
+C KEYWORDS
+C
+C Hessenberg form, matrix algebra.
+C
+C ******************************************************************
+C
+C .. Parameters ..
+ DOUBLE PRECISION ONE
+ PARAMETER ( ONE = 1.0D+0 )
+C .. Scalar Arguments ..
+ CHARACTER TRANS
+ INTEGER INFO, LDB, LDH, N, NRHS
+C ..
+C .. Array Arguments ..
+ INTEGER IPIV( * )
+ DOUBLE PRECISION B( LDB, * ), H( LDH, * )
+C .. Local Scalars ..
+ LOGICAL NOTRAN
+ INTEGER J, JP
+C .. External Functions ..
+ LOGICAL LSAME
+ EXTERNAL LSAME
+C .. External Subroutines ..
+ EXTERNAL DAXPY, DSWAP, DTRSM, XERBLA
+C .. Intrinsic Functions ..
+ INTRINSIC MAX
+C .. Executable Statements ..
+C
+C Test the input parameters.
+C
+ INFO = 0
+ NOTRAN = LSAME( TRANS, 'N' )
+ IF( .NOT.NOTRAN .AND. .NOT.LSAME( TRANS, 'T' ) .AND. .NOT.
+ $ LSAME( TRANS, 'C' ) ) THEN
+ INFO = -1
+ ELSE IF( N.LT.0 ) THEN
+ INFO = -2
+ ELSE IF( NRHS.LT.0 ) THEN
+ INFO = -3
+ ELSE IF( LDH.LT.MAX( 1, N ) ) THEN
+ INFO = -5
+ ELSE IF( LDB.LT.MAX( 1, N ) ) THEN
+ INFO = -8
+ END IF
+ IF( INFO.NE.0 ) THEN
+ CALL XERBLA( 'MB02RD', -INFO )
+ RETURN
+ END IF
+C
+C Quick return if possible.
+C
+ IF( N.EQ.0 .OR. NRHS.EQ.0 )
+ $ RETURN
+C
+ IF( NOTRAN ) THEN
+C
+C Solve H * X = B.
+C
+C Solve L * X = B, overwriting B with X.
+C
+C L is represented as a product of permutations and unit lower
+C triangular matrices L = P(1) * L(1) * ... * P(n-1) * L(n-1),
+C where each transformation L(i) is a rank-one modification of
+C the identity matrix.
+C
+ DO 10 J = 1, N - 1
+ JP = IPIV( J )
+ IF( JP.NE.J )
+ $ CALL DSWAP( NRHS, B( JP, 1 ), LDB, B( J, 1 ), LDB )
+ CALL DAXPY( NRHS, -H( J+1, J ), B( J, 1 ), LDB, B( J+1, 1 ),
+ $ LDB )
+ 10 CONTINUE
+C
+C Solve U * X = B, overwriting B with X.
+C
+ CALL DTRSM( 'Left', 'Upper', 'No transpose', 'Non-unit', N,
+ $ NRHS, ONE, H, LDH, B, LDB )
+C
+ ELSE
+C
+C Solve H' * X = B.
+C
+C Solve U' * X = B, overwriting B with X.
+C
+ CALL DTRSM( 'Left', 'Upper', 'Transpose', 'Non-unit', N, NRHS,
+ $ ONE, H, LDH, B, LDB )
+C
+C Solve L' * X = B, overwriting B with X.
+C
+ DO 20 J = N - 1, 1, -1
+ CALL DAXPY( NRHS, -H( J+1, J ), B( J+1, 1 ), LDB, B( J, 1 ),
+ $ LDB )
+ JP = IPIV( J )
+ IF( JP.NE.J )
+ $ CALL DSWAP( NRHS, B( JP, 1 ), LDB, B( J, 1 ), LDB )
+ 20 CONTINUE
+ END IF
+C
+ RETURN
+C *** Last line of MB02RD ***
+ END
Added: trunk/octave-forge/main/control/devel/ss2tf/MB02SD.f
===================================================================
--- trunk/octave-forge/main/control/devel/ss2tf/MB02SD.f (rev 0)
+++ trunk/octave-forge/main/control/devel/ss2tf/MB02SD.f 2010-10-08 19:53:14 UTC (rev 7817)
@@ -0,0 +1,164 @@
+ SUBROUTINE MB02SD( N, H, LDH, IPIV, INFO )
+C
+C SLICOT RELEASE 5.0.
+C
+C Copyright (c) 2002-2009 NICONET e.V.
+C
+C This program is free software: you can redistribute it and/or
+C modify it under the terms of the GNU General Public License as
+C published by the Free Software Foundation, either version 2 of
+C the License, or (at your option) any later version.
+C
+C This program is distributed in the hope that it will be useful,
+C but WITHOUT ANY WARRANTY; without even the implied warranty of
+C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+C GNU General Public License for more details.
+C
+C You should have received a copy of the GNU General Public License
+C along with this program. If not, see
+C <http://www.gnu.org/licenses/>.
+C
+C PURPOSE
+C
+C To compute an LU factorization of an n-by-n upper Hessenberg
+C matrix H using partial pivoting with row interchanges.
+C
+C ARGUMENTS
+C
+C Input/Output Parameters
+C
+C N (input) INTEGER
+C The order of the matrix H. N >= 0.
+C
+C H (input/output) DOUBLE PRECISION array, dimension (LDH,N)
+C On entry, the n-by-n upper Hessenberg matrix to be
+C factored.
+C On exit, the factors L and U from the factorization
+C H = P*L*U; the unit diagonal elements of L are not stored,
+C and L is lower bidiagonal.
+C
+C LDH INTEGER
+C The leading dimension of the array H. LDH >= max(1,N).
+C
+C IPIV (output) INTEGER array, dimension (N)
+C The pivot indices; for 1 <= i <= N, row i of the matrix
+C was interchanged with row IPIV(i).
+C
+C Error Indicator
+C
+C INFO INTEGER
+C = 0: successful exit;
+C < 0: if INFO = -i, the i-th argument had an illegal
+C value;
+C > 0: if INFO = i, U(i,i) is exactly zero. The
+C factorization has been completed, but the factor U
+C is exactly singular, and division by zero will occur
+C if it is used to solve a system of equations.
+C
+C METHOD
+C
+C The factorization has the form
+C H = P * L * U
+C where P is a permutation matrix, L is lower triangular with unit
+C diagonal elements (and one nonzero subdiagonal), and U is upper
+C triangular.
+C
+C This is the right-looking Level 1 BLAS version of the algorithm
+C (adapted after DGETF2).
+C
+C REFERENCES
+C
+C -
+C
+C NUMERICAL ASPECTS
+C 2
+C The algorithm requires 0( N ) operations.
+C
+C CONTRIBUTOR
+C
+C V. Sima, Katholieke Univ. Leuven, Belgium, June 1998.
+C
+C REVISIONS
+C
+C V. Sima, Research Institute for Informatics, Bucharest, Oct. 2000,
+C Jan. 2005.
+C
+C KEYWORDS
+C
+C Hessenberg form, matrix algebra.
+C
+C ******************************************************************
+C
+C .. Parameters ..
+ DOUBLE PRECISION ZERO
+ PARAMETER ( ZERO = 0.0D+0 )
+C .. Scalar Arguments ..
+ INTEGER INFO, LDH, N
+C .. Array Arguments ..
+ INTEGER IPIV(*)
+ DOUBLE PRECISION H(LDH,*)
+C .. Local Scalars ..
+ INTEGER J, JP
+C .. External Subroutines ..
+ EXTERNAL DAXPY, DSWAP, XERBLA
+C .. Intrinsic Functions ..
+ INTRINSIC ABS, MAX
+C ..
+C .. Executable Statements ..
+C
+C Check the scalar input parameters.
+C
+ INFO = 0
+ IF( N.LT.0 ) THEN
+ INFO = -1
+ ELSE IF( LDH.LT.MAX( 1, N ) ) THEN
+ INFO = -3
+ END IF
+ IF( INFO.NE.0 ) THEN
+ CALL XERBLA( 'MB02SD', -INFO )
+ RETURN
+ END IF
+C
+C Quick return if possible.
+C
+ IF( N.EQ.0 )
+ $ RETURN
+C
+ DO 10 J = 1, N
+C
+C Find pivot and test for singularity.
+C
+ JP = J
+ IF ( J.LT.N ) THEN
+ IF ( ABS( H( J+1, J ) ).GT.ABS( H( J, J ) ) )
+ $ JP = J + 1
+ END IF
+ IPIV( J ) = JP
+ IF( H( JP, J ).NE.ZERO ) THEN
+C
+C Apply the interchange to columns J:N.
+C
+ IF( JP.NE.J )
+ $ CALL DSWAP( N-J+1, H( J, J ), LDH, H( JP, J ), LDH )
+C
+C Compute element J+1 of J-th column.
+C
+ IF( J.LT.N )
+ $ H( J+1, J ) = H( J+1, J )/H( J, J )
+C
+ ELSE IF( INFO.EQ.0 ) THEN
+C
+ INFO = J
+ END IF
+C
+ IF( J.LT.N ) THEN
+C
+C Update trailing submatrix.
+C
+ CALL DAXPY( N-J, -H( J+1, J ), H( J, J+1 ), LDH,
+ $ H( J+1, J+1 ), LDH )
+ END IF
+ 10 CONTINUE
+ RETURN
+C *** Last line of MB02SD ***
+ END
Added: trunk/octave-forge/main/control/devel/ss2tf/MC01PD.f
===================================================================
--- trunk/octave-forge/main/control/devel/ss2tf/MC01PD.f (rev 0)
+++ trunk/octave-forge/main/control/devel/ss2tf/MC01PD.f 2010-10-08 19:53:14 UTC (rev 7817)
@@ -0,0 +1,159 @@
+ SUBROUTINE MC01PD( K, REZ, IMZ, P, DWORK, INFO )
+C
+C SLICOT RELEASE 5.0.
+C
+C Copyright (c) 2002-2009 NICONET e.V.
+C
+C This program is free software: you can redistribute it and/or
+C modify it under the terms of the GNU General Public License as
+C published by the Free Software Foundation, either version 2 of
+C the License, or (at your option) any later version.
+C
+C This program is distributed in the hope that it will be useful,
+C but WITHOUT ANY WARRANTY; without even the implied warranty of
+C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+C GNU General Public License for more details.
+C
+C You should have received a copy of the GNU General Public License
+C along with this program. If not, see
+C <http://www.gnu.org/licenses/>.
+C
+C PURPOSE
+C
+C To compute the coefficients of a real polynomial P(x) from its
+C zeros.
+C
+C ARGUMENTS
+C
+C Input/Output Parameters
+C
+C K (input) INTEGER
+C The number of zeros (and hence the degree) of P(x).
+C K >= 0.
+C
+C REZ (input) DOUBLE PRECISION array, dimension (K)
+C IMZ (input) DOUBLE PRECISION array, dimension (K)
+C The real and imaginary parts of the i-th zero of P(x)
+C must be stored in REZ(i) and IMZ(i), respectively, where
+C i = 1, 2, ..., K. The zeros may be supplied in any order,
+C except that complex conjugate zeros must appear
+C consecutively.
+C
+C P (output) DOUBLE PRECISION array, dimension (K+1)
+C This array contains the coefficients of P(x) in increasing
+C powers of x. If K = 0, then P(1) is set to one.
+C
+C Workspace
+C
+C DWORK DOUBLE PRECISION array, dimension (K+1)
+C If K = 0, this array is not referenced.
+C
+C Error Indicator
+C
+C INFO INTEGER
+C = 0: successful exit;
+C < 0: if INFO = -i, the i-th argument had an illegal
+C value;
+C > 0: if INFO = i, (REZ(i),IMZ(i)) is a complex zero but
+C (REZ(i-1),IMZ(i-1)) is not its conjugate.
+C
+C METHOD
+C
+C The routine computes the coefficients of the real K-th degree
+C polynomial P(x) as
+C
+C P(x) = (x - r(1)) * (x - r(2)) * ... * (x - r(K))
+C
+C where r(i) = (REZ(i),IMZ(i)).
+C
+C Note that REZ(i) = REZ(j) and IMZ(i) = -IMZ(j) if r(i) and r(j)
+C form a complex conjugate pair (where i <> j), and that IMZ(i) = 0
+C if r(i) is real.
+C
+C NUMERICAL ASPECTS
+C
+C None.
+C
+C CONTRIBUTOR
+C
+C Release 3.0: V. Sima, Katholieke Univ. Leuven, Belgium, Mar. 1997.
+C Supersedes Release 2.0 routine MC01DD by A.J. Geurts.
+C
+C REVISIONS
+C
+C V. Sima, May 2002.
+C
+C KEYWORDS
+C
+C Elementary polynomial operations, polynomial operations.
+C
+C ******************************************************************
+C
+C .. Parameters ..
+ DOUBLE PRECISION ZERO, ONE
+ PARAMETER ( ZERO = 0.0D0, ONE = 1.0D0 )
+C .. Scalar Arguments ..
+ INTEGER INFO, K
+C .. Array Arguments ..
+ DOUBLE PRECISION DWORK(*), IMZ(*), P(*), REZ(*)
+C .. Local Scalars ..
+ INTEGER I
+ DOUBLE PRECISION U, V
+C .. External Subroutines ..
+ EXTERNAL DAXPY, DCOPY, XERBLA
+C .. Executable Statements ..
+C
+C Test the input scalar arguments.
+C
+ IF( K.LT.0 ) THEN
+ INFO = -1
+C
+C Error return.
+C
+ CALL XERBLA( 'MC01PD', -INFO )
+ RETURN
+ END IF
+C
+C Quick return if possible.
+C
+ INFO = 0
+ P(1) = ONE
+ IF ( K.EQ.0 )
+ $ RETURN
+C
+ I = 1
+C WHILE ( I <= K ) DO
+ 20 IF ( I.LE.K ) THEN
+ U = REZ(I)
+ V = IMZ(I)
+ DWORK(1) = ZERO
+C
+ IF ( V.EQ.ZERO ) THEN
+ CALL DCOPY( I, P, 1, DWORK(2), 1 )
+ CALL DAXPY( I, -U, P, 1, DWORK, 1 )
+ I = I + 1
+C
+ ELSE
+ IF ( I.EQ.K ) THEN
+ INFO = K
+ RETURN
+ ELSE IF ( ( U.NE.REZ(I+1) ) .OR. ( V.NE.-IMZ(I+1) ) ) THEN
+ INFO = I + 1
+ RETURN
+ END IF
+C
+ DWORK(2) = ZERO
+ CALL DCOPY( I, P, 1, DWORK(3), 1 )
+ CALL DAXPY( I, -(U + U), P, 1, DWORK(2), 1 )
+ CALL DAXPY( I, U**2+V**2, P, 1, DWORK, 1 )
+ I = I + 2
+ END IF
+C
+ CALL DCOPY( I, DWORK, 1, P, 1 )
+ GO TO 20
+ END IF
+C END WHILE 20
+C
+ RETURN
+C *** Last line of MC01PD ***
+ END
Added: trunk/octave-forge/main/control/devel/ss2tf/MC01PY.f
===================================================================
--- trunk/octave-forge/main/control/devel/ss2tf/MC01PY.f (rev 0)
+++ trunk/octave-forge/main/control/devel/ss2tf/MC01PY.f 2010-10-08 19:53:14 UTC (rev 7817)
@@ -0,0 +1,157 @@
+ SUBROUTINE MC01PY( K, REZ, IMZ, P, DWORK, INFO )
+C
+C SLICOT RELEASE 5.0.
+C
+C Copyright (c) 2002-2009 NICONET e.V.
+C
+C This program is free software: you can redistribute it and/or
+C modify it under the terms of the GNU General Public License as
+C published by the Free Software Foundation, either version 2 of
+C the License, or (at your option) any later version.
+C
+C This program is distributed in the hope that it will be useful,
+C but WITHOUT ANY WARRANTY; without even the implied warranty of
+C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+C GNU General Public License for more details.
+C
+C You should have received a copy of the GNU General Public License
+C along with this program. If not, see
+C <http://www.gnu.org/licenses/>.
+C
+C PURPOSE
+C
+C To compute the coefficients of a real polynomial P(x) from its
+C zeros. The coefficients are stored in decreasing order of the
+C powers of x.
+C
+C ARGUMENTS
+C
+C Input/Output Parameters
+C
+C K (input) INTEGER
+C The number of zeros (and hence the degree) of P(x).
+C K >= 0.
+C
+C REZ (input) DOUBLE PRECISION array, dimension (K)
+C IMZ (input) DOUBLE PRECISION array, dimension (K)
+C The real and imaginary parts of the i-th zero of P(x)
+C must be stored in REZ(i) and IMZ(i), respectively, where
+C i = 1, 2, ..., K. The zeros may be supplied in any order,
+C except that complex conjugate zeros must appear
+C consecutively.
+C
+C P (output) DOUBLE PRECISION array, dimension (K+1)
+C This array contains the coefficients of P(x) in decreasing
+C powers of x.
+C
+C Workspace
+C
+C DWORK DOUBLE PRECISION array, dimension (K)
+C If K = 0, this array is not referenced.
+C
+C Error Indicator
+C
+C INFO INTEGER
+C = 0: successful exit;
+C < 0: if INFO = -i, the i-th argument had an illegal
+C value;
+C > 0: if INFO = i, (REZ(i),IMZ(i)) is a complex zero but
+C (REZ(i-1),IMZ(i-1)) is not its conjugate.
+C
+C METHOD
+C
+C The routine computes the coefficients of the real K-th degree
+C polynomial P(x) as
+C
+C P(x) = (x - r(1)) * (x - r(2)) * ... * (x - r(K))
+C
+C where r(i) = (REZ(i),IMZ(i)).
+C
+C Note that REZ(i) = REZ(j) and IMZ(i) = -IMZ(j) if r(i) and r(j)
+C form a complex conjugate pair (where i <> j), and that IMZ(i) = 0
+C if r(i) is real.
+C
+C NUMERICAL ASPECTS
+C
+C None.
+C
+C CONTRIBUTOR
+C
+C V. Sima, Research Institute for Informatics, Bucharest, May 2002.
+C
+C REVISIONS
+C
+C -
+C
+C KEYWORDS
+C
+C Elementary polynomial operations, polynomial operations.
+C
+C ******************************************************************
+C
+C .. Parameters ..
+ DOUBLE PRECISION ZERO, ONE
+ PARAMETER ( ZERO = 0.0D0, ONE = 1.0D0 )
+C .. Scalar Arguments ..
+ INTEGER INFO, K
+C .. Array Arguments ..
+ DOUBLE PRECISION DWORK(*), IMZ(*), P(*), REZ(*)
+C .. Local Scalars ..
+ INTEGER I
+ DOUBLE PRECISION U, V
+C .. External Subroutines ..
+ EXTERNAL DAXPY, DCOPY, XERBLA
+C .. Executable Statements ..
+C
+C Test the input scalar arguments.
+C
+ IF( K.LT.0 ) THEN
+ INFO = -1
+C
+C Error return.
+C
+ CALL XERBLA( 'MC01PY', -INFO )
+ RETURN
+ END IF
+C
+C Quick return if possible.
+C
+ INFO = 0
+ P(1) = ONE
+ IF ( K.EQ.0 )
+ $ RETURN
+C
+ I = 1
+C WHILE ( I <= K ) DO
+ 20 IF ( I.LE.K ) THEN
+ U = REZ(I)
+ V = IMZ(I)
+ DWORK(I) = ZERO
+C
+ IF ( V.EQ.ZERO ) THEN
+ CALL DAXPY( I, -U, P, 1, DWORK, 1 )
+C
+ ELSE
+ IF ( I.EQ.K ) THEN
+ INFO = K
+ RETURN
+ ELSE IF ( ( U.NE.REZ(I+1) ) .OR. ( V.NE.-IMZ(I+1) ) ) THEN
+ INFO = I + 1
+ RETURN
+ END IF
+C
+ DWORK(I+1) = ZERO
+ CALL DAXPY( I, -(U + U), P, 1, DWORK, 1 )
+ CALL DAXPY( I, U**2+V**2, P, 1, DWORK(2), 1 )
+ I = I + 1
+ END IF
+C
+ CALL DCOPY( I, DWORK, 1, P(2), 1 )
+ I = I + 1
+ GO TO 20
+ END IF
+C END WHILE 20
+C
+ RETURN
+C *** Last line of MC01PY ***
+ END
Added: trunk/octave-forge/main/control/devel/ss2tf/TB01ID.f
===================================================================
--- trunk/octave-forge/main/control/devel/ss2tf/TB01ID.f (rev 0)
+++ trunk/octave-forge/main/control/devel/ss2tf/TB01ID.f 2010-10-08 19:53:14 UTC (rev 7817)
@@ -0,0 +1,402 @@
+ SUBROUTINE TB01ID( JOB, N, M, P, MAXRED, A, LDA, B, LDB, C, LDC,
+ $ SCALE, INFO )
+C
+C SLICOT RELEASE 5.0.
+C
+C Copyright (c) 2002-2009 NICONET e.V.
+C
+C This program is free software: you can redistribute it and/or
+C modify it under the terms of the GNU General Public License as
+C published by the Free Software Foundation, either version 2 of
+C the License, or (at your option) any later version.
+C
+C This program is distributed in the hope that it will be useful,
+C but WITHOUT ANY WARRANTY; without even the implied warranty of
+C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+C GNU General Public License for more details.
+C
+C You should have received a copy of the GNU General Public License
+C along with this program. If not, see
+C <http://www.gnu.org/licenses/>.
+C
+C PURPOSE
+C
+C To reduce the 1-norm of a system matrix
+C
+C S = ( A B )
+C ( C 0 )
+C
+C corresponding to the triple (A,B,C), by balancing. This involves
+C a diagonal similarity transformation inv(D)*A*D applied
+C iteratively to A to make the rows and columns of
+C -1
+C diag(D,I) * S * diag(D,I)
+C
+C as close in norm as possible.
+C
+C The balancing can be performed optionally on the following
+C particular system matrices
+C
+C S = A, S = ( A B ) or S = ( A )
+C ( C )
+C
+C ARGUMENTS
+C
+C Mode Parameters
+C
+C JOB CHARACTER*1
+C Indicates which matrices are involved in balancing, as
+C follows:
+C = 'A': All matrices are involved in balancing;
+C = 'B': B and A matrices are involved in balancing;
+C = 'C': C and A matrices are involved in balancing;
+C = 'N': B and C matrices are not involved in balancing.
+C
+C Input/Output Parameters
+C
+C N (input) INTEGER
+C The order of the matrix A, the number of rows of matrix B
+C and the number of columns of matrix C.
+C N represents the dimension of the state vector. N >= 0.
+C
+C M (input) INTEGER.
+C The number of columns of matrix B.
+C M represents the dimension of input vector. M >= 0.
+C
+C P (input) INTEGER.
+C The number of rows of matrix C.
+C P represents the dimension of output vector. P >= 0.
+C
+C MAXRED (input/output) DOUBLE PRECISION
+C On entry, the maximum allowed reduction in the 1-norm of
+C S (in an iteration) if zero rows or columns are
+C encountered.
+C If MAXRED > 0.0, MAXRED must be larger than one (to enable
+C the norm reduction).
+C If MAXRED <= 0.0, then the value 10.0 for MAXRED is
+C used.
+C On exit, if the 1-norm of the given matrix S is non-zero,
+C the ratio between the 1-norm of the given matrix and the
+C 1-norm of the balanced matrix.
+C
+C A (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+C On entry, the leading N-by-N part of this array must
+C contain the system state matrix A.
+C On exit, the leading N-by-N part of this array contains
+C the balanced matrix inv(D)*A*D.
+C
+C LDA INTEGER
+C The leading dimension of the array A. LDA >= max(1,N).
+C
+C B (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+C On entry, if M > 0, the leading N-by-M part of this array
+C must contain the system input matrix B.
+C On exit, if M > 0, the leading N-by-M part of this array
+C contains the balanced matrix inv(D)*B.
+C The array B is not referenced if M = 0.
+C
+C LDB INTEGER
+C The leading dimension of the array B.
+C LDB >= MAX(1,N) if M > 0.
+C LDB >= 1 if M = 0.
+C
+C C (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+C On entry, if P > 0, the leading P-by-N part of this array
+C must contain the system output matrix C.
+C On exit, if P > 0, the leading P-by-N part of this array
+C contains the balanced matrix C*D.
+C The array C is not referenced if P = 0.
+C
+C LDC INTEGER
+C The leading dimension of the array C. LDC >= MAX(1,P).
+C
+C SCALE (output) DOUBLE PRECISION array, dimension (N)
+C The scaling factors applied to S. If D(j) is the scaling
+C factor applied to row and column j, then SCALE(j) = D(j),
+C for j = 1,...,N.
+C
+C Error Indicator
+C
+C INFO INTEGER
+C = 0: successful exit.
+C < 0: if INFO = -i, the i-th argument had an illegal
+C value.
+C
+C METHOD
+C
+C Balancing consists of applying a diagonal similarity
+C transformation
+C -1
+C diag(D,I) * S * diag(D,I)
+C
+C to make the 1-norms of each row of the first N rows of S and its
+C corresponding column nearly equal.
+C
+C Information about the diagonal matrix D is returned in the vector
+C SCALE.
+C
+C REFERENCES
+C
+C [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+C Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+C Ostrouchov, S., and Sorensen, D.
+C LAPACK Users' Guide: Second Edition.
+C SIAM, Philadelphia, 1995.
+C
+C NUMERICAL ASPECTS
+C
+C None.
+C
+C CONTRIBUTOR
+C
+C Release 3.0: V. Sima, Katholieke Univ. Leuven, Belgium, Jan. 1998.
+C This subroutine is based on LAPACK routine DGEBAL, and routine
+C BALABC (A. Varga, German Aerospace Research Establishment, DLR).
+C
+C REVISIONS
+C
+C -
+C
+C KEYWORDS
+C
+C Balancing, eigenvalue, matrix algebra, matrix operations,
+C similarity transformation.
+C
+C *********************************************************************
+C
+C .. Parameters ..
+ DOUBLE PRECISION ZERO, ONE
+ PARAMETER ( ZERO = 0.0D+0, ONE = 1.0D+0 )
+ DOUBLE PRECISION SCLFAC
+ PARAMETER ( SCLFAC = 1.0D+1 )
+ DOUBLE PRECISION FACTOR, MAXR
+ PARAMETER ( FACTOR = 0.95D+0, MAXR = 10.0D+0 )
+C ..
+C .. Scalar Arguments ..
+ CHARACTER JOB
+ INTEGER INFO, LDA, LDB, LDC, M, N, P
+ DOUBLE PRECISION MAXRED
+C ..
+C .. Array Arguments ..
+ DOUBLE PRECISION A( LDA, * ), B( LDB, * ), C( LDC, * ),
+ $ SCALE( * )
+C ..
+C .. Local Scalars ..
+ LOGICAL NOCONV, WITHB, WITHC
+ INTEGER I, ICA, IRA, J
+ DOUBLE PRECISION CA, CO, F, G, MAXNRM, RA, RO, S, SFMAX1,
+ $ SFMAX2, SFMIN1, SFMIN2, SNORM, SRED
+C ..
+C .. External Functions ..
+ LOGICAL LSAME
+ INTEGER IDAMAX
+ DOUBLE PRECISION DASUM, DLAMCH
+ EXTERNAL DASUM, DLAMCH, IDAMAX, LSAME
+C ..
+C .. External Subroutines ..
+ EXTERNAL DSCAL, XERBLA
+C ..
+C .. Intrinsic Functions ..
+ INTRINSIC ABS, MAX, MIN
+C ..
+C .. Executable Statements ..
+C
+C Test the scalar input arguments.
+C
+ INFO = 0
+ WITHB = LSAME( JOB, 'A' ) .OR. LSAME( JOB, 'B' )
+ WITHC = LSAME( JOB, 'A' ) .OR. LSAME( JOB, 'C' )
+C
+ IF( .NOT.WITHB .AND. .NOT.WITHC .AND. .NOT.LSAME( JOB, 'N' ) )
+ $ THEN
+ INFO = -1
+ ELSE IF( N.LT.0 ) THEN
+ INFO = -2
+ ELSE IF( M.LT.0 ) THEN
+ INFO = -3
+ ELSE IF( P.LT.0 ) THEN
+ INFO = -4
+ ELSE IF( MAXRED.GT.ZERO .AND. MAXRED.LT.ONE ) THEN
+ INFO = -5
+ ELSE IF( LDA.LT.MAX( 1, N ) ) THEN
+ INFO = -7
+ ELSE IF( ( M.GT.0 .AND. LDB.LT.MAX( 1, N ) ) .OR.
+ $ ( M.EQ.0 .AND. LDB.LT.1 ) ) THEN
+ INFO = -9
+ ELSE IF( LDC.LT.MAX( 1, P ) ) THEN
+ INFO = -11
+ END IF
+ IF( INFO.NE.0 ) THEN
+ CALL XERBLA( 'TB01ID', -INFO )
+ RETURN
+ END IF
+C
+ IF( N.EQ.0 )
+ $ RETURN
+C
+C Compute the 1-norm of the required part of matrix S and exit if
+C it is zero.
+C
+ SNORM = ZERO
+C
+ DO 10 J = 1, N
+ SCALE( J ) = ONE
+ CO = DASUM( N, A( 1, J ), 1 )
+ IF( WITHC .AND. P.GT.0 )
+ $ CO = CO + DASUM( P, C( 1, J ), 1 )
+ SNORM = MAX( SNORM, CO )
+ 10 CONTINUE
+C
+ IF( WITHB ) THEN
+C
+ DO 20 J = 1, M
+ SNORM = MAX( SNORM, DASUM( N, B( 1, J ), 1 ) )
+ 20 CONTINUE
+C
+ END IF
+C
+ IF( SNORM.EQ.ZERO )
+ $ RETURN
+C
+C Set some machine parameters and the maximum reduction in the
+C 1-norm of S if zero rows or columns are encountered.
+C
+ SFMIN1 = DLAMCH( 'S' ) / DLAMCH( 'P' )
+ SFMAX1 = ONE / SFMIN1
+ SFMIN2 = SFMIN1*SCLFAC
+ SFMAX2 = ONE / SFMIN2
+C
+ SRED = MAXRED
+ IF( SRED.LE.ZERO ) SRED = MAXR
+C
+ MAXNRM = MAX( SNORM/SRED, SFMIN1 )
+C
+C Balance the matrix.
+C
+C Iterative loop for norm reduction.
+C
+ 30 CONTINUE
+ NOCONV = .FALSE.
+C
+ DO 90 I = 1, N
+ CO = ZERO
+ RO = ZERO
+C
+ DO 40 J = 1, N
+ IF( J.EQ.I )
+ $ GO TO 40
+ CO = CO + ABS( A( J, I ) )
+ RO = RO + ABS( A( I, J ) )
+ 40 CONTINUE
+C
+ ICA = IDAMAX( N, A( 1, I ), 1 )
+ CA = ABS( A( ICA, I ) )
+ IRA = IDAMAX( N, A( I, 1 ), LDA )
+ RA = ABS( A( I, IRA ) )
+C
+ IF( WITHC .AND. P.GT.0 ) THEN
+ CO = CO + DASUM( P, C( 1, I ), 1 )
+ ICA = IDAMAX( P, C( 1, I ), 1 )
+ CA = MAX( CA, ABS( C( ICA, I ) ) )
+ END IF
+C
+ IF( WITHB .AND. M.GT.0 ) THEN
+ RO = RO + DASUM( M, B( I, 1 ), LDB )
+ IRA = IDAMAX( M, B( I, 1 ), LDB )
+ RA = MAX( RA, ABS( B( I, IRA ) ) )
+ END IF
+C
+C Special case of zero CO and/or RO.
+C
+ IF( CO.EQ.ZERO .AND. RO.EQ.ZERO )
+ $ GO TO 90
+ IF( CO.EQ.ZERO ) THEN
+ IF( RO.LE.MAXNRM )
+ $ GO TO 90
+ CO = MAXNRM
+ END IF
+ IF( RO.EQ.ZERO ) THEN
+ IF( CO.LE.MAXNRM )
+ $ GO TO 90
+ RO = MAXNRM
+ END IF
+C
+C Guard against zero CO or RO due to underflow.
+C
+ G = RO / SCLFAC
+ F = ONE
+ S = CO + RO
+ 50 CONTINUE
+ IF( CO.GE.G .OR. MAX( F, CO, CA ).GE.SFMAX2 .OR.
+ $ MIN( RO, G, RA ).LE.SFMIN2 )GO TO 60
+ F = F*SCLFAC
+ CO = CO*SCLFAC
+ CA = CA*SCLFAC
+ G = G / SCLFAC
+ RO = RO / SCLFAC
+ RA = RA / SCLFAC
+ GO TO 50
+C
+ 60 CONTINUE
+ G = CO / SCLFAC
+ 70 CONTINUE
+ IF( G.LT.RO .OR. MAX( RO, RA ).GE.SFMAX2 .OR.
+ $ MIN( F, CO, G, CA ).LE.SFMIN2 )GO TO 80
+ F = F / SCLFAC
+ CO = CO / SCLFAC
+ CA = CA / SCLFAC
+ G = G / SCLFAC
+ RO = RO*SCLFAC
+ RA = RA*SCLFAC
+ GO TO 70
+C
+C Now balance.
+C
+ 80 CONTINUE
+ IF( ( CO+RO ).GE.FACTOR*S )
+ $ GO TO 90
+ IF( F.LT.ONE .AND. SCALE( I ).LT.ONE ) THEN
+ IF( F*SCALE( I ).LE.SFMIN1 )
+ $ GO TO 90
+ END IF
+ IF( F.GT.ONE .AND. SCALE( I ).GT.ONE ) THEN
+ IF( SCALE( I ).GE.SFMAX1 / F )
+ $ GO TO 90
+ END IF
+ G = ONE / F
+ SCALE( I ) = SCALE( I )*F
+ NOCONV = .TRUE.
+C
+ CALL DSCAL( N, G, A( I, 1 ), LDA )
+ CALL DSCAL( N, F, A( 1, I ), 1 )
+ IF( M.GT.0 ) CALL DSCAL( M, G, B( I, 1 ), LDB )
+ IF( P.GT.0 ) CALL DSCAL( P, F, C( 1, I ), 1 )
+C
+ 90 CONTINUE
+C
+ IF( NOCONV )
+ $ GO TO 30
+C
+C Set the norm reduction parameter.
+C
+ MAXRED = SNORM
+ SNORM = ZERO
+C
+ DO 100 J = 1, N
+ CO = DASUM( N, A( 1, J ), 1 )
+ IF( WITHC .AND. P.GT.0 )
+ $ CO = CO + DASUM( P, C( 1, J ), 1 )
+ SNORM = MAX( SNORM, CO )
+ 100 CONTINUE
+C
+ IF( WITHB ) THEN
+C
+ DO 110 J = 1, M
+ SNORM = MAX( SNORM, DASUM( N, B( 1, J ), 1 ) )
+ 110 CONTINUE
+C
+ END IF
+ MAXRED = MAXRED/SNORM
+ RETURN
+C *** Last line of TB01ID ***
+ END
Added: trunk/octave-forge/main/control/devel/ss2tf/TB01ZD.f
===================================================================
--- trunk/octave-forge/main/control/devel/ss2tf/TB01ZD.f (rev 0)
+++ trunk/octave-forge/main/control/devel/ss2tf/TB01ZD.f 2010-10-08 19:53:14 UTC (rev 7817)
@@ -0,0 +1,440 @@
+ SUBROUTINE TB01ZD( JOBZ, N, P, A, LDA, B, C, LDC, NCONT, Z, LDZ,
+ $ TAU, TOL, DWORK, LDWORK, INFO )
+C
+C SLICOT RELEASE 5.0.
+C
+C Copyright (c) 2002-2009 NICONET e.V.
+C
+C This program is free software: you can redistribute it and/or
+C modify it under the terms of the GNU General Public License as
+C published by the Free Software Foundation, either version 2 of
+C the License, or (at your option) any later version.
+C
+C This program is distributed in the hope that it will be useful,
+C but WITHOUT ANY WARRANTY; without even the implied warranty of
+C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+C GNU General Public License for more details.
+C
+C You should have received a copy of the GNU General Public License
+C along with this program. If not, see
+C <http://www.gnu.org/licenses/>.
+C
+C PURPOSE
+C
+C To find a controllable realization for the linear time-invariant
+C single-input system
+C
+C ...
[truncated message content] |
|
From: <par...@us...> - 2010-10-09 09:39:27
|
Revision: 7824
http://octave.svn.sourceforge.net/octave/?rev=7824&view=rev
Author: paramaniac
Date: 2010-10-09 09:39:21 +0000 (Sat, 09 Oct 2010)
Log Message:
-----------
control: more work on frd models
Modified Paths:
--------------
trunk/octave-forge/main/control/devel/@frd/__transpose__.m
trunk/octave-forge/main/control/devel/__frd_dim__.m
trunk/octave-forge/main/control/devel/frd_test.m
Added Paths:
-----------
trunk/octave-forge/main/control/devel/@frd/__sys_inverse__.m
Added: trunk/octave-forge/main/control/devel/@frd/__sys_inverse__.m
===================================================================
--- trunk/octave-forge/main/control/devel/@frd/__sys_inverse__.m (rev 0)
+++ trunk/octave-forge/main/control/devel/@frd/__sys_inverse__.m 2010-10-09 09:39:21 UTC (rev 7824)
@@ -0,0 +1,35 @@
+## Copyright (C) 2010 Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## Inversion of FRD models.
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: October 2010
+## Version: 0.1
+
+function sys = __sys_inverse__ (sys)
+
+ [p, m, l] = size (sys.H);
+
+ H = mat2cell (sys.H, p, m, ones (1, l))(:);
+
+ H = cellfun (@inv, H, "uniformoutput", false);
+
+ sys.H = cat (3, H{:});
+
+endfunction
\ No newline at end of file
Modified: trunk/octave-forge/main/control/devel/@frd/__transpose__.m
===================================================================
--- trunk/octave-forge/main/control/devel/@frd/__transpose__.m 2010-10-09 08:15:33 UTC (rev 7823)
+++ trunk/octave-forge/main/control/devel/@frd/__transpose__.m 2010-10-09 09:39:21 UTC (rev 7824)
@@ -24,12 +24,12 @@
function sys = __transpose__ (sys)
- H = sys.H;
+ [p, m, l] = size (sys.H);
- for k = 1 : size (H, 3)
- H(:, :, k) = H(:, :, k).'
- endfor
+ H = mat2cell (sys.H, p, m, ones (1, l))(:);
- sys.H = H;
+ H = cellfun (@transpose, H, "uniformoutput", false);
+ sys.H = cat (3, H{:});
+
endfunction
\ No newline at end of file
Modified: trunk/octave-forge/main/control/devel/__frd_dim__.m
===================================================================
--- trunk/octave-forge/main/control/devel/__frd_dim__.m 2010-10-09 08:15:33 UTC (rev 7823)
+++ trunk/octave-forge/main/control/devel/__frd_dim__.m 2010-10-09 09:39:21 UTC (rev 7824)
@@ -33,13 +33,13 @@
error ("frd: w must be a vector of positive real numbers");
endif
- if (isempty (H))
- p = m = l = 0;
- else
- [p, m, l] = size (H);
+ lw = length (w);
+
+ if (lw > 1 && (! issorted (w) || w(1) >= w(end) || length (unique (w)) != lw))
+ error ("frd: vector w must contain unique frequencies in ascending order");
endif
- lw = length (w);
+ [p, m, l] = size (H);
if (l != lw)
error ("frd: H (%dx%dx%d) and w (%d) must have equal length",
Modified: trunk/octave-forge/main/control/devel/frd_test.m
===================================================================
--- trunk/octave-forge/main/control/devel/frd_test.m 2010-10-09 08:15:33 UTC (rev 7823)
+++ trunk/octave-forge/main/control/devel/frd_test.m 2010-10-09 09:39:21 UTC (rev 7824)
@@ -40,7 +40,12 @@
sigma (P_frd, [], 3)
+sys1 = frd (reshape (1:60, 3, 4, []), 1:5)
+sys1.'
+sys2 = frd (reshape (1:45, 3, 3, []), 1:5)
+inv (sys2)
+
%{
P = frd ((1:45)*(1-2i), logspace (-2,3,45))
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2010-10-09 11:25:02
|
Revision: 7825
http://octave.svn.sourceforge.net/octave/?rev=7825&view=rev
Author: paramaniac
Date: 2010-10-09 11:24:56 +0000 (Sat, 09 Oct 2010)
Log Message:
-----------
control: sys_prune for frd models
Added Paths:
-----------
trunk/octave-forge/main/control/devel/@frd/__sys_prune__.m
trunk/octave-forge/main/control/devel/test_frd.m
Removed Paths:
-------------
trunk/octave-forge/main/control/devel/frd_test.m
Added: trunk/octave-forge/main/control/devel/@frd/__sys_prune__.m
===================================================================
--- trunk/octave-forge/main/control/devel/@frd/__sys_prune__.m (rev 0)
+++ trunk/octave-forge/main/control/devel/@frd/__sys_prune__.m 2010-10-09 11:24:56 UTC (rev 7825)
@@ -0,0 +1,33 @@
+## Copyright (C) 2010 Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## Submodel extraction and reordering for FRD objects.
+## This file is part of the Model Abstraction Layer.
+## For internal use only.
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: October 2010
+## Version: 0.1
+
+function sys = __sys_prune__ (sys, out_idx, in_idx, st_idx = ":")
+
+ sys.lti = __lti_prune__ (sys.lti, out_idx, in_idx);
+
+ sys.H = sys.H(out_idx, in_idx, :);
+
+endfunction
\ No newline at end of file
Deleted: trunk/octave-forge/main/control/devel/frd_test.m
===================================================================
--- trunk/octave-forge/main/control/devel/frd_test.m 2010-10-09 09:39:21 UTC (rev 7824)
+++ trunk/octave-forge/main/control/devel/frd_test.m 2010-10-09 11:24:56 UTC (rev 7825)
@@ -1,64 +0,0 @@
-sys = frd (1, 1)
-
-sys = frd (2+5i, 3, 0.1)
-
-sys = frd (ones (2, 3, 5), 1:5)
-
-frd
-
-frd ([], [])
-
-
-
-P_ss = Boeing707;
-w = logspace (-2, 2, 500);
-H = freqresp (P_ss, w);
-P_frd = frd (H, w);
-
-figure (1)
-subplot (2, 1, 1)
-sigma (P_ss)
-subplot (2, 1, 2)
-sigma (P_frd)
-
-figure (2)
-subplot (2, 1, 1)
-sigma (P_ss, [], 1)
-subplot (2, 1, 2)
-sigma (P_frd, [], 1)
-
-figure (3)
-subplot (2, 1, 1)
-sigma (P_ss, [], 2)
-subplot (2, 1, 2)
-sigma (P_frd, [], 2)
-
-figure (4)
-subplot (2, 1, 1)
-sigma (P_ss, [], 3)
-subplot (2, 1, 2)
-sigma (P_frd, [], 3)
-
-
-sys1 = frd (reshape (1:60, 3, 4, []), 1:5)
-sys1.'
-
-sys2 = frd (reshape (1:45, 3, 3, []), 1:5)
-inv (sys2)
-
-%{
-P = frd ((1:45)*(1-2i), logspace (-2,3,45))
-
-figure (1)
-sigma (P)
-sigma (P, [], 0)
-
-figure (2)
-sigma (P, [], 1)
-
-figure (3)
-sigma (P, [], 2)
-
-figure (4)
-sigma (P, [], 3)
-%}
\ No newline at end of file
Copied: trunk/octave-forge/main/control/devel/test_frd.m (from rev 7824, trunk/octave-forge/main/control/devel/frd_test.m)
===================================================================
--- trunk/octave-forge/main/control/devel/test_frd.m (rev 0)
+++ trunk/octave-forge/main/control/devel/test_frd.m 2010-10-09 11:24:56 UTC (rev 7825)
@@ -0,0 +1,78 @@
+sys = frd (1, 1)
+
+sys = frd (2+5i, 3, 0.1)
+
+sys = frd (ones (2, 3, 5), 1:5)
+
+frd
+
+frd ([], [])
+
+
+
+P_ss = Boeing707;
+w = logspace (-2, 2, 500);
+H = freqresp (P_ss, w);
+P_frd = frd (H, w);
+
+figure (1)
+subplot (2, 1, 1)
+sigma (P_ss)
+subplot (2, 1, 2)
+sigma (P_frd)
+
+figure (2)
+subplot (2, 1, 1)
+sigma (P_ss, [], 1)
+subplot (2, 1, 2)
+sigma (P_frd, [], 1)
+
+figure (3)
+subplot (2, 1, 1)
+sigma (P_ss, [], 2)
+subplot (2, 1, 2)
+sigma (P_frd, [], 2)
+
+figure (4)
+subplot (2, 1, 1)
+sigma (P_ss, [], 3)
+subplot (2, 1, 2)
+sigma (P_frd, [], 3)
+
+
+sys1 = frd (reshape (1:60, 3, 4, []), 1:5)
+sys1.'
+
+sys2 = frd (reshape (1:45, 3, 3, []), 1:5)
+inv (sys2)
+
+
+P_ss = Boeing707;
+T_ss = feedback (P_ss);
+
+P_frd = frd (P_ss);
+T_frd = feedback (P_frd);
+
+figure (5)
+subplot (2, 1, 1)
+sigma (T_ss)
+subplot (2, 1, 2)
+sigma (T_frd)
+
+
+%{
+P = frd ((1:45)*(1-2i), logspace (-2,3,45))
+
+figure (1)
+sigma (P)
+sigma (P, [], 0)
+
+figure (2)
+sigma (P, [], 1)
+
+figure (3)
+sigma (P, [], 2)
+
+figure (4)
+sigma (P, [], 3)
+%}
\ No newline at end of file
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|
|
From: <par...@us...> - 2010-10-09 13:08:16
|
Revision: 7827
http://octave.svn.sourceforge.net/octave/?rev=7827&view=rev
Author: paramaniac
Date: 2010-10-09 13:08:10 +0000 (Sat, 09 Oct 2010)
Log Message:
-----------
control: add sys_connect for frd models, improve constructor
Modified Paths:
--------------
trunk/octave-forge/main/control/devel/@frd/frd.m
trunk/octave-forge/main/control/devel/__frd_dim__.m
Added Paths:
-----------
trunk/octave-forge/main/control/devel/@frd/__sys_connect__.m
Added: trunk/octave-forge/main/control/devel/@frd/__sys_connect__.m
===================================================================
--- trunk/octave-forge/main/control/devel/@frd/__sys_connect__.m (rev 0)
+++ trunk/octave-forge/main/control/devel/@frd/__sys_connect__.m 2010-10-09 13:08:10 UTC (rev 7827)
@@ -0,0 +1,54 @@
+## Copyright (C) 2010 Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} {@var{retsys} =} __sys_connect__ (@var{sys}, @var{M})
+## This function is part of the Model Abstraction Layer. No argument checking.
+## For internal use only.
+## @example
+## @group
+## Problem: Solve the system equations of
+## Y(s) = G(s) E(s)
+## E(s) = U(s) + M Y(s)
+## in order to build
+## Y(s) = H(s) U(s)
+## Solution:
+## Y(s) = G(s) [U(s) + M Y(s)]
+## Y(s) = G(s) U(s) + G(s) M Y(s)
+## Y(s) = [I - G(s) M]^-1 G(s) U(s)
+## \_______ _______/
+## H(s)
+## @end group
+## @end example
+## @end deftypefn
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: October 2010
+## Version: 0.1
+
+function sys = __sys_connect__ (sys, M)
+
+ [p, m, l] = size (sys.H);
+
+ I = eye (p);
+ H = mat2cell (sys.H, p, m, ones (1, l))(:);
+
+ H = cellfun (@(x) [I - x*M] \ x, H, "uniformoutput", false);
+
+ sys.H = cat (3, H{:});
+
+endfunction
\ No newline at end of file
Modified: trunk/octave-forge/main/control/devel/@frd/frd.m
===================================================================
--- trunk/octave-forge/main/control/devel/@frd/frd.m 2010-10-09 11:32:29 UTC (rev 7826)
+++ trunk/octave-forge/main/control/devel/@frd/frd.m 2010-10-09 13:08:10 UTC (rev 7827)
@@ -73,8 +73,24 @@
endswitch
+ ## TODO: create separate function
if (ndims (H) != 3 && ! isempty (H))
- H = reshape (H, 1, 1, []);
+ if (is_real_scalar (H)) # static gain (H is a scalar)
+ H = reshape (H, 1, 1, []);
+ tsam = -1;
+ elseif (isvector (H)) # SISO system (H is a vector)
+ H = reshape (H, 1, 1, []);
+ else # static gain (H is a matrix)
+ if (! is_real_matrix (H))
+ error ("frd: static gain matrix must be real");
+ endif
+ H = reshape (H, rows (H), []);
+ lw = length (w);
+ if (lw > 1)
+ H = repmat (H, [1, 1, lw]); # needed for "frd1 + matrix2" or "matrix1 * frd2)
+ endif
+ tsam = -1;
+ endif
elseif (isempty (H))
H = zeros (0, 0, 0);
tsam = -1;
@@ -89,7 +105,7 @@
ltisys = lti (p, m, tsam);
sys = class (frdata, "frd", ltisys);
-
+sys.lti.tsam
if (argc > 0)
sys = set (sys, varargin{:});
endif
Modified: trunk/octave-forge/main/control/devel/__frd_dim__.m
===================================================================
--- trunk/octave-forge/main/control/devel/__frd_dim__.m 2010-10-09 11:32:29 UTC (rev 7826)
+++ trunk/octave-forge/main/control/devel/__frd_dim__.m 2010-10-09 13:08:10 UTC (rev 7827)
@@ -29,6 +29,19 @@
error ("frd: H must be a 3-dimensional numeric array");
endif
+ lw = length (w);
+
+ if (lw > 1 && (! is_real_vector (w) || any (w < 0) \
+ || ! issorted (w) || w(1) >= w(end) || length (unique (w)) != lw))
+ error ("frd: w must be a vector of positive real numbers");
+ elseif (lw == 1 && ! issample (w, -1))
+ error ("frd: scalar w must be a valid sampling time");
+ endif
+%{
+ if (! isnumeric (H)) # TODO: watch out for __set__ vector case
+ error ("frd: H must be a 3-dimensional numeric array");
+ endif
+
if (! isempty (w) && (! is_real_vector (w) || any (w < 0)))
error ("frd: w must be a vector of positive real numbers");
endif
@@ -37,8 +50,10 @@
if (lw > 1 && (! issorted (w) || w(1) >= w(end) || length (unique (w)) != lw))
error ("frd: vector w must contain unique frequencies in ascending order");
+ elseif (lw == 1 && ! issample (w, -1))
+ error ("frd: scalar w must be a valid sampling time");
endif
-
+%}
[p, m, l] = size (H);
if (l != lw)
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|
|
From: <par...@us...> - 2010-10-09 13:42:22
|
Revision: 7829
http://octave.svn.sourceforge.net/octave/?rev=7829&view=rev
Author: paramaniac
Date: 2010-10-09 13:42:15 +0000 (Sat, 09 Oct 2010)
Log Message:
-----------
control: fix __set__ for frd models
Modified Paths:
--------------
trunk/octave-forge/main/control/devel/@frd/__set__.m
trunk/octave-forge/main/control/devel/@frd/frd.m
Added Paths:
-----------
trunk/octave-forge/main/control/devel/__adjust_frd_data__.m
Modified: trunk/octave-forge/main/control/devel/@frd/__set__.m
===================================================================
--- trunk/octave-forge/main/control/devel/@frd/__set__.m 2010-10-09 13:09:17 UTC (rev 7828)
+++ trunk/octave-forge/main/control/devel/@frd/__set__.m 2010-10-09 13:42:15 UTC (rev 7829)
@@ -24,18 +24,14 @@
function sys = __set__ (sys, prop, val)
- switch (prop) # {<internal name>, <user name>}
+ switch (prop) # {<internal name>, <user name>}
case {"h", "r", "resp", "response"}
- if (ndims (val) != 3 && ! isempty (val)) # TODO: share code with @frd/frd.m
- val = reshape (val, 1, 1, []);
- elseif (isempty (val))
- val = zeros (0, 0, 0);
- endif
+ val = __adjust_frd_data__ (val, sys.w, 0);
__frd_dim__ (val, sys.w);
sys.H = val;
case {"w", "f", "freq", "frequency"}
- val = reshape (val, [], 1);
+ [jnk, val] = __adjust_frd_data__ (sys.H, val, 0); ## TODO: use [~, val] for octave 3.4
__frd_dim__ (sys.H, val);
sys.w = val;
Modified: trunk/octave-forge/main/control/devel/@frd/frd.m
===================================================================
--- trunk/octave-forge/main/control/devel/@frd/frd.m 2010-10-09 13:09:17 UTC (rev 7828)
+++ trunk/octave-forge/main/control/devel/@frd/frd.m 2010-10-09 13:42:15 UTC (rev 7829)
@@ -73,31 +73,8 @@
endswitch
- ## TODO: create separate function
- if (ndims (H) != 3 && ! isempty (H))
- if (is_real_scalar (H)) # static gain (H is a scalar)
- H = reshape (H, 1, 1, []);
- tsam = -1;
- elseif (isvector (H)) # SISO system (H is a vector)
- H = reshape (H, 1, 1, []);
- else # static gain (H is a matrix)
- if (! is_real_matrix (H))
- error ("frd: static gain matrix must be real");
- endif
- H = reshape (H, rows (H), []);
- lw = length (w);
- if (lw > 1)
- H = repmat (H, [1, 1, lw]); # needed for "frd1 + matrix2" or "matrix1 * frd2)
- endif
- tsam = -1;
- endif
- elseif (isempty (H))
- H = zeros (0, 0, 0);
- tsam = -1;
- endif
+ [H, w, tsam] = __adjust_frd_data__ (H, w, tsam);
- w = reshape (w, [], 1);
-
[p, m] = __frd_dim__ (H, w);
frdata = struct ("H", H, "w", w);
Added: trunk/octave-forge/main/control/devel/__adjust_frd_data__.m
===================================================================
--- trunk/octave-forge/main/control/devel/__adjust_frd_data__.m (rev 0)
+++ trunk/octave-forge/main/control/devel/__adjust_frd_data__.m 2010-10-09 13:42:15 UTC (rev 7829)
@@ -0,0 +1,51 @@
+## Copyright (C) 2010 Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## Common code for adjusting FRD model data.
+## Used by @frd/frd.m and @frd/__set__.m
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: October 2010
+## Version: 0.1
+
+function [H, w, tsam] = __adjust_frd_data__ (H, w, tsam);
+
+ if (ndims (H) != 3 && ! isempty (H))
+ if (is_real_scalar (H)) # static gain (H is a real scalar)
+ H = reshape (H, 1, 1, []);
+ tsam = -1;
+ elseif (isvector (H)) # SISO system (H is a complex vector)
+ H = reshape (H, 1, 1, []);
+ elseif (is_real_matrix (H)) # static gain (H is a real matrix)
+ H = reshape (H, rows (H), []);
+ lw = length (w);
+ if (lw > 1)
+ H = repmat (H, [1, 1, lw]); # needed for "frd1 + matrix2" or "matrix1 * frd2)
+ endif
+ tsam = -1;
+ else
+ error ("frd: static gain matrix must be real");
+ endif
+ elseif (isempty (H))
+ H = zeros (0, 0, 0);
+ tsam = -1;
+ endif
+
+ w = reshape (w, [], 1);
+
+endfunction
\ No newline at end of file
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|
|
From: <par...@us...> - 2010-10-09 19:06:27
|
Revision: 7831
http://octave.svn.sourceforge.net/octave/?rev=7831&view=rev
Author: paramaniac
Date: 2010-10-09 19:06:20 +0000 (Sat, 09 Oct 2010)
Log Message:
-----------
control: complete frd model interconnections
Modified Paths:
--------------
trunk/octave-forge/main/control/devel/@frd/__sys_group__.m
trunk/octave-forge/main/control/devel/@frd/frd.m
trunk/octave-forge/main/control/devel/test_frd.m
Modified: trunk/octave-forge/main/control/devel/@frd/__sys_group__.m
===================================================================
--- trunk/octave-forge/main/control/devel/@frd/__sys_group__.m 2010-10-09 13:43:42 UTC (rev 7830)
+++ trunk/octave-forge/main/control/devel/@frd/__sys_group__.m 2010-10-09 19:06:20 UTC (rev 7831)
@@ -43,29 +43,36 @@
[p1, m1, l1] = size (sys1.H);
[p2, m2, l2] = size (sys2.H);
+ ## TODO: tolerances for frequencies, i.e. don't check for equality
- if (lw1 == lw2 && all (sys1.w == sys2.w))
+ ## find intersection of frequency vectors
+ if (lw1 == lw2 && all (sys1.w == sys2.w)) # identical frequency vectors
retsys.w = sys1.w;
- else
- retsys.w = intersect (sys1.w, sys2.w);
+ H1 = sys1.H;
+ H2 = sys2.H;
+ else # differing frequency vectors
+ ## find common frequencies
+ retsys.w = w = intersect (sys1.w, sys2.w);
+ w = num2cell (w);
+
+ ## indices of common frequencies
+ w1_idx = cellfun (@(x) find (sys1.w == x), w);
+ w2_idx = cellfun (@(x) find (sys2.w == x), w);
+
+ ## extract common responses
+ H1 = sys1.H(:, :, w1_idx);
+ H2 = sys2.H(:, :, w2_idx);
endif
- % l filtern
- H1 = sys1.H(:, :, w1_idx);
- H2 = sys2.H(:, :, w2_idx);
-
+ ## block-diagonal concatenation
+ lw = length (retsys.w);
z12 = zeros (p1, m2);
z21 = zeros (p2, m1);
+ H1 = mat2cell (H1, p1, m1, ones (1, lw))(:);
+ H2 = mat2cell (H2, p2, m2, ones (1, lw))(:);
-% H1 = mat2cell (H1, p1, m1, ones (1, l))(:);
-% H2 = mat2cell (H2, p2, m2, ones (1, l))(:);
- H1 = mat2cell (H1, p1, m1, ones (1, l1))(:);
- H2 = mat2cell (H2, p2, m2, ones (1, l2))(:);
-
H = cellfun (@(x, y) [x, z12; z21, y], H1, H2, "uniformoutput", false);
retsys.H = cat (3, H{:});
-% welche indices von H1, H2 ? --> vorher ausmisten
-
endfunction
\ No newline at end of file
Modified: trunk/octave-forge/main/control/devel/@frd/frd.m
===================================================================
--- trunk/octave-forge/main/control/devel/@frd/frd.m 2010-10-09 13:43:42 UTC (rev 7830)
+++ trunk/octave-forge/main/control/devel/@frd/frd.m 2010-10-09 19:06:20 UTC (rev 7831)
@@ -82,7 +82,7 @@
ltisys = lti (p, m, tsam);
sys = class (frdata, "frd", ltisys);
-sys.lti.tsam
+
if (argc > 0)
sys = set (sys, varargin{:});
endif
Modified: trunk/octave-forge/main/control/devel/test_frd.m
===================================================================
--- trunk/octave-forge/main/control/devel/test_frd.m 2010-10-09 13:43:42 UTC (rev 7830)
+++ trunk/octave-forge/main/control/devel/test_frd.m 2010-10-09 19:06:20 UTC (rev 7831)
@@ -1,12 +1,12 @@
-sys = frd (1, 1)
+sys1 = frd (1, 1)
-sys = frd (2+5i, 3, 0.1)
+sys2 = frd (2+5i, 3, 0.1)
-sys = frd (ones (2, 3, 5), 1:5)
+sys3 = frd (ones (2, 3, 5), 1:5)
-frd
+sys4 = frd
-frd ([], [])
+sys5 = frd ([], [])
@@ -40,11 +40,13 @@
sigma (P_frd, [], 3)
-sys1 = frd (reshape (1:60, 3, 4, []), 1:5)
-sys1.'
+%sys1 = frd (reshape (1:60, 3, 4, []), 1:5)
+%sys1.'
+P_frd.';
-sys2 = frd (reshape (1:45, 3, 3, []), 1:5)
-inv (sys2)
+%sys2 = frd (reshape (1:45, 3, 3, []), 1:5)
+%inv (sys2)
+inv (P_frd);
P_ss = Boeing707;
@@ -55,11 +57,25 @@
figure (5)
subplot (2, 1, 1)
-sigma (T_ss)
+% sigma (T_ss)
+sigma (T_ss, T_frd.w)
subplot (2, 1, 2)
sigma (T_frd)
+figure (6)
+subplot (2, 1, 1)
+% sigma (T_ss + P_ss)
+sigma (T_ss + P_ss, T_frd.w)
+subplot (2, 1, 2)
+sigma (T_frd + P_frd)
+figure (7)
+subplot (2, 1, 1)
+% sigma (T_ss * P_ss)
+sigma (T_ss * P_ss, T_frd.w)
+subplot (2, 1, 2)
+sigma (T_frd * P_frd)
+
%{
P = frd ((1:45)*(1-2i), logspace (-2,3,45))
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|
|
From: <par...@us...> - 2010-10-10 10:21:56
|
Revision: 7836
http://octave.svn.sourceforge.net/octave/?rev=7836&view=rev
Author: paramaniac
Date: 2010-10-10 10:21:50 +0000 (Sun, 10 Oct 2010)
Log Message:
-----------
control: remove unused argument
Modified Paths:
--------------
trunk/octave-forge/main/control/devel/@frd/__set__.m
trunk/octave-forge/main/control/devel/@frd/frd.m
trunk/octave-forge/main/control/devel/__adjust_frd_data__.m
Modified: trunk/octave-forge/main/control/devel/@frd/__set__.m
===================================================================
--- trunk/octave-forge/main/control/devel/@frd/__set__.m 2010-10-10 10:08:25 UTC (rev 7835)
+++ trunk/octave-forge/main/control/devel/@frd/__set__.m 2010-10-10 10:21:50 UTC (rev 7836)
@@ -26,12 +26,12 @@
switch (prop) # {<internal name>, <user name>}
case {"h", "r", "resp", "response"}
- val = __adjust_frd_data__ (val, sys.w, 0);
+ val = __adjust_frd_data__ (val, sys.w);
__frd_dim__ (val, sys.w);
sys.H = val;
case {"w", "f", "freq", "frequency"}
- [jnk, val] = __adjust_frd_data__ (sys.H, val, 0); ## TODO: use [~, val] for octave 3.4
+ [jnk, val] = __adjust_frd_data__ (sys.H, val); ## TODO: use [~, val] for octave 3.4
__frd_dim__ (sys.H, val);
sys.w = val;
Modified: trunk/octave-forge/main/control/devel/@frd/frd.m
===================================================================
--- trunk/octave-forge/main/control/devel/@frd/frd.m 2010-10-10 10:08:25 UTC (rev 7835)
+++ trunk/octave-forge/main/control/devel/@frd/frd.m 2010-10-10 10:21:50 UTC (rev 7836)
@@ -85,7 +85,7 @@
endswitch
- [H, w, tsam] = __adjust_frd_data__ (H, w, tsam);
+ [H, w] = __adjust_frd_data__ (H, w);
[p, m] = __frd_dim__ (H, w);
Modified: trunk/octave-forge/main/control/devel/__adjust_frd_data__.m
===================================================================
--- trunk/octave-forge/main/control/devel/__adjust_frd_data__.m 2010-10-10 10:08:25 UTC (rev 7835)
+++ trunk/octave-forge/main/control/devel/__adjust_frd_data__.m 2010-10-10 10:21:50 UTC (rev 7836)
@@ -23,7 +23,7 @@
## Created: October 2010
## Version: 0.1
-function [H, w, tsam] = __adjust_frd_data__ (H, w, tsam);
+function [H, w] = __adjust_frd_data__ (H, w);
w = reshape (w, [], 1);
lw = length (w);
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|
|
From: <par...@us...> - 2010-10-16 09:41:29
|
Revision: 7848
http://octave.svn.sourceforge.net/octave/?rev=7848&view=rev
Author: paramaniac
Date: 2010-10-16 09:41:22 +0000 (Sat, 16 Oct 2010)
Log Message:
-----------
control: bugfix for cases like frd (ss (5)) + 4
Modified Paths:
--------------
trunk/octave-forge/main/control/devel/__adjust_frd_data__.m
trunk/octave-forge/main/control/devel/test_frd.m
Modified: trunk/octave-forge/main/control/devel/__adjust_frd_data__.m
===================================================================
--- trunk/octave-forge/main/control/devel/__adjust_frd_data__.m 2010-10-15 18:54:14 UTC (rev 7847)
+++ trunk/octave-forge/main/control/devel/__adjust_frd_data__.m 2010-10-16 09:41:22 UTC (rev 7848)
@@ -32,14 +32,14 @@
if (isscalar (H))
H = reshape (H, 1, 1, []);
if (lw > 1)
- H = repmat (H, [1, 1, lw]); # needed for "frd1 + scalar2" or "scalar1 * frd2)
+ H = repmat (H, [1, 1, lw]); # needed for "frd1 + scalar2" or "scalar1 * frd2)
endif
- elseif (isvector (H)) # SISO system (H is a vector)
+ elseif (isvector (H) && length (H) == lw) # SISO system (H is a vector)
H = reshape (H, 1, 1, []);
elseif (ismatrix (H))
H = reshape (H, rows (H), []);
if (lw > 1)
- H = repmat (H, [1, 1, lw]); # needed for "frd1 + matrix2" or "matrix1 * frd2)
+ H = repmat (H, [1, 1, lw]); # needed for "frd1 + matrix2" or "matrix1 * frd2)
endif
else
error ("frd: first argument H invalid");
Modified: trunk/octave-forge/main/control/devel/test_frd.m
===================================================================
--- trunk/octave-forge/main/control/devel/test_frd.m 2010-10-15 18:54:14 UTC (rev 7847)
+++ trunk/octave-forge/main/control/devel/test_frd.m 2010-10-16 09:41:22 UTC (rev 7848)
@@ -83,7 +83,9 @@
% k2 = frd (tf ([1, 2; 3, 4]))
k2 = frd (tf (5));
+frd (ss (5)) + 4;
+
%{
P = frd ((1:45)*(1-2i), logspace (-2,3,45))
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|
|
From: <par...@us...> - 2011-01-16 10:43:31
|
Revision: 8055
http://octave.svn.sourceforge.net/octave/?rev=8055&view=rev
Author: paramaniac
Date: 2011-01-16 10:43:25 +0000 (Sun, 16 Jan 2011)
Log Message:
-----------
control: remove mac-specific flags
Modified Paths:
--------------
trunk/octave-forge/main/control/devel/makefile_chol.m
trunk/octave-forge/main/control/devel/makefile_h2syn.m
trunk/octave-forge/main/control/devel/makefile_hankel.m
trunk/octave-forge/main/control/devel/makefile_hinfsyn.m
trunk/octave-forge/main/control/devel/makefile_lqr.m
trunk/octave-forge/main/control/devel/makefile_lyap.m
trunk/octave-forge/main/control/devel/makefile_minreal.m
trunk/octave-forge/main/control/devel/makefile_norm.m
trunk/octave-forge/main/control/devel/makefile_place.m
trunk/octave-forge/main/control/devel/makefile_staircase.m
trunk/octave-forge/main/control/devel/makefile_zero.m
Modified: trunk/octave-forge/main/control/devel/makefile_chol.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_chol.m 2011-01-12 16:17:45 UTC (rev 8054)
+++ trunk/octave-forge/main/control/devel/makefile_chol.m 2011-01-16 10:43:25 UTC (rev 8055)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -14,15 +11,13 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb03od.cc \
+mkoctfile slsb03od.cc \
SB03OD.f select.f SB03OU.f SB03OT.f MB04ND.f \
MB04OD.f SB03OR.f SB03OY.f SB04PX.f MB04NY.f \
MB04OY.f SB03OV.f
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsg03bd.cc \
+mkoctfile slsg03bd.cc \
SG03BD.f SG03BV.f SG03BU.f SG03BW.f SG03BX.f \
SG03BY.f MB02UU.f MB02UV.f
Modified: trunk/octave-forge/main/control/devel/makefile_h2syn.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_h2syn.m 2011-01-12 16:17:45 UTC (rev 8054)
+++ trunk/octave-forge/main/control/devel/makefile_h2syn.m 2011-01-16 10:43:25 UTC (rev 8055)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -14,8 +11,7 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb10hd.cc \
+mkoctfile slsb10hd.cc \
SB10HD.f SB10UD.f SB10VD.f SB10WD.f SB02RD.f \
MB01RU.f SB02SD.f MA02ED.f SB02RU.f SB02MR.f \
MB01SD.f SB02MS.f SB02MV.f SB02MW.f MA02AD.f \
@@ -23,8 +19,7 @@
MB01RY.f SB03SX.f SB03SY.f select.f SB03MX.f \
SB03MY.f MB01UD.f SB03MV.f SB03MW.f SB04PX.f
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb10ed.cc \
+mkoctfile slsb10ed.cc \
SB10ED.f SB10SD.f SB10TD.f SB10PD.f MB01RX.f \
SB02SD.f SB02OD.f MB01RU.f SB02OU.f SB02OV.f \
SB02OW.f MB01RY.f SB02OY.f SB03SX.f SB03SY.f \
Modified: trunk/octave-forge/main/control/devel/makefile_hankel.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_hankel.m 2011-01-12 16:17:45 UTC (rev 8054)
+++ trunk/octave-forge/main/control/devel/makefile_hankel.m 2011-01-16 10:43:25 UTC (rev 8055)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -14,8 +11,7 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slab13ad.cc \
+mkoctfile slab13ad.cc \
AB13AD.f TB01ID.f TB01KD.f AB13AX.f MA02DD.f \
MB03UD.f TB01LD.f SB03OU.f MB03QX.f select.f \
SB03OT.f MB03QD.f MB04ND.f MB04OD.f MB03QY.f \
Modified: trunk/octave-forge/main/control/devel/makefile_hinfsyn.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_hinfsyn.m 2011-01-12 16:17:45 UTC (rev 8054)
+++ trunk/octave-forge/main/control/devel/makefile_hinfsyn.m 2011-01-16 10:43:25 UTC (rev 8055)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -14,8 +11,7 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb10fd.cc \
+mkoctfile slsb10fd.cc \
SB10FD.f SB10PD.f SB10QD.f SB10RD.f SB02RD.f \
MB01RU.f MB01RX.f MA02AD.f SB02SD.f MA02ED.f \
SB02RU.f SB02MR.f MB01SD.f SB02MS.f SB02MV.f \
@@ -23,8 +19,7 @@
MB01RY.f SB03SX.f SB03SY.f select.f SB03MX.f \
SB03MY.f MB01UD.f SB03MV.f SB03MW.f SB04PX.f
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb10dd.cc \
+mkoctfile slsb10dd.cc \
SB10DD.f MB01RU.f MB01RX.f SB02SD.f SB02OD.f \
MA02AD.f SB02OU.f SB02OV.f SB02OW.f MB01RY.f \
SB02OY.f SB03SX.f SB03SY.f MA02ED.f select.f \
Modified: trunk/octave-forge/main/control/devel/makefile_lqr.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_lqr.m 2011-01-12 16:17:45 UTC (rev 8054)
+++ trunk/octave-forge/main/control/devel/makefile_lqr.m 2011-01-16 10:43:25 UTC (rev 8055)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -14,13 +11,11 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb02od.cc \
+mkoctfile slsb02od.cc \
SB02OD.f SB02OU.f SB02OV.f SB02OW.f SB02OY.f \
SB02MR.f SB02MV.f
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsg02ad.cc \
+mkoctfile slsg02ad.cc \
SG02AD.f SB02OU.f SB02OV.f SB02OW.f SB02OY.f \
MB01SD.f MB02VD.f MB02PD.f MA02GD.f
Modified: trunk/octave-forge/main/control/devel/makefile_lyap.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_lyap.m 2011-01-12 16:17:45 UTC (rev 8054)
+++ trunk/octave-forge/main/control/devel/makefile_lyap.m 2011-01-16 10:43:25 UTC (rev 8055)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -15,25 +12,21 @@
cd (srcdir);
## Lypunov
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb03md.cc \
+mkoctfile slsb03md.cc \
SB03MD.f select.f SB03MX.f SB03MY.f MB01RD.f \
SB03MV.f SB03MW.f SB04PX.f
## Sylvester
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb04md.cc \
+mkoctfile slsb04md.cc \
SB04MD.f SB04MU.f SB04MY.f SB04MR.f SB04MW.f
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb04qd.cc \
+mkoctfile slsb04qd.cc \
SB04QD.f SB04QU.f SB04QY.f SB04MW.f SB04QR.f
## Generalized Lyapunov
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsg03ad.cc \
+mkoctfile slsg03ad.cc \
SG03AD.f MB01RW.f MB01RD.f SG03AX.f SG03AY.f \
MB02UU.f MB02UV.f
Modified: trunk/octave-forge/main/control/devel/makefile_minreal.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_minreal.m 2011-01-12 16:17:45 UTC (rev 8054)
+++ trunk/octave-forge/main/control/devel/makefile_minreal.m 2011-01-16 10:43:25 UTC (rev 8055)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -14,13 +11,11 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- sltb01pd.cc \
+mkoctfile sltb01pd.cc \
TB01PD.f TB01XD.f TB01ID.f AB07MD.f TB01UD.f \
MB03OY.f MB01PD.f MB01QD.f
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- sltg01jd.cc \
+mkoctfile sltg01jd.cc \
TG01JD.f TG01AD.f TB01XD.f MA02CD.f TG01HX.f
cd (homedir);
\ No newline at end of file
Modified: trunk/octave-forge/main/control/devel/makefile_norm.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_norm.m 2011-01-12 16:17:45 UTC (rev 8054)
+++ trunk/octave-forge/main/control/devel/makefile_norm.m 2011-01-16 10:43:25 UTC (rev 8055)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -15,16 +12,14 @@
cd (srcdir);
## H-2 norm
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slab13bd.cc \
+mkoctfile slab13bd.cc \
AB13BD.f SB08DD.f SB03OU.f SB01FY.f TB01LD.f \
SB03OT.f MB04ND.f MB04OD.f MB03QX.f select.f \
SB03OR.f MB04OX.f MB03QD.f SB03OY.f MA02AD.f \
MB03QY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f
## L-inf norm
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slab13dd.cc \
+mkoctfile slab13dd.cc \
AB13DD.f MA02AD.f MB01SD.f MB03XD.f TB01ID.f \
TG01AD.f TG01BD.f AB13DX.f MA01AD.f MA02ID.f \
MB03XP.f MB04DD.f MB04QB.f MB04TB.f MB03XU.f \
Modified: trunk/octave-forge/main/control/devel/makefile_place.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_place.m 2011-01-12 16:17:45 UTC (rev 8054)
+++ trunk/octave-forge/main/control/devel/makefile_place.m 2011-01-16 10:43:25 UTC (rev 8055)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -14,8 +11,7 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb01bd.cc \
+mkoctfile slsb01bd.cc \
SB01BD.f MB03QD.f MB03QY.f SB01BX.f SB01BY.f \
select.f
Modified: trunk/octave-forge/main/control/devel/makefile_staircase.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_staircase.m 2011-01-12 16:17:45 UTC (rev 8054)
+++ trunk/octave-forge/main/control/devel/makefile_staircase.m 2011-01-16 10:43:25 UTC (rev 8055)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -15,18 +12,15 @@
cd (srcdir);
## staircase form using orthogonal transformations
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slab01od.cc \
+mkoctfile slab01od.cc \
AB01OD.f AB01ND.f MB03OY.f MB01PD.f MB01QD.f
## controllability staircase form of descriptor state-space models
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- sltg01hd.cc \
+mkoctfile sltg01hd.cc \
TG01HD.f TG01HX.f
## observability staircase form of descriptor state-space models
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- sltg01id.cc \
+mkoctfile sltg01id.cc \
TG01ID.f TB01XD.f MA02CD.f AB07MD.f TG01HX.f \
MA02BD.f
Modified: trunk/octave-forge/main/control/devel/makefile_zero.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_zero.m 2011-01-12 16:17:45 UTC (rev 8054)
+++ trunk/octave-forge/main/control/devel/makefile_zero.m 2011-01-16 10:43:25 UTC (rev 8055)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -15,13 +12,11 @@
cd (srcdir);
## transmission zeros of state-space models
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slab08nd.cc \
+mkoctfile slab08nd.cc \
AB08ND.f AB08NX.f TB01ID.f MB03OY.f MB03PY.f
## transmission zeros of descriptor state-space models
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slag08bd.cc \
+mkoctfile slag08bd.cc \
AG08BD.f AG08BY.f TG01AD.f TB01XD.f MA02CD.f \
TG01FD.f MA02BD.f MB03OY.f
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2011-01-17 22:00:41
|
Revision: 8063
http://octave.svn.sourceforge.net/octave/?rev=8063&view=rev
Author: paramaniac
Date: 2011-01-17 22:00:34 +0000 (Mon, 17 Jan 2011)
Log Message:
-----------
control: Undo Rev 8055. Some tests from test_control.m fail without mac-specific flags, both octave 3.2.4 and 3.3.55.
Revision Links:
--------------
http://octave.svn.sourceforge.net/octave/?rev=8055&view=rev
Modified Paths:
--------------
trunk/octave-forge/main/control/devel/makefile_chol.m
trunk/octave-forge/main/control/devel/makefile_h2syn.m
trunk/octave-forge/main/control/devel/makefile_hankel.m
trunk/octave-forge/main/control/devel/makefile_hinfsyn.m
trunk/octave-forge/main/control/devel/makefile_lqr.m
trunk/octave-forge/main/control/devel/makefile_lyap.m
trunk/octave-forge/main/control/devel/makefile_minreal.m
trunk/octave-forge/main/control/devel/makefile_norm.m
trunk/octave-forge/main/control/devel/makefile_place.m
trunk/octave-forge/main/control/devel/makefile_staircase.m
trunk/octave-forge/main/control/devel/makefile_zero.m
Modified: trunk/octave-forge/main/control/devel/makefile_chol.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_chol.m 2011-01-17 19:57:02 UTC (rev 8062)
+++ trunk/octave-forge/main/control/devel/makefile_chol.m 2011-01-17 22:00:34 UTC (rev 8063)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -11,13 +14,15 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile slsb03od.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ slsb03od.cc \
SB03OD.f select.f SB03OU.f SB03OT.f MB04ND.f \
MB04OD.f SB03OR.f SB03OY.f SB04PX.f MB04NY.f \
MB04OY.f SB03OV.f
-mkoctfile slsg03bd.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ slsg03bd.cc \
SG03BD.f SG03BV.f SG03BU.f SG03BW.f SG03BX.f \
SG03BY.f MB02UU.f MB02UV.f
Modified: trunk/octave-forge/main/control/devel/makefile_h2syn.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_h2syn.m 2011-01-17 19:57:02 UTC (rev 8062)
+++ trunk/octave-forge/main/control/devel/makefile_h2syn.m 2011-01-17 22:00:34 UTC (rev 8063)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -11,7 +14,8 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile slsb10hd.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ slsb10hd.cc \
SB10HD.f SB10UD.f SB10VD.f SB10WD.f SB02RD.f \
MB01RU.f SB02SD.f MA02ED.f SB02RU.f SB02MR.f \
MB01SD.f SB02MS.f SB02MV.f SB02MW.f MA02AD.f \
@@ -19,7 +23,8 @@
MB01RY.f SB03SX.f SB03SY.f select.f SB03MX.f \
SB03MY.f MB01UD.f SB03MV.f SB03MW.f SB04PX.f
-mkoctfile slsb10ed.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ slsb10ed.cc \
SB10ED.f SB10SD.f SB10TD.f SB10PD.f MB01RX.f \
SB02SD.f SB02OD.f MB01RU.f SB02OU.f SB02OV.f \
SB02OW.f MB01RY.f SB02OY.f SB03SX.f SB03SY.f \
Modified: trunk/octave-forge/main/control/devel/makefile_hankel.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_hankel.m 2011-01-17 19:57:02 UTC (rev 8062)
+++ trunk/octave-forge/main/control/devel/makefile_hankel.m 2011-01-17 22:00:34 UTC (rev 8063)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -11,7 +14,8 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile slab13ad.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ slab13ad.cc \
AB13AD.f TB01ID.f TB01KD.f AB13AX.f MA02DD.f \
MB03UD.f TB01LD.f SB03OU.f MB03QX.f select.f \
SB03OT.f MB03QD.f MB04ND.f MB04OD.f MB03QY.f \
Modified: trunk/octave-forge/main/control/devel/makefile_hinfsyn.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_hinfsyn.m 2011-01-17 19:57:02 UTC (rev 8062)
+++ trunk/octave-forge/main/control/devel/makefile_hinfsyn.m 2011-01-17 22:00:34 UTC (rev 8063)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -11,7 +14,8 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile slsb10fd.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ slsb10fd.cc \
SB10FD.f SB10PD.f SB10QD.f SB10RD.f SB02RD.f \
MB01RU.f MB01RX.f MA02AD.f SB02SD.f MA02ED.f \
SB02RU.f SB02MR.f MB01SD.f SB02MS.f SB02MV.f \
@@ -19,7 +23,8 @@
MB01RY.f SB03SX.f SB03SY.f select.f SB03MX.f \
SB03MY.f MB01UD.f SB03MV.f SB03MW.f SB04PX.f
-mkoctfile slsb10dd.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ slsb10dd.cc \
SB10DD.f MB01RU.f MB01RX.f SB02SD.f SB02OD.f \
MA02AD.f SB02OU.f SB02OV.f SB02OW.f MB01RY.f \
SB02OY.f SB03SX.f SB03SY.f MA02ED.f select.f \
Modified: trunk/octave-forge/main/control/devel/makefile_lqr.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_lqr.m 2011-01-17 19:57:02 UTC (rev 8062)
+++ trunk/octave-forge/main/control/devel/makefile_lqr.m 2011-01-17 22:00:34 UTC (rev 8063)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -11,11 +14,13 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile slsb02od.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ slsb02od.cc \
SB02OD.f SB02OU.f SB02OV.f SB02OW.f SB02OY.f \
SB02MR.f SB02MV.f
-mkoctfile slsg02ad.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ slsg02ad.cc \
SG02AD.f SB02OU.f SB02OV.f SB02OW.f SB02OY.f \
MB01SD.f MB02VD.f MB02PD.f MA02GD.f
Modified: trunk/octave-forge/main/control/devel/makefile_lyap.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_lyap.m 2011-01-17 19:57:02 UTC (rev 8062)
+++ trunk/octave-forge/main/control/devel/makefile_lyap.m 2011-01-17 22:00:34 UTC (rev 8063)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -12,21 +15,25 @@
cd (srcdir);
## Lypunov
-mkoctfile slsb03md.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ slsb03md.cc \
SB03MD.f select.f SB03MX.f SB03MY.f MB01RD.f \
SB03MV.f SB03MW.f SB04PX.f
## Sylvester
-mkoctfile slsb04md.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ slsb04md.cc \
SB04MD.f SB04MU.f SB04MY.f SB04MR.f SB04MW.f
-mkoctfile slsb04qd.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ slsb04qd.cc \
SB04QD.f SB04QU.f SB04QY.f SB04MW.f SB04QR.f
## Generalized Lyapunov
-mkoctfile slsg03ad.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ slsg03ad.cc \
SG03AD.f MB01RW.f MB01RD.f SG03AX.f SG03AY.f \
MB02UU.f MB02UV.f
Modified: trunk/octave-forge/main/control/devel/makefile_minreal.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_minreal.m 2011-01-17 19:57:02 UTC (rev 8062)
+++ trunk/octave-forge/main/control/devel/makefile_minreal.m 2011-01-17 22:00:34 UTC (rev 8063)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -11,11 +14,13 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile sltb01pd.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ sltb01pd.cc \
TB01PD.f TB01XD.f TB01ID.f AB07MD.f TB01UD.f \
MB03OY.f MB01PD.f MB01QD.f
-mkoctfile sltg01jd.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ sltg01jd.cc \
TG01JD.f TG01AD.f TB01XD.f MA02CD.f TG01HX.f
cd (homedir);
\ No newline at end of file
Modified: trunk/octave-forge/main/control/devel/makefile_norm.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_norm.m 2011-01-17 19:57:02 UTC (rev 8062)
+++ trunk/octave-forge/main/control/devel/makefile_norm.m 2011-01-17 22:00:34 UTC (rev 8063)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -12,14 +15,16 @@
cd (srcdir);
## H-2 norm
-mkoctfile slab13bd.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ slab13bd.cc \
AB13BD.f SB08DD.f SB03OU.f SB01FY.f TB01LD.f \
SB03OT.f MB04ND.f MB04OD.f MB03QX.f select.f \
SB03OR.f MB04OX.f MB03QD.f SB03OY.f MA02AD.f \
MB03QY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f
## L-inf norm
-mkoctfile slab13dd.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ slab13dd.cc \
AB13DD.f MA02AD.f MB01SD.f MB03XD.f TB01ID.f \
TG01AD.f TG01BD.f AB13DX.f MA01AD.f MA02ID.f \
MB03XP.f MB04DD.f MB04QB.f MB04TB.f MB03XU.f \
Modified: trunk/octave-forge/main/control/devel/makefile_place.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_place.m 2011-01-17 19:57:02 UTC (rev 8062)
+++ trunk/octave-forge/main/control/devel/makefile_place.m 2011-01-17 22:00:34 UTC (rev 8063)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -11,7 +14,8 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile slsb01bd.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ slsb01bd.cc \
SB01BD.f MB03QD.f MB03QY.f SB01BX.f SB01BY.f \
select.f
Modified: trunk/octave-forge/main/control/devel/makefile_staircase.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_staircase.m 2011-01-17 19:57:02 UTC (rev 8062)
+++ trunk/octave-forge/main/control/devel/makefile_staircase.m 2011-01-17 22:00:34 UTC (rev 8063)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -12,15 +15,18 @@
cd (srcdir);
## staircase form using orthogonal transformations
-mkoctfile slab01od.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ slab01od.cc \
AB01OD.f AB01ND.f MB03OY.f MB01PD.f MB01QD.f
## controllability staircase form of descriptor state-space models
-mkoctfile sltg01hd.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ sltg01hd.cc \
TG01HD.f TG01HX.f
## observability staircase form of descriptor state-space models
-mkoctfile sltg01id.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ sltg01id.cc \
TG01ID.f TB01XD.f MA02CD.f AB07MD.f TG01HX.f \
MA02BD.f
Modified: trunk/octave-forge/main/control/devel/makefile_zero.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_zero.m 2011-01-17 19:57:02 UTC (rev 8062)
+++ trunk/octave-forge/main/control/devel/makefile_zero.m 2011-01-17 22:00:34 UTC (rev 8063)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -12,11 +15,13 @@
cd (srcdir);
## transmission zeros of state-space models
-mkoctfile slab08nd.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ slab08nd.cc \
AB08ND.f AB08NX.f TB01ID.f MB03OY.f MB03PY.f
## transmission zeros of descriptor state-space models
-mkoctfile slag08bd.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ slag08bd.cc \
AG08BD.f AG08BY.f TG01AD.f TB01XD.f MA02CD.f \
TG01FD.f MA02BD.f MB03OY.f
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2011-02-11 22:16:22
|
Revision: 8106
http://octave.svn.sourceforge.net/octave/?rev=8106&view=rev
Author: paramaniac
Date: 2011-02-11 22:16:16 +0000 (Fri, 11 Feb 2011)
Log Message:
-----------
control: add first draft code for "multiplot" feature to /devel
Added Paths:
-----------
trunk/octave-forge/main/control/devel/__frequency_response_2__.m
trunk/octave-forge/main/control/devel/__frequency_vector_2__.m
trunk/octave-forge/main/control/devel/bode2.m
trunk/octave-forge/main/control/devel/bode2test.m
trunk/octave-forge/main/control/devel/zeromake.m
Added: trunk/octave-forge/main/control/devel/__frequency_response_2__.m
===================================================================
--- trunk/octave-forge/main/control/devel/__frequency_response_2__.m (rev 0)
+++ trunk/octave-forge/main/control/devel/__frequency_response_2__.m 2011-02-11 22:16:16 UTC (rev 8106)
@@ -0,0 +1,67 @@
+## Copyright (C) 2009, 2010 Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## Return frequency response H and frequency vector w.
+## If w is empty, it will be calculated by __frequency_vector__.
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: November 2009
+## Version: 0.2
+
+% function [H, w] = __frequency_response_2__ (sys, w = [], mimoflag = 0, resptype = 0, wbounds = "std", cellflag = false)
+function [H, w] = __frequency_response_2__ (mimoflag = 0, resptype = 0, wbounds = "std", cellflag = false, varargin)
+
+ sys_vec = cellfun (@(x) isa (x, "lti"), varargin) # true or false
+ sys_idx = find (sys_vec)
+
+ w_vec = cellfun (@is_real_vector, varargin)
+ w_idx = find (w_vec)
+
+% w_idx(end)
+
+ if (isempty (w_idx))
+ w = __frequency_vector_2__ (wbounds, varargin{sys_idx})
+ endif
+
+varargin{sys_idx}
+
+ ## check arguments
+ if(! isa (sys, "lti"))
+ error ("frequency_response: first argument sys must be an LTI system");
+ endif
+
+ if (! mimoflag && ! issiso (sys))
+ error ("frequency_response: require SISO system");
+ endif
+
+ if (isa (sys, "frd"))
+ if (isempty (w))
+ w = get (sys, "w");
+ else
+ warning ("frequency_response: second argument w is ignored");
+ endif
+ elseif (isempty (w)) # find interesting frequency range w if not specified
+ w = __frequency_vector__ (sys, wbounds);
+ elseif (! is_real_vector (w))
+ error ("frequency_response: second argument w must be a vector of frequencies");
+ endif
+
+ ## frequency response
+ H = __freqresp__ (sys, w, resptype, cellflag);
+
+endfunction
\ No newline at end of file
Added: trunk/octave-forge/main/control/devel/__frequency_vector_2__.m
===================================================================
--- trunk/octave-forge/main/control/devel/__frequency_vector_2__.m (rev 0)
+++ trunk/octave-forge/main/control/devel/__frequency_vector_2__.m 2011-02-11 22:16:16 UTC (rev 8106)
@@ -0,0 +1,167 @@
+## Copyright (C) 1996, 2000, 2004, 2005, 2006, 2007
+## Auburn University. All rights reserved.
+##
+##
+## This program is free software; you can redistribute it and/or modify it
+## under the terms of the GNU General Public License as published by
+## the Free Software Foundation; either version 3 of the License, or (at
+## your option) any later version.
+##
+## This program is distributed in the hope that it will be useful, but
+## WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+## General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program; see the file COPYING. If not, see
+## <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {Function File} {@var{w} =} __frequency_vector__ (@var{sys})
+## Get default range of frequencies based on cutoff frequencies of system
+## poles and zeros.
+## Frequency range is the interval
+## @iftex
+## @tex
+## $ [ 10^{w_{min}}, 10^{w_{max}} ] $
+## @end tex
+## @end iftex
+## @ifinfo
+## [10^@var{wmin}, 10^@var{wmax}]
+## @end ifinfo
+##
+## Used by @command{__frequency_response__}
+## @end deftypefn
+
+## Adapted-By: Lukas Reichlin <luk...@gm...>
+## Date: October 2009
+## Version: 0.2
+
+function w = __frequency_vector_2__ (wbounds = "std", varargin)
+
+ zer = cellfun ("@lti/zero", varargin, "uniformoutput", false)
+ pol = cellfun ("@lti/pole", varargin, "uniformoutput", false)
+
+% zer = cat (1, zer{:})
+% pol = cat (1, pol{:})
+
+ ct_idx = find (cellfun ("@lti/isct", varargin))
+ dt_idx = setdiff (1 : nargin-1, ct_idx)
+
+ %if (length (dt_idx) > 0)
+ tsam = cellfun (@(x) abs (get (x, "tsam")), varargin(dt_idx))
+ %endif
+
+% zer_ct = cat (1, zer{ct_idx})
+% pol_ct = cat (1, pol{ct_idx})
+
+% zer_dt = cat (1, zer{dt_idx})
+% pol_dt = cat (1, pol{dt_idx})
+
+ zer_ct = reshape (cat (1, zer{ct_idx}), 1, [])
+ pol_ct = reshape (cat (1, pol{ct_idx}), 1, [])
+
+ zer_dt = reshape (cat (1, zer{dt_idx}), 1, [])
+ pol_dt = reshape (cat (1, pol{dt_idx}), 1, [])
+
+
+ if (length (ct_idx) > 0) ## continuous
+ iip = find (abs(pol) > norm(pol)*eps);
+ iiz = find (abs(zer) > norm(zer)*eps);
+ czer = zer(iiz);
+ cpol = pol(iip);
+ endif
+
+% zer = cat (1, zer{:})
+% pol = cat (1, pol{:})
+
+
+% zer = zero (sys);
+% pol = pole (sys);
+% tsam = abs (get (sys, "tsam")); # tsam could be -1
+% discrete = ! isct (sys); # static gains (tsam = -2) are assumed continuous
+
+ ## make sure zer, pol are row vectors
+ pol = reshape (pol_ct, 1, [])
+ zer = reshape (zer, 1, [])
+
+ ## check for natural frequencies away from omega = 0
+ if (discrete)
+ ## The 2nd conditions prevents log(0) in the next log command
+ iiz = find (abs(zer-1) > norm(zer)*eps && abs(zer) > norm(zer)*eps);
+ iip = find (abs(pol-1) > norm(pol)*eps && abs(pol) > norm(pol)*eps);
+
+ ## avoid dividing empty matrices, it would work but looks nasty
+ if (! isempty (iiz))
+ czer = log (zer(iiz))/tsam;
+ else
+ czer = [];
+ endif
+
+ if (! isempty (iip))
+ cpol = log (pol(iip))/tsam;
+ else
+ cpol = [];
+ endif
+ else
+ ## continuous
+ iip = find (abs(pol) > norm(pol)*eps);
+ iiz = find (abs(zer) > norm(zer)*eps);
+
+ if (! isempty (zer))
+ czer = zer(iiz);
+ else
+ czer = [];
+ endif
+ if (! isempty (pol))
+ cpol = pol(iip);
+ else
+ cpol = [];
+ endif
+ endif
+
+ if (isempty (iip) && isempty (iiz))
+ ## no poles/zeros away from omega = 0; pick defaults
+ dec_min = 0; # -1
+ dec_max = 2; # 3
+ else
+ dec_min = floor (log10 (min (abs ([cpol, czer]))));
+ dec_max = ceil (log10 (max (abs ([cpol, czer]))));
+ endif
+
+ ## expand to show the entirety of the "interesting" portion of the plot
+ switch (wbounds)
+ case "std" # standard
+ if (dec_min == dec_max)
+ dec_min -= 2;
+ dec_max += 2;
+ else
+ dec_min--;
+ dec_max++;
+ endif
+ case "ext" # extended (for nyquist)
+ if (any (abs (pol) < sqrt (eps))) # look for integrators
+ ## dec_min -= 0.5;
+ dec_max += 2;
+ else
+ dec_min -= 2;
+ dec_max += 2;
+ endif
+ otherwise
+ error ("frequency_range: second argument invalid");
+ endswitch
+
+ ## run discrete frequency all the way to pi
+ if (discrete)
+ dec_max = log10 (pi/tsam);
+ endif
+
+ ## create frequency vector
+ zp = [abs(zer), abs(pol)];
+ idx = find (zp > 10^dec_min & zp < 10^dec_max);
+ zp = zp(idx);
+
+ w = logspace (dec_min, dec_max, 500);
+ w = unique ([w, zp]); # unique also sorts frequency vector
+
+endfunction
Added: trunk/octave-forge/main/control/devel/bode2.m
===================================================================
--- trunk/octave-forge/main/control/devel/bode2.m (rev 0)
+++ trunk/octave-forge/main/control/devel/bode2.m 2011-02-11 22:16:16 UTC (rev 8106)
@@ -0,0 +1,98 @@
+## Copyright (C) 2009, 2010 Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>.
+
+## -*- texinfo -*-
+## @deftypefn {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.
+##
+## @strong{Inputs}
+## @table @var
+## @item sys
+## LTI system. Must be a single-input and single-output (SISO) system.
+## @item w
+## Optional vector of frequency values. If @var{w} is not specified,
+## it is calculated by the zeros and poles of the system.
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item mag
+## Vector of magnitude. Has length of frequency vector @var{w}.
+## @item pha
+## Vector of phase. Has length of frequency vector @var{w}.
+## @item w
+## Vector of frequency values used.
+## @end table
+##
+## @seealso{nichols, nyquist, sigma}
+## @end deftypefn
+
+## Author: Lukas Reichlin <luk...@gm...>
+## Created: November 2009
+## Version: 0.2
+
+function [mag_r, pha_r, w_r] = bode2 (varargin)
+
+ ## TODO: multiplot feature: bode (sys1, "b", sys2, "r", ...)
+
+% if (nargin == 0 || nargin > 2)
+% print_usage ();
+% endif
+
+ [H, w] = __frequency_response_2__ (false, 0, "std", false, varargin{:});
+
+ H = reshape (H, [], 1);
+ mag = abs (H);
+ pha = unwrap (arg (H)) * 180 / pi;
+
+ if (! nargout)
+ mag_db = 20 * log10 (mag);
+
+ wv = [min(w), max(w)];
+ ax_vec_mag = __axis_limits__ ([reshape(w, [], 1), reshape(mag_db, [], 1)]);
+ ax_vec_mag(1:2) = wv;
+ ax_vec_pha = __axis_limits__ ([reshape(w, [], 1), reshape(pha, [], 1)]);
+ ax_vec_pha(1:2) = wv;
+
+ if (isct (sys))
+ xl_str = "Frequency [rad/s]";
+ else
+ xl_str = sprintf ("Frequency [rad/s] w_N = %g", pi / get (sys, "tsam"));
+ endif
+
+ subplot (2, 1, 1)
+ semilogx (w, mag_db)
+ axis (ax_vec_mag)
+ grid ("on")
+ title (["Bode Diagram of ", inputname(1)])
+ ylabel ("Magnitude [dB]")
+
+ subplot (2, 1, 2)
+ semilogx (w, pha)
+ axis (ax_vec_pha)
+ grid ("on")
+ xlabel (xl_str)
+ ylabel ("Phase [deg]")
+ else
+ mag_r = mag;
+ pha_r = pha;
+ w_r = w;
+ endif
+
+endfunction
\ No newline at end of file
Added: trunk/octave-forge/main/control/devel/bode2test.m
===================================================================
--- trunk/octave-forge/main/control/devel/bode2test.m (rev 0)
+++ trunk/octave-forge/main/control/devel/bode2test.m 2011-02-11 22:16:16 UTC (rev 8106)
@@ -0,0 +1,12 @@
+A = ss (-2, 3, 4, 5);
+B = ss (-1, 1, 1, 0);
+C = ss (-4, 7, 10, 12);
+w = [1 2 3 4 5 6 7];
+
+%bode2 (A, B, "b", w, C)
+%bode2 (A, B, "b", C)
+%bode2 (A, B, "b", C, WestlandLynx)
+%bode2 (WestlandLynx)
+%bode2 (A, B, "b", c2d (C, 0.375), WestlandLynx)
+bode2 (A, c2d (B, 0.223), "b", c2d (C, 0.375), WestlandLynx)
+
Added: trunk/octave-forge/main/control/devel/zeromake.m
===================================================================
--- trunk/octave-forge/main/control/devel/zeromake.m (rev 0)
+++ trunk/octave-forge/main/control/devel/zeromake.m 2011-02-11 22:16:16 UTC (rev 8106)
@@ -0,0 +1 @@
+mkoctfile TG04BX.f MB02RD.f MB02SD.f
\ No newline at end of file
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2011-05-09 21:34:52
|
Revision: 8255
http://octave.svn.sourceforge.net/octave/?rev=8255&view=rev
Author: paramaniac
Date: 2011-05-09 21:34:44 +0000 (Mon, 09 May 2011)
Log Message:
-----------
control: add draft code for prescale command
Added Paths:
-----------
trunk/octave-forge/main/control/devel/scale/
trunk/octave-forge/main/control/devel/scale/TB01ID.dat
trunk/octave-forge/main/control/devel/scale/TB01ID.f
trunk/octave-forge/main/control/devel/scale/TB01ID.html
trunk/octave-forge/main/control/devel/scale/TB01ID.res
trunk/octave-forge/main/control/devel/scale/common.cc
trunk/octave-forge/main/control/devel/scale/makefile_scale.m
trunk/octave-forge/main/control/devel/scale/scale.m
trunk/octave-forge/main/control/devel/scale/sltb01id.cc
Property Changed:
----------------
trunk/octave-forge/main/control/devel/
trunk/octave-forge/main/control/devel/ss2tf/
Property changes on: trunk/octave-forge/main/control/devel
___________________________________________________________________
Added: svn:ignore
+ makefiles_2011_05_05_2158_no_veclib_args.zip
Property changes on: trunk/octave-forge/main/control/devel/scale
___________________________________________________________________
Added: svn:ignore
+ TB01ID.oct
sltb01id.oct
Added: trunk/octave-forge/main/control/devel/scale/TB01ID.dat
===================================================================
--- trunk/octave-forge/main/control/devel/scale/TB01ID.dat (rev 0)
+++ trunk/octave-forge/main/control/devel/scale/TB01ID.dat 2011-05-09 21:34:44 UTC (rev 8255)
@@ -0,0 +1,17 @@
+ TB01ID EXAMPLE PROGRAM DATA
+ 5 2 5 A 0.0
+ 0.0 1.0000e+000 0.0 0.0 0.0
+ -1.5800e+006 -1.2570e+003 0.0 0.0 0.0
+ 3.5410e+014 0.0 -1.4340e+003 0.0 -5.3300e+011
+ 0.0 0.0 0.0 0.0 1.0000e+000
+ 0.0 0.0 0.0 -1.8630e+004 -1.4820e+000
+ 0.0 0.0
+ 1.1030e+002 0.0
+ 0.0 0.0
+ 0.0 0.0
+ 0.0 8.3330e-003
+ 1.0000e+000 0.0 0.0 0.0 0.0
+ 0.0 0.0 1.0000e+000 0.0 0.0
+ 0.0 0.0 0.0 1.0000e+000 0.0
+ 6.6640e-001 0.0 -6.2000e-013 0.0 0.0
+ 0.0 0.0 -1.0000e-003 1.8960e+006 1.5080e+002
Added: trunk/octave-forge/main/control/devel/scale/TB01ID.f
===================================================================
--- trunk/octave-forge/main/control/devel/scale/TB01ID.f (rev 0)
+++ trunk/octave-forge/main/control/devel/scale/TB01ID.f 2011-05-09 21:34:44 UTC (rev 8255)
@@ -0,0 +1,402 @@
+ SUBROUTINE TB01ID( JOB, N, M, P, MAXRED, A, LDA, B, LDB, C, LDC,
+ $ SCALE, INFO )
+C
+C SLICOT RELEASE 5.0.
+C
+C Copyright (c) 2002-2009 NICONET e.V.
+C
+C This program is free software: you can redistribute it and/or
+C modify it under the terms of the GNU General Public License as
+C published by the Free Software Foundation, either version 2 of
+C the License, or (at your option) any later version.
+C
+C This program is distributed in the hope that it will be useful,
+C but WITHOUT ANY WARRANTY; without even the implied warranty of
+C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+C GNU General Public License for more details.
+C
+C You should have received a copy of the GNU General Public License
+C along with this program. If not, see
+C <http://www.gnu.org/licenses/>.
+C
+C PURPOSE
+C
+C To reduce the 1-norm of a system matrix
+C
+C S = ( A B )
+C ( C 0 )
+C
+C corresponding to the triple (A,B,C), by balancing. This involves
+C a diagonal similarity transformation inv(D)*A*D applied
+C iteratively to A to make the rows and columns of
+C -1
+C diag(D,I) * S * diag(D,I)
+C
+C as close in norm as possible.
+C
+C The balancing can be performed optionally on the following
+C particular system matrices
+C
+C S = A, S = ( A B ) or S = ( A )
+C ( C )
+C
+C ARGUMENTS
+C
+C Mode Parameters
+C
+C JOB CHARACTER*1
+C Indicates which matrices are involved in balancing, as
+C follows:
+C = 'A': All matrices are involved in balancing;
+C = 'B': B and A matrices are involved in balancing;
+C = 'C': C and A matrices are involved in balancing;
+C = 'N': B and C matrices are not involved in balancing.
+C
+C Input/Output Parameters
+C
+C N (input) INTEGER
+C The order of the matrix A, the number of rows of matrix B
+C and the number of columns of matrix C.
+C N represents the dimension of the state vector. N >= 0.
+C
+C M (input) INTEGER.
+C The number of columns of matrix B.
+C M represents the dimension of input vector. M >= 0.
+C
+C P (input) INTEGER.
+C The number of rows of matrix C.
+C P represents the dimension of output vector. P >= 0.
+C
+C MAXRED (input/output) DOUBLE PRECISION
+C On entry, the maximum allowed reduction in the 1-norm of
+C S (in an iteration) if zero rows or columns are
+C encountered.
+C If MAXRED > 0.0, MAXRED must be larger than one (to enable
+C the norm reduction).
+C If MAXRED <= 0.0, then the value 10.0 for MAXRED is
+C used.
+C On exit, if the 1-norm of the given matrix S is non-zero,
+C the ratio between the 1-norm of the given matrix and the
+C 1-norm of the balanced matrix.
+C
+C A (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+C On entry, the leading N-by-N part of this array must
+C contain the system state matrix A.
+C On exit, the leading N-by-N part of this array contains
+C the balanced matrix inv(D)*A*D.
+C
+C LDA INTEGER
+C The leading dimension of the array A. LDA >= max(1,N).
+C
+C B (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+C On entry, if M > 0, the leading N-by-M part of this array
+C must contain the system input matrix B.
+C On exit, if M > 0, the leading N-by-M part of this array
+C contains the balanced matrix inv(D)*B.
+C The array B is not referenced if M = 0.
+C
+C LDB INTEGER
+C The leading dimension of the array B.
+C LDB >= MAX(1,N) if M > 0.
+C LDB >= 1 if M = 0.
+C
+C C (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+C On entry, if P > 0, the leading P-by-N part of this array
+C must contain the system output matrix C.
+C On exit, if P > 0, the leading P-by-N part of this array
+C contains the balanced matrix C*D.
+C The array C is not referenced if P = 0.
+C
+C LDC INTEGER
+C The leading dimension of the array C. LDC >= MAX(1,P).
+C
+C SCALE (output) DOUBLE PRECISION array, dimension (N)
+C The scaling factors applied to S. If D(j) is the scaling
+C factor applied to row and column j, then SCALE(j) = D(j),
+C for j = 1,...,N.
+C
+C Error Indicator
+C
+C INFO INTEGER
+C = 0: successful exit.
+C < 0: if INFO = -i, the i-th argument had an illegal
+C value.
+C
+C METHOD
+C
+C Balancing consists of applying a diagonal similarity
+C transformation
+C -1
+C diag(D,I) * S * diag(D,I)
+C
+C to make the 1-norms of each row of the first N rows of S and its
+C corresponding column nearly equal.
+C
+C Information about the diagonal matrix D is returned in the vector
+C SCALE.
+C
+C REFERENCES
+C
+C [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+C Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+C Ostrouchov, S., and Sorensen, D.
+C LAPACK Users' Guide: Second Edition.
+C SIAM, Philadelphia, 1995.
+C
+C NUMERICAL ASPECTS
+C
+C None.
+C
+C CONTRIBUTOR
+C
+C Release 3.0: V. Sima, Katholieke Univ. Leuven, Belgium, Jan. 1998.
+C This subroutine is based on LAPACK routine DGEBAL, and routine
+C BALABC (A. Varga, German Aerospace Research Establishment, DLR).
+C
+C REVISIONS
+C
+C -
+C
+C KEYWORDS
+C
+C Balancing, eigenvalue, matrix algebra, matrix operations,
+C similarity transformation.
+C
+C *********************************************************************
+C
+C .. Parameters ..
+ DOUBLE PRECISION ZERO, ONE
+ PARAMETER ( ZERO = 0.0D+0, ONE = 1.0D+0 )
+ DOUBLE PRECISION SCLFAC
+ PARAMETER ( SCLFAC = 1.0D+1 )
+ DOUBLE PRECISION FACTOR, MAXR
+ PARAMETER ( FACTOR = 0.95D+0, MAXR = 10.0D+0 )
+C ..
+C .. Scalar Arguments ..
+ CHARACTER JOB
+ INTEGER INFO, LDA, LDB, LDC, M, N, P
+ DOUBLE PRECISION MAXRED
+C ..
+C .. Array Arguments ..
+ DOUBLE PRECISION A( LDA, * ), B( LDB, * ), C( LDC, * ),
+ $ SCALE( * )
+C ..
+C .. Local Scalars ..
+ LOGICAL NOCONV, WITHB, WITHC
+ INTEGER I, ICA, IRA, J
+ DOUBLE PRECISION CA, CO, F, G, MAXNRM, RA, RO, S, SFMAX1,
+ $ SFMAX2, SFMIN1, SFMIN2, SNORM, SRED
+C ..
+C .. External Functions ..
+ LOGICAL LSAME
+ INTEGER IDAMAX
+ DOUBLE PRECISION DASUM, DLAMCH
+ EXTERNAL DASUM, DLAMCH, IDAMAX, LSAME
+C ..
+C .. External Subroutines ..
+ EXTERNAL DSCAL, XERBLA
+C ..
+C .. Intrinsic Functions ..
+ INTRINSIC ABS, MAX, MIN
+C ..
+C .. Executable Statements ..
+C
+C Test the scalar input arguments.
+C
+ INFO = 0
+ WITHB = LSAME( JOB, 'A' ) .OR. LSAME( JOB, 'B' )
+ WITHC = LSAME( JOB, 'A' ) .OR. LSAME( JOB, 'C' )
+C
+ IF( .NOT.WITHB .AND. .NOT.WITHC .AND. .NOT.LSAME( JOB, 'N' ) )
+ $ THEN
+ INFO = -1
+ ELSE IF( N.LT.0 ) THEN
+ INFO = -2
+ ELSE IF( M.LT.0 ) THEN
+ INFO = -3
+ ELSE IF( P.LT.0 ) THEN
+ INFO = -4
+ ELSE IF( MAXRED.GT.ZERO .AND. MAXRED.LT.ONE ) THEN
+ INFO = -5
+ ELSE IF( LDA.LT.MAX( 1, N ) ) THEN
+ INFO = -7
+ ELSE IF( ( M.GT.0 .AND. LDB.LT.MAX( 1, N ) ) .OR.
+ $ ( M.EQ.0 .AND. LDB.LT.1 ) ) THEN
+ INFO = -9
+ ELSE IF( LDC.LT.MAX( 1, P ) ) THEN
+ INFO = -11
+ END IF
+ IF( INFO.NE.0 ) THEN
+ CALL XERBLA( 'TB01ID', -INFO )
+ RETURN
+ END IF
+C
+ IF( N.EQ.0 )
+ $ RETURN
+C
+C Compute the 1-norm of the required part of matrix S and exit if
+C it is zero.
+C
+ SNORM = ZERO
+C
+ DO 10 J = 1, N
+ SCALE( J ) = ONE
+ CO = DASUM( N, A( 1, J ), 1 )
+ IF( WITHC .AND. P.GT.0 )
+ $ CO = CO + DASUM( P, C( 1, J ), 1 )
+ SNORM = MAX( SNORM, CO )
+ 10 CONTINUE
+C
+ IF( WITHB ) THEN
+C
+ DO 20 J = 1, M
+ SNORM = MAX( SNORM, DASUM( N, B( 1, J ), 1 ) )
+ 20 CONTINUE
+C
+ END IF
+C
+ IF( SNORM.EQ.ZERO )
+ $ RETURN
+C
+C Set some machine parameters and the maximum reduction in the
+C 1-norm of S if zero rows or columns are encountered.
+C
+ SFMIN1 = DLAMCH( 'S' ) / DLAMCH( 'P' )
+ SFMAX1 = ONE / SFMIN1
+ SFMIN2 = SFMIN1*SCLFAC
+ SFMAX2 = ONE / SFMIN2
+C
+ SRED = MAXRED
+ IF( SRED.LE.ZERO ) SRED = MAXR
+C
+ MAXNRM = MAX( SNORM/SRED, SFMIN1 )
+C
+C Balance the matrix.
+C
+C Iterative loop for norm reduction.
+C
+ 30 CONTINUE
+ NOCONV = .FALSE.
+C
+ DO 90 I = 1, N
+ CO = ZERO
+ RO = ZERO
+C
+ DO 40 J = 1, N
+ IF( J.EQ.I )
+ $ GO TO 40
+ CO = CO + ABS( A( J, I ) )
+ RO = RO + ABS( A( I, J ) )
+ 40 CONTINUE
+C
+ ICA = IDAMAX( N, A( 1, I ), 1 )
+ CA = ABS( A( ICA, I ) )
+ IRA = IDAMAX( N, A( I, 1 ), LDA )
+ RA = ABS( A( I, IRA ) )
+C
+ IF( WITHC .AND. P.GT.0 ) THEN
+ CO = CO + DASUM( P, C( 1, I ), 1 )
+ ICA = IDAMAX( P, C( 1, I ), 1 )
+ CA = MAX( CA, ABS( C( ICA, I ) ) )
+ END IF
+C
+ IF( WITHB .AND. M.GT.0 ) THEN
+ RO = RO + DASUM( M, B( I, 1 ), LDB )
+ IRA = IDAMAX( M, B( I, 1 ), LDB )
+ RA = MAX( RA, ABS( B( I, IRA ) ) )
+ END IF
+C
+C Special case of zero CO and/or RO.
+C
+ IF( CO.EQ.ZERO .AND. RO.EQ.ZERO )
+ $ GO TO 90
+ IF( CO.EQ.ZERO ) THEN
+ IF( RO.LE.MAXNRM )
+ $ GO TO 90
+ CO = MAXNRM
+ END IF
+ IF( RO.EQ.ZERO ) THEN
+ IF( CO.LE.MAXNRM )
+ $ GO TO 90
+ RO = MAXNRM
+ END IF
+C
+C Guard against zero CO or RO due to underflow.
+C
+ G = RO / SCLFAC
+ F = ONE
+ S = CO + RO
+ 50 CONTINUE
+ IF( CO.GE.G .OR. MAX( F, CO, CA ).GE.SFMAX2 .OR.
+ $ MIN( RO, G, RA ).LE.SFMIN2 )GO TO 60
+ F = F*SCLFAC
+ CO = CO*SCLFAC
+ CA = CA*SCLFAC
+ G = G / SCLFAC
+ RO = RO / SCLFAC
+ RA = RA / SCLFAC
+ GO TO 50
+C
+ 60 CONTINUE
+ G = CO / SCLFAC
+ 70 CONTINUE
+ IF( G.LT.RO .OR. MAX( RO, RA ).GE.SFMAX2 .OR.
+ $ MIN( F, CO, G, CA ).LE.SFMIN2 )GO TO 80
+ F = F / SCLFAC
+ CO = CO / SCLFAC
+ CA = CA / SCLFAC
+ G = G / SCLFAC
+ RO = RO*SCLFAC
+ RA = RA*SCLFAC
+ GO TO 70
+C
+C Now balance.
+C
+ 80 CONTINUE
+ IF( ( CO+RO ).GE.FACTOR*S )
+ $ GO TO 90
+ IF( F.LT.ONE .AND. SCALE( I ).LT.ONE ) THEN
+ IF( F*SCALE( I ).LE.SFMIN1 )
+ $ GO TO 90
+ END IF
+ IF( F.GT.ONE .AND. SCALE( I ).GT.ONE ) THEN
+ IF( SCALE( I ).GE.SFMAX1 / F )
+ $ GO TO 90
+ END IF
+ G = ONE / F
+ SCALE( I ) = SCALE( I )*F
+ NOCONV = .TRUE.
+C
+ CALL DSCAL( N, G, A( I, 1 ), LDA )
+ CALL DSCAL( N, F, A( 1, I ), 1 )
+ IF( M.GT.0 ) CALL DSCAL( M, G, B( I, 1 ), LDB )
+ IF( P.GT.0 ) CALL DSCAL( P, F, C( 1, I ), 1 )
+C
+ 90 CONTINUE
+C
+ IF( NOCONV )
+ $ GO TO 30
+C
+C Set the norm reduction parameter.
+C
+ MAXRED = SNORM
+ SNORM = ZERO
+C
+ DO 100 J = 1, N
+ CO = DASUM( N, A( 1, J ), 1 )
+ IF( WITHC .AND. P.GT.0 )
+ $ CO = CO + DASUM( P, C( 1, J ), 1 )
+ SNORM = MAX( SNORM, CO )
+ 100 CONTINUE
+C
+ IF( WITHB ) THEN
+C
+ DO 110 J = 1, M
+ SNORM = MAX( SNORM, DASUM( N, B( 1, J ), 1 ) )
+ 110 CONTINUE
+C
+ END IF
+ MAXRED = MAXRED/SNORM
+ RETURN
+C *** Last line of TB01ID ***
+ END
Added: trunk/octave-forge/main/control/devel/scale/TB01ID.html
===================================================================
--- trunk/octave-forge/main/control/devel/scale/TB01ID.html (rev 0)
+++ trunk/octave-forge/main/control/devel/scale/TB01ID.html 2011-05-09 21:34:44 UTC (rev 8255)
@@ -0,0 +1,312 @@
+<HTML>
+<HEAD><TITLE>TB01ID - SLICOT Library Routine Documentation</TITLE>
+</HEAD>
+<BODY>
+
+<H2><A Name="TB01ID">TB01ID</A></H2>
+<H3>
+Balancing a system matrix corresponding to a triplet (A,B,C)
+</H3>
+<A HREF ="#Specification"><B>[Specification]</B></A>
+<A HREF ="#Arguments"><B>[Arguments]</B></A>
+<A HREF ="#Method"><B>[Method]</B></A>
+<A HREF ="#References"><B>[References]</B></A>
+<A HREF ="#Comments"><B>[Comments]</B></A>
+<A HREF ="#Example"><B>[Example]</B></A>
+
+<P>
+<B><FONT SIZE="+1">Purpose</FONT></B>
+<PRE>
+ To reduce the 1-norm of a system matrix
+
+ S = ( A B )
+ ( C 0 )
+
+ corresponding to the triple (A,B,C), by balancing. This involves
+ a diagonal similarity transformation inv(D)*A*D applied
+ iteratively to A to make the rows and columns of
+ -1
+ diag(D,I) * S * diag(D,I)
+
+ as close in norm as possible.
+
+ The balancing can be performed optionally on the following
+ particular system matrices
+
+ S = A, S = ( A B ) or S = ( A )
+ ( C )
+
+</PRE>
+<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
+<PRE>
+ SUBROUTINE TB01ID( JOB, N, M, P, MAXRED, A, LDA, B, LDB, C, LDC,
+ $ SCALE, INFO )
+C .. Scalar Arguments ..
+ CHARACTER JOB
+ INTEGER INFO, LDA, LDB, LDC, M, N, P
+ DOUBLE PRECISION MAXRED
+C .. Array Arguments ..
+ DOUBLE PRECISION A( LDA, * ), B( LDB, * ), C( LDC, * ),
+ $ SCALE( * )
+
+</PRE>
+<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
+<P>
+
+<B>Mode Parameters</B>
+<PRE>
+ JOB CHARACTER*1
+ Indicates which matrices are involved in balancing, as
+ follows:
+ = 'A': All matrices are involved in balancing;
+ = 'B': B and A matrices are involved in balancing;
+ = 'C': C and A matrices are involved in balancing;
+ = 'N': B and C matrices are not involved in balancing.
+
+</PRE>
+<B>Input/Output Parameters</B>
+<PRE>
+ N (input) INTEGER
+ The order of the matrix A, the number of rows of matrix B
+ and the number of columns of matrix C.
+ N represents the dimension of the state vector. N >= 0.
+
+ M (input) INTEGER.
+ The number of columns of matrix B.
+ M represents the dimension of input vector. M >= 0.
+
+ P (input) INTEGER.
+ The number of rows of matrix C.
+ P represents the dimension of output vector. P >= 0.
+
+ MAXRED (input/output) DOUBLE PRECISION
+ On entry, the maximum allowed reduction in the 1-norm of
+ S (in an iteration) if zero rows or columns are
+ encountered.
+ If MAXRED > 0.0, MAXRED must be larger than one (to enable
+ the norm reduction).
+ If MAXRED <= 0.0, then the value 10.0 for MAXRED is
+ used.
+ On exit, if the 1-norm of the given matrix S is non-zero,
+ the ratio between the 1-norm of the given matrix and the
+ 1-norm of the balanced matrix.
+
+ A (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+ On entry, the leading N-by-N part of this array must
+ contain the system state matrix A.
+ On exit, the leading N-by-N part of this array contains
+ the balanced matrix inv(D)*A*D.
+
+ LDA INTEGER
+ The leading dimension of the array A. LDA >= max(1,N).
+
+ B (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+ On entry, if M > 0, the leading N-by-M part of this array
+ must contain the system input matrix B.
+ On exit, if M > 0, the leading N-by-M part of this array
+ contains the balanced matrix inv(D)*B.
+ The array B is not referenced if M = 0.
+
+ LDB INTEGER
+ The leading dimension of the array B.
+ LDB >= MAX(1,N) if M > 0.
+ LDB >= 1 if M = 0.
+
+ C (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+ On entry, if P > 0, the leading P-by-N part of this array
+ must contain the system output matrix C.
+ On exit, if P > 0, the leading P-by-N part of this array
+ contains the balanced matrix C*D.
+ The array C is not referenced if P = 0.
+
+ LDC INTEGER
+ The leading dimension of the array C. LDC >= MAX(1,P).
+
+ SCALE (output) DOUBLE PRECISION array, dimension (N)
+ The scaling factors applied to S. If D(j) is the scaling
+ factor applied to row and column j, then SCALE(j) = D(j),
+ for j = 1,...,N.
+
+</PRE>
+<B>Error Indicator</B>
+<PRE>
+ INFO INTEGER
+ = 0: successful exit.
+ < 0: if INFO = -i, the i-th argument had an illegal
+ value.
+
+</PRE>
+<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
+<PRE>
+ Balancing consists of applying a diagonal similarity
+ transformation
+ -1
+ diag(D,I) * S * diag(D,I)
+
+ to make the 1-norms of each row of the first N rows of S and its
+ corresponding column nearly equal.
+
+ Information about the diagonal matrix D is returned in the vector
+ SCALE.
+
+</PRE>
+<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
+<PRE>
+ [1] Anderson, E., Bai, Z., Bischof, C., Demmel, J., Dongarra, J.,
+ Du Croz, J., Greenbaum, A., Hammarling, S., McKenney, A.,
+ Ostrouchov, S., and Sorensen, D.
+ LAPACK Users' Guide: Second Edition.
+ SIAM, Philadelphia, 1995.
+
+</PRE>
+<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
+<PRE>
+ None.
+
+</PRE>
+
+<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
+<PRE>
+ None
+</PRE>
+
+<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
+<P>
+<B>Program Text</B>
+<PRE>
+* TB01ID EXAMPLE PROGRAM TEXT.
+* Copyright (c) 2002-2009 NICONET e.V.
+*
+* .. Parameters ..
+ INTEGER NIN, NOUT
+ PARAMETER ( NIN = 5, NOUT = 6 )
+ INTEGER NMAX, MMAX, PMAX
+ PARAMETER ( NMAX = 20, MMAX = 20, PMAX = 20 )
+ INTEGER LDA, LDB, LDC
+ PARAMETER ( LDA = NMAX, LDB = NMAX, LDC = PMAX )
+* .. Local Scalars ..
+ CHARACTER*1 JOB
+ INTEGER I, INFO, J, M, N, P
+ DOUBLE PRECISION MAXRED
+* .. Local Arrays ..
+ DOUBLE PRECISION A(LDA,NMAX), B(LDB,MMAX), C(LDC,NMAX),
+ $ SCALE(NMAX)
+* .. External Subroutines ..
+ EXTERNAL TB01ID, UD01MD
+* .. Executable Statements ..
+*
+ WRITE ( NOUT, FMT = 99999 )
+* Skip the heading in the data file and read the data.
+ READ ( NIN, FMT = '()' )
+ READ ( NIN, FMT = * ) N, M, P, JOB, MAXRED
+ IF ( N.LT.0 .OR. N.GT.NMAX ) THEN
+ WRITE ( NOUT, FMT = 99993 ) N
+ ELSE
+ READ ( NIN, FMT = * ) ( ( A(I,J), J = 1,N ), I = 1,N )
+ IF ( M.LT.0 .OR. M.GT.MMAX ) THEN
+ WRITE ( NOUT, FMT = 99992 ) M
+ ELSE
+ READ ( NIN, FMT = * ) ( ( B(I,J), J = 1,M ), I = 1,N )
+ IF ( P.LT.0 .OR. P.GT.MMAX ) THEN
+ WRITE ( NOUT, FMT = 99991 ) P
+ ELSE
+ READ ( NIN, FMT = * ) ( ( C(I,J), J = 1,N ), I = 1,P )
+* Balance system matrix S.
+ CALL TB01ID( JOB, N, M, P, MAXRED, A, LDA, B, LDB, C,
+ $ LDC, SCALE, INFO )
+*
+ IF ( INFO.NE.0 ) THEN
+ WRITE ( NOUT, FMT = 99998 ) INFO
+ ELSE
+ CALL UD01MD( N, N, 5, NOUT, A, LDA,
+ $ 'The balanced matrix A', INFO )
+ IF ( M.GT.0 )
+ $ CALL UD01MD( N, M, 5, NOUT, B, LDB,
+ $ 'The balanced matrix B', INFO )
+ IF ( P.GT.0 )
+ $ CALL UD01MD( P, N, 5, NOUT, C, LDC,
+ $ 'The balanced matrix C', INFO )
+ CALL UD01MD( 1, N, 5, NOUT, SCALE, 1,
+ $ 'The scaling vector SCALE', INFO )
+ WRITE ( NOUT, FMT = 99994 ) MAXRED
+ END IF
+ END IF
+ END IF
+ END IF
+ STOP
+*
+99999 FORMAT (' TB01ID EXAMPLE PROGRAM RESULTS',/1X)
+99998 FORMAT (' INFO on exit from TB01ID = ',I2)
+99994 FORMAT (/' MAXRED is ',E13.4)
+99993 FORMAT (/' N is out of range.',/' N = ',I5)
+99992 FORMAT (/' M is out of range.',/' M = ',I5)
+99991 FORMAT (/' P is out of range.',/' P = ',I5)
+ END
+</PRE>
+<B>Program Data</B>
+<PRE>
+ TB01ID EXAMPLE PROGRAM DATA
+ 5 2 5 A 0.0
+ 0.0 1.0000e+000 0.0 0.0 0.0
+ -1.5800e+006 -1.2570e+003 0.0 0.0 0.0
+ 3.5410e+014 0.0 -1.4340e+003 0.0 -5.3300e+011
+ 0.0 0.0 0.0 0.0 1.0000e+000
+ 0.0 0.0 0.0 -1.8630e+004 -1.4820e+000
+ 0.0 0.0
+ 1.1030e+002 0.0
+ 0.0 0.0
+ 0.0 0.0
+ 0.0 8.3330e-003
+ 1.0000e+000 0.0 0.0 0.0 0.0
+ 0.0 0.0 1.0000e+000 0.0 0.0
+ 0.0 0.0 0.0 1.0000e+000 0.0
+ 6.6640e-001 0.0 -6.2000e-013 0.0 0.0
+ 0.0 0.0 -1.0000e-003 1.8960e+006 1.5080e+002
+</PRE>
+<B>Program Results</B>
+<PRE>
+ TB01ID EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix A ( 5X 5)
+
+ 1 2 3 4 5
+ 1 0.0000000D+00 0.1000000D+05 0.0000000D+00 0.0000000D+00 0.0000000D+00
+ 2 -0.1580000D+03 -0.1257000D+04 0.0000000D+00 0.0000000D+00 0.0000000D+00
+ 3 0.3541000D+05 0.0000000D+00 -0.1434000D+04 0.0000000D+00 -0.5330000D+03
+ 4 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D+03
+ 5 0.0000000D+00 0.0000000D+00 0.0000000D+00 -0.1863000D+03 -0.1482000D+01
+
+ The balanced matrix B ( 5X 2)
+
+ 1 2
+ 1 0.0000000D+00 0.0000000D+00
+ 2 0.1103000D+04 0.0000000D+00
+ 3 0.0000000D+00 0.0000000D+00
+ 4 0.0000000D+00 0.0000000D+00
+ 5 0.0000000D+00 0.8333000D+02
+
+ The balanced matrix C ( 5X 5)
+
+ 1 2 3 4 5
+ 1 0.1000000D-04 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00
+ 2 0.0000000D+00 0.0000000D+00 0.1000000D+06 0.0000000D+00 0.0000000D+00
+ 3 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D-05 0.0000000D+00
+ 4 0.6664000D-05 0.0000000D+00 -0.6200000D-07 0.0000000D+00 0.0000000D+00
+ 5 0.0000000D+00 0.0000000D+00 -0.1000000D+03 0.1896000D+01 0.1508000D-01
+
+ The scaling vector SCALE ( 1X 5)
+
+ 1 2 3 4 5
+ 1 0.1000000D-04 0.1000000D+00 0.1000000D+06 0.1000000D-05 0.1000000D-03
+
+
+ MAXRED is 0.3488E+10
+</PRE>
+
+<HR>
+<p>
+Click <a href=../../SLICOT/arc/T/TB/TB01/TB01ID.tar.gz><B>here</B></a> to get a compressed (gzip) tar file containing the source code
+of the routine, the example program, data, documentation, and related files.
+</p>
+<A HREF=../libindex.html><B>Return to index</B></A></BODY>
+</HTML>
Added: trunk/octave-forge/main/control/devel/scale/TB01ID.res
===================================================================
--- trunk/octave-forge/main/control/devel/scale/TB01ID.res (rev 0)
+++ trunk/octave-forge/main/control/devel/scale/TB01ID.res 2011-05-09 21:34:44 UTC (rev 8255)
@@ -0,0 +1,36 @@
+ TB01ID EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix A ( 5X 5)
+
+ 1 2 3 4 5
+ 1 0.0000000D+00 0.1000000D+05 0.0000000D+00 0.0000000D+00 0.0000000D+00
+ 2 -0.1580000D+03 -0.1257000D+04 0.0000000D+00 0.0000000D+00 0.0000000D+00
+ 3 0.3541000D+05 0.0000000D+00 -0.1434000D+04 0.0000000D+00 -0.5330000D+03
+ 4 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D+03
+ 5 0.0000000D+00 0.0000000D+00 0.0000000D+00 -0.1863000D+03 -0.1482000D+01
+
+ The balanced matrix B ( 5X 2)
+
+ 1 2
+ 1 0.0000000D+00 0.0000000D+00
+ 2 0.1103000D+04 0.0000000D+00
+ 3 0.0000000D+00 0.0000000D+00
+ 4 0.0000000D+00 0.0000000D+00
+ 5 0.0000000D+00 0.8333000D+02
+
+ The balanced matrix C ( 5X 5)
+
+ 1 2 3 4 5
+ 1 0.1000000D-04 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00
+ 2 0.0000000D+00 0.0000000D+00 0.1000000D+06 0.0000000D+00 0.0000000D+00
+ 3 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D-05 0.0000000D+00
+ 4 0.6664000D-05 0.0000000D+00 -0.6200000D-07 0.0000000D+00 0.0000000D+00
+ 5 0.0000000D+00 0.0000000D+00 -0.1000000D+03 0.1896000D+01 0.1508000D-01
+
+ The scaling vector SCALE ( 1X 5)
+
+ 1 2 3 4 5
+ 1 0.1000000D-04 0.1000000D+00 0.1000000D+06 0.1000000D-05 0.1000000D-03
+
+
+ MAXRED is 0.3488E+10
Added: trunk/octave-forge/main/control/devel/scale/common.cc
===================================================================
--- trunk/octave-forge/main/control/devel/scale/common.cc (rev 0)
+++ trunk/octave-forge/main/control/devel/scale/common.cc 2011-05-09 21:34:44 UTC (rev 8255)
@@ -0,0 +1,53 @@
+/*
+
+Copyright (C) 2010 Lukas F. Reichlin
+
+This file is part of LTI Syncope.
+
+LTI Syncope is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+LTI Syncope is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>.
+
+Common code for oct-files.
+
+Author: Lukas Reichlin <luk...@gm...>
+Created: April 2010
+Version: 0.1
+
+*/
+
+
+int max (int a, int b)
+{
+ if (a > b)
+ return a;
+ else
+ return b;
+}
+
+int max (int a, int b, int c)
+{
+ return max (max (a, b), c);
+}
+
+int max (int a, int b, int c, int d)
+{
+ return max (max (a, b), max (c, d));
+}
+
+int min (int a, int b)
+{
+ if (a < b)
+ return a;
+ else
+ return b;
+}
Added: trunk/octave-forge/main/control/devel/scale/makefile_scale.m
===================================================================
--- trunk/octave-forge/main/control/devel/scale/makefile_scale.m (rev 0)
+++ trunk/octave-forge/main/control/devel/scale/makefile_scale.m 2011-05-09 21:34:44 UTC (rev 8255)
@@ -0,0 +1,5 @@
+## scaling of state-space models
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ sltb01id.cc \
+ TB01ID.f
+
Added: trunk/octave-forge/main/control/devel/scale/scale.m
===================================================================
--- trunk/octave-forge/main/control/devel/scale/scale.m (rev 0)
+++ trunk/octave-forge/main/control/devel/scale/scale.m 2011-05-09 21:34:44 UTC (rev 8255)
@@ -0,0 +1,68 @@
+
+a = [
+ 0.0 1.0000e+000 0.0 0.0 0.0
+ -1.5800e+006 -1.2570e+003 0.0 0.0 0.0
+ 3.5410e+014 0.0 -1.4340e+003 0.0 -5.3300e+011
+ 0.0 0.0 0.0 0.0 1.0000e+000
+ 0.0 0.0 0.0 -1.8630e+004 -1.4820e+000
+];
+
+b = [
+ 0.0 0.0
+ 1.1030e+002 0.0
+ 0.0 0.0
+ 0.0 0.0
+ 0.0 8.3330e-003
+];
+
+c = [
+ 1.0000e+000 0.0 0.0 0.0 0.0
+ 0.0 0.0 1.0000e+000 0.0 0.0
+ 0.0 0.0 0.0 1.0000e+000 0.0
+ 6.6640e-001 0.0 -6.2000e-013 0.0 0.0
+ 0.0 0.0 -1.0000e-003 1.8960e+006 1.5080e+002
+];
+
+[as, bs, cs, maxred, scale] = sltb01id (a, b, c, 0);
+
+as, bs, cs, maxred, scale
+
+
+%{
+ TB01ID EXAMPLE PROGRAM RESULTS
+
+ The balanced matrix A ( 5X 5)
+
+ 1 2 3 4 5
+ 1 0.0000000D+00 0.1000000D+05 0.0000000D+00 0.0000000D+00 0.0000000D+00
+ 2 -0.1580000D+03 -0.1257000D+04 0.0000000D+00 0.0000000D+00 0.0000000D+00
+ 3 0.3541000D+05 0.0000000D+00 -0.1434000D+04 0.0000000D+00 -0.5330000D+03
+ 4 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D+03
+ 5 0.0000000D+00 0.0000000D+00 0.0000000D+00 -0.1863000D+03 -0.1482000D+01
+
+ The balanced matrix B ( 5X 2)
+
+ 1 2
+ 1 0.0000000D+00 0.0000000D+00
+ 2 0.1103000D+04 0.0000000D+00
+ 3 0.0000000D+00 0.0000000D+00
+ 4 0.0000000D+00 0.0000000D+00
+ 5 0.0000000D+00 0.8333000D+02
+
+ The balanced matrix C ( 5X 5)
+
+ 1 2 3 4 5
+ 1 0.1000000D-04 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00
+ 2 0.0000000D+00 0.0000000D+00 0.1000000D+06 0.0000000D+00 0.0000000D+00
+ 3 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D-05 0.0000000D+00
+ 4 0.6664000D-05 0.0000000D+00 -0.6200000D-07 0.0000000D+00 0.0000000D+00
+ 5 0.0000000D+00 0.0000000D+00 -0.1000000D+03 0.1896000D+01 0.1508000D-01
+
+ The scaling vector SCALE ( 1X 5)
+
+ 1 2 3 4 5
+ 1 0.1000000D-04 0.1000000D+00 0.1000000D+06 0.1000000D-05 0.1000000D-03
+
+
+ MAXRED is 0.3488E+10
+%}
\ No newline at end of file
Added: trunk/octave-forge/main/control/devel/scale/sltb01id.cc
===================================================================
--- trunk/octave-forge/main/control/devel/scale/sltb01id.cc (rev 0)
+++ trunk/octave-forge/main/control/devel/scale/sltb01id.cc 2011-05-09 21:34:44 UTC (rev 8255)
@@ -0,0 +1,114 @@
+/*
+
+Copyright (C) 2011 Lukas F. Reichlin
+
+This file is part of LTI Syncope.
+
+LTI Syncope is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+LTI Syncope is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>.
+
+Balance state-space model.
+Uses SLICOT TB01ID by courtesy of NICONET e.V.
+<http://www.slicot.org>
+
+Author: Lukas Reichlin <luk...@gm...>
+Created: May 2011
+Version: 0.1
+
+*/
+
+#include <octave/oct.h>
+#include <f77-fcn.h>
+#include "common.cc"
+
+extern "C"
+{
+ int F77_FUNC (tb01id, TB01ID)
+ (char& JOB,
+ int& N, int& M, int& P,
+ double& MAXRED,
+ double* A, int& LDA,
+ double* B, int& LDB,
+ double* C, int& LDC,
+ double* SCALE,
+ int& INFO);
+}
+
+DEFUN_DLD (sltb01id, args, nargout,
+ "-*- texinfo -*-\n\
+Slicot TB01ID Release 5.0\n\
+No argument checking.\n\
+For internal use only.")
+{
+ int nargin = args.length ();
+ octave_value_list retval;
+
+ if (nargin != 4)
+ {
+ print_usage ();
+ }
+ else
+ {
+ // arguments in
+ char job = 'A';
+
+ Matrix a = args(0).matrix_value ();
+ Matrix b = args(1).matrix_value ();
+ Matrix c = args(2).matrix_value ();
+ double maxred = args(3).double_value ();
+
+ int n = a.rows (); // n: number of states
+ int m = b.columns (); // m: number of inputs
+ int p = c.rows (); // p: number of outputs
+
+ int lda = max (1, n);
+ int ldb = max (1, n);
+ int ldc = max (1, p);
+
+
+ // arguments out
+ ColumnVector scale (n);
+
+
+ // error indicators
+ int info = 0;
+
+
+ // SLICOT routine TB01ID
+ F77_XFCN (tb01id, TB01ID,
+ (job,
+ n, m, p,
+ maxred,
+ a.fortran_vec (), lda,
+ b.fortran_vec (), ldb,
+ c.fortran_vec (), ldc,
+ scale.fortran_vec (),
+ info));
+
+ if (f77_exception_encountered)
+ error ("ss: prescale: sltb01id: exception in SLICOT subroutine TB01ID");
+
+ if (info != 0)
+ error ("ss: prescale: sltb01id: TB01ID returned info = %d", info);
+
+
+ // return values
+ retval(0) = a;
+ retval(1) = b;
+ retval(2) = c;
+ retval(3) = octave_value (maxred);
+ retval(4) = scale;
+ }
+
+ return retval;
+}
Property changes on: trunk/octave-forge/main/control/devel/ss2tf
___________________________________________________________________
Added: svn:ignore
+ sltb04bd.oct
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2011-06-29 18:47:29
|
Revision: 8367
http://octave.svn.sourceforge.net/octave/?rev=8367&view=rev
Author: paramaniac
Date: 2011-06-29 18:47:23 +0000 (Wed, 29 Jun 2011)
Log Message:
-----------
control: use * for svn ignore
Property Changed:
----------------
trunk/octave-forge/main/control/devel/
trunk/octave-forge/main/control/devel/ss2tf/
Property changes on: trunk/octave-forge/main/control/devel
___________________________________________________________________
Modified: svn:ignore
- makefiles_2011_05_05_2158_no_veclib_args.zip
+ *.zip
Property changes on: trunk/octave-forge/main/control/devel/ss2tf
___________________________________________________________________
Modified: svn:ignore
- sltb04bd.oct
+ *.oct
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2011-07-07 21:39:51
|
Revision: 8381
http://octave.svn.sourceforge.net/octave/?rev=8381&view=rev
Author: paramaniac
Date: 2011-07-07 21:39:42 +0000 (Thu, 07 Jul 2011)
Log Message:
-----------
control: add fortran files for model and controller reduction
Added Paths:
-----------
trunk/octave-forge/main/control/devel/slred/
trunk/octave-forge/main/control/devel/slred/reduction_methods.txt
trunk/octave-forge/main/control/devel/slred/slconred/
trunk/octave-forge/main/control/devel/slred/slconred/AB05PD.f
trunk/octave-forge/main/control/devel/slred/slconred/AB05QD.f
trunk/octave-forge/main/control/devel/slred/slconred/AB07ND.f
trunk/octave-forge/main/control/devel/slred/slconred/AB09AD.f
trunk/octave-forge/main/control/devel/slred/slconred/AB09AX.f
trunk/octave-forge/main/control/devel/slred/slconred/AB09BD.f
trunk/octave-forge/main/control/devel/slred/slconred/AB09BX.f
trunk/octave-forge/main/control/devel/slred/slconred/AB09DD.f
trunk/octave-forge/main/control/devel/slred/slconred/AB09IX.f
trunk/octave-forge/main/control/devel/slred/slconred/MA02AD.f
trunk/octave-forge/main/control/devel/slred/slconred/MA02DD.f
trunk/octave-forge/main/control/devel/slred/slconred/MA02GD.f
trunk/octave-forge/main/control/devel/slred/slconred/MB01SD.f
trunk/octave-forge/main/control/devel/slred/slconred/MB01WD.f
trunk/octave-forge/main/control/devel/slred/slconred/MB01YD.f
trunk/octave-forge/main/control/devel/slred/slconred/MB01ZD.f
trunk/octave-forge/main/control/devel/slred/slconred/MB02UD.f
trunk/octave-forge/main/control/devel/slred/slconred/MB03QD.f
trunk/octave-forge/main/control/devel/slred/slconred/MB03QX.f
trunk/octave-forge/main/control/devel/slred/slconred/MB03QY.f
trunk/octave-forge/main/control/devel/slred/slconred/MB03UD.f
trunk/octave-forge/main/control/devel/slred/slconred/MB04ND.f
trunk/octave-forge/main/control/devel/slred/slconred/MB04NY.f
trunk/octave-forge/main/control/devel/slred/slconred/MB04OD.f
trunk/octave-forge/main/control/devel/slred/slconred/MB04OY.f
trunk/octave-forge/main/control/devel/slred/slconred/SB03OD.f
trunk/octave-forge/main/control/devel/slred/slconred/SB03OR.f
trunk/octave-forge/main/control/devel/slred/slconred/SB03OT.f
trunk/octave-forge/main/control/devel/slred/slconred/SB03OU.f
trunk/octave-forge/main/control/devel/slred/slconred/SB03OV.f
trunk/octave-forge/main/control/devel/slred/slconred/SB03OY.f
trunk/octave-forge/main/control/devel/slred/slconred/SB04PX.f
trunk/octave-forge/main/control/devel/slred/slconred/SB08GD.f
trunk/octave-forge/main/control/devel/slred/slconred/SB08HD.f
trunk/octave-forge/main/control/devel/slred/slconred/SB16AD.f
trunk/octave-forge/main/control/devel/slred/slconred/SB16AY.f
trunk/octave-forge/main/control/devel/slred/slconred/SB16BD.f
trunk/octave-forge/main/control/devel/slred/slconred/SB16CD.f
trunk/octave-forge/main/control/devel/slred/slconred/SB16CY.f
trunk/octave-forge/main/control/devel/slred/slconred/TB01ID.f
trunk/octave-forge/main/control/devel/slred/slconred/TB01KD.f
trunk/octave-forge/main/control/devel/slred/slconred/TB01LD.f
trunk/octave-forge/main/control/devel/slred/slconred/TB01WD.f
trunk/octave-forge/main/control/devel/slred/slconred/makefile_slconred.m
trunk/octave-forge/main/control/devel/slred/slconred/select.f
trunk/octave-forge/main/control/devel/slred/slmodred/
trunk/octave-forge/main/control/devel/slred/slmodred/AB04MD.f
trunk/octave-forge/main/control/devel/slred/slmodred/AB07MD.f
trunk/octave-forge/main/control/devel/slred/slmodred/AB07ND.f
trunk/octave-forge/main/control/devel/slred/slmodred/AB08MD.f
trunk/octave-forge/main/control/devel/slred/slmodred/AB08NX.f
trunk/octave-forge/main/control/devel/slred/slmodred/AB09AX.f
trunk/octave-forge/main/control/devel/slred/slmodred/AB09CX.f
trunk/octave-forge/main/control/devel/slred/slmodred/AB09DD.f
trunk/octave-forge/main/control/devel/slred/slmodred/AB09HD.f
trunk/octave-forge/main/control/devel/slred/slmodred/AB09HY.f
trunk/octave-forge/main/control/devel/slred/slmodred/AB09ID.f
trunk/octave-forge/main/control/devel/slred/slmodred/AB09IX.f
trunk/octave-forge/main/control/devel/slred/slmodred/AB09IY.f
trunk/octave-forge/main/control/devel/slred/slmodred/AB09JD.f
trunk/octave-forge/main/control/devel/slred/slmodred/AB09JV.f
trunk/octave-forge/main/control/devel/slred/slmodred/AB09JW.f
trunk/octave-forge/main/control/devel/slred/slmodred/AB09JX.f
trunk/octave-forge/main/control/devel/slred/slmodred/AG07BD.f
trunk/octave-forge/main/control/devel/slred/slmodred/MA02AD.f
trunk/octave-forge/main/control/devel/slred/slmodred/MA02BD.f
trunk/octave-forge/main/control/devel/slred/slmodred/MA02DD.f
trunk/octave-forge/main/control/devel/slred/slmodred/MB01PD.f
trunk/octave-forge/main/control/devel/slred/slmodred/MB01QD.f
trunk/octave-forge/main/control/devel/slred/slmodred/MB01SD.f
trunk/octave-forge/main/control/devel/slred/slmodred/MB01WD.f
trunk/octave-forge/main/control/devel/slred/slmodred/MB01YD.f
trunk/octave-forge/main/control/devel/slred/slmodred/MB01ZD.f
trunk/octave-forge/main/control/devel/slred/slmodred/MB03OY.f
trunk/octave-forge/main/control/devel/slred/slmodred/MB03PY.f
trunk/octave-forge/main/control/devel/slred/slmodred/MB03QD.f
trunk/octave-forge/main/control/devel/slred/slmodred/MB03QX.f
trunk/octave-forge/main/control/devel/slred/slmodred/MB03QY.f
trunk/octave-forge/main/control/devel/slred/slmodred/MB03UD.f
trunk/octave-forge/main/control/devel/slred/slmodred/MB04ND.f
trunk/octave-forge/main/control/devel/slred/slmodred/MB04NY.f
trunk/octave-forge/main/control/devel/slred/slmodred/MB04OD.f
trunk/octave-forge/main/control/devel/slred/slmodred/MB04OX.f
trunk/octave-forge/main/control/devel/slred/slmodred/MB04OY.f
trunk/octave-forge/main/control/devel/slred/slmodred/SB01FY.f
trunk/octave-forge/main/control/devel/slred/slmodred/SB02MD.f
trunk/octave-forge/main/control/devel/slred/slmodred/SB02MR.f
trunk/octave-forge/main/control/devel/slred/slmodred/SB02MS.f
trunk/octave-forge/main/control/devel/slred/slmodred/SB02MU.f
trunk/octave-forge/main/control/devel/slred/slmodred/SB02MV.f
trunk/octave-forge/main/control/devel/slred/slmodred/SB02MW.f
trunk/octave-forge/main/control/devel/slred/slmodred/SB03OR.f
trunk/octave-forge/main/control/devel/slred/slmodred/SB03OT.f
trunk/octave-forge/main/control/devel/slred/slmodred/SB03OU.f
trunk/octave-forge/main/control/devel/slred/slmodred/SB03OV.f
trunk/octave-forge/main/control/devel/slred/slmodred/SB03OY.f
trunk/octave-forge/main/control/devel/slred/slmodred/SB04PX.f
trunk/octave-forge/main/control/devel/slred/slmodred/SB04PY.f
trunk/octave-forge/main/control/devel/slred/slmodred/SB08CD.f
trunk/octave-forge/main/control/devel/slred/slmodred/SB08DD.f
trunk/octave-forge/main/control/devel/slred/slmodred/TB01ID.f
trunk/octave-forge/main/control/devel/slred/slmodred/TB01KD.f
trunk/octave-forge/main/control/devel/slred/slmodred/TB01LD.f
trunk/octave-forge/main/control/devel/slred/slmodred/TB01PD.f
trunk/octave-forge/main/control/devel/slred/slmodred/TB01UD.f
trunk/octave-forge/main/control/devel/slred/slmodred/TB01WD.f
trunk/octave-forge/main/control/devel/slred/slmodred/TB01XD.f
trunk/octave-forge/main/control/devel/slred/slmodred/delctg.f
trunk/octave-forge/main/control/devel/slred/slmodred/makefile_slmodred.m
trunk/octave-forge/main/control/devel/slred/slmodred/select.f
Added: trunk/octave-forge/main/control/devel/slred/reduction_methods.txt
===================================================================
--- trunk/octave-forge/main/control/devel/slred/reduction_methods.txt (rev 0)
+++ trunk/octave-forge/main/control/devel/slred/reduction_methods.txt 2011-07-07 21:39:42 UTC (rev 8381)
@@ -0,0 +1,57 @@
+Reduction Methods
+
+absolute/additive error
+ BTA balanced truncation
+ SPA singular perturbation approximation
+ HNA Hankel-norm approximation
+
+relative/multiplicative error
+ BST balanced stochastic truncation
+
+
+modred Model Reduction
+
+AB 09 ID - BTA SR
+ - BTA BFSR
+ - SPA SR
+ - SPA BFSR
+ FW BTA SR
+ FW BTA BFSR
+ FW SPA SR
+ FW SPA BFSR
+
+AB 09 JD - HNA
+ FW HNA
+
+AB 09 HD BST BTA SR
+ BST BTA BFSR
+ BST SPA SR
+ BST SPA BFSR
+
+
+conred Controller Reduction
+
+SB 16 AD - BTA SR
+ - BTA BFSR
+ - SPA SR
+ - SPA BFSR
+ FW BTA SR
+ FW BTA BFSR
+ FW SPA SR
+ FW SPA BFSR
+
+SB 16 BD CF BTA SR
+ CF BTA BFSR
+ CF SPA SR
+ CF SPA BFSR
+
+SB 16 CD FWCF BTA SR
+ FWCF BTA BFSR
+
+
+
+FW frequency-weighted
+CF coprime factorization
+
+SR square-root
+BFSR balancing-free square-root
\ No newline at end of file
Property changes on: trunk/octave-forge/main/control/devel/slred/slconred
___________________________________________________________________
Added: svn:ignore
+ *.oct
Added: trunk/octave-forge/main/control/devel/slred/slconred/AB05PD.f
===================================================================
--- trunk/octave-forge/main/control/devel/slred/slconred/AB05PD.f (rev 0)
+++ trunk/octave-forge/main/control/devel/slred/slconred/AB05PD.f 2011-07-07 21:39:42 UTC (rev 8381)
@@ -0,0 +1,385 @@
+ SUBROUTINE AB05PD( OVER, N1, M, P, N2, ALPHA, A1, LDA1, B1, LDB1,
+ $ C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2, C2,
+ $ LDC2, D2, LDD2, N, A, LDA, B, LDB, C, LDC, D,
+ $ LDD, INFO)
+C
+C SLICOT RELEASE 5.0.
+C
+C Copyright (c) 2002-2009 NICONET e.V.
+C
+C This program is free software: you can redistribute it and/or
+C modify it under the terms of the GNU General Public License as
+C published by the Free Software Foundation, either version 2 of
+C the License, or (at your option) any later version.
+C
+C This program is distributed in the hope that it will be useful,
+C but WITHOUT ANY WARRANTY; without even the implied warranty of
+C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+C GNU General Public License for more details.
+C
+C You should have received a copy of the GNU General Public License
+C along with this program. If not, see
+C <http://www.gnu.org/licenses/>.
+C
+C PURPOSE
+C
+C To compute the state-space model G = (A,B,C,D) corresponding to
+C the sum G = G1 + alpha*G2, where G1 = (A1,B1,C1,D1) and
+C G2 = (A2,B2,C2,D2). G, G1, and G2 are the transfer-function
+C matrices of the corresponding state-space models.
+C
+C ARGUMENTS
+C
+C Mode Parameters
+C
+C OVER CHARACTER*1
+C Indicates whether the user wishes to overlap pairs of
+C arrays, as follows:
+C = 'N': Do not overlap;
+C = 'O': Overlap pairs of arrays: A1 and A, B1 and B,
+C C1 and C, and D1 and D, i.e. the same name is
+C effectively used for each pair (for all pairs)
+C in the routine call. In this case, setting
+C LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD
+C will give maximum efficiency.
+C
+C Input/Output Parameters
+C
+C N1 (input) INTEGER
+C The number of state variables in the first system, i.e.
+C the order of the matrix A1, the number of rows of B1 and
+C the number of columns of C1. N1 >= 0.
+C
+C M (input) INTEGER
+C The number of input variables of the two systems, i.e. the
+C number of columns of matrices B1, D1, B2 and D2. M >= 0.
+C
+C P (input) INTEGER
+C The number of output variables of the two systems, i.e.
+C the number of rows of matrices C1, D1, C2 and D2. P >= 0.
+C
+C N2 (input) INTEGER
+C The number of state variables in the second system, i.e.
+C the order of the matrix A2, the number of rows of B2 and
+C the number of columns of C2. N2 >= 0.
+C
+C ALPHA (input) DOUBLE PRECISION
+C The coefficient multiplying G2.
+C
+C A1 (input) DOUBLE PRECISION array, dimension (LDA1,N1)
+C The leading N1-by-N1 part of this array must contain the
+C state transition matrix A1 for the first system.
+C
+C LDA1 INTEGER
+C The leading dimension of array A1. LDA1 >= MAX(1,N1).
+C
+C B1 (input) DOUBLE PRECISION array, dimension (LDB1,M)
+C The leading N1-by-M part of this array must contain the
+C input/state matrix B1 for the first system.
+C
+C LDB1 INTEGER
+C The leading dimension of array B1. LDB1 >= MAX(1,N1).
+C
+C C1 (input) DOUBLE PRECISION array, dimension (LDC1,N1)
+C The leading P-by-N1 part of this array must contain the
+C state/output matrix C1 for the first system.
+C
+C LDC1 INTEGER
+C The leading dimension of array C1.
+C LDC1 >= MAX(1,P) if N1 > 0.
+C LDC1 >= 1 if N1 = 0.
+C
+C D1 (input) DOUBLE PRECISION array, dimension (LDD1,M)
+C The leading P-by-M part of this array must contain the
+C input/output matrix D1 for the first system.
+C
+C LDD1 INTEGER
+C The leading dimension of array D1. LDD1 >= MAX(1,P).
+C
+C A2 (input) DOUBLE PRECISION array, dimension (LDA2,N2)
+C The leading N2-by-N2 part of this array must contain the
+C state transition matrix A2 for the second system.
+C
+C LDA2 INTEGER
+C The leading dimension of array A2. LDA2 >= MAX(1,N2).
+C
+C B2 (input) DOUBLE PRECISION array, dimension (LDB2,M)
+C The leading N2-by-M part of this array must contain the
+C input/state matrix B2 for the second system.
+C
+C LDB2 INTEGER
+C The leading dimension of array B2. LDB2 >= MAX(1,N2).
+C
+C C2 (input) DOUBLE PRECISION array, dimension (LDC2,N2)
+C The leading P-by-N2 part of this array must contain the
+C state/output matrix C2 for the second system.
+C
+C LDC2 INTEGER
+C The leading dimension of array C2.
+C LDC2 >= MAX(1,P) if N2 > 0.
+C LDC2 >= 1 if N2 = 0.
+C
+C D2 (input) DOUBLE PRECISION array, dimension (LDD2,M)
+C The leading P-by-M part of this array must contain the
+C input/output matrix D2 for the second system.
+C
+C LDD2 INTEGER
+C The leading dimension of array D2. LDD2 >= MAX(1,P).
+C
+C N (output) INTEGER
+C The number of state variables (N1 + N2) in the resulting
+C system, i.e. the order of the matrix A, the number of rows
+C of B and the number of columns of C.
+C
+C A (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
+C The leading N-by-N part of this array contains the state
+C transition matrix A for the resulting system.
+C The array A can overlap A1 if OVER = 'O'.
+C
+C LDA INTEGER
+C The leading dimension of array A. LDA >= MAX(1,N1+N2).
+C
+C B (output) DOUBLE PRECISION array, dimension (LDB,M)
+C The leading N-by-M part of this array contains the
+C input/state matrix B for the resulting system.
+C The array B can overlap B1 if OVER = 'O'.
+C
+C LDB INTEGER
+C The leading dimension of array B. LDB >= MAX(1,N1+N2).
+C
+C C (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
+C The leading P-by-N part of this array contains the
+C state/output matrix C for the resulting system.
+C The array C can overlap C1 if OVER = 'O'.
+C
+C LDC INTEGER
+C The leading dimension of array C.
+C LDC >= MAX(1,P) if N1+N2 > 0.
+C LDC >= 1 if N1+N2 = 0.
+C
+C D (output) DOUBLE PRECISION array, dimension (LDD,M)
+C The leading P-by-M part of this array contains the
+C input/output matrix D for the resulting system.
+C The array D can overlap D1 if OVER = 'O'.
+C
+C LDD INTEGER
+C The leading dimension of array D. LDD >= MAX(1,P).
+C
+C Error Indicator
+C
+C INFO INTEGER
+C = 0: successful exit;
+C < 0: if INFO = -i, the i-th argument had an illegal
+C value.
+C
+C METHOD
+C
+C The matrices of the resulting systems are determined as:
+C
+C ( A1 0 ) ( B1 )
+C A = ( ) , B = ( ) ,
+C ( 0 A2 ) ( B2 )
+C
+C C = ( C1 alpha*C2 ) , D = D1 + alpha*D2 .
+C
+C REFERENCES
+C
+C None
+C
+C NUMERICAL ASPECTS
+C
+C None
+C
+C CONTRIBUTORS
+C
+C A. Varga, German Aerospace Research Establishment,
+C Oberpfaffenhofen, Germany, and V. Sima, Katholieke Univ. Leuven,
+C Belgium, Nov. 1996.
+C
+C REVISIONS
+C
+C V. Sima, Research Institute for Informatics, Bucharest, July 2003,
+C Feb. 2004.
+C
+C KEYWORDS
+C
+C Multivariable system, state-space model, state-space
+C representation.
+C
+C ******************************************************************
+C
+C .. Parameters ..
+ DOUBLE PRECISION ZERO, ONE
+ PARAMETER ( ZERO=0.0D0, ONE = 1.0D0 )
+C .. Scalar Arguments ..
+ CHARACTER OVER
+ INTEGER INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
+ $ LDC1, LDC2, LDD, LDD1, LDD2, M, N, N1, N2, P
+ DOUBLE PRECISION ALPHA
+C .. Array Arguments ..
+ DOUBLE PRECISION A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
+ $ B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
+ $ C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*)
+C .. Local Scalars ..
+ LOGICAL LOVER
+ INTEGER I, J, N1P1
+C .. External Functions ..
+ LOGICAL LSAME
+ EXTERNAL LSAME
+C .. External Subroutines ..
+ EXTERNAL DAXPY, DLACPY, DLASCL, DLASET, XERBLA
+C .. Intrinsic Functions ..
+ INTRINSIC MAX, MIN
+C .. Executable Statements ..
+C
+ LOVER = LSAME( OVER, 'O' )
+ N = N1 + N2
+ INFO = 0
+C
+C Test the input scalar arguments.
+C
+ IF( .NOT.LOVER .AND. .NOT.LSAME( OVER, 'N' ) ) THEN
+ INFO = -1
+ ELSE IF( N1.LT.0 ) THEN
+ INFO = -2
+ ELSE IF( M.LT.0 ) THEN
+ INFO = -3
+ ELSE IF( P.LT.0 ) THEN
+ INFO = -4
+ ELSE IF( N2.LT.0 ) THEN
+ INFO = -5
+ ELSE IF( LDA1.LT.MAX( 1, N1 ) ) THEN
+ INFO = -8
+ ELSE IF( LDB1.LT.MAX( 1, N1 ) ) THEN
+ INFO = -10
+ ELSE IF( ( N1.GT.0 .AND. LDC1.LT.MAX( 1, P ) ) .OR.
+ $ ( N1.EQ.0 .AND. LDC1.LT.1 ) ) THEN
+ INFO = -12
+ ELSE IF( LDD1.LT.MAX( 1, P ) ) THEN
+ INFO = -14
+ ELSE IF( LDA2.LT.MAX( 1, N2 ) ) THEN
+ INFO = -16
+ ELSE IF( LDB2.LT.MAX( 1, N2 ) ) THEN
+ INFO = -18
+ ELSE IF( ( N2.GT.0 .AND. LDC2.LT.MAX( 1, P ) ) .OR.
+ $ ( N2.EQ.0 .AND. LDC2.LT.1 ) ) THEN
+ INFO = -20
+ ELSE IF( LDD2.LT.MAX( 1, P ) ) THEN
+ INFO = -22
+ ELSE IF( LDA.LT.MAX( 1, N ) ) THEN
+ INFO = -25
+ ELSE IF( LDB.LT.MAX( 1, N ) ) THEN
+ INFO = -27
+ ELSE IF( ( N.GT.0 .AND. LDC.LT.MAX( 1, P ) ) .OR.
+ $ ( N.EQ.0 .AND. LDC.LT.1 ) ) THEN
+ INFO = -29
+ ELSE IF( LDD.LT.MAX( 1, P ) ) THEN
+ INFO = -31
+ END IF
+C
+ IF ( INFO.NE.0 ) THEN
+C
+C Error return.
+C
+ CALL XERBLA( 'AB05PD', -INFO )
+ RETURN
+ END IF
+C
+C Quick return if possible.
+C
+ IF ( MAX( N, MIN( M, P ) ).EQ.0 )
+ $ RETURN
+C
+ N1P1 = N1 + 1
+C
+C ( A1 0 )
+C Construct A = ( ) .
+C ( 0 A2 )
+C
+ IF ( LOVER .AND. LDA1.LE.LDA ) THEN
+ IF ( LDA1.LT.LDA ) THEN
+C
+ DO 20 J = N1, 1, -1
+ DO 10 I = N1, 1, -1
+ A(I,J) = A1(I,J)
+ 10 CONTINUE
+ 20 CONTINUE
+C
+ END IF
+ ELSE
+ CALL DLACPY( 'F', N1, N1, A1, LDA1, A, LDA )
+ END IF
+C
+ IF ( N2.GT.0 ) THEN
+ CALL DLASET( 'F', N1, N2, ZERO, ZERO, A(1,N1P1), LDA )
+ CALL DLASET( 'F', N2, N1, ZERO, ZERO, A(N1P1,1), LDA )
+ CALL DLACPY( 'F', N2, N2, A2, LDA2, A(N1P1,N1P1), LDA )
+ END IF
+C
+C ( B1 )
+C Construct B = ( ) .
+C ( B2 )
+C
+ IF ( LOVER .AND. LDB1.LE.LDB ) THEN
+ IF ( LDB1.LT.LDB ) THEN
+C
+ DO 40 J = M, 1, -1
+ DO 30 I = N1, 1, -1
+ B(I,J) = B1(I,J)
+ 30 CONTINUE
+ 40 CONTINUE
+C
+ END IF
+ ELSE
+ CALL DLACPY( 'F', N1, M, B1, LDB1, B, LDB )
+ END IF
+C
+ IF ( N2.GT.0 )
+ $ CALL DLACPY( 'F', N2, M, B2, LDB2, B(N1P1,1), LDB )
+C
+C Construct C = ( C1 alpha*C2 ) .
+C
+ IF ( LOVER .AND. LDC1.LE.LDC ) THEN
+ IF ( LDC1.LT.LDC ) THEN
+C
+ DO 60 J = N1, 1, -1
+ DO 50 I = P, 1, -1
+ C(I,J) = C1(I,J)
+ 50 CONTINUE
+ 60 CONTINUE
+C
+ END IF
+ ELSE
+ CALL DLACPY( 'F', P, N1, C1, LDC1, C, LDC )
+ END IF
+C
+ IF ( N2.GT.0 ) THEN
+ CALL DLACPY( 'F', P, N2, C2, LDC2, C(1,N1P1), LDC )
+ IF ( ALPHA.NE.ONE )
+ $ CALL DLASCL( 'G', 0, 0, ONE, ALPHA, P, N2, C(1,N1P1), LDC,
+ $ INFO )
+ END IF
+C
+C Construct D = D1 + alpha*D2 .
+C
+ IF ( LOVER .AND. LDD1.LE.LDD ) THEN
+ IF ( LDD1.LT.LDD ) THEN
+C
+ DO 80 J = M, 1, -1
+ DO 70 I = P, 1, -1
+ D(I,J) = D1(I,J)
+ 70 CONTINUE
+ 80 CONTINUE
+C
+ END IF
+ ELSE
+ CALL DLACPY( 'F', P, M, D1, LDD1, D, LDD )
+ END IF
+C
+ DO 90 J = 1, M
+ CALL DAXPY( P, ALPHA, D2(1,J), 1, D(1,J), 1 )
+ 90 CONTINUE
+C
+ RETURN
+C *** Last line of AB05PD ***
+ END
Added: trunk/octave-forge/main/control/devel/slred/slconred/AB05QD.f
===================================================================
--- trunk/octave-forge/main/control/devel/slred/slconred/AB05QD.f (rev 0)
+++ trunk/octave-forge/main/control/devel/slred/slconred/AB05QD.f 2011-07-07 21:39:42 UTC (rev 8381)
@@ -0,0 +1,419 @@
+ SUBROUTINE AB05QD( OVER, N1, M1, P1, N2, M2, P2, A1, LDA1, B1,
+ $ LDB1, C1, LDC1, D1, LDD1, A2, LDA2, B2, LDB2,
+ $ C2, LDC2, D2, LDD2, N, M, P, A, LDA, B, LDB,
+ $ C, LDC, D, LDD, INFO )
+C
+C SLICOT RELEASE 5.0.
+C
+C Copyright (c) 2002-2009 NICONET e.V.
+C
+C This program is free software: you can redistribute it and/or
+C modify it under the terms of the GNU General Public License as
+C published by the Free Software Foundation, either version 2 of
+C the License, or (at your option) any later version.
+C
+C This program is distributed in the hope that it will be useful,
+C but WITHOUT ANY WARRANTY; without even the implied warranty of
+C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+C GNU General Public License for more details.
+C
+C You should have received a copy of the GNU General Public License
+C along with this program. If not, see
+C <http://www.gnu.org/licenses/>.
+C
+C PURPOSE
+C
+C To append two systems G1 and G2 in state-space form together.
+C If G1 = (A1,B1,C1,D1) and G2 = (A2,B2,C2,D2) are the state-space
+C models of the given two systems having the transfer-function
+C matrices G1 and G2, respectively, this subroutine constructs the
+C state-space model G = (A,B,C,D) which corresponds to the
+C transfer-function matrix
+C
+C ( G1 0 )
+C G = ( )
+C ( 0 G2 )
+C
+C ARGUMENTS
+C
+C Mode Parameters
+C
+C OVER CHARACTER*1
+C Indicates whether the user wishes to overlap pairs of
+C arrays, as follows:
+C = 'N': Do not overlap;
+C = 'O': Overlap pairs of arrays: A1 and A, B1 and B,
+C C1 and C, and D1 and D, i.e. the same name is
+C effectively used for each pair (for all pairs)
+C in the routine call. In this case, setting
+C LDA1 = LDA, LDB1 = LDB, LDC1 = LDC, and LDD1 = LDD
+C will give maximum efficiency.
+C
+C Input/Output Parameters
+C
+C N1 (input) INTEGER
+C The number of state variables in the first system, i.e.
+C the order of the matrix A1, the number of rows of B1 and
+C the number of columns of C1. N1 >= 0.
+C
+C M1 (input) INTEGER
+C The number of input variables in the first system, i.e.
+C the number of columns of matrices B1 and D1. M1 >= 0.
+C
+C P1 (input) INTEGER
+C The number of output variables in the first system, i.e.
+C the number of rows of matrices C1 and D1. P1 >= 0.
+C
+C N2 (input) INTEGER
+C The number of state variables in the second system, i.e.
+C the order of the matrix A2, the number of rows of B2 and
+C the number of columns of C2. N2 >= 0.
+C
+C M2 (input) INTEGER
+C The number of input variables in the second system, i.e.
+C the number of columns of matrices B2 and D2. M2 >= 0.
+C
+C P2 (input) INTEGER
+C The number of output variables in the second system, i.e.
+C the number of rows of matrices C2 and D2. P2 >= 0.
+C
+C A1 (input) DOUBLE PRECISION array, dimension (LDA1,N1)
+C The leading N1-by-N1 part of this array must contain the
+C state transition matrix A1 for the first system.
+C
+C LDA1 INTEGER
+C The leading dimension of array A1. LDA1 >= MAX(1,N1).
+C
+C B1 (input) DOUBLE PRECISION array, dimension (LDB1,M1)
+C The leading N1-by-M1 part of this array must contain the
+C input/state matrix B1 for the first system.
+C
+C LDB1 INTEGER
+C The leading dimension of array B1. LDB1 >= MAX(1,N1).
+C
+C C1 (input) DOUBLE PRECISION array, dimension (LDC1,N1)
+C The leading P1-by-N1 part of this array must contain the
+C state/output matrix C1 for the first system.
+C
+C LDC1 INTEGER
+C The leading dimension of array C1.
+C LDC1 >= MAX(1,P1) if N1 > 0.
+C LDC1 >= 1 if N1 = 0.
+C
+C D1 (input) DOUBLE PRECISION array, dimension (LDD1,M1)
+C The leading P1-by-M1 part of this array must contain the
+C input/output matrix D1 for the first system.
+C
+C LDD1 INTEGER
+C The leading dimension of array D1. LDD1 >= MAX(1,P1).
+C
+C A2 (input) DOUBLE PRECISION array, dimension (LDA2,N2)
+C The leading N2-by-N2 part of this array must contain the
+C state transition matrix A2 for the second system.
+C
+C LDA2 INTEGER
+C The leading dimension of array A2. LDA2 >= MAX(1,N2).
+C
+C B2 (input) DOUBLE PRECISION array, dimension (LDB2,M2)
+C The leading N2-by-M2 part of this array must contain the
+C input/state matrix B2 for the second system.
+C
+C LDB2 INTEGER
+C The leading dimension of array B2. LDB2 >= MAX(1,N2).
+C
+C C2 (input) DOUBLE PRECISION array, dimension (LDC2,N2)
+C The leading P2-by-N2 part of this array must contain the
+C state/output matrix C2 for the second system.
+C
+C LDC2 INTEGER
+C The leading dimension of array C2.
+C LDC2 >= MAX(1,P2) if N2 > 0.
+C LDC2 >= 1 if N2 = 0.
+C
+C D2 (input) DOUBLE PRECISION array, dimension (LDD2,M2)
+C The leading P2-by-M2 part of this array must contain the
+C input/output matrix D2 for the second system.
+C
+C LDD2 INTEGER
+C The leading dimension of array D2. LDD2 >= MAX(1,P2).
+C
+C N (output) INTEGER
+C The number of state variables (N1 + N2) in the resulting
+C system, i.e. the order of the matrix A, the number of rows
+C of B and the number of columns of C.
+C
+C M (output) INTEGER
+C The number of input variables (M1 + M2) in the resulting
+C system, i.e. the number of columns of B and D.
+C
+C P (output) INTEGER
+C The number of output variables (P1 + P2) of the resulting
+C system, i.e. the number of rows of C and D.
+C
+C A (output) DOUBLE PRECISION array, dimension (LDA,N1+N2)
+C The leading N-by-N part of this array contains the state
+C transition matrix A for the resulting system.
+C The array A can overlap A1 if OVER = 'O'.
+C
+C LDA INTEGER
+C The leading dimension of array A. LDA >= MAX(1,N1+N2).
+C
+C B (output) DOUBLE PRECISION array, dimension (LDB,M1+M2)
+C The leading N-by-M part of this array contains the
+C input/state matrix B for the resulting system.
+C The array B can overlap B1 if OVER = 'O'.
+C
+C LDB INTEGER
+C The leading dimension of array B. LDB >= MAX(1,N1+N2).
+C
+C C (output) DOUBLE PRECISION array, dimension (LDC,N1+N2)
+C The leading P-by-N part of this array contains the
+C state/output matrix C for the resulting system.
+C The array C can overlap C1 if OVER = 'O'.
+C
+C LDC INTEGER
+C The leading dimension of array C.
+C LDC >= MAX(1,P1+P2) if N1+N2 > 0.
+C LDC >= 1 if N1+N2 = 0.
+C
+C D (output) DOUBLE PRECISION array, dimension (LDD,M1+M2)
+C The leading P-by-M part of this array contains the
+C input/output matrix D for the resulting system.
+C The array D can overlap D1 if OVER = 'O'.
+C
+C LDD INTEGER
+C The leading dimension of array D. LDD >= MAX(1,P1+P2).
+C
+C Error Indicator
+C
+C INFO INTEGER
+C = 0: successful exit;
+C < 0: if INFO = -i, the i-th argument had an illegal
+C value.
+C
+C METHOD
+C
+C The matrices of the resulting systems are determined as:
+C
+C ( A1 0 ) ( B1 0 )
+C A = ( ) , B = ( ) ,
+C ( 0 A2 ) ( 0 B2 )
+C
+C ( C1 0 ) ( D1 0 )
+C C = ( ) , D = ( ) .
+C ( 0 C2 ) ( 0 D2 )
+C
+C REFERENCES
+C
+C None
+C
+C CONTRIBUTORS
+C
+C A. Varga, German Aerospace Research Establishment,
+C Oberpfaffenhofen, Germany, and V. Sima, Katholieke Univ. Leuven,
+C Belgium, Nov. 1996.
+C
+C REVISIONS
+C
+C V. Sima, Research Institute for Informatics, Bucharest, Feb. 2004.
+C
+C KEYWORDS
+C
+C Multivariable system, state-space model, state-space
+C representation.
+C
+C ******************************************************************
+C
+C .. Parameters ..
+ DOUBLE PRECISION ZERO
+ PARAMETER ( ZERO=0.0D0 )
+C .. Scalar Arguments ..
+ CHARACTER OVER
+ INTEGER INFO, LDA, LDA1, LDA2, LDB, LDB1, LDB2, LDC,
+ $ LDC1, LDC2, LDD, LDD1, LDD2, M, M1, M2, N, N1,
+ $ N2, P, P1, P2
+C .. Array Arguments ..
+ DOUBLE PRECISION A(LDA,*), A1(LDA1,*), A2(LDA2,*), B(LDB,*),
+ $ B1(LDB1,*), B2(LDB2,*), C(LDC,*), C1(LDC1,*),
+ $ C2(LDC2,*), D(LDD,*), D1(LDD1,*), D2(LDD2,*)
+C .. Local Scalars ..
+ LOGICAL LOVER
+ INTEGER I, J
+C .. External Functions ..
+ LOGICAL LSAME
+ EXTERNAL LSAME
+C .. External Subroutines ..
+ EXTERNAL DLACPY, DLASET, XERBLA
+C .. Intrinsic Functions ..
+ INTRINSIC MAX, MIN
+C .. Executable Statements ..
+C
+ LOVER = LSAME( OVER, 'O' )
+ N = N1 + N2
+ M = M1 + M2
+ P = P1 + P2
+ INFO = 0
+C
+C Test the input scalar arguments.
+C
+ IF( .NOT.LOVER .AND. .NOT.LSAME( OVER, 'N' ) ) THEN
+ INFO = -1
+ ELSE IF( N1.LT.0 ) THEN
+ INFO = -2
+ ELSE IF( M1.LT.0 ) THEN
+ INFO = -3
+ ELSE IF( P1.LT.0 ) THEN
+ INFO = -4
+ ELSE IF( N2.LT.0 ) THEN
+ INFO = -5
+ ELSE IF( M2.LT.0 ) THEN
+ INFO = -6
+ ELSE IF( P2.LT.0 ) THEN
+ INFO = -7
+ ELSE IF( LDA1.LT.MAX( 1, N1 ) ) THEN
+ INFO = -9
+ ELSE IF( LDB1.LT.MAX( 1, N1 ) ) THEN
+ INFO = -11
+ ELSE IF( ( N1.GT.0 .AND. LDC1.LT.MAX( 1, P1 ) ) .OR.
+ $ ( N1.EQ.0 .AND. LDC1.LT.1 ) ) THEN
+ INFO = -13
+ ELSE IF( LDD1.LT.MAX( 1, P1 ) ) THEN
+ INFO = -15
+ ELSE IF( LDA2.LT.MAX( 1, N2 ) ) THEN
+ INFO = -17
+ ELSE IF( LDB2.LT.MAX( 1, N2 ) ) THEN
+ INFO = -19
+ ELSE IF( ( N2.GT.0 .AND. LDC2.LT.MAX( 1, P2 ) ) .OR.
+ $ ( N2.EQ.0 .AND. LDC2.LT.1 ) ) THEN
+ INFO = -21
+ ELSE IF( LDD2.LT.MAX( 1, P2 ) ) THEN
+ INFO = -23
+ ELSE IF( LDA.LT.MAX( 1, N ) ) THEN
+ INFO = -28
+ ELSE IF( LDB.LT.MAX( 1, N ) ) THEN
+ INFO = -30
+ ELSE IF( ( N.GT.0 .AND. LDC.LT.MAX( 1, P ) ) .OR.
+ $ ( N.EQ.0 .AND. LDC.LT.1 ) ) THEN
+ INFO = -32
+ ELSE IF( LDD.LT.MAX( 1, P ) ) THEN
+ INFO = -34
+ END IF
+C
+ IF ( INFO.NE.0 ) THEN
+C
+C Error return.
+C
+ CALL XERBLA( 'AB05QD', -INFO )
+ RETURN
+ END IF
+C
+C Quick return if possible.
+C
+ IF ( MAX( N, MIN( M, P ) ).EQ.0 )
+ $ RETURN
+C ( A1 0 )
+C Construct A = ( ) .
+C ( 0 A2 )
+C
+ IF ( LOVER .AND. LDA1.LE.LDA ) THEN
+ IF ( LDA1.LT.LDA ) THEN
+C
+ DO 20 J = N1, 1, -1
+ DO 10 I = N1, 1, -1
+ A(I,J) = A1(I,J)
+ 10 CONTINUE
+ 20 CONTINUE
+C
+ END IF
+ ELSE
+ CALL DLACPY( 'F', N1, N1, A1, LDA1, A, LDA )
+ END IF
+C
+ IF ( N2.GT.0 ) THEN
+ CALL DLASET( 'F', N1, N2, ZERO, ZERO, A(1,N1+1), LDA )
+ CALL DLASET( 'F', N2, N1, ZERO, ZERO, A(N1+1,1), LDA )
+ CALL DLACPY( 'F', N2, N2, A2, LDA2, A(N1+1,N1+1), LDA )
+ END IF
+C
+C ( B1 0 )
+C Construct B = ( ) .
+C ( 0 B2 )
+C
+ IF ( LOVER .AND. LDB1.LE.LDB ) THEN
+ IF ( LDB1.LT.LDB ) THEN
+C
+ DO 40 J = M1, 1, -1
+ DO 30 I = N1, 1, -1
+ B(I,J) = B1(I,J)
+ 30 CONTINUE
+ 40 CONTINUE
+C
+ END IF
+ ELSE
+ CALL DLACPY( 'F', N1, M1, B1, LDB1, B, LDB )
+ END IF
+C
+ IF ( M2.GT.0 )
+ $ CALL DLASET( 'F', N1, M2, ZERO, ZERO, B(1,M1+1), LDB )
+ IF ( N2.GT.0 ) THEN
+ CALL DLASET( 'F', N2, M1, ZERO, ZERO, B(N1+1,1), LDB )
+ IF ( M2.GT.0 )
+ $ CALL DLACPY( 'F', N2, M2, B2, LDB2, B(N1+1,M1+1), LDB )
+ END IF
+C
+C ( C1 0 )
+C Construct C = ( ) .
+C ( 0 C2 )
+C
+ IF ( LOVER .AND. LDC1.LE.LDC ) THEN
+ IF ( LDC1.LT.LDC ) THEN
+C
+ DO 60 J = N1, 1, -1
+ DO 50 I = P1, 1, -1
+ C(I,J) = C1(I,J)
+ 50 CONTINUE
+ 60 CONTINUE
+C
+ END IF
+ ELSE
+ CALL DLACPY( 'F', P1, N1, C1, LDC1, C, LDC )
+ END IF
+C
+ IF ( N2.GT.0 )
+ $ CALL DLASET( 'F', P1, N2, ZERO, ZERO, C(1,N1+1), LDC )
+ IF ( P2.GT.0 ) THEN
+ IF ( N1.GT.0 )
+ $ CALL DLASET( 'F', P2, N1, ZERO, ZERO, C(P1+1,1), LDC )
+ IF ( N2.GT.0 )
+ $ CALL DLACPY( 'F', P2, N2, C2, LDC2, C(P1+1,N1+1), LDC )
+ END IF
+C
+C ( D1 0 )
+C Construct D = ( ) .
+C ( 0 D2 )
+C
+ IF ( LOVER .AND. LDD1.LE.LDD ) THEN
+ IF ( LDD1.LT.LDD ) THEN
+C
+ DO 80 J = M1, 1, -1
+ DO 70 I = P1, 1, -1
+ D(I,J) = D1(I,J)
+ 70 CONTINUE
+ 80 CONTINUE
+C
+ END IF
+ ELSE
+ CALL DLACPY( 'F', P1, M1, D1, LDD1, D, LDD )
+ END IF
+C
+ IF ( M2.GT.0 )
+ $ CALL DLASET( 'F', P1, M2, ZERO, ZERO, D(1,M1+1), LDD )
+ IF ( P2.GT.0 ) THEN
+ CALL DLASET( 'F', P2, M1, ZERO, ZERO, D(P1+1,1), LDD )
+ IF ( M2.GT.0 )
+ $ CALL DLACPY( 'F', P2, M2, D2, LDD2, D(P1+1,M1+1), LDD )
+ END IF
+C
+ RETURN
+C *** Last line of AB05QD ***
+ END
Added: trunk/octave-forge/main/control/devel/slred/slconred/AB07ND.f
===================================================================
--- trunk/octave-forge/main/control/devel/slred/slconred/AB07ND.f (rev 0)
+++ trunk/octave-forge/main/control/devel/slred/slconred/AB07ND.f 2011-07-07 21:39:42 UTC (rev 8381)
@@ -0,0 +1,303 @@
+ SUBROUTINE AB07ND( N, M, A, LDA, B, LDB, C, LDC, D, LDD, RCOND,
+ $ IWORK, DWORK, LDWORK, INFO )
+C
+C SLICOT RELEASE 5.0.
+C
+C Copyright (c) 2002-2009 NICONET e.V.
+C
+C This program is free software: you can redistribute it and/or
+C modify it under the terms of the GNU General Public License as
+C published by the Free Software Foundation, either version 2 of
+C the License, or (at your option) any later version.
+C
+C This program is distributed in the hope that it will be useful,
+C but WITHOUT ANY WARRANTY; without even the implied warranty of
+C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+C GNU General Public License for more details.
+C
+C You should have received a copy of the GNU General Public License
+C along with this program. If not, see
+C <http://www.gnu.org/licenses/>.
+C
+C PURPOSE
+C
+C To compute the inverse (Ai,Bi,Ci,Di) of a given system (A,B,C,D).
+C
+C ARGUMENTS
+C
+C Input/Output Parameters
+C
+C N (input) INTEGER
+C The order of the state matrix A. N >= 0.
+C
+C M (input) INTEGER
+C The number of system inputs and outputs. M >= 0.
+C
+C A (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+C On entry, the leading N-by-N part of this array must
+C contain the state matrix A of the original system.
+C On exit, the leading N-by-N part of this array contains
+C the state matrix Ai of the inverse system.
+C
+C LDA INTEGER
+C The leading dimension of the array A. LDA >= MAX(1,N).
+C
+C B (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+C On entry, the leading N-by-M part of this array must
+C contain the input matrix B of the original system.
+C On exit, the leading N-by-M part of this array contains
+C the input matrix Bi of the inverse system.
+C
+C LDB INTEGER
+C The leading dimension of the array B. LDB >= MAX(1,N).
+C
+C C (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+C On entry, the leading M-by-N part of this array must
+C contain the output matrix C of the original system.
+C On exit, the leading M-by-N part of this array contains
+C the output matrix Ci of the inverse system.
+C
+C LDC INTEGER
+C The leading dimension of the array C. LDC >= MAX(1,M).
+C
+C D (input/output) DOUBLE PRECISION array, dimension (LDD,M)
+C On entry, the leading M-by-M part of this array must
+C contain the feedthrough matrix D of the original system.
+C On exit, the leading M-by-M part of this array contains
+C the feedthrough matrix Di of the inverse system.
+C
+C LDD INTEGER
+C The leading dimension of the array D. LDD >= MAX(1,M).
+C
+C RCOND (output) DOUBLE PRECISION
+C The estimated reciprocal condition number of the
+C feedthrough matrix D of the original system.
+C
+C Workspace
+C
+C IWORK INTEGER array, dimension (2*M)
+C
+C DWORK DOUBLE PRECISION array, dimension (LDWORK)
+C On exit, if INFO = 0 or M+1, DWORK(1) returns the optimal
+C value of LDWORK.
+C
+C LDWORK INTEGER
+C The length of the array DWORK. LDWORK >= MAX(1,4*M).
+C For good performance, LDWORK should be larger.
+C
+C Error Indicator
+C
+C INFO INTEGER
+C = 0: successful exit;
+C < 0: if INFO = -i, the i-th argument had an illegal
+C value;
+C = i: the matrix D is exactly singular; the (i,i) diagonal
+C element is zero, i <= M; RCOND was set to zero;
+C = M+1: the matrix D is numerically singular, i.e., RCOND
+C is less than the relative machine precision, EPS
+C (see LAPACK Library routine DLAMCH). The
+C calculations have been completed, but the results
+C could be very inaccurate.
+C
+C METHOD
+C
+C The matrices of the inverse system are computed with the formulas:
+C -1 -1 -1 -1
+C Ai = A - B*D *C, Bi = -B*D , Ci = D *C, Di = D .
+C
+C NUMERICAL ASPECTS
+C
+C The accuracy depends mainly on the condition number of the matrix
+C D to be inverted. The estimated reciprocal condition number is
+C returned in RCOND.
+C
+C CONTRIBUTORS
+C
+C A. Varga, German Aerospace Center, Oberpfaffenhofen, March 2000.
+C D. Sima, University of Bucharest, April 2000.
+C V. Sima, Research Institute for Informatics, Bucharest, Apr. 2000.
+C Based on the routine SYSINV, A. Varga, 1992.
+C
+C REVISIONS
+C
+C A. Varga, German Aerospace Center, Oberpfaffenhofen, July 2000.
+C
+C KEYWORDS
+C
+C Inverse system, state-space model, state-space representation.
+C
+C ******************************************************************
+C
+C .. Parameters ..
+ DOUBLE PRECISION ZERO, ONE
+ PARAMETER ( ZERO = 0.0D0, ONE = 1.0D0 )
+C .. Scalar Arguments ..
+ DOUBLE PRECISION RCOND
+ INTEGER INFO, LDA, LDB, LDC, LDD, LDWORK, M, N
+C .. Array Arguments ..
+ DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), D(LDD,*),
+ $ DWORK(*)
+ INTEGER IWORK(*)
+C .. Local Scalars ..
+ DOUBLE PRECISION DNORM
+ INTEGER BL, CHUNK, I, IERR, J, MAXWRK
+ LOGICAL BLAS3, BLOCK
+C .. External Functions ..
+ DOUBLE PRECISION DLAMCH, DLANGE
+ INTEGER ILAENV
+ EXTERNAL DLAMCH, DLANGE, ILAENV
+C .. External Subroutines ..
+ EXTERNAL DCOPY, DGECON, DGEMM, DGEMV, DGETRF, DGETRI,
+ $ DLACPY, XERBLA
+C .. Intrinsic Functions ..
+ INTRINSIC DBLE, MAX, MIN
+C .. Executable Statements ..
+C
+ INFO = 0
+C
+C Test the input scalar arguments.
+C
+ IF( N.LT.0 ) THEN
+ INFO = -1
+ ELSE IF( M.LT.0 ) THEN
+ INFO = -2
+ ELSE IF( LDA.LT.MAX( 1, N ) ) THEN
+ INFO = -4
+ ELSE IF( LDB.LT.MAX( 1, N ) ) THEN
+ INFO = -6
+ ELSE IF( LDC.LT.MAX( 1, M ) ) THEN
+ INFO = -8
+ ELSE IF( LDD.LT.MAX( 1, M ) ) THEN
+ INFO = -10
+ ELSE IF( LDWORK.LT.MAX( 1, 4*M ) ) THEN
+ INFO = -14
+ END IF
+C
+ IF ( INFO.NE.0 ) THEN
+C
+C Error return.
+C
+ CALL XERBLA( 'AB07ND', -INFO )
+ RETURN
+ END IF
+C
+C Quick return if possible.
+C
+ IF ( M.EQ.0 ) THEN
+ RCOND = ONE
+ DWORK(1) = ONE
+ RETURN
+ END IF
+C
+C Factorize D.
+C
+ CALL DGETRF( M, M, D, LDD, IWORK, INFO )
+ IF ( INFO.NE.0 ) THEN
+ RCOND = ZERO
+ RETURN
+ END IF
+C
+C Compute the reciprocal condition number of the matrix D.
+C Workspace: need 4*M.
+C (Note: Comments in the code beginning "Workspace:" describe the
+C minimal amount of workspace needed at that point in the code,
+C as well as the preferred amount for good performance.
+C NB refers to the optimal block size for the immediately
+C following subroutine, as returned by ILAENV.)
+C
+ DNORM = DLANGE( '1-norm', M, M, D, LDD, DWORK )
+ CALL DGECON( '1-norm', M, D, LDD, DNORM, RCOND, DWORK, IWORK(M+1),
+ $ IERR )
+ IF ( RCOND.LT.DLAMCH( 'Epsilon' ) )
+ $ INFO = M + 1
+C -1
+C Compute Di = D .
+C Workspace: need M;
+C prefer M*NB.
+C
+ MAXWRK = MAX( 4*M, M*ILAENV( 1, 'DGETRI', ' ', M, -1, -1, -1 ) )
+ CALL DGETRI( M, D, LDD, IWORK, DWORK, LDWORK, IERR )
+ IF ( N.GT.0 ) THEN
+ CHUNK = LDWORK / M
+ BLAS3 = CHUNK.GE.N .AND. M.GT.1
+ BLOCK = MIN( CHUNK, M ).GT.1
+C -1
+C Compute Bi = -B*D .
+C
+ IF ( BLAS3 ) THEN
+C
+C Enough workspace for a fast BLAS 3 algorithm.
+C
+ CALL DLACPY( 'Full', N, M, B, LDB, DWORK, N )
+ CALL DGEMM( 'NoTranspose', 'NoTranspose', N, M, M, -ONE,
+ $ DWORK, N, D, LDD, ZERO, B, LDB )
+C
+ ELSE IF( BLOCK ) THEN
+C
+C Use as many rows of B as possible.
+C
+ DO 10 I = 1, N, CHUNK
+ BL = MIN( N-I+1, CHUNK )
+ CALL DLACPY( 'Full', BL, M, B(I,1), LDB, DWORK, BL )
+ CALL DGEMM( 'NoTranspose', 'NoTranspose', BL, M, M, -ONE,
+ $ DWORK, BL, D, LDD, ZERO, B(I,1), LDB )
+ 10 CONTINUE
+C
+ ELSE
+C
+C Use a BLAS 2 algorithm.
+C
+ DO 20 I = 1, N
+ CALL DCOPY( M, B(I,1), LDB, DWORK, 1 )
+ CALL DGEMV( 'Transpose', M, M, -ONE, D, LDD, DWORK, 1,
+ $ ZERO, B(I,1), LDB )
+ 20 CONTINUE
+C
+ END IF
+C
+C Compute Ai = A + Bi*C.
+C
+ CALL DGEMM( 'NoTranspose', 'NoTranspose', N, N, M, ONE, B, LDB,
+ $ C, LDC, ONE, A, LDA )
+C -1
+C Compute C <-- D *C.
+C
+ IF ( BLAS3 ) THEN
+C
+C Enough workspace for a fast BLAS 3 algorithm.
+C
+ CALL DLACPY( 'Full', M, N, C, LDC, DWORK, M )
+ CALL DGEMM( 'NoTranspose', 'NoTranspose', M, N, M, ONE,
+ $ D, LDD, DWORK, M, ZERO, C, LDC )
+C
+ ELSE IF( BLOCK ) THEN
+C
+C Use as many columns of C as possible.
+C
+ DO 30 J = 1, N, CHUNK
+ BL = MIN( N-J+1, CHUNK )
+ CALL DLACPY( 'Full', M, BL, C(1,J), LDC, DWORK, M )
+ CALL DGEMM( 'NoTranspose', 'NoTranspose', M, BL, M, ONE,
+ $ D, LDD, DWORK, M, ZERO, C(1,J), LDC )
+ 30 CONTINUE
+C
+ ELSE
+C
+C Use a BLAS 2 algorithm.
+C
+ DO 40 J = 1, N
+ CALL DCOPY( M, C(1,J), 1, DWORK, 1 )
+ CALL DGEMV( 'NoTranspose', M, M, ONE, D, LDD, DWORK, 1,
+ $ ZERO, C(1,J), 1 )
+ 40 CONTINUE
+C
+ END IF
+ END IF
+C
+C Return optimal workspace in DWORK(1).
+C
+ DWORK(1) = DBLE( MAX( MAXWRK, N*M ) )
+ RETURN
+C
+C *** Last line of AB07ND ***
+ END
Added: trunk/octave-forge/main/control/devel/slred/slconred/AB09AD.f
===================================================================
--- trunk/octave-forge/main/control/devel/slred/slconred/AB09AD.f (rev 0)
+++ trunk/octave-forge/main/control/devel/slred/slconred/AB09AD.f 2011-07-07 21:39:42 UTC (rev 8381)
@@ -0,0 +1,363 @@
+ SUBROUTINE AB09AD( DICO, JOB, EQUIL, ORDSEL, N, M, P, NR, A, LDA,
+ $ B, LDB, C, LDC, HSV, TOL, IWORK, DWORK, LDWORK,
+ $ IWARN, INFO )
+C
+C SLICOT RELEASE 5.0.
+C
+C Copyright (c) 2002-2009 NICONET e.V.
+C
+C This program is free software: you can redistribute it and/or
+C modify it under the terms of the GNU General Public License as
+C published by the Free Software Foundation, either version 2 of
+C the License, or (at your option) any later version.
+C
+C This program is distributed in the hope that it will be useful,
+C but WITHOUT ANY WARRANTY; without even the implied warranty of
+C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+C GNU General Public License for more details.
+C
+C You should have received a copy of the GNU General Public License
+C along with this program. If not, see
+C <http://www.gnu.org/licenses/>.
+C
+C PURPOSE
+C
+C To compute a reduced order model (Ar,Br,Cr) for a stable original
+C state-space representation (A,B,C) by using either the square-root
+C or the balancing-free square-root Balance & Truncate (B & T)
+C model reduction method.
+C
+C ARGUMENTS
+C
+C Mode Parameters
+C
+C DICO CHARACTER*1
+C Specifies the type of the original system as follows:
+C = 'C': continuous-time system;
+C = 'D': discrete-time system.
+C
+C JOB CHARACTER*1
+C Specifies the model reduction approach to be used
+C as follows:
+C = 'B': use the square-root Balance & Truncate method;
+C = 'N': use the balancing-free square-root
+C Balance & Truncate method.
+C
+C EQUIL CHARACTER*1
+C Specifies whether the user wishes to preliminarily
+C equilibrate the triplet (A,B,C) as follows:
+C = 'S': perform equilibration (scaling);
+C = 'N': do not perform equilibration.
+C
+C ORDSEL CHARACTER*1
+C Specifies the order selection method as follows:
+C = 'F': the resulting order NR is fixed;
+C = 'A': the resulting order NR is automatically determined
+C on basis of the given tolerance TOL.
+C
+C Input/Output Parameters
+C
+C N (input) INTEGER
+C The order of the original state-space representation, i.e.
+C the order of the matrix A. N >= 0.
+C
+C M (input) INTEGER
+C The number of system inputs. M >= 0.
+C
+C P (input) INTEGER
+C The number of system outputs. P >= 0.
+C
+C NR (input/output) INTEGER
+C On entry with ORDSEL = 'F', NR is the desired order of the
+C resulting reduced order system. 0 <= NR <= N.
+C On exit, if INFO = 0, NR is the order of the resulting
+C reduced order model. NR is set as follows:
+C if ORDSEL = 'F', NR is equal to MIN(NR,NMIN), where NR
+C is the desired order on entry and NMIN is the order of a
+C minimal realization of the given system; NMIN is
+C determined as the number of Hankel singular values greater
+C than N*EPS*HNORM(A,B,C), where EPS is the machine
+C precision (see LAPACK Library Routine DLAMCH) and
+C HNORM(A,B,C) is the Hankel norm of the system (computed
+C in HSV(1));
+C if ORDSEL = 'A', NR is equal to the number of Hankel
+C singular values greater than MAX(TOL,N*EPS*HNORM(A,B,C)).
+C
+C A (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+C On entry, the leading N-by-N part of this array must
+C contain the state dynamics matrix A.
+C On exit, if INFO = 0, the leading NR-by-NR part of this
+C array contains the state dynamics matrix Ar of the reduced
+C order system.
+C
+C LDA INTEGER
+C The leading dimension of array A. LDA >= MAX(1,N).
+C
+C B (input/output) DOUBLE PRECISION array, dimension (LDB,M)
+C On entry, the leading N-by-M part of this array must
+C contain the original input/state matrix B.
+C On exit, if INFO = 0, the leading NR-by-M part of this
+C array contains the input/state matrix Br of the reduced
+C order system.
+C
+C LDB INTEGER
+C The leading dimension of array B. LDB >= MAX(1,N).
+C
+C C (input/output) DOUBLE PRECISION array, dimension (LDC,N)
+C On entry, the leading P-by-N part of this array must
+C contain the original state/output matrix C.
+C On exit, if INFO = 0, the leading P-by-NR part of this
+C array contains the state/output matrix Cr of the reduced
+C order system.
+C
+C LDC INTEGER
+C The leading dimension of array C. LDC >= MAX(1,P).
+C
+C HSV (output) DOUBLE PRECISION array, dimension (N)
+C If INFO = 0, it contains the Hankel singular values of
+C the original system ordered decreasingly. HSV(1) is the
+C Hankel norm of the system.
+C
+C Tolerances
+C
+C TOL DOUBLE PRECISION
+C If ORDSEL = 'A', TOL contains the tolerance for
+C determining the order of reduced system.
+C For model reduction, the recommended value is
+C TOL = c*HNORM(A,B,C), where c is a constant in the
+C interval [0.00001,0.001], and HNORM(A,B,C) is the
+C Hankel-norm of the given system (computed in HSV(1)).
+C For computing a minimal realization, the recommended
+C value is TOL = N*EPS*HNORM(A,B,C), where EPS is the
+C machine precision (see LAPACK Library Routine DLAMCH).
+C This value is used by default if TOL <= 0 on entry.
+C If ORDSEL = 'F', the value of TOL is ignored.
+C
+C Workspace
+C
+C IWORK INTEGER array, dimension (LIWORK)
+C LIWORK = 0, if JOB = 'B';
+C LIWORK = N, if JOB = 'N'.
+C
+C DWORK DOUBLE PRECISION array, dimension (LDWORK)
+C On exit, if INFO = 0, DWORK(1) returns the optimal value
+C of LDWORK.
+C
+C LDWORK INTEGER
+C The length of the array DWORK.
+C LDWORK >= MAX(1,N*(2*N+MAX(N,M,P)+5)+N*(N+1)/2).
+C For optimum performance LDWORK should be larger.
+C
+C Warning Indicator
+C
+C IWARN INTEGER
+C = 0: no warning;
+C = 1: with ORDSEL = 'F', the selected order NR is greater
+C than the order of a minimal realization of the
+C given system. In this case, the resulting NR is
+C set automatically to a value corresponding to the
+C order of a minimal realization of the system.
+C
+C Error Indicator
+C
+C INFO INTEGER
+C = 0: successful exit;
+C < 0: if INFO = -i, the i-th argument had an illegal
+C value;
+C = 1: the reduction of A to the real Schur form failed;
+C = 2: the state matrix A is not stable (if DICO = 'C')
+C or not convergent (if DICO = 'D');
+C = 3: the computation of Hankel singular values failed.
+C
+C METHOD
+C
+C Let be the stable linear system
+C
+C d[x(t)] = Ax(t) + Bu(t)
+C y(t) = Cx(t) (1)
+C
+C where d[x(t)] is dx(t)/dt for a continuous-time system and x(t+1)
+C for a discrete-time system. The subroutine AB09AD determines for
+C the given system (1), the matrices of a reduced order system
+C
+C d[z(t)] = Ar*z(t) + Br*u(t)
+C yr(t) = Cr*z(t) (2)
+C
+C such that
+C
+C HSV(NR) <= INFNORM(G-Gr) <= 2*[HSV(NR+1) + ... + HSV(N)],
+C
+C where G and Gr are transfer-function matrices of the systems
+C (A,B,C) and (Ar,Br,Cr), respectively, and INFNORM(G) is the
+C infinity-norm of G.
+C
+C If JOB = 'B', the square-root Balance & Truncate method of [1]
+C is used and, for DICO = 'C', the resulting model is balanced.
+C By setting TOL <= 0, the routine can be used to compute balanced
+C minimal state-space realizations of stable systems.
+C
+C If JOB = 'N', the balancing-free square-root version of the
+C Balance & Truncate method [2] is used.
+C By setting TOL <= 0, the routine can be used to compute minimal
+C state-space realizations of stable systems.
+C
+C REFERENCES
+C
+C [1] Tombs M.S. and Postlethwaite I.
+C Truncated balanced realization of stable, non-minimal
+C state-space systems.
+C Int. J. Control, Vol. 46, pp. 1319-1330, 1987.
+C
+C [2] Varga A.
+C Efficient minimal realization procedure based on balancing.
+C Proc. of IMACS/IFAC Symp. MCTS, Lille, France, May 1991,
+C A. El Moudui, P. Borne, S. G. Tzafestas (Eds.),
+C Vol. 2, pp. 42-46.
+C
+C NUMERICAL ASPECTS
+C
+C The implemented methods rely on accuracy enhancing square-root or
+C balancing-free square-root techniques.
+C 3
+C The algorithms require less than 30N floating point operations.
+C
+C CONTRIBUTOR
+C
+C C. Oara and A. Varga, German Aerospace Center,
+C DLR Oberpfaffenhofen, March 1998.
+C Based on the RASP routines SRBT and SRBFT.
+C
+C REVISIONS
+C
+C May 2, 1998.
+C November 11, 1998, V. Sima, Research Institute for Informatics,
+C Bucharest.
+C
+C KEYWORDS
+C
+C Balancing, minimal state-space representation, model reduction,
+C multivariable system, state-space model.
+C
+C ******************************************************************
+C
+C .. Parameters ..
+ DOUBLE PRECISION ONE, C100
+ PARAMETER ( ONE = 1.0D0, C100 = 100.0D0 )
+C .. Scalar Arguments ..
+ CHARACTER DICO, EQUIL, JOB, ORDSEL
+ INTEGER INFO, IWARN, LDA, LDB, LDC, LDWORK, M, N, NR, P
+ DOUBLE PRECISION TOL
+C .. Array Arguments ..
+ INTEGER IWORK(*)
+ DOUBLE PRECISION A(LDA,*), B(LDB,*), C(LDC,*), DWORK(*), HSV(*)
+C .. Local Scalars ..
+ LOGICAL FIXORD
+ INTEGER IERR, KI, KR, KT, KTI, KW, NN
+ DOUBLE PRECISION MAXRED, WRKOPT
+C .. External Functions ..
+ LOGICAL LSAME
+ EXTERNAL LSAME
+C .. External Subroutines ..
+ EXTERNAL AB09AX, TB01ID, TB01WD, XERBLA
+C .. Intrinsic Functions ..
+ INTRINSIC DBLE, MAX, MIN
+C .. Executable Statements ..
+C
+ INFO = 0
+ IWARN = 0
+ FIXORD = LSAME( ORDSEL, 'F' )
+C
+C Test the input scalar arguments.
+C
+ IF( .NOT. ( LSAME( DICO, 'C' ) .OR. LSAME( DICO, 'D' ) ) ) THEN
+ INFO = -1
+ ELSE IF( .NOT. ( LSAME( JOB, 'B' ) .OR. LSAME( JOB, 'N' ) ) ) THEN
+ INFO = -2
+ ELSE IF( .NOT. ( LSAME( EQUIL, 'S' ) .OR.
+ $ LSAME( EQUIL, 'N' ) ) ) THEN
+ INFO = -3
+ ELSE IF( .NOT. ( FIXORD .OR. LSAME( ORDSEL, 'A' ) ) ) THEN
+ INFO = -4
+ ELSE IF( N.LT.0 ) THEN
+ INFO = -5
+ ELSE IF( M.LT.0 ) THEN
+ INFO = -6
+ ELSE IF...
[truncated message content] |
|
From: <par...@us...> - 2011-07-19 07:28:31
|
Revision: 8386
http://octave.svn.sourceforge.net/octave/?rev=8386&view=rev
Author: paramaniac
Date: 2011-07-19 07:28:25 +0000 (Tue, 19 Jul 2011)
Log Message:
-----------
control: draft code for frd models display routine
Modified Paths:
--------------
trunk/octave-forge/main/control/devel/@frd/display.m
Added Paths:
-----------
trunk/octave-forge/main/control/devel/frd_display.m
Modified: trunk/octave-forge/main/control/devel/@frd/display.m
===================================================================
--- trunk/octave-forge/main/control/devel/@frd/display.m 2011-07-18 22:34:37 UTC (rev 8385)
+++ trunk/octave-forge/main/control/devel/@frd/display.m 2011-07-19 07:28:25 UTC (rev 8386)
@@ -1,4 +1,4 @@
-## Copyright (C) 2010 Lukas F. Reichlin
+## Copyright (C) 2010, 2011 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
@@ -24,6 +24,7 @@
function display (sys)
+ sysname = inputname (1);
[inname, outname, tsam] = __lti_data__ (sys.lti);
[inname, m] = __labels__ (inname, "u");
@@ -31,19 +32,76 @@
disp ("");
- disp (["Frequency response """, inputname(1), """ from input "]);
+ for i = 1 : m
+ disp (["Frequency response \"", sysname, "\" from input \"", inname{i}, "\" to output ..."]);
+ __disp_resp__ (sys.H(:,i,:), sys.w, outname);
+ endfor
- sys.H
- sys.w
-
display (sys.lti); # display sampling time
if (tsam == -2)
disp ("Static gain.");
elseif (tsam == 0)
- disp ("Continuous-time model.");
+ disp ("Continuous-time frequency response.");
else
- disp ("Discrete-time model.");
+ disp ("Discrete-time frequency response.");
endif
endfunction
+
+
+function __disp_freq__ ()
+
+endfunction
+
+
+function __disp_resp__ (H, w, outname)
+
+ len = rows (w);
+
+ % Hier kommt H, wie bei ss nur soviele Ausgänge pro Zeile anzeigen wie terminal size
+ % H kann auch komplex sein --> zwei Kolonnen
+
+ H = mat2cell (H, ones (1, rows (H)), 1, len)(:);
+ H = cellfun (@__resp2str__, H, outname, "uniformoutput", false)
+
+endfunction
+
+
+% Noch nicht in Betrieb, kann in display selbst aufgerufen werden, dann nur einmal aufrufen
+% und Resultat immer wieder übergeben
+function str = __freq2str__ (w, title = "w [rad/s]")
+
+ len = rows (w);
+ str = __vec2str__ (w);
+ line = repmat ("-", 1, max (columns (str), columns (title)));
+ str = strvcat (title, line, str);
+ space = repmat (" ", len+2, 1);
+ str = [space, str];
+
+endfunction
+
+
+% Für Cellfun
+function str = __resp2str__ (H, outname)
+
+ len = length (H);
+ str = __vec2str__ (H);
+ line = repmat ("-", 1, max (columns (str), columns (outname)));
+ str = strvcat (outname, line, str);
+ space = repmat (" ", len+2, 1);
+ str = [space, str];
+ % Noch für complex ergänzen
+endfunction
+
+
+function col = __vec2str__ (vec, str)
+
+ vec = num2cell (vec(:));
+ col = cellfun (@(x) sprintf ("%.4f", x), vec, "uniformoutput", false);
+ col = strjust (char (col), "right");
+ if (nargin > 1)
+ col = [col, repmat(str, length (vec), 1)];
+ endif
+
+endfunction
Added: trunk/octave-forge/main/control/devel/frd_display.m
===================================================================
--- trunk/octave-forge/main/control/devel/frd_display.m (rev 0)
+++ trunk/octave-forge/main/control/devel/frd_display.m 2011-07-19 07:28:25 UTC (rev 8386)
@@ -0,0 +1,10 @@
+page_screen_output (0)
+
+%sys = Boeing707;
+%sys = frd (sys)
+
+%sys6 = frd ([1, 2; 3, 4], logspace (-1, 1, 10))
+
+sys = Boeing707;
+w = logspace (-1, 1, 10);
+sys = frd (sys, w)
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2011-07-31 19:51:25
|
Revision: 8425
http://octave.svn.sourceforge.net/octave/?rev=8425&view=rev
Author: paramaniac
Date: 2011-07-31 19:51:16 +0000 (Sun, 31 Jul 2011)
Log Message:
-----------
control: add ncfsyn (continuous-time case only)
Added Paths:
-----------
trunk/octave-forge/main/control/devel/MDSSystem.m
trunk/octave-forge/main/control/devel/ncfsyn/
trunk/octave-forge/main/control/devel/ncfsyn/MA02AD.f
trunk/octave-forge/main/control/devel/ncfsyn/MA02ED.f
trunk/octave-forge/main/control/devel/ncfsyn/MA02GD.f
trunk/octave-forge/main/control/devel/ncfsyn/MB01RU.f
trunk/octave-forge/main/control/devel/ncfsyn/MB01RX.f
trunk/octave-forge/main/control/devel/ncfsyn/MB01RY.f
trunk/octave-forge/main/control/devel/ncfsyn/MB01SD.f
trunk/octave-forge/main/control/devel/ncfsyn/MB01UD.f
trunk/octave-forge/main/control/devel/ncfsyn/MB02PD.f
trunk/octave-forge/main/control/devel/ncfsyn/MB02VD.f
trunk/octave-forge/main/control/devel/ncfsyn/SB02MR.f
trunk/octave-forge/main/control/devel/ncfsyn/SB02MS.f
trunk/octave-forge/main/control/devel/ncfsyn/SB02MV.f
trunk/octave-forge/main/control/devel/ncfsyn/SB02MW.f
trunk/octave-forge/main/control/devel/ncfsyn/SB02QD.f
trunk/octave-forge/main/control/devel/ncfsyn/SB02RD.f
trunk/octave-forge/main/control/devel/ncfsyn/SB02RU.f
trunk/octave-forge/main/control/devel/ncfsyn/SB02SD.f
trunk/octave-forge/main/control/devel/ncfsyn/SB03MV.f
trunk/octave-forge/main/control/devel/ncfsyn/SB03MW.f
trunk/octave-forge/main/control/devel/ncfsyn/SB03MX.f
trunk/octave-forge/main/control/devel/ncfsyn/SB03MY.f
trunk/octave-forge/main/control/devel/ncfsyn/SB03QX.f
trunk/octave-forge/main/control/devel/ncfsyn/SB03QY.f
trunk/octave-forge/main/control/devel/ncfsyn/SB03SX.f
trunk/octave-forge/main/control/devel/ncfsyn/SB03SY.f
trunk/octave-forge/main/control/devel/ncfsyn/SB04PX.f
trunk/octave-forge/main/control/devel/ncfsyn/SB10ID.f
trunk/octave-forge/main/control/devel/ncfsyn/SB10JD.f
trunk/octave-forge/main/control/devel/ncfsyn/common.cc
trunk/octave-forge/main/control/devel/ncfsyn/makefile_ncfsyn.m
trunk/octave-forge/main/control/devel/ncfsyn/ncfsyn.m
trunk/octave-forge/main/control/devel/ncfsyn/select.f
trunk/octave-forge/main/control/devel/ncfsyn/slsb10id.cc
Added: trunk/octave-forge/main/control/devel/MDSSystem.m
===================================================================
--- trunk/octave-forge/main/control/devel/MDSSystem.m (rev 0)
+++ trunk/octave-forge/main/control/devel/MDSSystem.m 2011-07-31 19:51:16 UTC (rev 8425)
@@ -0,0 +1,123 @@
+% Tabula Rasa
+clear all, close all, clc
+
+% Nominal Values
+m_nom = 3; % Mass
+c_nom = 1; % Damping Coefficient
+k_nom = 2; % Spring Stiffness
+
+% Perturbations
+p_m = 0.4; % 40% uncertainty in the mass
+p_c = 0.2; % 20% uncertainty in the damping coefficient
+p_k = 0.3; % 30% uncertainty in the spring stiffness
+
+% +---------------+
+% | d_m 0 0 |
+% +-----| 0 d_c 0 |<----+
+% u_m | | 0 0 d_k | | y_m
+% u_c | +---------------+ | y_c
+% u_k | | y_k
+% | +---------------+ |
+% +---->| |-----+
+% | G_nom |
+% u ----->| |-----> y
+% +---------------+
+
+% State-Space Representation
+A = [ 0, 1
+ -k_nom/m_nom, -c_nom/m_nom ];
+
+B1 = [ 0, 0, 0
+ -p_m, -p_c/m_nom, -p_k/m_nom ];
+
+B2 = [ 0
+ 1/m_nom ];
+
+C1 = [ -k_nom/m_nom, -c_nom/m_nom
+ 0, c_nom
+ k_nom, 0 ];
+
+C2 = [ 1, 0 ];
+
+D11 = [ -p_m, -p_c/m_nom, -p_k/m_nom
+ 0, 0, 0
+ 0, 0, 0 ];
+
+D12 = [ 1/m_nom
+ 0
+ 0 ];
+
+D21 = [ 0, 0, 0 ];
+
+D22 = [ 0 ];
+
+inname = {"u_m", "u_c", "u_k", "u"}; % Input Names
+outname = {"y_m", "y_c", "y_k", "y"}; % Output Names
+
+G_nom = ss (A, [B1, B2], [C1; C2], [D11, D12; D21, D22], \
+ "inname", inname, "outname", outname);
+
+% +-------+
+% +--------------------->| W_p |----------> e_p
+% | +-------+
+% | +-------+
+% | +---->| W_u |----------> e_u
+% | | +-------+
+% | | +---------+
+% | | ->| |->
+% r + e | +-------+ u | | G_nom |
+% ----->(+)---+-->| K |----+--->| |----+----> y
+% ^ - +-------+ +---------+ |
+% | |
+% +-----------------------------------------+
+
+% Weighting Functions
+s = tf ("s");
+W_p = 0.95 * (s^2 + 1.8*s + 10) / (s^2 + 8.0*s + 0.01);
+W_u = 10^-2;
+
+% Suboptimal H-infinity Controller Design
+G = G_nom(4, 4); % Extract output y and input u
+%K = mixsyn (G, W_p, W_u);
+%[K, ~, gamma] = mixsyn (G, W_p, W_u)
+[K, N, gamma] = mixsyn (G, W_p, W_u)
+% g_max = 10;
+% K = mixsyn (G, W_p, W_u, [], g_max)
+% [K, ~, gamma] = mixsyn (G, W_p, W_u, [], g_max)
+
+% Open Loop
+L = G * K;
+
+% Closed Loop
+T = feedback (L);
+
+figure (1)
+sigma (T)
+
+figure (2)
+sigma (N)
+
+norm (N, inf)
+
+figure (3)
+step (T)
+
+
+figure (4)
+
+w = logspace (-1, 1, 100);
+
+% Uncertainties
+% -1 <= delta_m, delta_c, delta_k <= 1
+[delta_m, delta_c, delta_k] = ndgrid ([-1, 0, 1], [-1, 0, 1], [-1, 0, 1]);
+
+for k = 1 : numel (delta_1)
+ Delta = diag ([delta_m(k), delta_c(k), delta_k(k)]);
+ G_per = lft (Delta, G_nom);
+ %figure (4)
+ bode (G_per, w)
+ subplot (2, 1, 1)
+ hold on
+ subplot (2, 1, 2)
+ hold on
+endfor
\ No newline at end of file
Property changes on: trunk/octave-forge/main/control/devel/ncfsyn
___________________________________________________________________
Added: svn:ignore
+ *.oct
Added: trunk/octave-forge/main/control/devel/ncfsyn/MA02AD.f
===================================================================
--- trunk/octave-forge/main/control/devel/ncfsyn/MA02AD.f (rev 0)
+++ trunk/octave-forge/main/control/devel/ncfsyn/MA02AD.f 2011-07-31 19:51:16 UTC (rev 8425)
@@ -0,0 +1,108 @@
+ SUBROUTINE MA02AD( JOB, M, N, A, LDA, B, LDB )
+C
+C SLICOT RELEASE 5.0.
+C
+C Copyright (c) 2002-2010 NICONET e.V.
+C
+C This program is free software: you can redistribute it and/or
+C modify it under the terms of the GNU General Public License as
+C published by the Free Software Foundation, either version 2 of
+C the License, or (at your option) any later version.
+C
+C This program is distributed in the hope that it will be useful,
+C but WITHOUT ANY WARRANTY; without even the implied warranty of
+C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+C GNU General Public License for more details.
+C
+C You should have received a copy of the GNU General Public License
+C along with this program. If not, see
+C <http://www.gnu.org/licenses/>.
+C
+C PURPOSE
+C
+C To transpose all or part of a two-dimensional matrix A into
+C another matrix B.
+C
+C ARGUMENTS
+C
+C Mode Parameters
+C
+C JOB CHARACTER*1
+C Specifies the part of the matrix A to be transposed into B
+C as follows:
+C = 'U': Upper triangular part;
+C = 'L': Lower triangular part;
+C Otherwise: All of the matrix A.
+C
+C Input/Output Parameters
+C
+C M (input) INTEGER
+C The number of rows of the matrix A. M >= 0.
+C
+C N (input) INTEGER
+C The number of columns of the matrix A. N >= 0.
+C
+C A (input) DOUBLE PRECISION array, dimension (LDA,N)
+C The m-by-n matrix A. If JOB = 'U', only the upper
+C triangle or trapezoid is accessed; if JOB = 'L', only the
+C lower triangle or trapezoid is accessed.
+C
+C LDA INTEGER
+C The leading dimension of the array A. LDA >= max(1,M).
+C
+C B (output) DOUBLE PRECISION array, dimension (LDB,M)
+C B = A' in the locations specified by JOB.
+C
+C LDB INTEGER
+C The leading dimension of the array B. LDB >= max(1,N).
+C
+C CONTRIBUTOR
+C
+C A. Varga, German Aerospace Center,
+C DLR Oberpfaffenhofen, March 1998.
+C Based on the RASP routine DMTRA.
+C
+C REVISIONS
+C
+C -
+C
+C ******************************************************************
+C
+C .. Scalar Arguments ..
+ CHARACTER JOB
+ INTEGER LDA, LDB, M, N
+C .. Array Arguments ..
+ DOUBLE PRECISION A(LDA,*), B(LDB,*)
+C .. Local Scalars ..
+ INTEGER I, J
+C .. External Functions ..
+ LOGICAL LSAME
+ EXTERNAL LSAME
+C .. Intrinsic Functions ..
+ INTRINSIC MIN
+C
+C .. Executable Statements ..
+C
+ IF( LSAME( JOB, 'U' ) ) THEN
+ DO 20 J = 1, N
+ DO 10 I = 1, MIN( J, M )
+ B(J,I) = A(I,J)
+ 10 CONTINUE
+ 20 CONTINUE
+ ELSE IF( LSAME( JOB, 'L' ) ) THEN
+ DO 40 J = 1, N
+ DO 30 I = J, M
+ B(J,I) = A(I,J)
+ 30 CONTINUE
+ 40 CONTINUE
+ ELSE
+ DO 60 J = 1, N
+ DO 50 I = 1, M
+ B(J,I) = A(I,J)
+ 50 CONTINUE
+ 60 CONTINUE
+ END IF
+C
+ RETURN
+C *** Last line of MA02AD ***
+ END
Property changes on: trunk/octave-forge/main/control/devel/ncfsyn/MA02AD.f
___________________________________________________________________
Added: svn:executable
+ *
Added: trunk/octave-forge/main/control/devel/ncfsyn/MA02ED.f
===================================================================
--- trunk/octave-forge/main/control/devel/ncfsyn/MA02ED.f (rev 0)
+++ trunk/octave-forge/main/control/devel/ncfsyn/MA02ED.f 2011-07-31 19:51:16 UTC (rev 8425)
@@ -0,0 +1,99 @@
+ SUBROUTINE MA02ED( UPLO, N, A, LDA )
+C
+C SLICOT RELEASE 5.0.
+C
+C Copyright (c) 2002-2010 NICONET e.V.
+C
+C This program is free software: you can redistribute it and/or
+C modify it under the terms of the GNU General Public License as
+C published by the Free Software Foundation, either version 2 of
+C the License, or (at your option) any later version.
+C
+C This program is distributed in the hope that it will be useful,
+C but WITHOUT ANY WARRANTY; without even the implied warranty of
+C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+C GNU General Public License for more details.
+C
+C You should have received a copy of the GNU General Public License
+C along with this program. If not, see
+C <http://www.gnu.org/licenses/>.
+C
+C PURPOSE
+C
+C To store by symmetry the upper or lower triangle of a symmetric
+C matrix, given the other triangle.
+C
+C ARGUMENTS
+C
+C Mode Parameters
+C
+C UPLO CHARACTER*1
+C Specifies which part of the matrix is given as follows:
+C = 'U': Upper triangular part;
+C = 'L': Lower triangular part.
+C For all other values, the array A is not referenced.
+C
+C Input/Output Parameters
+C
+C N (input) INTEGER
+C The order of the matrix A. N >= 0.
+C
+C A (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+C On entry, the leading N-by-N upper triangular part
+C (if UPLO = 'U'), or lower triangular part (if UPLO = 'L'),
+C of this array must contain the corresponding upper or
+C lower triangle of the symmetric matrix A.
+C On exit, the leading N-by-N part of this array contains
+C the symmetric matrix A with all elements stored.
+C
+C LDA INTEGER
+C The leading dimension of the array A. LDA >= max(1,N).
+C
+C CONTRIBUTOR
+C
+C V. Sima, Research Institute for Informatics, Bucharest, Romania,
+C Oct. 1998.
+C
+C REVISIONS
+C
+C -
+C
+C ******************************************************************
+C
+C .. Scalar Arguments ..
+ CHARACTER UPLO
+ INTEGER LDA, N
+C .. Array Arguments ..
+ DOUBLE PRECISION A(LDA,*)
+C .. Local Scalars ..
+ INTEGER J
+C .. External Functions ..
+ LOGICAL LSAME
+ EXTERNAL LSAME
+C .. External Subroutines ..
+ EXTERNAL DCOPY
+C
+C .. Executable Statements ..
+C
+C For efficiency reasons, the parameters are not checked for errors.
+C
+ IF( LSAME( UPLO, 'L' ) ) THEN
+C
+C Construct the upper triangle of A.
+C
+ DO 20 J = 2, N
+ CALL DCOPY( J-1, A(J,1), LDA, A(1,J), 1 )
+ 20 CONTINUE
+C
+ ELSE IF( LSAME( UPLO, 'U' ) ) THEN
+C
+C Construct the lower triangle of A.
+C
+ DO 40 J = 2, N
+ CALL DCOPY( J-1, A(1,J), 1, A(J,1), LDA )
+ 40 CONTINUE
+C
+ END IF
+ RETURN
+C *** Last line of MA02ED ***
+ END
Property changes on: trunk/octave-forge/main/control/devel/ncfsyn/MA02ED.f
___________________________________________________________________
Added: svn:executable
+ *
Added: trunk/octave-forge/main/control/devel/ncfsyn/MA02GD.f
===================================================================
--- trunk/octave-forge/main/control/devel/ncfsyn/MA02GD.f (rev 0)
+++ trunk/octave-forge/main/control/devel/ncfsyn/MA02GD.f 2011-07-31 19:51:16 UTC (rev 8425)
@@ -0,0 +1,158 @@
+ SUBROUTINE MA02GD( N, A, LDA, K1, K2, IPIV, INCX )
+C
+C SLICOT RELEASE 5.0.
+C
+C Copyright (c) 2002-2010 NICONET e.V.
+C
+C This program is free software: you can redistribute it and/or
+C modify it under the terms of the GNU General Public License as
+C published by the Free Software Foundation, either version 2 of
+C the License, or (at your option) any later version.
+C
+C This program is distributed in the hope that it will be useful,
+C but WITHOUT ANY WARRANTY; without even the implied warranty of
+C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+C GNU General Public License for more details.
+C
+C You should have received a copy of the GNU General Public License
+C along with this program. If not, see
+C <http://www.gnu.org/licenses/>.
+C
+C PURPOSE
+C
+C To perform a series of column interchanges on the matrix A.
+C One column interchange is initiated for each of columns K1 through
+C K2 of A. This is useful for solving linear systems X*A = B, when
+C the matrix A has already been factored by LAPACK Library routine
+C DGETRF.
+C
+C ARGUMENTS
+C
+C Input/Output Parameters
+C
+C N (input) INTEGER
+C The number of rows of the matrix A. N >= 0.
+C
+C A (input/output) DOUBLE PRECISION array, dimension (LDA,*)
+C On entry, the leading N-by-M part of this array must
+C contain the matrix A to which the column interchanges will
+C be applied, where M is the largest element of IPIV(K), for
+C K = K1, ..., K2.
+C On exit, the leading N-by-M part of this array contains
+C the permuted matrix.
+C
+C LDA INTEGER
+C The leading dimension of the array A. LDA >= MAX(1,N).
+C
+C K1 (input) INTEGER
+C The first element of IPIV for which a column interchange
+C will be done.
+C
+C K2 (input) INTEGER
+C The last element of IPIV for which a column interchange
+C will be done.
+C
+C IPIV (input) INTEGER array, dimension (K1+(K2-K1)*abs(INCX))
+C The vector of interchanging (pivot) indices. Only the
+C elements in positions K1 through K2 of IPIV are accessed.
+C IPIV(K) = L implies columns K and L are to be
+C interchanged.
+C
+C INCX (input) INTEGER
+C The increment between successive values of IPIV.
+C If INCX is negative, the interchanges are applied in
+C reverse order.
+C
+C METHOD
+C
+C The columns IPIV(K) and K are swapped for K = K1, ..., K2, for
+C INCX = 1 (and similarly, for INCX <> 1).
+C
+C FURTHER COMMENTS
+C
+C This routine is the column-oriented counterpart of the LAPACK
+C Library routine DLASWP. The LAPACK Library routine DLAPMT cannot
+C be used in this context. To solve the system X*A = B, where A and
+C B are N-by-N and M-by-N, respectively, the following statements
+C can be used:
+C
+C CALL DGETRF( N, N, A, LDA, IPIV, INFO )
+C CALL DTRSM( 'R', 'U', 'N', 'N', M, N, ONE, A, LDA, B, LDB )
+C CALL DTRSM( 'R', 'L', 'N', 'U', M, N, ONE, A, LDA, B, LDB )
+C CALL MA02GD( M, B, LDB, 1, N, IPIV, -1 )
+C
+C CONTRIBUTOR
+C
+C V. Sima, Research Institute for Informatics, Bucharest, Mar. 2000.
+C
+C REVISIONS
+C
+C V. Sima, Research Institute for Informatics, Bucharest, Apr. 2008.
+C
+C KEYWORDS
+C
+C Elementary matrix operations, linear algebra.
+C
+C ******************************************************************
+C
+C .. Scalar Arguments ..
+ INTEGER INCX, K1, K2, LDA, N
+C ..
+C .. Array Arguments ..
+ INTEGER IPIV( * )
+ DOUBLE PRECISION A( LDA, * )
+C ..
+C .. Local Scalars ..
+ INTEGER J, JP, JX
+C ..
+C .. External Subroutines ..
+ EXTERNAL DSWAP
+C ..
+C .. Executable Statements ..
+C
+C Quick return if possible.
+C
+ IF( INCX.EQ.0 .OR. N.EQ.0 )
+ $ RETURN
+C
+C Interchange column J with column IPIV(J) for each of columns K1
+C through K2.
+C
+ IF( INCX.GT.0 ) THEN
+ JX = K1
+ ELSE
+ JX = 1 + ( 1-K2 )*INCX
+ END IF
+C
+ IF( INCX.EQ.1 ) THEN
+C
+ DO 10 J = K1, K2
+ JP = IPIV( J )
+ IF( JP.NE.J )
+ $ CALL DSWAP( N, A( 1, J ), 1, A( 1, JP ), 1 )
+ 10 CONTINUE
+C
+ ELSE IF( INCX.GT.1 ) THEN
+C
+ DO 20 J = K1, K2
+ JP = IPIV( JX )
+ IF( JP.NE.J )
+ $ CALL DSWAP( N, A( 1, J ), 1, A( 1, JP ), 1 )
+ JX = JX + INCX
+ 20 CONTINUE
+C
+ ELSE IF( INCX.LT.0 ) THEN
+C
+ DO 30 J = K2, K1, -1
+ JP = IPIV( JX )
+ IF( JP.NE.J )
+ $ CALL DSWAP( N, A( 1, J ), 1, A( 1, JP ), 1 )
+ JX = JX + INCX
+ 30 CONTINUE
+C
+ END IF
+C
+ RETURN
+C
+C *** Last line of MA02GD ***
+ END
Property changes on: trunk/octave-forge/main/control/devel/ncfsyn/MA02GD.f
___________________________________________________________________
Added: svn:executable
+ *
Added: trunk/octave-forge/main/control/devel/ncfsyn/MB01RU.f
===================================================================
--- trunk/octave-forge/main/control/devel/ncfsyn/MB01RU.f (rev 0)
+++ trunk/octave-forge/main/control/devel/ncfsyn/MB01RU.f 2011-07-31 19:51:16 UTC (rev 8425)
@@ -0,0 +1,282 @@
+ SUBROUTINE MB01RU( UPLO, TRANS, M, N, ALPHA, BETA, R, LDR, A, LDA,
+ $ X, LDX, DWORK, LDWORK, INFO )
+C
+C SLICOT RELEASE 5.0.
+C
+C Copyright (c) 2002-2010 NICONET e.V.
+C
+C This program is free software: you can redistribute it and/or
+C modify it under the terms of the GNU General Public License as
+C published by the Free Software Foundation, either version 2 of
+C the License, or (at your option) any later version.
+C
+C This program is distributed in the hope that it will be useful,
+C but WITHOUT ANY WARRANTY; without even the implied warranty of
+C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+C GNU General Public License for more details.
+C
+C You should have received a copy of the GNU General Public License
+C along with this program. If not, see
+C <http://www.gnu.org/licenses/>.
+C
+C PURPOSE
+C
+C To compute the matrix formula
+C _
+C R = alpha*R + beta*op( A )*X*op( A )',
+C _
+C where alpha and beta are scalars, R, X, and R are symmetric
+C matrices, A is a general matrix, and op( A ) is one of
+C
+C op( A ) = A or op( A ) = A'.
+C
+C The result is overwritten on R.
+C
+C ARGUMENTS
+C
+C Mode Parameters
+C
+C UPLO CHARACTER*1
+C Specifies which triangles of the symmetric matrices R
+C and X are given as follows:
+C = 'U': the upper triangular part is given;
+C = 'L': the lower triangular part is given.
+C
+C TRANS CHARACTER*1
+C Specifies the form of op( A ) to be used in the matrix
+C multiplication as follows:
+C = 'N': op( A ) = A;
+C = 'T': op( A ) = A';
+C = 'C': op( A ) = A'.
+C
+C Input/Output Parameters
+C
+C M (input) INTEGER _
+C The order of the matrices R and R and the number of rows
+C of the matrix op( A ). M >= 0.
+C
+C N (input) INTEGER
+C The order of the matrix X and the number of columns of the
+C the matrix op( A ). N >= 0.
+C
+C ALPHA (input) DOUBLE PRECISION
+C The scalar alpha. When alpha is zero then R need not be
+C set before entry, except when R is identified with X in
+C the call.
+C
+C BETA (input) DOUBLE PRECISION
+C The scalar beta. When beta is zero then A and X are not
+C referenced.
+C
+C R (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+C On entry with UPLO = 'U', the leading M-by-M upper
+C triangular part of this array must contain the upper
+C triangular part of the symmetric matrix R.
+C On entry with UPLO = 'L', the leading M-by-M lower
+C triangular part of this array must contain the lower
+C triangular part of the symmetric matrix R.
+C On exit, the leading M-by-M upper triangular part (if
+C UPLO = 'U'), or lower triangular part (if UPLO = 'L'), of
+C this array contains the corresponding triangular part of
+C _
+C the computed matrix R.
+C
+C LDR INTEGER
+C The leading dimension of array R. LDR >= MAX(1,M).
+C
+C A (input) DOUBLE PRECISION array, dimension (LDA,k)
+C where k is N when TRANS = 'N' and is M when TRANS = 'T' or
+C TRANS = 'C'.
+C On entry with TRANS = 'N', the leading M-by-N part of this
+C array must contain the matrix A.
+C On entry with TRANS = 'T' or TRANS = 'C', the leading
+C N-by-M part of this array must contain the matrix A.
+C
+C LDA INTEGER
+C The leading dimension of array A. LDA >= MAX(1,k),
+C where k is M when TRANS = 'N' and is N when TRANS = 'T' or
+C TRANS = 'C'.
+C
+C X (input) DOUBLE PRECISION array, dimension (LDX,N)
+C On entry, if UPLO = 'U', the leading N-by-N upper
+C triangular part of this array must contain the upper
+C triangular part of the symmetric matrix X and the strictly
+C lower triangular part of the array is not referenced.
+C On entry, if UPLO = 'L', the leading N-by-N lower
+C triangular part of this array must contain the lower
+C triangular part of the symmetric matrix X and the strictly
+C upper triangular part of the array is not referenced.
+C The diagonal elements of this array are modified
+C internally, but are restored on exit.
+C
+C LDX INTEGER
+C The leading dimension of array X. LDX >= MAX(1,N).
+C
+C Workspace
+C
+C DWORK DOUBLE PRECISION array, dimension (LDWORK)
+C This array is not referenced when beta = 0, or M*N = 0.
+C
+C LDWORK The length of the array DWORK.
+C LDWORK >= M*N, if beta <> 0;
+C LDWORK >= 0, if beta = 0.
+C
+C Error Indicator
+C
+C INFO INTEGER
+C = 0: successful exit;
+C < 0: if INFO = -k, the k-th argument had an illegal
+C value.
+C
+C METHOD
+C
+C The matrix expression is efficiently evaluated taking the symmetry
+C into account. Specifically, let X = T + T', with T an upper or
+C lower triangular matrix, defined by
+C
+C T = triu( X ) - (1/2)*diag( X ), if UPLO = 'U',
+C T = tril( X ) - (1/2)*diag( X ), if UPLO = 'L',
+C
+C where triu, tril, and diag denote the upper triangular part, lower
+C triangular part, and diagonal part of X, respectively. Then,
+C
+C A*X*A' = ( A*T )*A' + A*( A*T )', for TRANS = 'N',
+C A'*X*A = A'*( T*A ) + ( T*A )'*A, for TRANS = 'T', or 'C',
+C
+C which involve BLAS 3 operations (DTRMM and DSYR2K).
+C
+C NUMERICAL ASPECTS
+C
+C The algorithm requires approximately
+C
+C 2 2
+C 3/2 x M x N + 1/2 x M
+C
+C operations.
+C
+C FURTHER COMMENTS
+C
+C This is a simpler version for MB01RD.
+C
+C CONTRIBUTORS
+C
+C V. Sima, Katholieke Univ. Leuven, Belgium, Jan. 1999.
+C
+C REVISIONS
+C
+C A. Varga, German Aerospace Center, Oberpfaffenhofen, March 2004.
+C V. Sima, Research Institute for Informatics, Bucharest, Mar. 2004.
+C
+C KEYWORDS
+C
+C Elementary matrix operations, matrix algebra, matrix operations.
+C
+C ******************************************************************
+C
+C .. Parameters ..
+ DOUBLE PRECISION ZERO, ONE, TWO, HALF
+ PARAMETER ( ZERO = 0.0D0, ONE = 1.0D0, TWO = 2.0D0,
+ $ HALF = 0.5D0 )
+C .. Scalar Arguments ..
+ CHARACTER TRANS, UPLO
+ INTEGER INFO, LDA, LDR, LDWORK, LDX, M, N
+ DOUBLE PRECISION ALPHA, BETA
+C .. Array Arguments ..
+ DOUBLE PRECISION A(LDA,*), DWORK(*), R(LDR,*), X(LDX,*)
+C .. Local Scalars ..
+ LOGICAL LTRANS, LUPLO
+C .. External Functions ..
+ LOGICAL LSAME
+ EXTERNAL LSAME
+C .. External Subroutines ..
+ EXTERNAL DLACPY, DLASCL, DLASET, DSCAL, DSYR2K, DTRMM,
+ $ XERBLA
+C .. Intrinsic Functions ..
+ INTRINSIC MAX
+C .. Executable Statements ..
+C
+C Test the input scalar arguments.
+C
+ INFO = 0
+ LUPLO = LSAME( UPLO, 'U' )
+ LTRANS = LSAME( TRANS, 'T' ) .OR. LSAME( TRANS, 'C' )
+C
+ IF( ( .NOT.LUPLO ).AND.( .NOT.LSAME( UPLO, 'L' ) ) )THEN
+ INFO = -1
+ ELSE IF( ( .NOT.LTRANS ).AND.( .NOT.LSAME( TRANS, 'N' ) ) )THEN
+ INFO = -2
+ ELSE IF( M.LT.0 ) THEN
+ INFO = -3
+ ELSE IF( N.LT.0 ) THEN
+ INFO = -4
+ ELSE IF( LDR.LT.MAX( 1, M ) ) THEN
+ INFO = -8
+ ELSE IF( LDA.LT.1 .OR. ( LTRANS .AND. LDA.LT.N ) .OR.
+ $ ( .NOT.LTRANS .AND. LDA.LT.M ) ) THEN
+ INFO = -10
+ ELSE IF( LDX.LT.MAX( 1, N ) ) THEN
+ INFO = -12
+ ELSE IF( ( BETA.NE.ZERO .AND. LDWORK.LT.M*N )
+ $ .OR.( BETA.EQ.ZERO .AND. LDWORK.LT.0 ) ) THEN
+ INFO = -14
+ END IF
+C
+ IF ( INFO.NE.0 ) THEN
+C
+C Error return.
+C
+ CALL XERBLA( 'MB01RU', -INFO )
+ RETURN
+ END IF
+C
+C Quick return if possible.
+C
+ IF ( M.EQ.0 )
+ $ RETURN
+C
+ IF ( BETA.EQ.ZERO .OR. N.EQ.0 ) THEN
+ IF ( ALPHA.EQ.ZERO ) THEN
+C
+C Special case alpha = 0.
+C
+ CALL DLASET( UPLO, M, M, ZERO, ZERO, R, LDR )
+ ELSE
+C
+C Special case beta = 0 or N = 0.
+C
+ IF ( ALPHA.NE.ONE )
+ $ CALL DLASCL( UPLO, 0, 0, ONE, ALPHA, M, M, R, LDR, INFO )
+ END IF
+ RETURN
+ END IF
+C
+C General case: beta <> 0.
+C Compute W = op( A )*T or W = T*op( A ) in DWORK, and apply the
+C updating formula (see METHOD section).
+C Workspace: need M*N.
+C
+ CALL DSCAL( N, HALF, X, LDX+1 )
+C
+ IF( LTRANS ) THEN
+C
+ CALL DLACPY( 'Full', N, M, A, LDA, DWORK, N )
+ CALL DTRMM( 'Left', UPLO, 'NoTranspose', 'Non-unit', N, M,
+ $ ONE, X, LDX, DWORK, N )
+ CALL DSYR2K( UPLO, TRANS, M, N, BETA, DWORK, N, A, LDA, ALPHA,
+ $ R, LDR )
+C
+ ELSE
+C
+ CALL DLACPY( 'Full', M, N, A, LDA, DWORK, M )
+ CALL DTRMM( 'Right', UPLO, 'NoTranspose', 'Non-unit', M, N,
+ $ ONE, X, LDX, DWORK, M )
+ CALL DSYR2K( UPLO, TRANS, M, N, BETA, DWORK, M, A, LDA, ALPHA,
+ $ R, LDR )
+C
+ END IF
+C
+ CALL DSCAL( N, TWO, X, LDX+1 )
+C
+ RETURN
+C *** Last line of MB01RU ***
+ END
Property changes on: trunk/octave-forge/main/control/devel/ncfsyn/MB01RU.f
___________________________________________________________________
Added: svn:executable
+ *
Added: trunk/octave-forge/main/control/devel/ncfsyn/MB01RX.f
===================================================================
--- trunk/octave-forge/main/control/devel/ncfsyn/MB01RX.f (rev 0)
+++ trunk/octave-forge/main/control/devel/ncfsyn/MB01RX.f 2011-07-31 19:51:16 UTC (rev 8425)
@@ -0,0 +1,315 @@
+ SUBROUTINE MB01RX( SIDE, UPLO, TRANS, M, N, ALPHA, BETA, R, LDR,
+ $ A, LDA, B, LDB, INFO )
+C
+C SLICOT RELEASE 5.0.
+C
+C Copyright (c) 2002-2010 NICONET e.V.
+C
+C This program is free software: you can redistribute it and/or
+C modify it under the terms of the GNU General Public License as
+C published by the Free Software Foundation, either version 2 of
+C the License, or (at your option) any later version.
+C
+C This program is distributed in the hope that it will be useful,
+C but WITHOUT ANY WARRANTY; without even the implied warranty of
+C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+C GNU General Public License for more details.
+C
+C You should have received a copy of the GNU General Public License
+C along with this program. If not, see
+C <http://www.gnu.org/licenses/>.
+C
+C PURPOSE
+C
+C To compute either the upper or lower triangular part of one of the
+C matrix formulas
+C _
+C R = alpha*R + beta*op( A )*B, (1)
+C _
+C R = alpha*R + beta*B*op( A ), (2)
+C _
+C where alpha and beta are scalars, R and R are m-by-m matrices,
+C op( A ) and B are m-by-n and n-by-m matrices for (1), or n-by-m
+C and m-by-n matrices for (2), respectively, and op( A ) is one of
+C
+C op( A ) = A or op( A ) = A', the transpose of A.
+C
+C The result is overwritten on R.
+C
+C ARGUMENTS
+C
+C Mode Parameters
+C
+C SIDE CHARACTER*1
+C Specifies whether the matrix A appears on the left or
+C right in the matrix product as follows:
+C _
+C = 'L': R = alpha*R + beta*op( A )*B;
+C _
+C = 'R': R = alpha*R + beta*B*op( A ).
+C
+C UPLO CHARACTER*1 _
+C Specifies which triangles of the matrices R and R are
+C computed and given, respectively, as follows:
+C = 'U': the upper triangular part;
+C = 'L': the lower triangular part.
+C
+C TRANS CHARACTER*1
+C Specifies the form of op( A ) to be used in the matrix
+C multiplication as follows:
+C = 'N': op( A ) = A;
+C = 'T': op( A ) = A';
+C = 'C': op( A ) = A'.
+C
+C Input/Output Parameters
+C
+C M (input) INTEGER _
+C The order of the matrices R and R, the number of rows of
+C the matrix op( A ) and the number of columns of the
+C matrix B, for SIDE = 'L', or the number of rows of the
+C matrix B and the number of columns of the matrix op( A ),
+C for SIDE = 'R'. M >= 0.
+C
+C N (input) INTEGER
+C The number of rows of the matrix B and the number of
+C columns of the matrix op( A ), for SIDE = 'L', or the
+C number of rows of the matrix op( A ) and the number of
+C columns of the matrix B, for SIDE = 'R'. N >= 0.
+C
+C ALPHA (input) DOUBLE PRECISION
+C The scalar alpha. When alpha is zero then R need not be
+C set before entry.
+C
+C BETA (input) DOUBLE PRECISION
+C The scalar beta. When beta is zero then A and B are not
+C referenced.
+C
+C R (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+C On entry with UPLO = 'U', the leading M-by-M upper
+C triangular part of this array must contain the upper
+C triangular part of the matrix R; the strictly lower
+C triangular part of the array is not referenced.
+C On entry with UPLO = 'L', the leading M-by-M lower
+C triangular part of this array must contain the lower
+C triangular part of the matrix R; the strictly upper
+C triangular part of the array is not referenced.
+C On exit, the leading M-by-M upper triangular part (if
+C UPLO = 'U'), or lower triangular part (if UPLO = 'L') of
+C this array contains the corresponding triangular part of
+C _
+C the computed matrix R.
+C
+C LDR INTEGER
+C The leading dimension of array R. LDR >= MAX(1,M).
+C
+C A (input) DOUBLE PRECISION array, dimension (LDA,k), where
+C k = N when SIDE = 'L', and TRANS = 'N', or
+C SIDE = 'R', and TRANS = 'T';
+C k = M when SIDE = 'R', and TRANS = 'N', or
+C SIDE = 'L', and TRANS = 'T'.
+C On entry, if SIDE = 'L', and TRANS = 'N', or
+C SIDE = 'R', and TRANS = 'T',
+C the leading M-by-N part of this array must contain the
+C matrix A.
+C On entry, if SIDE = 'R', and TRANS = 'N', or
+C SIDE = 'L', and TRANS = 'T',
+C the leading N-by-M part of this array must contain the
+C matrix A.
+C
+C LDA INTEGER
+C The leading dimension of array A. LDA >= MAX(1,l), where
+C l = M when SIDE = 'L', and TRANS = 'N', or
+C SIDE = 'R', and TRANS = 'T';
+C l = N when SIDE = 'R', and TRANS = 'N', or
+C SIDE = 'L', and TRANS = 'T'.
+C
+C B (input) DOUBLE PRECISION array, dimension (LDB,p), where
+C p = M when SIDE = 'L';
+C p = N when SIDE = 'R'.
+C On entry, the leading N-by-M part, if SIDE = 'L', or
+C M-by-N part, if SIDE = 'R', of this array must contain the
+C matrix B.
+C
+C LDB INTEGER
+C The leading dimension of array B.
+C LDB >= MAX(1,N), if SIDE = 'L';
+C LDB >= MAX(1,M), if SIDE = 'R'.
+C
+C Error Indicator
+C
+C INFO INTEGER
+C = 0: successful exit;
+C < 0: if INFO = -i, the i-th argument had an illegal
+C value.
+C
+C METHOD
+C
+C The matrix expression is evaluated taking the triangular
+C structure into account. BLAS 2 operations are used. A block
+C algorithm can be easily constructed; it can use BLAS 3 GEMM
+C operations for most computations, and calls of this BLAS 2
+C algorithm for computing the triangles.
+C
+C FURTHER COMMENTS
+C
+C The main application of this routine is when the result should
+C be a symmetric matrix, e.g., when B = X*op( A )', for (1), or
+C B = op( A )'*X, for (2), where B is already available and X = X'.
+C
+C CONTRIBUTORS
+C
+C V. Sima, Katholieke Univ. Leuven, Belgium, Feb. 1999.
+C
+C REVISIONS
+C
+C V. Sima, Research Institute for Informatics, Bucharest, Mar. 2004.
+C
+C KEYWORDS
+C
+C Elementary matrix operations, matrix algebra, matrix operations.
+C
+C ******************************************************************
+C
+C .. Parameters ..
+ DOUBLE PRECISION ZERO, ONE
+ PARAMETER ( ZERO = 0.0D0, ONE = 1.0D0 )
+C .. Scalar Arguments ..
+ CHARACTER SIDE, TRANS, UPLO
+ INTEGER INFO, LDA, LDB, LDR, M, N
+ DOUBLE PRECISION ALPHA, BETA
+C .. Array Arguments ..
+ DOUBLE PRECISION A(LDA,*), B(LDB,*), R(LDR,*)
+C .. Local Scalars ..
+ LOGICAL LSIDE, LTRANS, LUPLO
+ INTEGER J
+C .. External Functions ..
+ LOGICAL LSAME
+ EXTERNAL LSAME
+C .. External Subroutines ..
+ EXTERNAL DGEMV, DLASCL, DLASET, XERBLA
+C .. Intrinsic Functions ..
+ INTRINSIC MAX
+C .. Executable Statements ..
+C
+C Test the input scalar arguments.
+C
+ INFO = 0
+ LSIDE = LSAME( SIDE, 'L' )
+ LUPLO = LSAME( UPLO, 'U' )
+ LTRANS = LSAME( TRANS, 'T' ) .OR. LSAME( TRANS, 'C' )
+C
+ IF( ( .NOT.LSIDE ).AND.( .NOT.LSAME( SIDE, 'R' ) ) )THEN
+ INFO = -1
+ ELSE IF( ( .NOT.LUPLO ).AND.( .NOT.LSAME( UPLO, 'L' ) ) )THEN
+ INFO = -2
+ ELSE IF( ( .NOT.LTRANS ).AND.( .NOT.LSAME( TRANS, 'N' ) ) )THEN
+ INFO = -3
+ ELSE IF( M.LT.0 ) THEN
+ INFO = -4
+ ELSE IF( N.LT.0 ) THEN
+ INFO = -5
+ ELSE IF( LDR.LT.MAX( 1, M ) ) THEN
+ INFO = -9
+ ELSE IF( LDA.LT.1 .OR.
+ $ ( ( ( LSIDE .AND. .NOT.LTRANS ) .OR.
+ $ ( .NOT.LSIDE .AND. LTRANS ) ) .AND. LDA.LT.M ) .OR.
+ $ ( ( ( LSIDE .AND. LTRANS ) .OR.
+ $ ( .NOT.LSIDE .AND. .NOT.LTRANS ) ) .AND. LDA.LT.N ) ) THEN
+ INFO = -11
+ ELSE IF( LDB.LT.1 .OR.
+ $ ( LSIDE .AND. LDB.LT.N ) .OR.
+ $ ( .NOT.LSIDE .AND. LDB.LT.M ) ) THEN
+ INFO = -13
+ END IF
+C
+ IF ( INFO.NE.0 ) THEN
+C
+C Error return.
+C
+ CALL XERBLA( 'MB01RX', -INFO )
+ RETURN
+ END IF
+C
+C Quick return if possible.
+C
+ IF ( M.EQ.0 )
+ $ RETURN
+C
+ IF ( BETA.EQ.ZERO .OR. N.EQ.0 ) THEN
+ IF ( ALPHA.EQ.ZERO ) THEN
+C
+C Special case alpha = 0.
+C
+ CALL DLASET( UPLO, M, M, ZERO, ZERO, R, LDR )
+ ELSE
+C
+C Special case beta = 0 or N = 0.
+C
+ IF ( ALPHA.NE.ONE )
+ $ CALL DLASCL( UPLO, 0, 0, ONE, ALPHA, M, M, R, LDR, INFO )
+ END IF
+ RETURN
+ END IF
+C
+C General case: beta <> 0.
+C Compute the required triangle of (1) or (2) using BLAS 2
+C operations.
+C
+ IF( LSIDE ) THEN
+ IF( LUPLO ) THEN
+ IF ( LTRANS ) THEN
+ DO 10 J = 1, M
+ CALL DGEMV( TRANS, N, J, BETA, A, LDA, B(1,J), 1,
+ $ ALPHA, R(1,J), 1 )
+ 10 CONTINUE
+ ELSE
+ DO 20 J = 1, M
+ CALL DGEMV( TRANS, J, N, BETA, A, LDA, B(1,J), 1,
+ $ ALPHA, R(1,J), 1 )
+ 20 CONTINUE
+ END IF
+ ELSE
+ IF ( LTRANS ) THEN
+ DO 30 J = 1, M
+ CALL DGEMV( TRANS, N, M-J+1, BETA, A(1,J), LDA,
+ $ B(1,J), 1, ALPHA, R(J,J), 1 )
+ 30 CONTINUE
+ ELSE
+ DO 40 J = 1, M
+ CALL DGEMV( TRANS, M-J+1, N, BETA, A(J,1), LDA,
+ $ B(1,J), 1, ALPHA, R(J,J), 1 )
+ 40 CONTINUE
+ END IF
+ END IF
+C
+ ELSE
+ IF( LUPLO ) THEN
+ IF( LTRANS ) THEN
+ DO 50 J = 1, M
+ CALL DGEMV( 'NoTranspose', J, N, BETA, B, LDB, A(J,1),
+ $ LDA, ALPHA, R(1,J), 1 )
+ 50 CONTINUE
+ ELSE
+ DO 60 J = 1, M
+ CALL DGEMV( 'NoTranspose', J, N, BETA, B, LDB, A(1,J),
+ $ 1, ALPHA, R(1,J), 1 )
+ 60 CONTINUE
+ END IF
+ ELSE
+ IF( LTRANS ) THEN
+ DO 70 J = 1, M
+ CALL DGEMV( 'NoTranspose', M-J+1, N, BETA, B(J,1),
+ $ LDB, A(J,1), LDA, ALPHA, R(J,J), 1 )
+ 70 CONTINUE
+ ELSE
+ DO 80 J = 1, M
+ CALL DGEMV( 'NoTranspose', M-J+1, N, BETA, B(J,1),
+ $ LDB, A(1,J), 1, ALPHA, R(J,J), 1 )
+ 80 CONTINUE
+ END IF
+ END IF
+ END IF
+C
+ RETURN
+C *** Last line of MB01RX ***
+ END
Property changes on: trunk/octave-forge/main/control/devel/ncfsyn/MB01RX.f
___________________________________________________________________
Added: svn:executable
+ *
Added: trunk/octave-forge/main/control/devel/ncfsyn/MB01RY.f
===================================================================
--- trunk/octave-forge/main/control/devel/ncfsyn/MB01RY.f (rev 0)
+++ trunk/octave-forge/main/control/devel/ncfsyn/MB01RY.f 2011-07-31 19:51:16 UTC (rev 8425)
@@ -0,0 +1,429 @@
+ SUBROUTINE MB01RY( SIDE, UPLO, TRANS, M, ALPHA, BETA, R, LDR, H,
+ $ LDH, B, LDB, DWORK, INFO )
+C
+C SLICOT RELEASE 5.0.
+C
+C Copyright (c) 2002-2010 NICONET e.V.
+C
+C This program is free software: you can redistribute it and/or
+C modify it under the terms of the GNU General Public License as
+C published by the Free Software Foundation, either version 2 of
+C the License, or (at your option) any later version.
+C
+C This program is distributed in the hope that it will be useful,
+C but WITHOUT ANY WARRANTY; without even the implied warranty of
+C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+C GNU General Public License for more details.
+C
+C You should have received a copy of the GNU General Public License
+C along with this program. If not, see
+C <http://www.gnu.org/licenses/>.
+C
+C PURPOSE
+C
+C To compute either the upper or lower triangular part of one of the
+C matrix formulas
+C _
+C R = alpha*R + beta*op( H )*B, (1)
+C _
+C R = alpha*R + beta*B*op( H ), (2)
+C _
+C where alpha and beta are scalars, H, B, R, and R are m-by-m
+C matrices, H is an upper Hessenberg matrix, and op( H ) is one of
+C
+C op( H ) = H or op( H ) = H', the transpose of H.
+C
+C The result is overwritten on R.
+C
+C ARGUMENTS
+C
+C Mode Parameters
+C
+C SIDE CHARACTER*1
+C Specifies whether the Hessenberg matrix H appears on the
+C left or right in the matrix product as follows:
+C _
+C = 'L': R = alpha*R + beta*op( H )*B;
+C _
+C = 'R': R = alpha*R + beta*B*op( H ).
+C
+C UPLO CHARACTER*1 _
+C Specifies which triangles of the matrices R and R are
+C computed and given, respectively, as follows:
+C = 'U': the upper triangular part;
+C = 'L': the lower triangular part.
+C
+C TRANS CHARACTER*1
+C Specifies the form of op( H ) to be used in the matrix
+C multiplication as follows:
+C = 'N': op( H ) = H;
+C = 'T': op( H ) = H';
+C = 'C': op( H ) = H'.
+C
+C Input/Output Parameters
+C
+C M (input) INTEGER _
+C The order of the matrices R, R, H and B. M >= 0.
+C
+C ALPHA (input) DOUBLE PRECISION
+C The scalar alpha. When alpha is zero then R need not be
+C set before entry.
+C
+C BETA (input) DOUBLE PRECISION
+C The scalar beta. When beta is zero then H and B are not
+C referenced.
+C
+C R (input/output) DOUBLE PRECISION array, dimension (LDR,M)
+C On entry with UPLO = 'U', the leading M-by-M upper
+C triangular part of this array must contain the upper
+C triangular part of the matrix R; the strictly lower
+C triangular part of the array is not referenced.
+C On entry with UPLO = 'L', the leading M-by-M lower
+C triangular part of this array must contain the lower
+C triangular part of the matrix R; the strictly upper
+C triangular part of the array is not referenced.
+C On exit, the leading M-by-M upper triangular part (if
+C UPLO = 'U'), or lower triangular part (if UPLO = 'L') of
+C this array contains the corresponding triangular part of
+C _
+C the computed matrix R.
+C
+C LDR INTEGER
+C The leading dimension of array R. LDR >= MAX(1,M).
+C
+C H (input) DOUBLE PRECISION array, dimension (LDH,M)
+C On entry, the leading M-by-M upper Hessenberg part of
+C this array must contain the upper Hessenberg part of the
+C matrix H.
+C The elements below the subdiagonal are not referenced,
+C except possibly for those in the first column, which
+C could be overwritten, but are restored on exit.
+C
+C LDH INTEGER
+C The leading dimension of array H. LDH >= MAX(1,M).
+C
+C B (input) DOUBLE PRECISION array, dimension (LDB,M)
+C On entry, the leading M-by-M part of this array must
+C contain the matrix B.
+C
+C LDB INTEGER
+C The leading dimension of array B. LDB >= MAX(1,M).
+C
+C Workspace
+C
+C DWORK DOUBLE PRECISION array, dimension (LDWORK)
+C LDWORK >= M, if beta <> 0 and SIDE = 'L';
+C LDWORK >= 0, if beta = 0 or SIDE = 'R'.
+C This array is not referenced when beta = 0 or SIDE = 'R'.
+C
+C Error Indicator
+C
+C INFO INTEGER
+C = 0: successful exit;
+C < 0: if INFO = -i, the i-th argument had an illegal
+C value.
+C
+C METHOD
+C
+C The matrix expression is efficiently evaluated taking the
+C Hessenberg/triangular structure into account. BLAS 2 operations
+C are used. A block algorithm can be constructed; it can use BLAS 3
+C GEMM operations for most computations, and calls of this BLAS 2
+C algorithm for computing the triangles.
+C
+C FURTHER COMMENTS
+C
+C The main application of this routine is when the result should
+C be a symmetric matrix, e.g., when B = X*op( H )', for (1), or
+C B = op( H )'*X, for (2), where B is already available and X = X'.
+C
+C CONTRIBUTORS
+C
+C V. Sima, Katholieke Univ. Leuven, Belgium, Feb. 1999.
+C
+C REVISIONS
+C
+C -
+C
+C KEYWORDS
+C
+C Elementary matrix operations, matrix algebra, matrix operations.
+C
+C ******************************************************************
+C
+C .. Parameters ..
+ DOUBLE PRECISION ZERO, ONE
+ PARAMETER ( ZERO = 0.0D0, ONE = 1.0D0 )
+C .. Scalar Arguments ..
+ CHARACTER SIDE, TRANS, UPLO
+ INTEGER INFO, LDB, LDH, LDR, M
+ DOUBLE PRECISION ALPHA, BETA
+C .. Array Arguments ..
+ DOUBLE PRECISION B(LDB,*), DWORK(*), H(LDH,*), R(LDR,*)
+C .. Local Scalars ..
+ LOGICAL LSIDE, LTRANS, LUPLO
+ INTEGER I, J
+C .. External Functions ..
+ LOGICAL LSAME
+ DOUBLE PRECISION DDOT
+ EXTERNAL DDOT, LSAME
+C .. External Subroutines ..
+ EXTERNAL DCOPY, DGEMV, DLASCL, DLASET, DSCAL, DSWAP,
+ $ DTRMV, XERBLA
+C .. Intrinsic Functions ..
+ INTRINSIC MAX, MIN
+C .. Executable Statements ..
+C
+C Test the input scalar arguments.
+C
+ INFO = 0
+ LSIDE = LSAME( SIDE, 'L' )
+ LUPLO = LSAME( UPLO, 'U' )
+ LTRANS = LSAME( TRANS, 'T' ) .OR. LSAME( TRANS, 'C' )
+C
+ IF( ( .NOT.LSIDE ).AND.( .NOT.LSAME( SIDE, 'R' ) ) )THEN
+ INFO = -1
+ ELSE IF( ( .NOT.LUPLO ).AND.( .NOT.LSAME( UPLO, 'L' ) ) )THEN
+ INFO = -2
+ ELSE IF( ( .NOT.LTRANS ).AND.( .NOT.LSAME( TRANS, 'N' ) ) )THEN
+ INFO = -3
+ ELSE IF( M.LT.0 ) THEN
+ INFO = -4
+ ELSE IF( LDR.LT.MAX( 1, M ) ) THEN
+ INFO = -8
+ ELSE IF( LDH.LT.MAX( 1, M ) ) THEN
+ INFO = -10
+ ELSE IF( LDB.LT.MAX( 1, M ) ) THEN
+ INFO = -12
+ END IF
+C
+ IF ( INFO.NE.0 ) THEN
+C
+C Error return.
+C
+ CALL XERBLA( 'MB01RY', -INFO )
+ RETURN
+ END IF
+C
+C Quick return if possible.
+C
+ IF ( M.EQ.0 )
+ $ RETURN
+C
+ IF ( BETA.EQ.ZERO ) THEN
+ IF ( ALPHA.EQ.ZERO ) THEN
+C
+C Special case when both alpha = 0 and beta = 0.
+C
+ CALL DLASET( UPLO, M, M, ZERO, ZERO, R, LDR )
+ ELSE
+C
+C Special case beta = 0.
+C
+ IF ( ALPHA.NE.ONE )
+ $ CALL DLASCL( UPLO, 0, 0, ONE, ALPHA, M, M, R, LDR, INFO )
+ END IF
+ RETURN
+ END IF
+C
+C General case: beta <> 0.
+C Compute the required triangle of (1) or (2) using BLAS 2
+C operations.
+C
+ IF( LSIDE ) THEN
+C
+C To avoid repeated references to the subdiagonal elements of H,
+C these are swapped with the corresponding elements of H in the
+C first column, and are finally restored.
+C
+ IF( M.GT.2 )
+ $ CALL DSWAP( M-2, H( 3, 2 ), LDH+1, H( 3, 1 ), 1 )
+C
+ IF( LUPLO ) THEN
+ IF ( LTRANS ) THEN
+C
+ DO 20 J = 1, M
+C
+C Multiply the transposed upper triangle of the leading
+C j-by-j submatrix of H by the leading part of the j-th
+C column of B.
+C
+ CALL DCOPY( J, B( 1, J ), 1, DWORK, 1 )
+ CALL DTRMV( 'Upper', TRANS, 'Non-unit', J, H, LDH,
+ $ DWORK, 1 )
+C
+C Add the contribution of the subdiagonal of H to
+C the j-th column of the product.
+C
+ DO 10 I = 1, MIN( J, M - 1 )
+ R( I, J ) = ALPHA*R( I, J ) + BETA*( DWORK( I ) +
+ $ H( I+1, 1 )*B( I+1, J ) )
+ 10 CONTINUE
+C
+ 20 CONTINUE
+C
+ R( M, M ) = ALPHA*R( M, M ) + BETA*DWORK( M )
+C
+ ELSE
+C
+ DO 40 J = 1, M
+C
+C Multiply the upper triangle of the leading j-by-j
+C submatrix of H by the leading part of the j-th column
+C of B.
+C
+ CALL DCOPY( J, B( 1, J ), 1, DWORK, 1 )
+ CALL DTRMV( 'Upper', TRANS, 'Non-unit', J, H, LDH,
+ $ DWORK, 1 )
+ IF( J.LT.M ) THEN
+C
+C Multiply the remaining right part of the leading
+C j-by-M submatrix of H by the trailing part of the
+C j-th column of B.
+C
+ CALL DGEMV( TRANS, J, M-J, BETA, H( 1, J+1 ), LDH,
+ $ B( J+1, J ), 1, ALPHA, R( 1, J ), 1 )
+ ELSE
+ CALL DSCAL( M, ALPHA, R( 1, M ), 1 )
+ END IF
+C
+C Add the contribution of the subdiagonal of H to
+C the j-th column of the product.
+C
+ R( 1, J ) = R( 1, J ) + BETA*DWORK( 1 )
+C
+ DO 30 I = 2, J
+ R( I, J ) = R( I, J ) + BETA*( DWORK( I ) +
+ $ H( I, 1 )*B( I-1, J ) )
+ 30 CONTINUE
+C
+ 40 CONTINUE
+C
+ END IF
+C
+ ELSE
+C
+ IF ( LTRANS ) THEN
+C
+ DO 60 J = M, 1, -1
+C
+C Multiply the transposed upper triangle of the trailing
+C (M-j+1)-by-(M-j+1) submatrix of H by the trailing part
+C of the j-th column of B.
+C
+ CALL DCOPY( M-J+1, B( J, J ), 1, DWORK( J ), 1 )
+ CALL DTRMV( 'Upper', TRANS, 'Non-unit', M-J+1,
+ $ H( J, J ), LDH, DWORK( J ), 1 )
+ IF( J.GT.1 ) THEN
+C
+C Multiply the remaining left part of the trailing
+C (M-j+1)-by-(j-1) submatrix of H' by the leading
+C part of the j-th column of B.
+C
+ CALL DGEMV( TRANS, J-1, M-J+1, BETA, H( 1, J ),
+ $ LDH, B( 1, J ), 1, ALPHA, R( J, J ),
+ $ 1 )
+ ELSE
+ CALL DSCAL( M, ALPHA, R( 1, 1 ), 1 )
+ END IF
+C
+C Add the contribution of the subdiagonal of H to
+C the j-th column of the product.
+C
+ DO 50 I = J, M - 1
+ R( I, J ) = R( I, J ) + BETA*( DWORK( I ) +
+ $ H( I+1, 1 )*B( I+1, J ) )
+ 50 CONTINUE
+C
+ R( M, J ) = R( M, J ) + BETA*DWORK( M )
+ 60 CONTINUE
+C
+ ELSE
+C
+ DO 80 J = M, 1, -1
+C
+C Multiply the upper triangle of the trailing
+C (M-j+1)-by-(M-j+1) submatrix of H by the trailing
+C part of the j-th column of B.
+C
+ CALL DCOPY( M-J+1, B( J, J ), 1, DWORK( J ), 1 )
+ CALL DTRMV( 'Upper', TRANS, 'Non-unit', M-J+1,
+ $ H( J, J ), LDH, DWORK( J ), 1 )
+C
+C Add the contribution of the subdiagonal of H to
+C the j-th column of the product.
+C
+ DO 70 I = MAX( J, 2 ), M
+ R( I, J ) = ALPHA*R( I, J ) + BETA*( DWORK( I )
+ $ + H( I, 1 )*B( I-1, J ) )
+ 70 CONTINUE
+C
+ 80 CONTINUE
+C
+ R( 1, 1 ) = ALPHA*R( 1, 1 ) + BETA*DWORK( 1 )
+C
+ END IF
+ END IF
+C
+ IF( M.GT.2 )
+ $ CALL DSWAP( M-2, H( 3, 2 ), LDH+1, H( 3, 1 ), 1 )
+C
+ ELSE
+C
+C Row-wise calculations are used for H, if SIDE = 'R' and
+C TRANS = 'T'.
+C
+ IF( LUPLO ) THEN
+ IF( LTRANS ) THEN
+ R( 1, 1 ) = ALPHA*R( 1, 1 ) +
+ $ BETA*DDOT( M, B, LDB, H, LDH )
+C
+ DO 90 J = 2, M
+ CALL DGEMV( 'NoTranspose', J, M-J+2, BETA,
+ $ B( 1, J-1 ), LDB, H( J, J-1 ), LDH,
+ $ ALPHA, R( 1, J ), 1 )
+ 90 CONTINUE
+C
+ ELSE
+C
+ DO 100 J = 1, M - 1
+ CALL DGEMV( 'NoTranspose', J, J+1, BETA, B, LDB,
+ $ H( 1, J ), 1, ALPHA, R( 1, J ), 1 )
+ 100 CONTINUE
+C
+ CALL DGEMV( 'NoTranspose', M, M, BETA, B, LDB,
+ $ H( 1, M ), 1, ALPHA, R( 1, M ), 1 )
+C
+ END IF
+C
+ ELSE
+C
+ IF( LTRANS ) THEN
+C
+ CALL DGEMV( 'NoTranspose', M, M, BETA, B, LDB, H, LDH,
+ $ ALPHA, R( 1, 1 ), 1 )
+C
+ DO 110 J = 2, M
+ CALL DGEMV( 'NoTranspose', M-J+1, M-J+2, BETA,
+ $ B( J, J-1 ), LDB, H( J, J-1 ), LDH, ALPHA,
+ $ R( J, J ), 1 )
+ 110 CONTINUE
+C
+ ELSE
+C
+ DO 120 J = 1, M - 1
+ CALL DGEMV( 'NoTranspose', M-J+1, J+1, BETA,
+ $ B( J, 1 ), LDB, H( 1, J ), 1, ALPHA,
+ $ R( J, J ), 1 )
+ 120 CONTINUE
+C
+ R( M, M ) = ALPHA*R( M, M ) +
+ $ BETA*DDOT( M, B( M, 1 ), LDB, H( 1, M ), 1 )
+C
+ END IF
+ END IF
+ END IF
+C
+ RETURN
+C *** Last line of MB01RY ***
+ END
Property changes on: trunk/octave-forge/main/control/devel/ncfsyn/MB01RY.f
___________________________________________________________________
Added: svn:executable
+ *
Added: trunk/octave-forge/main/control/devel/ncfsyn/MB01SD.f
===================================================================
--- trunk/octave-forge/main/control/devel/ncfsyn/MB01SD.f (rev 0)
+++ trunk/octave-forge/main/control/devel/ncfsyn/MB01SD.f 2011-07-31 19:51:16 UTC (rev 8425)
@@ -0,0 +1,123 @@
+ SUBROUTINE MB01SD( JOBS, M, N, A, LDA, R, C )
+C
+C SLICOT RELEASE 5.0.
+C
+C Copyright (c) 2002-2010 NICONET e.V.
+C
+C This program is free software: you can redistribute it and/or
+C modify it under the terms of the GNU General Public License as
+C published by the Free Software Foundation, either version 2 of
+C the License, or (at your option) any later version.
+C
+C This program is distributed in the hope that it will be useful,
+C but WITHOUT ANY WARRANTY; without even the implied warranty of
+C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+C GNU General Public License for more details.
+C
+C You should have received a copy of the GNU General Public License
+C along with this program. If not, see
+C <http://www.gnu.org/licenses/>.
+C
+C PURPOSE
+C
+C To scale a general M-by-N matrix A using the row and column
+C scaling factors in the vectors R and C.
+C
+C ARGUMENTS
+C
+C Mode Parameters
+C
+C JOBS CHARACTER*1
+C Specifies the scaling operation to be done, as follows:
+C = 'R': row scaling, i.e., A will be premultiplied
+C by diag(R);
+C = 'C': column scaling, i.e., A will be postmultiplied
+C by diag(C);
+C = 'B': both row and column scaling, i.e., A will be
+C replaced by diag(R) * A * diag(C).
+C
+C Input/Output Parameters
+C
+C M (input) INTEGER
+C The number of rows of the matrix A. M >= 0.
+C
+C N (input) INTEGER
+C The number of columns of the matrix A. N >= 0.
+C
+C A (input/output) DOUBLE PRECISION array, dimension (LDA,N)
+C On entry, the M-by-N matrix A.
+C On exit, the scaled matrix. See JOBS for the form of the
+C scaled matrix.
+C
+C LDA INTEGER
+C The leading dimension of the array A. LDA >= max(1,M).
+C
+C R (input) DOUBLE PRECISION array, dimension (M)
+C The row scale factors for A.
+C R is not referenced if JOBS = 'C'.
+C
+C C (input) DOUBLE PRECISION array, dimension (N)
+C The column scale factors for A.
+C C is not referenced if JOBS = 'R'.
+C
+C
+C CONTRIBUTOR
+C
+C A. Varga, German Aerospace Center,
+C DLR Oberpfaffenhofen, April 1998.
+C Based on the RASP routine DMSCAL.
+C
+C ******************************************************************
+C
+C .. Scalar Arguments ..
+ CHARACTER JOBS
+ INTEGER LDA, M, N
+C .. Array Arguments ..
+ DOUBLE PRECISION A(LDA,*), C(*), R(*)
+C .. Local Scalars ..
+ INTEGER I, J
+ DOUBLE PRECISION CJ
+C .. External Functions ..
+ LOGICAL LSAME
+ EXTERNAL LSAME
+C .. Executable Statements ..
+C
+C Quick return if possible.
+C
+ IF( M.EQ.0 .OR. N.EQ.0 )
+ $ RETURN
+C
+ IF( LSAME( JOBS, 'C' ) ) ...
[truncated message content] |
|
From: <par...@us...> - 2011-08-02 15:28:26
|
Revision: 8429
http://octave.svn.sourceforge.net/octave/?rev=8429&view=rev
Author: paramaniac
Date: 2011-08-02 15:28:20 +0000 (Tue, 02 Aug 2011)
Log Message:
-----------
control: touch up ncfsyn and example
Modified Paths:
--------------
trunk/octave-forge/main/control/devel/MDSSystem.m
trunk/octave-forge/main/control/devel/ncfsyn/ncfsyn.m
Modified: trunk/octave-forge/main/control/devel/MDSSystem.m
===================================================================
--- trunk/octave-forge/main/control/devel/MDSSystem.m 2011-08-01 21:45:22 UTC (rev 8428)
+++ trunk/octave-forge/main/control/devel/MDSSystem.m 2011-08-02 15:28:20 UTC (rev 8429)
@@ -1,16 +1,16 @@
+% ===============================================================================
+% Robust Control of a Mass-Damper-Spring System
+% ===============================================================================
+% Reference: Gu, D.W., Petkov, P.Hr. and Konstantinov, M.M.
+% Robust Control Design with Matlab, Springer 2005
+% ===============================================================================
+
% Tabula Rasa
clear all, close all, clc
-% Nominal Values
-m_nom = 3; % Mass
-c_nom = 1; % Damping Coefficient
-k_nom = 2; % Spring Stiffness
-
-% Perturbations
-p_m = 0.4; % 40% uncertainty in the mass
-p_c = 0.2; % 20% uncertainty in the damping coefficient
-p_k = 0.3; % 30% uncertainty in the spring stiffness
-
+% ===============================================================================
+% System Model
+% ===============================================================================
% +---------------+
% | d_m 0 0 |
% +-----| 0 d_c 0 |<----+
@@ -23,6 +23,16 @@
% u ----->| |-----> y
% +---------------+
+% Nominal Values
+m_nom = 3; % Mass
+c_nom = 1; % Damping Coefficient
+k_nom = 2; % Spring Stiffness
+
+% Perturbations
+p_m = 0.4; % 40% uncertainty in the mass
+p_c = 0.2; % 20% uncertainty in the damping coefficient
+p_k = 0.3; % 30% uncertainty in the spring stiffness
+
% State-Space Representation
A = [ 0, 1
-k_nom/m_nom, -c_nom/m_nom ];
@@ -51,12 +61,36 @@
D22 = [ 0 ];
-inname = {"u_m", "u_c", "u_k", "u"}; % Input Names
-outname = {"y_m", "y_c", "y_k", "y"}; % Output Names
+inname = {'u_m', 'u_c', 'u_k', 'u'}; % Input Names
+outname = {'y_m', 'y_c', 'y_k', 'y'}; % Output Names
G_nom = ss (A, [B1, B2], [C1; C2], [D11, D12; D21, D22], \
- "inname", inname, "outname", outname);
+ 'inputname', inname, 'outputname', outname);
+
+% ===============================================================================
+% Frequency Analysis of Uncertain System
+% ===============================================================================
+
+% Uncertainties: -1 <= delta_m, delta_c, delta_k <= 1
+[delta_m, delta_c, delta_k] = ndgrid ([-1, 0, 1], [-1, 0, 1], [-1, 0, 1]);
+w = logspace (-1, 1, 100); % Frequency Vector
+figure (1)
+
+for k = 1 : numel (delta_m)
+ Delta = diag ([delta_m(k), delta_c(k), delta_k(k)]);
+ G_per = lft (Delta, G_nom);
+ bode (G_per, w)
+ subplot (2, 1, 1)
+ hold on
+ subplot (2, 1, 2)
+ hold on
+endfor
+
+
+% ===============================================================================
+% Mixed Sensitivity H-infinity Controller Design
+% ===============================================================================
% +-------+
% +--------------------->| W_p |----------> e_p
% | +-------+
@@ -72,11 +106,11 @@
% +-----------------------------------------+
% Weighting Functions
-s = tf ("s");
+s = tf ('s');
W_p = 0.95 * (s^2 + 1.8*s + 10) / (s^2 + 8.0*s + 0.01);
W_u = 10^-2;
-% Suboptimal H-infinity Controller Design
+% Mixed Sensitivity H-infinity Controller Design
G = G_nom(4, 4); % Extract output y and input u
%K = mixsyn (G, W_p, W_u);
%[K, ~, gamma] = mixsyn (G, W_p, W_u)
@@ -91,33 +125,38 @@
% Closed Loop
T = feedback (L);
-figure (1)
+figure (2)
sigma (T)
-figure (2)
+figure (3)
sigma (N)
norm (N, inf)
-figure (3)
+figure (4)
step (T)
-figure (4)
+% ===============================================================================
+% H-infinity Loop-Shaping Design
+% ===============================================================================
-w = logspace (-1, 1, 100);
+W1 = 8 * (2*s + 1) / (0.9*s); % Precompensator
+W2 = 1; % Postcompensator
+factor = 1.1 % Suboptimal Controller
-% Uncertainties
-% -1 <= delta_m, delta_c, delta_k <= 1
-[delta_m, delta_c, delta_k] = ndgrid ([-1, 0, 1], [-1, 0, 1], [-1, 0, 1]);
+% Compute the suboptimal positive feedback controller
+K = ncfsyn (G, W1, W2, factor)
-for k = 1 : numel (delta_1)
- Delta = diag ([delta_m(k), delta_c(k), delta_k(k)]);
- G_per = lft (Delta, G_nom);
- %figure (4)
- bode (G_per, w)
- subplot (2, 1, 1)
- hold on
- subplot (2, 1, 2)
- hold on
-endfor
\ No newline at end of file
+K = -K; % negative feedback controller
+
+% Open Loop
+L = G * K;
+
+% Closed Loop
+T = feedback (L);
+
+figure (5)
+step (T)
+
+% ===============================================================================
Modified: trunk/octave-forge/main/control/devel/ncfsyn/ncfsyn.m
===================================================================
--- trunk/octave-forge/main/control/devel/ncfsyn/ncfsyn.m 2011-08-01 21:45:22 UTC (rev 8428)
+++ trunk/octave-forge/main/control/devel/ncfsyn/ncfsyn.m 2011-08-02 15:28:20 UTC (rev 8429)
@@ -21,13 +21,42 @@
## Compute positive feedback controller using the McFarlane/Glover Loop Shaping Design Procedure.
## Uses SLICOT SB10ID, SB10KD and SB10ZD by courtesy of
## @uref{http://www.slicot.org, NICONET e.V.}
+##
+## @strong{Inputs}
+## @table @var
+## @item G
+## LTI model of plant.
+## @item W1
+## LTI model of precompensator. Model must be SISO or of appropriate size.
+## An identity matrix is taken if @var{W1} is not specified or if an empty model
+## @code{[]} is passed.
+## @item W2
+## LTI model of postcompensator. Model must be SISO or of appropriate size.
+## An identity matrix is taken if @var{W2} is not specified or if an empty model
+## @code{[]} is passed.
+## @item factor
+## @code{factor = 1} implies that an optimal controller is required.
+## @code{factor > 1} implies that a suboptimal controller is required,
+## achieving a performance taht is @var{factor} times less than optimal.
+## Default value is 1.
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item K
+## State-space model of the H-infinity loop-shaping controller.
+## @item N
+## State-space model of the lower LFT of @var{P} and @var{K}.
+## @item gamma
+## L-infinity norm of @var{N}.
+## @end table
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
## Created: July 2011
## Version: 0.1
-% function [K, N, gamma] = ncfsyn (G, W1 = [], W2 = [], factor = 1.0)
+% function [K, N, gamma, info] = ncfsyn (G, W1 = [], W2 = [], factor = 1.0)
function K = ncfsyn (G, W1 = [], W2 = [], factor = 1.0)
if (nargin == 0 || nargin > 4)
@@ -65,7 +94,7 @@
K = W1 * Ks * W2;
- %struct ("Gs", Gs, "Ks", Ks);
+ %struct ("Gs", Gs, "Ks", Ks, "rcond", rcond);
endfunction
@@ -76,12 +105,12 @@
W = ss (eye (s));
else
W = ss (W);
- if (! isstable (W))
- error ("ncfsyn: %s must be stable", inputname (1));
- endif
- if (! isminimumphase (W))
- error ("ncfsyn: %s must be minimum-phase", inputname (1));
- endif
+ %if (! isstable (W))
+ % error ("ncfsyn: %s must be stable", inputname (1));
+ %endif
+ %if (! isminimumphase (W))
+ % error ("ncfsyn: %s must be minimum-phase", inputname (1));
+ %endif
[p, m] = size (W);
if (m == s && p == s) # model is of correct size
return;
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2011-08-04 21:10:36
|
Revision: 8432
http://octave.svn.sourceforge.net/octave/?rev=8432&view=rev
Author: paramaniac
Date: 2011-08-04 21:10:29 +0000 (Thu, 04 Aug 2011)
Log Message:
-----------
control: fix ncfsyn
Modified Paths:
--------------
trunk/octave-forge/main/control/devel/ncfsyn/ncfsyn.m
Added Paths:
-----------
trunk/octave-forge/main/control/devel/test_pzmap.m
Modified: trunk/octave-forge/main/control/devel/ncfsyn/ncfsyn.m
===================================================================
--- trunk/octave-forge/main/control/devel/ncfsyn/ncfsyn.m 2011-08-04 19:18:41 UTC (rev 8431)
+++ trunk/octave-forge/main/control/devel/ncfsyn/ncfsyn.m 2011-08-04 21:10:29 UTC (rev 8432)
@@ -46,7 +46,7 @@
## @item K
## State-space model of the H-infinity loop-shaping controller.
## @item N
-## State-space model of closed loop.
+## State-space model of the closed loop depicted below.
## @item gamma
## L-infinity norm of @var{N}.
## @item info
@@ -60,6 +60,21 @@
## @item info.rcond
## Estimates of the reciprocal condition numbers of the Riccati equations.
## @end table
+##
+## @strong{Block Diagram of N}
+## @example
+## @group
+##
+## ^ z1 ^ z2
+## | |
+## w1 + | +--------+ | +--------+
+## ----->(+)---+-->| Ks |----+--->(+)---->| Gs |----+
+## ^ + +--------+ ^ +--------+ |
+## | w2 | |
+## | |
+## +-------------------------------------------------+
+## @end group
+## @end example
## @end deftypefn
## Author: Lukas Reichlin <luk...@gm...>
@@ -104,7 +119,7 @@
K = W1 * Ks * W2;
if (nargout > 1)
- N = append (eye (p), K, G);
+ N = append (eye (p), Ks, Gs);
M = [zeros(p,p), zeros(p,m), eye(p);
eye(p), zeros(p,m), zeros(p,p);
zeros(m,p), eye(m), zeros(m,p)];
Added: trunk/octave-forge/main/control/devel/test_pzmap.m
===================================================================
--- trunk/octave-forge/main/control/devel/test_pzmap.m (rev 0)
+++ trunk/octave-forge/main/control/devel/test_pzmap.m 2011-08-04 21:10:29 UTC (rev 8432)
@@ -0,0 +1,5 @@
+pzmap2 (WestlandLynx, Boeing707, BMWengine)
+
+
+%__next_line_color__ ("reset")
+%__next_line_color__
\ No newline at end of file
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2011-08-05 11:57:14
|
Revision: 8433
http://octave.svn.sourceforge.net/octave/?rev=8433&view=rev
Author: paramaniac
Date: 2011-08-05 11:57:01 +0000 (Fri, 05 Aug 2011)
Log Message:
-----------
control: polish ncfsyn stuff for release
Modified Paths:
--------------
trunk/octave-forge/main/control/devel/MDSSystem.m
trunk/octave-forge/main/control/devel/ncfsyn/makefile_ncfsyn.m
trunk/octave-forge/main/control/devel/ncfsyn/ncfsyn.m
Modified: trunk/octave-forge/main/control/devel/MDSSystem.m
===================================================================
--- trunk/octave-forge/main/control/devel/MDSSystem.m 2011-08-04 21:10:29 UTC (rev 8432)
+++ trunk/octave-forge/main/control/devel/MDSSystem.m 2011-08-05 11:57:01 UTC (rev 8433)
@@ -1,5 +1,5 @@
% ===============================================================================
-% Robust Control of a Mass-Damper-Spring System
+% Robust Control of a Mass-Damper-Spring System Lukas Reichlin August 2011
% ===============================================================================
% Reference: Gu, D.W., Petkov, P.Hr. and Konstantinov, M.M.
% Robust Control Design with Matlab, Springer 2005
@@ -61,13 +61,15 @@
D22 = [ 0 ];
-inname = {'u_m', 'u_c', 'u_k', 'u'}; % input names
-outname = {'y_m', 'y_c', 'y_k', 'y'}; % output names
+inname = {'u_m', 'u_c', 'u_k', 'u'}; % input names
+outname = {'y_m', 'y_c', 'y_k', 'y'}; % output names
G_nom = ss (A, [B1, B2], [C1; C2], [D11, D12; D21, D22], ...
'inputname', inname, 'outputname', outname);
+G = G_nom(4, 4); % extract output y and input u
+
% ===============================================================================
% Frequency Analysis of Uncertain System
% ===============================================================================
@@ -76,7 +78,7 @@
[delta_m, delta_c, delta_k] = ndgrid ([-1, 0, 1], [-1, 0, 1], [-1, 0, 1]);
% Bode Plots of Perturbed Plants
-w = logspace (-1, 1, 100); % frequency vector
+w = logspace (-1, 1, 100); % frequency vector
figure (1)
for k = 1 : numel (delta_m)
@@ -91,7 +93,7 @@
% ===============================================================================
-% Mixed Sensitivity H-infinity Controller Design
+% Mixed Sensitivity H-infinity Controller Design (S over KS Method)
% ===============================================================================
% +-------+
% +--------------------->| W_p |----------> e_p
@@ -108,47 +110,47 @@
% +-----------------------------------------+
% Weighting Functions
-s = tf ('s'); % transfer function variable
-W_p = 0.95 * (s^2 + 1.8*s + 10) / (s^2 + 8.0*s + 0.01);
-W_u = 10^-2;
+s = tf ('s'); % transfer function variable
+W_p = 0.95 * (s^2 + 1.8*s + 10) / (s^2 + 8.0*s + 0.01); % performance weighting
+W_u = 10^-2; % control weighting
-% Mixed Sensitivity H-infinity Controller Design
-G = G_nom(4, 4); % extract output y and input u
+% Synthesis
+K = mixsyn (G, W_p, W_u); % mixed-sensitivity H-infinity synthesis
-[K, N, gamma] = mixsyn (G, W_p, W_u);
+% Interconnections
+L = G * K; % open loop
+T = feedback (L); % closed loop
-L = G * K; % open loop
-T = feedback (L); % closed loop
-
+% Plotting
figure (2)
-sigma (T)
+sigma (T) % singular values
figure (3)
-sigma (N)
+step (T) % step response
-norm (N, inf)
-figure (4)
-step (T)
-
-
% ===============================================================================
% H-infinity Loop-Shaping Design
% ===============================================================================
-W1 = 8 * (2*s + 1) / (0.9*s); % precompensator
-W2 = 1; % postcompensator
-factor = 1.1; % suboptimal controller
+% Settings
+W1 = 8 * (2*s + 1) / (0.9*s); % precompensator
+W2 = 1; % postcompensator
+factor = 1.1; % suboptimal controller
-% Compute the suboptimal positive feedback controller
-K = ncfsyn (G, W1, W2, factor); % positive feedback controller
-[K, N, gamma, info] = ncfsyn (G, W1, W2, factor)
+% Synthesis
+K = ncfsyn (G, W1, W2, factor); % positive feedback controller
-K = -K; % negative feedback controller
-L = G * K; % open loop
-T = feedback (L); % closed loop
+% Interconnections
+K = -K; % negative feedback controller
+L = G * K; % open loop
+T = feedback (L); % closed loop
+% Plotting
+figure (4)
+sigma (T) % singular values
+
figure (5)
-step (T)
+step (T) % step response
% ===============================================================================
Modified: trunk/octave-forge/main/control/devel/ncfsyn/makefile_ncfsyn.m
===================================================================
--- trunk/octave-forge/main/control/devel/ncfsyn/makefile_ncfsyn.m 2011-08-04 21:10:29 UTC (rev 8432)
+++ trunk/octave-forge/main/control/devel/ncfsyn/makefile_ncfsyn.m 2011-08-05 11:57:01 UTC (rev 8433)
@@ -1,3 +1,4 @@
+## H-infinity loop shaping - continuous-time
mkoctfile "-Wl,-framework" "-Wl,vecLib" \
slsb10id.cc \
SB10ID.f SB02RD.f select.f SB10JD.f MB02VD.f \
@@ -7,11 +8,13 @@
MB01RX.f SB03MX.f SB03SX.f MB01RY.f SB03QY.f \
SB03QX.f SB03MY.f SB04PX.f SB03MV.f SB03MW.f
+## H-infinity loop shaping - discrete-time - strictly proper case
mkoctfile "-Wl,-framework" "-Wl,vecLib" \
slsb10kd.cc \
SB10KD.f SB02OD.f select.f SB02OY.f SB02OW.f \
SB02OV.f SB02MV.f SB02OU.f SB02MR.f
+## H-infinity loop shaping - discrete-time - proper case
mkoctfile "-Wl,-framework" "-Wl,vecLib" \
slsb10zd.cc \
SB10ZD.f MA02AD.f SB02OD.f select.f MB01RX.f \
Modified: trunk/octave-forge/main/control/devel/ncfsyn/ncfsyn.m
===================================================================
--- trunk/octave-forge/main/control/devel/ncfsyn/ncfsyn.m 2011-08-04 21:10:29 UTC (rev 8432)
+++ trunk/octave-forge/main/control/devel/ncfsyn/ncfsyn.m 2011-08-05 11:57:01 UTC (rev 8433)
@@ -119,6 +119,7 @@
K = W1 * Ks * W2;
if (nargout > 1)
+ ## FIXME: is this really the same thing as the dark side does?
N = append (eye (p), Ks, Gs);
M = [zeros(p,p), zeros(p,m), eye(p);
eye(p), zeros(p,m), zeros(p,p);
@@ -145,12 +146,12 @@
W = ss (eye (s));
else
W = ss (W);
- %if (! isstable (W))
- % error ("ncfsyn: %s must be stable", inputname (1));
- %endif
- %if (! isminimumphase (W))
- % error ("ncfsyn: %s must be minimum-phase", inputname (1));
- %endif
+ ## if (! isstable (W))
+ ## error ("ncfsyn: %s must be stable", inputname (1));
+ ## endif
+ ## if (! isminimumphase (W))
+ ## error ("ncfsyn: %s must be minimum-phase", inputname (1));
+ ## endif
[p, m] = size (W);
if (m == s && p == s) # model is of correct size
return;
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2011-08-05 16:25:58
|
Revision: 8436
http://octave.svn.sourceforge.net/octave/?rev=8436&view=rev
Author: paramaniac
Date: 2011-08-05 16:25:50 +0000 (Fri, 05 Aug 2011)
Log Message:
-----------
control: add stuff for pdf manual
Added Paths:
-----------
trunk/octave-forge/main/control/devel/pdfdoc/
trunk/octave-forge/main/control/devel/pdfdoc/doc.tex
trunk/octave-forge/main/control/devel/pdfdoc/function_doc.m
trunk/octave-forge/main/control/devel/pdfdoc/functions.texi
Added: trunk/octave-forge/main/control/devel/pdfdoc/doc.tex
===================================================================
--- trunk/octave-forge/main/control/devel/pdfdoc/doc.tex (rev 0)
+++ trunk/octave-forge/main/control/devel/pdfdoc/doc.tex 2011-08-05 16:25:50 UTC (rev 8436)
@@ -0,0 +1,11 @@
+\input texinfo @c -*-texinfo-*-
+@c %**start of header
+@setfilename doc.info
+@settitle Sample Manual 1.0
+@c %**end of header
+
+@contents
+@chapter Function Reference
+@include functions.texi
+
+@end
Added: trunk/octave-forge/main/control/devel/pdfdoc/function_doc.m
===================================================================
--- trunk/octave-forge/main/control/devel/pdfdoc/function_doc.m (rev 0)
+++ trunk/octave-forge/main/control/devel/pdfdoc/function_doc.m 2011-08-05 16:25:50 UTC (rev 8436)
@@ -0,0 +1,31 @@
+% pack_name = "generate_html"
+pack_name = "control"
+
+
+% Load Packages
+pkg load "generate_html"
+pkg ("load", pack_name);
+
+% Get list of functions
+list = pkg ("describe", pack_name);
+
+%list
+
+% Open output file
+fid = fopen ("functions.texi", "w");
+
+for k = 1:numel (list {1}.provides)
+
+ group = list {1}.provides{k};
+ functions = group.functions;
+
+ fprintf (fid, '@section %s\n', group.category);
+
+ for k=1:numel(functions)
+ [TEXT, FORMAT] = get_help_text (functions(k));
+ fprintf (fid,TEXT);
+ end
+
+end
+
+fclose(fid);
\ No newline at end of file
Added: trunk/octave-forge/main/control/devel/pdfdoc/functions.texi
===================================================================
--- trunk/octave-forge/main/control/devel/pdfdoc/functions.texi (rev 0)
+++ trunk/octave-forge/main/control/devel/pdfdoc/functions.texi 2011-08-05 16:25:50 UTC (rev 8436)
@@ -0,0 +1,2342 @@
+@section Examples and Demos
+
+ @deftypefn{Function File} {@var{sys} =} BMWengine ()
+ @deftypefnx{Function File} {@var{sys} =} BMWengine (@var{"scaled"})
+ @deftypefnx{Function File} {@var{sys} =} BMWengine (@var{"unscaled"})
+ Model of the BMW 4-cylinder engine at ETH Zurich's control laboratory.
+ @example
+ @group
+ OPERATING POINT
+ Drosselklappenstellung alpha_DK = 10.3 Grad
+ Saugrohrdruck p_s = 0.48 bar
+ Motordrehzahl n = 860 U/min
+ Lambda-Messwert lambda = 1.000
+ Relativer Wandfilminhalt nu = 1
+
+ INPUTS
+ U_1 Sollsignal Drosselklappenstellung [Grad]
+ U_2 Relative Einspritzmenge [-]
+ U_3 Zuendzeitpunkt [Grad KW]
+ M_L Lastdrehmoment [Nm]
+
+ STATES
+ X_1 Drosselklappenstellung [Grad]
+ X_2 Saugrohrdruck [bar]
+ X_3 Motordrehzahl [U/min]
+ X_4 Messwert Lamba-Sonde [-]
+ X_5 Relativer Wandfilminhalt [-]
+
+ OUTPUTS
+ Y_1 Motordrehzahl [U/min]
+ Y_2 Messwert Lambda-Sonde [-]
+
+ SCALING
+ U_1N, X_1N 1 Grad
+ U_2N, X_4N, X_5N, Y_2N 0.05
+ U_3N 1.6 Grad KW
+ X_2N 0.05 bar
+ X_3N, Y_1N 200 U/min
+ @end group
+ @end example
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{sys} =} Boeing707 ()
+ Creates a linearized state-space model of a Boeing 707-321 aircraft
+ at @var{v}=80 m/s
+ @iftex
+ @tex
+ ($M = 0.26$, $G_{a0} = -3^{circ}$, ${lpha}_0 = 4^{circ}$, ${kappa}= 50^{circ}$).
+ @end tex
+ @end iftex
+ @ifinfo
+ (@var{M} = 0.26, @var{Ga0} = -3 deg, @var{alpha0} = 4 deg, @var{kappa} = 50 deg).
+ @end ifinfo
+
+ System inputs: (1) thrust and (2) elevator angle.
+
+ System outputs: (1) airspeed and (2) pitch angle.
+
+ @strong{Reference}: R. Brockhaus: @cite{Flugregelung} (Flight
+ Control), Springer, 1994.
+ @end deftypefn
+ ===============================================================================
+ optiPID Lukas Reichlin July 2009
+ ===============================================================================
+ Numerical Optimization of an A/H PID Controller
+ Required OCTAVE Packages: control, optim (and its dependencies)
+ Required MATLAB Toolboxes: Control, Optimization
+ ===============================================================================
+
+ @deftypefn{Function File} {@var{sys} =} WestlandLynx ()
+ Model of the Westland Lynx Helicopter about hover.
+ @example
+ @group
+ INPUTS
+ main rotor collective
+ longitudinal cyclic
+ lateral cyclic
+ tail rotor collective
+
+ STATES
+ pitch attitude theta [rad]
+ roll attitude phi [rad]
+ roll rate (body-axis) p [rad/s]
+ pitch rate (body-axis) q [rad/s]
+ yaw rate xi [rad/s]
+ forward velocity v_x [ft/s]
+ lateral velocity v_y [ft/s]
+ vertical velocity v_z [ft/s]
+
+ OUTPUTS
+ heave velocity H_dot [ft/s]
+ pitch attitude theta [rad]
+ roll attitude phi [rad]
+ heading rate psi_dot [rad/s]
+ roll rate p [rad/s]
+ pitch rate q [rad/s]
+
+ 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
+ @end group
+ @end example
+ @end deftypefn
+@section Linear Time Invariant Models
+
+ @deftypefn {Function File} {@var{sys} =} dss (@var{sys})
+ @deftypefnx {Function File} {@var{sys} =} dss (@var{d})
+ @deftypefnx {Function File} {@var{sys} =} dss (@var{a}, @var{b}, @var{c}, @var{d}, @var{e}, @dots{})
+ @deftypefnx {Function File} {@var{sys} =} dss (@var{a}, @var{b}, @var{c}, @var{d}, @var{e}, @var{tsam}, @dots{})
+ Create or convert to descriptor state-space model.
+
+ @strong{Inputs}
+ @table @var
+ @item a
+ State transition matrix (n-by-n).
+ @item b
+ Input matrix (n-by-m).
+ @item c
+ Measurement matrix (p-by-n).
+ @item d
+ Feedthrough matrix (p-by-m).
+ @item e
+ Descriptor matrix (n-by-n).
+ @item tsam
+ Sampling time in seconds. If @var{tsam} is not specified,
+ a continuous-time model is assumed.
+ @item @dots{}
+ Optional pairs of properties and values.
+ Type @command{set (dss)} for more information.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item sys
+ Descriptor state-space model.
+ @end table
+
+ @strong{Equations}
+ @example
+ @group
+ .
+ E x = A x + B u
+ y = C x + D u
+ @end group
+ @end example
+
+ @seealso{ss, tf}
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{sys} =} frd (@var{sys})
+ @deftypefnx {Function File} {@var{sys} =} frd (@var{sys}, @var{w})
+ @deftypefnx {Function File} {@var{sys} =} frd (@var{H}, @var{w}, @dots{})
+ @deftypefnx {Function File} {@var{sys} =} frd (@var{H}, @var{w}, @var{tsam}, @dots{})
+ Create or convert to frequency response data.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI model. If second argument @var{w} is omitted, the interesting
+ frequency range is calculated by the zeros and poles of @var{sys}.
+ @item H
+ Frequency response array (p-by-m-by-lw). In the SISO case,
+ a vector (lw-by-1) or (1-by-lw) is accepted as well.
+ @item w
+ Frequency vector (lw-by-1) in radian per second [rad/s].
+ @item tsam
+ Sampling time in seconds. If @var{tsam} is not specified,
+ a continuous-time model is assumed.
+ @item @dots{}
+ Optional pairs of properties and values.
+ Type @command{set (frd)} for more information.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item sys
+ Frequency response data object.
+ @end table
+
+ @seealso{dss, ss, tf}
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{sys} =} ss (@var{sys})
+ @deftypefnx {Function File} {@var{sys} =} ss (@var{d})
+ @deftypefnx {Function File} {@var{sys} =} ss (@var{a}, @var{b})
+ @deftypefnx {Function File} {@var{sys} =} ss (@var{a}, @var{b}, @var{c})
+ @deftypefnx {Function File} {@var{sys} =} ss (@var{a}, @var{b}, @var{c}, @var{d}, @dots{})
+ @deftypefnx {Function File} {@var{sys} =} ss (@var{a}, @var{b}, @var{c}, @var{d}, @var{tsam}, @dots{})
+ Create or convert to state-space model.
+
+ @strong{Inputs}
+ @table @var
+ @item a
+ State transition matrix (n-by-n).
+ @item b
+ Input matrix (n-by-m).
+ @item c
+ Measurement matrix (p-by-n).
+ If @var{c} is empty @code{[]} or not specified, an identity matrix is assumed.
+ @item d
+ Feedthrough matrix (p-by-m).
+ If @var{d} is empty @code{[]} or not specified, a zero matrix is assumed.
+ @item tsam
+ Sampling time in seconds. If @var{tsam} is not specified, a continuous-time model is assumed.
+ @item @dots{}
+ Optional pairs of properties and values.
+ Type @command{set (ss)} for more information.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item sys
+ State-space model.
+ @end table
+
+ @strong{Example}
+ @example
+ @group
+ octave:1> a = [1 2 3; 4 5 6; 7 8 9];
+ octave:2> b = [10; 11; 12];
+ octave:3> stname = @{"V", "A", "kJ"@};
+ octave:4> sys = ss (a, b, [], [], "stname", stname)
+
+ sys.a =
+ V A kJ
+ V 1 2 3
+ A 4 5 6
+ kJ 7 8 9
+
+ sys.b =
+ u1
+ V 10
+ A 11
+ kJ 12
+
+ sys.c =
+ V A kJ
+ y1 1 0 0
+ y2 0 1 0
+ y3 0 0 1
+
+ sys.d =
+ u1
+ y1 0
+ y2 0
+ y3 0
+
+ Continuous-time model.
+ octave:5>
+ @end group
+ @end example
+
+ @seealso{tf, dss}
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{s} =} tf (@var{"s"})
+ @deftypefnx {Function File} {@var{z} =} tf (@var{"z"}, @var{tsam})
+ @deftypefnx {Function File} {@var{sys} =} tf (@var{sys})
+ @deftypefnx {Function File} {@var{sys} =} tf (@var{num}, @var{den}, @dots{})
+ @deftypefnx {Function File} {@var{sys} =} tf (@var{num}, @var{den}, @var{tsam}, @dots{})
+ Create or convert to transfer function model.
+
+ @strong{Inputs}
+ @table @var
+ @item num
+ Numerator or cell of numerators. Each numerator must be a row vector
+ containing the exponents of the polynomial in descending order.
+ @item den
+ Denominator or cell of denominators. Each denominator must be a row vector
+ containing the exponents of the polynomial in descending order.
+ @item tsam
+ Sampling time in seconds. If @var{tsam} is not specified, a continuous-time
+ model is assumed.
+ @item @dots{}
+ Optional pairs of properties and values.
+ Type @command{set (tf)} for more information.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item sys
+ Transfer function model.
+ @end table
+
+ @strong{Example}
+ @example
+ @group
+ octave:1> s = tf ("s");
+ octave:2> G = 1/(s+1)
+
+ Transfer function "G" from input "u1" to output ...
+ 1
+ y1: -----
+ s + 1
+
+ octave:3> z = tf ("z", 0.2);
+ octave:4> H = 0.095/(z-0.9)
+
+ Transfer function "H" from input "u1" to output ...
+ 0.095
+ y1: -------
+ z - 0.9
+
+ Sampling time: 0.2 s
+ octave:5>
+ @end group
+ @end example
+
+ @seealso{ss, dss}
+ @end deftypefn
+@section Model Data Access
+
+ @deftypefn {Function File} {[@var{a}, @var{b}, @var{c}, @var{d}, @var{e}, @var{tsam}] =} dssdata (@var{sys})
+ @deftypefnx {Function File} {[@var{a}, @var{b}, @var{c}, @var{d}, @var{e}, @var{tsam}] =} dssdata (@var{sys}, @var{[]})
+ Access descriptor state-space model data.
+ Argument @var{sys} is not limited to descriptor state-space models.
+ If @var{sys} is not a descriptor state-space model, it is converted automatically.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ Any type of LTI model.
+ @item []
+ In case @var{sys} is not a dss model (descriptor matrix @var{e} empty),
+ @code{dssdata (sys, [])} returns the empty element @code{e = []} whereas
+ @code{dssdata (sys)} returns the identity matrix @code{e = eye (size (a))}.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item a
+ State transition matrix (n-by-n).
+ @item b
+ Input matrix (n-by-m).
+ @item c
+ Measurement matrix (p-by-n).
+ @item d
+ Feedthrough matrix (p-by-m).
+ @item e
+ Descriptor matrix (n-by-n).
+ @item tsam
+ Sampling time in seconds. If @var{sys} is a continuous-time model,
+ a zero is returned.
+ @end table
+ @end deftypefn
+
+ @deftypefn {Function File} {[@var{H}, @var{w}, @var{tsam}] =} frdata (@var{sys})
+ @deftypefnx {Function File} {[@var{H}, @var{w}, @var{tsam}] =} frdata (@var{sys}, @var{"vector"})
+ Access frequency response data.
+ Argument @var{sys} is not limited to frequency response data objects.
+ If @var{sys} is not a frd object, it is converted automatically.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ Any type of LTI model.
+ @item "v", "vector"
+ In case @var{sys} is a SISO model, this option returns the frequency response
+ as a column vector (lw-by-1) instead of an array (p-by-m-by-lw).
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item H
+ Frequency response array (p-by-m-by-lw). In the SISO case,
+ a vector (lw-by-1) is possible as well.
+ @item w
+ Frequency vector (lw-by-1) in radian per second [rad/s].
+ @item tsam
+ Sampling time in seconds. If @var{sys} is a continuous-time model,
+ a zero is returned.
+ @end table
+ @end deftypefn
+
+ @deftypefn {Function File} get (@var{sys})
+ @deftypefnx {Function File} {@var{value} =} get (@var{sys}, @var{"property"})
+ Access property values of LTI objects.
+ @end deftypefn
+
+ @deftypefn {Function File} set (@var{sys})
+ @deftypefnx {Function File} {@var{sys} =} set (@var{sys}, @var{"property"}, @var{value})
+ Set or modify properties of LTI objects.
+ @end deftypefn
+
+ @deftypefn {Function File} {[@var{a}, @var{b}, @var{c}, @var{d}, @var{tsam}] =} ssdata (@var{sys})
+ Access state-space model data.
+ Argument @var{sys} is not limited to state-space models.
+ If @var{sys} is not a state-space model, it is converted automatically.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ Any type of LTI model.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item a
+ State transition matrix (n-by-n).
+ @item b
+ Input matrix (n-by-m).
+ @item c
+ Measurement matrix (p-by-n).
+ @item d
+ Feedthrough matrix (p-by-m).
+ @item tsam
+ Sampling time in seconds. If @var{sys} is a continuous-time model,
+ a zero is returned.
+ @end table
+ @end deftypefn
+
+ @deftypefn {Function File} {[@var{num}, @var{den}, @var{tsam}] =} tfdata (@var{sys})
+ @deftypefnx {Function File} {[@var{num}, @var{den}, @var{tsam}] =} tfdata (@var{sys}, @var{"tfpoly"})
+ Access transfer function data.
+ @end deftypefn
+@section Model Conversions
+
+ @deftypefn {Function File} {@var{sys} =} c2d (@var{sys}, @var{tsam})
+ @deftypefnx {Function File} {@var{sys} =} c2d (@var{sys}, @var{tsam}, @var{method})
+ Convert the continuous lti model into its discrete time equivalent.
+ @end deftypefn
+
+ @deftypefn {Function File} {[@var{scaledsys}, @var{info}] =} prescale (@var{sys})
+ Prescale state-space model.
+ Uses SLICOT TB01ID and TG01AD by courtesy of
+ @uref{http://www.slicot.org, NICONET e.V.}.
+ Frequency response commands perform automatic scaling unless model property
+ @var{scaled} is set to @var{true}.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI model.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item scaledsys
+ Scaled state-space model.
+ @item info
+ Structure containing additional information.
+ @item info.SL
+ Left scaling factors. @code{Tl = diag (info.SL)}.
+ @item info.SR
+ Right scaling factors. @code{Tr = diag (info.SR)}.
+ @end table
+
+ @strong{Equations}
+ @example
+ @group
+ Es = Tl E Tr
+ As = Tl A Tr
+ Bs = Tl B
+ Cs = C Tr
+ Ds = D
+
+ For proper state-space models, Tl and Tr are inverse of each other.
+ @end group
+ @end example
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{sys} =} xperm (@var{sys}, @var{st_idx})
+ Reorder states in state-space models.
+ @end deftypefn
+@section Model Interconnections
+
+ @deftypefn {Function File} {@var{sys} =} append (@var{sys1}, @var{sys2})
+ Group LTI models by appending their inputs and outputs.
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{sys} =} blkdiag (@var{sys1}, @var{sys2})
+ Block-diagonal concatenation of LTI models.
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{sys} =} connect (@var{sys}, @var{cm}, @var{inputs}, @var{outputs})
+ Arbitrary interconnections between the inputs and outputs of an LTI model.
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{sys} =} feedback (@var{sys1})
+ @deftypefnx {Function File} {@var{sys} =} feedback (@var{sys1}, @var{"+"})
+ @deftypefnx {Function File} {@var{sys} =} feedback (@var{sys1}, @var{sys2})
+ @deftypefnx {Function File} {@var{sys} =} feedback (@var{sys1}, @var{sys2}, @var{"+"})
+ @deftypefnx {Function File} {@var{sys} =} feedback (@var{sys1}, @var{sys2}, @var{feedin}, @var{feedout})
+ @deftypefnx {Function File} {@var{sys} =} feedback (@var{sys1}, @var{sys2}, @var{feedin}, @var{feedout}, @var{"+"})
+ Feedback connection of two LTI models.
+
+ @strong{Block Diagram}
+ @example
+ @group
+ u + +--------+ y
+ ------>(+)----->| sys1 |-------+------->
+ ^ - +--------+ |
+ | |
+ | +--------+ |
+ +-------| sys2 |<------+
+ +--------+
+ @end group
+ @end example
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{sys} =} lft (@var{sys1}, @var{sys2})
+ @deftypefnx {Function File} {@var{sys} =} lft (@var{sys1}, @var{sys2}, @var{nu}, @var{ny})
+ Linear fractional tranformation, also known as Redheffer star product.
+
+ @strong{Inputs}
+ @table @var
+ @item sys1
+ Upper LTI model.
+ @item sys2
+ Lower LTI model.
+ @item nu
+ The last nu inputs of @var{sys1} are connected with the first nu outputs of @var{sys2}.
+ If not specified, @code{min (m1, p2)} is taken.
+ @item ny
+ The last ny outputs of @var{sys1} are connected with the first ny inputs of @var{sys2}.
+ If not specified, @code{min (p1, m2)} is taken.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item sys
+ Resulting LTI model.
+ @end table
+
+ @strong{Block Diagram}
+ @example
+ @group
+ .............sys..............
+ : +--------+ :
+ w1 ------------>| |------------> z1
+ : | sys1 | :
+ : u +---->| |-----+ y :
+ : | +--------+ | : Lower LFT
+ : | | :
+ : | +--------+ | : lft (sys1, sys2)
+ : +-----| sys2 |<----+ :
+ : +--------+ :
+ :............................:
+
+
+ .............sys..............
+ : +--------+ :
+ : u +---->| sys1 |-----+ y :
+ : | +--------+ | : Upper LFT
+ : | | :
+ : | +--------+ | : lft (sys1, sys2)
+ : +-----| |<----+ :
+ : | sys2 | :
+ z2 <------------| |<------------ w2
+ : +--------+ :
+ :............................:
+
+
+ .............sys..............
+ : +--------+ :
+ w1 ------------>| |------------> z1
+ : | sys1 | :
+ : u +---->| |-----+ y :
+ : | +--------+ | :
+ : | | : lft (sys1, sys2, nu, ny)
+ : | +--------+ | :
+ : +-----| |<----+ :
+ : | sys2 | :
+ z2 <------------| |<------------ w2
+ : +--------+ :
+ :............................:
+ @end group
+ @end example
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{sys} =} mconnect (@var{sys}, @var{m})
+ @deftypefnx {Function File} {@var{sys} =} mconnect (@var{sys}, @var{m}, @var{inputs}, @var{outputs})
+ Arbitrary interconnections between the inputs and outputs of an LTI model.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI system.
+ @item m
+ Connection matrix. Each row belongs to an input and each column represents an output.
+ @item inputs
+ Vector of indices of those inputs which are retained. If not specified, all inputs are kept.
+ @item outputs
+ Vector of indices of those outputs which are retained. If not specified, all outputs are kept.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item sys
+ Interconnected system.
+ @end table
+
+ @strong{Example}
+ @example
+ @group
+ Solve the system equations of
+ y(t) = G e(t)
+ e(t) = u(t) + M y(t)
+ in order to build
+ y(t) = H u(t)
+ The matrix M for a (p-by-m) system G
+ has m rows and p columns (m-by-p).
+
+ Example for a 3x2 system:
+ u1 = -1*y1 + 5*y2 + 0*y3
+ u2 = pi*y1 + 0*y2 - 7*y3
+
+ | -1 5 0 |
+ M = | pi 0 7 |
+ @end group
+ @end example
+ @end deftypefn
+
+ @deftypefn{Function File} {@var{sys} =} parallel (@var{sys1}, @var{sys2})
+ Parallel connection of two LTI systems.
+
+ @strong{Block Diagram}
+ @example
+ @group
+ ..........................
+ : +--------+ :
+ : +-->| sys1 |---+ :
+ u : | +--------+ | + : y
+ -------+ O--------->
+ : | +--------+ | + :
+ : +-->| sys2 |---+ :
+ : +--------+ :
+ :.........sys............:
+
+ sys = parallel (sys1, sys2)
+ @end group
+ @end example
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{sys} =} series (@var{sys1}, @var{sys2})
+ @deftypefnx {Function File} {@var{sys} =} series (@var{sys1}, @var{sys2}, @var{outputs1}, @var{inputs2})
+ Series connection of two LTI models.
+
+ @strong{Block Diagram}
+ @example
+ @group
+ .....................................
+ u : +--------+ y1 u2 +--------+ : y
+ ------>| sys1 |---------->| sys2 |------->
+ : +--------+ +--------+ :
+ :................sys.................
+
+ sys = series (sys1, sys2)
+
+
+ .....................................
+ : v2 +--------+ :
+ : ---------->| | : y
+ : +--------+ y1 u2 | sys2 |------->
+ u : | |---------->| | :
+ ------>| sys1 | z1 +--------+ :
+ : | |----------> :
+ : +--------+ :
+ :................sys.................
+
+ outputs1 = [1]
+ inputs2 = [2]
+ sys = series (sys1, sys2, outputs1, inputs2)
+ @end group
+ @end example
+ @end deftypefn
+@section Model Characteristics
+
+ @deftypefn {Function File} {@var{co} =} ctrb (@var{sys})
+ @deftypefnx {Function File} {@var{co} =} ctrb (@var{a}, @var{b})
+ Controllability matrix.
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{k} =} dcgain (@var{sys})
+ DC gain of LTI model.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI system.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item k
+ DC gain matrice. For a system with m inputs and p outputs, the array @var{k}
+ has dimensions [p, m].
+ @end table
+
+ @seealso{freqresp}
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{W} =} gram (@var{sys}, @var{mode})
+ @deftypefnx {Function File} {@var{Wc} =} gram (@var{a}, @var{b})
+ @code{gram (@var{sys}, "c")} returns the controllability gramian of
+ the (continuous- or discrete-time) system @var{sys}.
+ @code{gram (@var{sys}, "o")} returns the observability gramian of the
+ (continuous- or discrete-time) system @var{sys}.
+ @code{gram (@var{a}, @var{b})} returns the controllability gramian
+ @var{Wc} of the continuous-time system @math{dx/dt = a x + b u};
+ i.e., @var{Wc} satisfies @math{a Wc + m Wc' + b b' = 0}.
+
+ @end deftypefn
+
+ @deftypefn{Function File} {@var{hsv} =} hsvd (@var{sys})
+ @deftypefnx{Function File} {@var{hsv} =} hsvd (@var{sys}, @var{"offset"}, @var{alpha})
+ Hankel singular values of the stable part of an LTI model. If no output arguments are
+ given, the Hankel singular values are displayed in a plot.
+ Uses SLICOT AB13AD by courtesy of
+ @uref{http://www.slicot.org, NICONET e.V.}
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{bool} =} isct (@var{sys})
+ Determine whether LTI model is a continuous-time system.
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{bool} =} isctrb (@var{sys})
+ @deftypefnx {Function File} {@var{bool} =} isctrb (@var{sys}, @var{tol})
+ @deftypefnx {Function File} {@var{bool} =} isctrb (@var{a}, @var{b})
+ @deftypefnx {Function File} {@var{bool} =} isctrb (@var{a}, @var{b}, @var{e})
+ @deftypefnx {Function File} {@var{bool} =} isctrb (@var{a}, @var{b}, @var{[]}, @var{tol})
+ @deftypefnx {Function File} {@var{bool} =} isctrb (@var{a}, @var{b}, @var{e}, @var{tol})
+ Logical check for system controllability.
+ Uses SLICOT AB01OD and TG01HD by courtesy of
+ @uref{http://www.slicot.org, NICONET e.V.}
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI model.
+ @item a
+ State transition matrix.
+ @item b
+ Input matrix.
+ @item e
+ Descriptor matrix.
+ @item tol
+ Optional roundoff parameter. Default value is 0.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item bool = 0
+ System is not controllable.
+ @item bool = 1
+ System is controllable.
+ @end table
+
+ @seealso{isobsv}
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{bool} =} isdetectable (@var{sys})
+ @deftypefnx {Function File} {@var{bool} =} isdetectable (@var{sys}, @var{tol})
+ @deftypefnx {Function File} {@var{bool} =} isdetectable (@var{a}, @var{c})
+ @deftypefnx {Function File} {@var{bool} =} isdetectable (@var{a}, @var{c}, @var{e})
+ @deftypefnx {Function File} {@var{bool} =} isdetectable (@var{a}, @var{c}, @var{[]}, @var{tol})
+ @deftypefnx {Function File} {@var{bool} =} isdetectable (@var{a}, @var{c}, @var{e}, @var{tol})
+ @deftypefnx {Function File} {@var{bool} =} isdetectable (@var{a}, @var{c}, @var{[]}, @var{[]}, @var{dflg})
+ @deftypefnx {Function File} {@var{bool} =} isdetectable (@var{a}, @var{c}, @var{e}, @var{[]}, @var{dflg})
+ @deftypefnx {Function File} {@var{bool} =} isdetectable (@var{a}, @var{c}, @var{[]}, @var{tol}, @var{dflg})
+ @deftypefnx {Function File} {@var{bool} =} isdetectable (@var{a}, @var{c}, @var{e}, @var{tol}, @var{dflg})
+ Logical test for system detectability.
+ All unstable modes must be observable or all unobservable states must be stable.
+ Uses SLICOT AB01OD and TG01HD by courtesy of
+ @uref{http://www.slicot.org, NICONET e.V.}
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI system.
+ @item a
+ State transition matrix.
+ @item c
+ Measurement matrix.
+ @item e
+ Descriptor matrix.
+ @item tol
+ Optional tolerance for stability. Default value is 0.
+ @item dflg = 0
+ Matrices (@var{a}, @var{c}) are part of a continuous-time system. Default Value.
+ @item dflg = 1
+ Matrices (@var{a}, @var{c}) are part of a discrete-time system.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item bool = 0
+ System is not detectable.
+ @item bool = 1
+ System is detectable.
+ @end table
+
+ See @command{isstabilizable} for description of computational method.
+ @seealso{isstabilizable, isstable, isctrb, isobsv}
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{bool} =} isdt (@var{sys})
+ Determine whether LTI model is a discrete-time system.
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{bool} =} isminimumphase (@var{sys})
+ @deftypefnx {Function File} {@var{bool} =} isminimumphase (@var{sys}, @var{tol})
+ Determine whether LTI system is minimum phase.
+ If a square system @var{P} is minimum-phase, its inverse @var{P^-1} is stable.
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{bool} =} isobsv (@var{sys})
+ @deftypefnx {Function File} {@var{bool} =} isobsv (@var{sys}, @var{tol})
+ @deftypefnx {Function File} {@var{bool} =} isobsv (@var{a}, @var{c})
+ @deftypefnx {Function File} {@var{bool} =} isobsv (@var{a}, @var{c}, @var{e})
+ @deftypefnx {Function File} {@var{bool} =} isobsv (@var{a}, @var{c}, @var{[]}, @var{tol})
+ @deftypefnx {Function File} {@var{bool} =} isobsv (@var{a}, @var{c}, @var{e}, @var{tol})
+ Logical check for system observability.
+ Uses SLICOT AB01OD and TG01HD by courtesy of
+ @uref{http://www.slicot.org, NICONET e.V.}
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI model.
+ @item a
+ State transition matrix.
+ @item c
+ Measurement matrix.
+ @item e
+ Descriptor matrix.
+ @item tol
+ Optional roundoff parameter. Default value is 0.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item bool = 0
+ System is not observable.
+ @item bool = 1
+ System is observable.
+ @end table
+
+ @seealso{isctrb}
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{bool} =} issiso (@var{sys})
+ Determine whether LTI model is single-input/single-output (SISO).
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{bool} =} isstabilizable (@var{sys})
+ @deftypefnx {Function File} {@var{bool} =} isstabilizable (@var{sys}, @var{tol})
+ @deftypefnx {Function File} {@var{bool} =} isstabilizable (@var{a}, @var{b})
+ @deftypefnx {Function File} {@var{bool} =} isstabilizable (@var{a}, @var{b}, @var{e})
+ @deftypefnx {Function File} {@var{bool} =} isstabilizable (@var{a}, @var{b}, @var{[]}, @var{tol})
+ @deftypefnx {Function File} {@var{bool} =} isstabilizable (@var{a}, @var{b}, @var{e}, @var{tol})
+ @deftypefnx {Function File} {@var{bool} =} isstabilizable (@var{a}, @var{b}, @var{[]}, @var{[]}, @var{dflg})
+ @deftypefnx {Function File} {@var{bool} =} isstabilizable (@var{a}, @var{b}, @var{e}, @var{[]}, @var{dflg})
+ @deftypefnx {Function File} {@var{bool} =} isstabilizable (@var{a}, @var{b}, @var{[]}, @var{tol}, @var{dflg})
+ @deftypefnx {Function File} {@var{bool} =} isstabilizable (@var{a}, @var{b}, @var{e}, @var{tol}, @var{dflg})
+ Logical check for system stabilizability.
+ All unstable modes must be controllable or all uncontrollable states must be stable.
+ Uses SLICOT AB01OD and TG01HD by courtesy of
+ @uref{http://www.slicot.org, NICONET e.V.}
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI system.
+ @item a
+ State transition matrix.
+ @item b
+ Input matrix.
+ @item e
+ Descriptor matrix.
+ @item tol
+ Optional tolerance for stability. Default value is 0.
+ @item dflg = 0
+ Matrices (@var{a}, @var{b}) are part of a continuous-time system. Default Value.
+ @item dflg = 1
+ Matrices (@var{a}, @var{b}) are part of a discrete-time system.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item bool = 0
+ System is not stabilizable.
+ @item bool = 1
+ System is stabilizable.
+ @end table
+
+ @strong{Method}
+ @example
+ @group
+ * Calculate staircase form (SLICOT AB01OD)
+ * Extract unobservable part of state transition matrix
+ * Calculate eigenvalues of unobservable part
+ * Check whether
+ real (ev) < -tol*(1 + abs (ev)) continuous-time
+ abs (ev) < 1 - tol discrete-time
+ @end group
+ @end example
+ @seealso{isdetectable, isstable, isctrb, isobsv}
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{bool} =} isstable (@var{sys})
+ @deftypefnx {Function File} {@var{bool} =} isstable (@var{sys}, @var{tol})
+ Determine whether LTI system is stable.
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{gain} =} norm (@var{sys}, @var{2})
+ @deftypefnx {Function File} {[@var{gain}, @var{wpeak}] =} norm (@var{sys}, @var{inf})
+ @deftypefnx {Function File} {[@var{gain}, @var{wpeak}] =} norm (@var{sys}, @var{inf}, @var{tol})
+ Return H-2 or L-inf norm of LTI model.
+ Uses SLICOT AB13BD and AB13DD by courtesy of
+ @uref{http://www.slicot.org, NICONET e.V.}
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{ob} =} obsv (@var{sys})
+ @deftypefnx {Function File} {@var{ob} =} obsv (@var{a}, @var{c})
+ Observability matrix.
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{p} =} pole (@var{sys})
+ Compute poles of LTI system.
+ @end deftypefn
+
+ @deftypefn {Function File} pzmap (@var{sys})
+ @deftypefnx {Function File} {[@var{p}, @var{z}] =} pzmap (@var{sys})
+ Plot the poles and zeros of an LTI system in the complex plane.
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{nvec} =} size (@var{ltisys})
+ @deftypefnx {Function File} {@var{n} =} size (@var{ltisys}, @var{idx})
+ @deftypefnx {Function File} {[@var{ny}, @var{nu}] =} size (@var{ltisys})
+ LTI model size, i.e. number of outputs and inputs.
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{z} =} zero (@var{sys})
+ @deftypefnx {Function File} {[@var{z}, @var{k}] =} zero (@var{sys})
+ Compute transmission zeros and gain of LTI model.
+ @end deftypefn
+@section Model Simplification
+
+ @deftypefn {Function File} {@var{sys} =} minreal (@var{sys})
+ @deftypefnx {Function File} {@var{sys} =} minreal (@var{sys}, @var{tol})
+ Minimal realization or zero-pole cancellation of LTI models.
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{sys} =} sminreal (@var{sys})
+ @deftypefnx {Function File} {@var{sys} =} sminreal (@var{sys}, @var{tol})
+ Perform state-space model reduction based on structure.
+ Remove states which have no influence on the input-output behaviour.
+ The physical meaning of the states is retained.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ State-space model.
+ @item tol
+ Optional tolerance for controllability and observability.
+ Entries of the state-space matrices whose moduli are less or equal to @var{tol}
+ are assumed to be zero. Default value is 0.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item sys
+ Reduced state-space model.
+ @end table
+
+ @seealso{minreal}
+ @end deftypefn
+@section Time Domain Analysis
+
+ @deftypefn{Function File} {[@var{p}, @var{q}] =} covar (@var{sys}, @var{w})
+ Return the steady-state covariance.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI model.
+ @item w
+ Intensity of white noise inputs which drive @var{sys}.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item p
+ Output covariance.
+ @item q
+ State covariance.
+ @end table
+
+ @seealso{lyap, dlyap}
+ @end deftypefn
+
+ @deftypefn{Function File} {[@var{u}, @var{t}] =} gensig (@var{sigtype}, @var{tau})
+ @deftypefnx{Function File} {[@var{u}, @var{t}] =} gensig (@var{sigtype}, @var{tau}, @var{tfinal})
+ @deftypefnx{Function File} {[@var{u}, @var{t}] =} gensig (@var{sigtype}, @var{tau}, @var{tfinal}, @var{tsam})
+ Generate periodic signal. Useful in combination with lsim.
+
+ @strong{Inputs}
+ @table @var
+ @item sigtype = "sin"
+ Sine wave.
+ @item sigtype = "cos"
+ Cosine wave.
+ @item sigtype = "square"
+ Square wave.
+ @item sigtype = "pulse"
+ Periodic pulse.
+ @item tau
+ Duration of one period in seconds.
+ @item tfinal
+ Optional duration of the signal in seconds. Default duration is 5 periods.
+ @item tsam
+ Optional sampling time in seconds. Default spacing is tau/64.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item u
+ Vector of signal values.
+ @item t
+ Time vector of the signal.
+ @end table
+
+ @seealso{lsim}
+ @end deftypefn
+
+ @deftypefn{Function File} {[@var{y}, @var{t}, @var{x}] =} impulse (@var{sys})
+ @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} impulse (@var{sys}, @var{t})
+ @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} impulse (@var{sys}, @var{tfinal})
+ @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} impulse (@var{sys}, @var{tfinal}, @var{dt})
+ Impulse response of LTI system.
+ If no output arguments are given, the response is printed on the screen.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI model.
+ @item t
+ Time vector. Should be evenly spaced. If not specified, it is calculated by
+ the poles of the system to reflect adequately the response transients.
+ @item tfinal
+ Optional simulation horizon. If not specified, it is calculated by
+ the poles of the system to reflect adequately the response transients.
+ @item dt
+ Optional sampling time. Be sure to choose it small enough to capture transient
+ phenomena. If not specified, it is calculated by the poles of the system.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item y
+ Output response array. Has as many rows as time samples (length of t)
+ and as many columns as outputs.
+ @item t
+ Time row vector.
+ @item x
+ State trajectories array. Has @code{length (t)} rows and as many columns as states.
+ @end table
+
+ @seealso{initial, lsim, step}
+ @end deftypefn
+
+ @deftypefn{Function File} {[@var{y}, @var{t}, @var{x}] =} initial (@var{sys}, @var{x0})
+ @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} initial (@var{sys}, @var{x0}, @var{t})
+ @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} initial (@var{sys}, @var{x0}, @var{tfinal})
+ @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} initial (@var{sys}, @var{x0}, @var{tfinal}, @var{dt})
+ Initial condition response of state-space model.
+ If no output arguments are given, the response is printed on the screen.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ State-space model.
+ @item x0
+ Vector of initial conditions for each state.
+ @item t
+ Optional time vector. Should be evenly spaced. If not specified, it is calculated
+ by the poles of the system to reflect adequately the response transients.
+ @item tfinal
+ Optional simulation horizon. If not specified, it is calculated by
+ the poles of the system to reflect adequately the response transients.
+ @item dt
+ Optional sampling time. Be sure to choose it small enough to capture transient
+ phenomena. If not specified, it is calculated by the poles of the system.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item y
+ Output response array. Has as many rows as time samples (length of t)
+ and as many columns as outputs.
+ @item t
+ Time row vector.
+ @item x
+ State trajectories array. Has @code{length (t)} rows and as many columns as states.
+ @end table
+
+ @strong{Example}
+ @example
+ @group
+ .
+ Continuous Time: x = A x , y = C x , x(0) = x0
+
+ Discrete Time: x[k+1] = A x[k] , y[k] = C x[k] , x[0] = x0
+ @end group
+ @end example
+
+ @seealso{impulse, lsim, step}
+ @end deftypefn
+
+ @deftypefn{Function File} {[@var{y}, @var{t}, @var{x}] =} lsim (@var{sys}, @var{u})
+ @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} lsim (@var{sys}, @var{u}, @var{t})
+ @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} lsim (@var{sys}, @var{u}, @var{t}, @var{x0})
+ @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} lsim (@var{sys}, @var{u}, @var{t}, @var{[]}, @var{method})
+ @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} lsim (@var{sys}, @var{u}, @var{t}, @var{x0}, @var{method})
+ Simulate LTI model response to arbitrary inputs. If no output arguments are given,
+ the system response is plotted on the screen.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI model. System must be proper, i.e. it must not have more zeros than poles.
+ @item u
+ Vector or array of input signal. Needs @code{length(t)} rows and as many columns
+ as there are inputs. If @var{sys} is a single-input system, row vectors @var{u}
+ of length @code{length(t)} are accepted as well.
+ @item t
+ Time vector. Should be evenly spaced. If @var{sys} is a continuous-time system
+ and @var{t} is a real scalar, @var{sys} is discretized with sampling time
+ @code{tsam = t/(rows(u)-1)}. If @var{sys} is a discrete-time system and @var{t}
+ is not specified, vector @var{t} is assumed to be @code{0 : tsam : tsam*(rows(u)-1)}.
+ @item x0
+ Vector of initial conditions for each state. If not specified, a zero vector is assumed.
+ @item method
+ Discretization method for continuous-time models. Default value is zoh
+ (zero-order hold). All methods from @code{c2d} are supported.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item y
+ Output response array. Has as many rows as time samples (length of t)
+ and as many columns as outputs.
+ @item t
+ Time row vector. It is always evenly spaced.
+ @item x
+ State trajectories array. Has @code{length (t)} rows and as many columns as states.
+ @end table
+
+ @seealso{impulse, initial, step}
+ @end deftypefn
+
+ @deftypefn{Function File} {[@var{y}, @var{t}, @var{x}] =} step (@var{sys})
+ @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} step (@var{sys}, @var{t})
+ @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} step (@var{sys}, @var{tfinal})
+ @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} step (@var{sys}, @var{tfinal}, @var{dt})
+ Step response of LTI system.
+ If no output arguments are given, the response is printed on the screen.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI model.
+ @item t
+ Time vector. Should be evenly spaced. If not specified, it is calculated by
+ the poles of the system to reflect adequately the response transients.
+ @item tfinal
+ Optional simulation horizon. If not specified, it is calculated by
+ the poles of the system to reflect adequately the response transients.
+ @item dt
+ Optional sampling time. Be sure to choose it small enough to capture transient
+ phenomena. If not specified, it is calculated by the poles of the system.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item y
+ Output response array. Has as many rows as time samples (length of t)
+ and as many columns as outputs.
+ @item t
+ Time row vector.
+ @item x
+ State trajectories array. Has @code{length (t)} rows and as many columns as states.
+ @end table
+
+ @seealso{impulse, initial, lsim}
+ @end deftypefn
+@section Frequency Domain Analysis
+
+ @deftypefn {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.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI system. Must be a single-input and single-output (SISO) system.
+ @item w
+ Optional vector of frequency values. If @var{w} is not specified,
+ it is calculated by the zeros and poles of the system.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item mag
+ Vector of magnitude. Has length of frequency vector @var{w}.
+ @item pha
+ Vector of phase. Has length of frequency vector @var{w}.
+ @item w
+ Vector of frequency values used.
+ @end table
+
+ @seealso{nichols, nyquist, sigma}
+ @end deftypefn
+
+ @deftypefn {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.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI system. Must be a single-input and single-output (SISO) system.
+ @item w
+ Optional vector of frequency values. If @var{w} is not specified,
+ it is calculated by the zeros and poles of the system.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item mag
+ Vector of magnitude. Has length of frequency vector @var{w}.
+ @item w
+ Vector of frequency values used.
+ @end table
+
+ @seealso{bode, nichols, nyquist, sigma}
+ @end deftypefn
+
+ @deftypefn{Function File} {@var{H} =} freqresp (@var{sys}, @var{w})
+ Evaluate frequency response at given frequencies.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI system.
+ @item w
+ Vector of frequency values.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item H
+ Array of frequency response. For a system with m inputs and p outputs, the array @var{H}
+ has dimensions [p, m, length (w)].
+ The frequency response at the frequency w(k) is given by H(:,:,k).
+ @end table
+
+ @seealso{dcgain}
+ @end deftypefn
+
+ @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.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI model. Must be a single-input and single-output (SISO) system.
+ @item tol
+ Imaginary parts below @var{tol} are assumed to be zero.
+ If not specified, default value @code{sqrt (eps)} is taken.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item gamma
+ Gain margin (as gain, not dBs).
+ @item phi
+ Phase margin (in degrees).
+ @item w_gamma
+ Frequency for the gain margin (in rad/s).
+ @item w_phi
+ Frequency for the phase margin (in rad/s).
+ @end table
+
+ @strong{Equations}
+ @example
+ @group
+ CONTINUOUS SYSTEMS
+ Gain Margin
+ _ _
+ L(jw) = L(jw) BTW: L(jw) = L(-jw) = conj (L(jw))
+
+ num(jw) num(-jw)
+ ------- = --------
+ den(jw) den(-jw)
+
+ num(jw) den(-jw) = num(-jw) den(jw)
+
+ imag (num(jw) den(-jw)) = 0
+ imag (num(-jw) den(jw)) = 0
+
+ Phase Margin
+ |num(jw)|
+ |L(jw)| = |-------| = 1
+ |den(jw)|
+ _ 2 2
+ z z = Re z + Im z
+
+ num(jw) num(-jw)
+ ------- * -------- = 1
+ den(jw) den(-jw)
+
+ num(jw) num(-jw) - den(jw) den(-jw) = 0
+
+ real (num(jw) num(-jw) - den(jw) den(-jw)) = 0
+
+
+ DISCRETE SYSTEMS
+ Gain Margin
+ jwT log z
+ L(z) = L(1/z) BTW: z = e --> w = -----
+ j T
+ num(z) num(1/z)
+ ------ = --------
+ den(z) den(1/z)
+
+ num(z) den(1/z) - num(1/z) den(z) = 0
+
+ Phase Margin
+ |num(z)|
+ |L(z)| = |------| = 1
+ |den(z)|
+
+ L(z) L(1/z) = 1
+
+ num(z) num(1/z)
+ ------ * -------- = 1
+ den(z) den(1/z)
+
+ num(z) num(1/z) - den(z) den(1/z) = 0
+
+ PS: How to get L(1/z)
+ 4 3 2
+ p(z) = a z + b z + c z + d z + e
+
+ -4 -3 -2 -1
+ p(1/z) = a z + b z + c z + d z + e
+
+ -4 2 3 4
+ = z ( a + b z + c z + d z + e z )
+
+ 4 3 2 4
+ = ( e z + d z + c z + b z + a ) / ( z )
+ @end group
+ @end example
+
+ @seealso{roots}
+ @end deftypefn
+
+ @deftypefn {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.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI system. Must be a single-input and single-output (SISO) system.
+ @item w
+ Optional vector of frequency values. If @var{w} is not specified,
+ it is calculated by the zeros and poles of the system.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item mag
+ Vector of magnitude. Has length of frequency vector @var{w}.
+ @item pha
+ Vector of phase. Has length of frequency vector @var{w}.
+ @item w
+ Vector of frequency values used.
+ @end table
+
+ @seealso{bode, nyquist, sigma}
+ @end deftypefn
+
+ @deftypefn {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.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI system. Must be a single-input and single-output (SISO) system.
+ @item w
+ Optional vector of frequency values. If @var{w} is not specified,
+ it is calculated by the zeros and poles of the system.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item re
+ Vector of real parts. Has length of frequency vector @var{w}.
+ @item im
+ Vector of imaginary parts. Has length of frequency vector @var{w}.
+ @item w
+ Vector of frequency values used.
+ @end table
+
+ @seealso{bode, nichols, sigma}
+ @end deftypefn
+
+ @deftypefn{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})
+ Singular values of frequency response. If no output arguments are given,
+ the singular value plot is printed on the screen;
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI system. Multiple inputs and/or outputs (MIMO systems) make practical sense.
+ @item w
+ Optional vector of frequency values. If @var{w} is not specified,
+ it is calculated by the zeros and poles of the system.
+ @item ptype = 0
+ Singular values of the frequency response @var{H} of system @var{sys}. Default Value.
+ @item ptype = 1
+ Singular values of the frequency response @code{inv(H)}; i.e. inversed system.
+ @item ptype = 2
+ Singular values of the frequency response @code{I + H}; i.e. inversed sensitivity
+ (or return difference) if @code{H = P * C}.
+ @item ptype = 3
+ Singular values of the frequency response @code{I + inv(H)}; i.e. inversed complementary
+ sensitivity if @code{H = P * C}.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item sv
+ Array of singular values. For a system with m inputs and p outputs, the array sv
+ has @code{min (m, p)} rows and as many columns as frequency points @code{length (w)}.
+ The singular values at the frequency @code{w(k)} are given by @code{sv(:,k)}.
+ @item w
+ Vector of frequency values used.
+ @end table
+
+ @seealso{bodemag, svd}
+ @end deftypefn
+@section Pole Placement
+
+ @deftypefn {Function File} {@var{f} =} place (@var{sys}, @var{p})
+ @deftypefnx {Function File} {@var{f} =} place (@var{a}, @var{b}, @var{p})
+ @deftypefnx {Function File} {[@var{f}, @var{nfp}, @var{nap}, @var{nup}] =} place (@var{sys}, @var{p}, @var{alpha})
+ @deftypefnx {Function File} {[@var{f}, @var{nfp}, @var{nap}, @var{nup}] =} place (@var{a}, @var{b}, @var{p}, @var{alpha})
+ Pole assignment for a given matrix pair (@var{A},@var{B}) such that @code{p = eig (A-B*F)}.
+ If parameter @var{alpha} is specified, poles with real parts (continuous-time)
+ or moduli (discrete-time) below @var{alpha} are left untouched.
+ Uses SLICOT SB01BD by courtesy of
+ @uref{http://www.slicot.org, NICONET e.V.}
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI system.
+ @item a
+ State transition matrix (n-by-n) of a continuous-time system.
+ @item b
+ Input matrix (n-by-m) of a continuous-time system.
+ @item p
+ Desired eigenvalues of the closed-loop system state-matrix @var{A-B*F}.
+ @code{length (p) <= rows (A)}.
+ @item alpha
+ Specifies the maximum admissible value, either for real
+ parts or for moduli, of the eigenvalues of @var{A} which will
+ not be modified by the eigenvalue assignment algorithm.
+ @code{alpha >= 0} for discrete-time systems.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item f
+ State feedback gain matrix.
+ @item nfp
+ The number of fixed poles, i.e. eigenvalues of @var{A} having
+ real parts less than @var{alpha}, or moduli less than @var{alpha}.
+ These eigenvalues are not modified by @command{place}.
+ @item nap
+ The number of assigned eigenvalues. @code{nap = n-nfp-nup}.
+ @item nup
+ The number of uncontrollable eigenvalues detected by the
+ eigenvalue assignment algorithm.
+ @end table
+
+ @strong{Note}
+ @example
+ Place is also suitable to design estimator gains:
+ @group
+ L = place (A.', C.', p).'
+ L = place (sys.', p).'
+ @deftypefn {Function File} rlocus (@var{sys})
+ @deftypefnx {Function File} {[@var{rldata}, @var{k}] =} rlocus (@var{sys}[, @var{increment}, @var{min_k}, @var{max_k}])
+ Display root locus plot of the specified @acronym{SISO} system.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI model. Must be a single-input and single-output (SISO) system.
+ @item min_k
+ Minimum value of @var{k}.
+ @item max_k
+ Maximum value of @var{k}.
+ @item increment
+ The increment used in computing gain values.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item rldata
+ Data points plotted: in column 1 real values, in column 2 the imaginary values.
+ @item k
+ Gains for real axis break points.
+ @end table
+
+ @strong{Block Diagram}
+ @example
+ @group
+ u + +---+ +------+ y
+ ------>(+)----->| k |----->| SISO |-------+------->
+ ^ - +---+ +------+ |
+ | |
+ +---------------------------------+
+ @end group
+ @end example
+ @end deftypefn
+@section Linear-Quadratic Control
+
+ @deftypefn {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{sys}, @var{q}, @var{r})
+ @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{sys}, @var{q}, @var{r}, @var{s})
+ @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{a}, @var{b}, @var{q}, @var{r})
+ @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{s})
+ @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{[]}, @var{e})
+ @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{s}, @var{e})
+ Linear-quadratic regulator for discrete-time systems.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ Continuous or discrete-time LTI model.
+ @item a
+ State transition matrix of discrete-time system.
+ @item b
+ Input matrix of discrete-time system.
+ @item q
+ State weighting matrix.
+ @item r
+ Input weighting matrix.
+ @item s
+ Optional cross term matrix. If @var{s} is not specified, a zero matrix is assumed.
+ @item e
+ Optional descriptor matrix. If @var{e} is not specified, an identity matrix is assumed.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item g
+ State feedback matrix.
+ @item x
+ Unique stabilizing solution of the discrete-time Riccati equation.
+ @item l
+ Closed-loop poles.
+ @end table
+
+ @strong{Equations}
+ @example
+ @group
+ x[k+1] = A x[k] + B u[k], x[0] = x0
+
+ inf
+ J(x0) = SUM (x' Q x + u' R u + 2 x' S u)
+ k=0
+
+ L = eig (A - B*G)
+ @end group
+ @end example
+ @seealso{dare, care, lqr}
+ @end deftypefn
+
+ @deftypefn {Function File} {@var{est} =} estim (@var{sys}, @var{l})
+ @deftypefnx {Function File} {@var{est} =} estim (@var{sys}, @var{l}, @var{sensors}, @var{known})
+ Return state estimator for a given estimator gain.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ LTI model.
+ @item l
+ State feedback matrix.
+ @item sensors
+ Indices of measured output signals y from @var{sys}. If omitted, all outputs are measured.
+ @item known
+ Indices of known input signals u (deterministic) to @var{sys}. All other inputs to @var{sys}
+ are assumed stochastic. If argument @var{known} is omitted, no inputs u are known.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item est
+ State-space model of estimator.
+ @end table
+ @seealso{kalman, place}
+ @end deftypefn
+
+ @deftypefn {Function File} {[@var{est}, @var{g}, @var{x}] =} kalman (@var{sys}, @var{q}, @var{r})
+ @deftypefnx {Function File} {[@var{est}, @var{g}, @var{x}] =} kalman (@var{sys}, @var{q}, @var{r}, @var{s})
+ @deftypefnx {Function File} {[@var{est}, @var{g}, @var{x}] =} kalman (@var{sys}, @var{q}, @var{r}, @var{[]}, @var{sensors}, @var{known})
+ @deftypefnx {Function File} {[@var{est}, @var{g}, @var{x}] =} kalman (@var{sys}, @var{q}, @var{r}, @var{s}, @var{sensors}, @var{known})
+ Design Kalman estimator for LTI systems.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ Nominal plant model.
+ @item q
+ Covariance of white process noise.
+ @item r
+ Covariance of white measurement noise.
+ @item s
+ Optional cross term covariance. Default value is 0.
+ @item sensors
+ Indices of measured output signals y from @var{sys}. If omitted, all outputs are measured.
+ @item known
+ Indices of known input signals u (deterministic) to @var{sys}. All other inputs to @var{sys}
+ are assumed stochastic. If argument @var{known} is omitted, no inputs u are known.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item est
+ State-space model of the Kalman estimator.
+ @item g
+ Estimator gain.
+ @item x
+ Solution of the Riccati equation.
+ @end table
+
+ @strong{Block Diagram}
+ @example
+ @group
+ u +-------+ ^
+ +---------------------------->| |-------> y
+ | +-------+ + y | est | ^
+ u ----+--->| |----->(+)------>| |-------> x
+ | sys | ^ + +-------+
+ w -------->| | |
+ +-------+ | v
+
+ Q = cov (w, w') R = cov (v, v') S = cov (w, v')
+ @end group
+ @end example
+
+ @seealso{care, dare, estim, lqr}
+ @end deftypefn
+
+ @deftypefn {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{sys}, @var{q}, @var{r})
+ @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{sys}, @var{q}, @var{r}, @var{s})
+ @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r})
+ @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{s})
+ @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{[]}, @var{e})
+ @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{s}, @var{e})
+ Linear-quadratic regulator.
+
+ @strong{Inputs}
+ @table @var
+ @item sys
+ Continuous or discrete-time LTI model.
+ @item a
+ State transition matrix of continuous-time system.
+ @item b
+ Input matrix of continuous-time system.
+ @item q
+ State weighting matrix.
+ @item r
+ Input weighting matrix.
+ @item s
+ Optional cross term matrix. If @var{s} is not specified, a zero matrix is assumed.
+ @item e
+ Optional descriptor matrix. If @var{e} is not specified, an identity matrix is assumed.
+ @end table
+
+ @strong{Outputs}
+ @table @var
+ @item g
+ State feedback matrix.
+ @item x
+ Unique stabilizing solution of the continuous-time Riccati equation.
+ @item l
+ Closed-loop poles.
+ @end table
+
+ @strong{Equations}
+ @example
+ @group
+ .
+ x = A x + B u, x(0) = x0
+
+ inf
+ J(x0) = INT (x' Q x + u' R u + 2 x' S u) dt
+ 0
+
+ L = eig (A - B*G)
+ @end group
+ @end example
+ @seealso{care, dare, dlqr}
+ @end deftypefn
+@section Robust Control
+
+ @deftypefn{Function File} {@var{P} =} augw (@var{G}, @var{W1}, @var{W2}, @var{W3})
+ Extend plant for stacked S/KS/T problem. Subsequently, the robust control problem
+ can be solved by h2syn or hinfsyn.
+
+ @strong{Inputs}
+ @table @var
+ @item G
+ LTI model of plant.
+ @item W1
+ LTI model of performance weight. Bounds the largest singular values of sensitivity @var{S}.
+ Model must be empty @code{[]}, SISO or of appropriate size.
+ @item W2
+ LTI model to penalize large control inputs. Bounds the largest singular values of @var{KS}.
+ Model must be empty @code{[]}, SISO or of appropriate size.
+ @item W3
+ LTI model of robustness and noise sensitivity weight. Bounds the largest singular values of
+ complementary sensitivity @var{T}. Model must be empty @code{[]}, SISO or of appropriate size.
+ @end table
+
+ All inputs must be proper/realizable.
+ Scalars, vectors and matrices are possible instead of LTI models.
+
+ @strong{Outputs}
+ @table @var
+ @item P
+ State-space model of augmented plant.
+ @end table
+
+ @strong{Block Diagram}
+ @example
+ @group
+
+ | W1 | -W1*G | z1 = W1 r - W1 G u
+ | 0 | W2 | z2 = W2 u
+ P = | 0 | W3*G | z3 = W3 G u
+ |----+-------|
+ | I | -G | e = r - G u
+ +------+ z1
+ +---------------------------------------->| W1 |----->
+ | +------+
+ | +------+ z2
+ | +---------------------->| W2 |----->
+ | | +------+
+ r + e | +--------+ u | +--------+ y +------+ z3
+ ----->(+)---+-->| K(s) |----+-->| G(s) |----+---->| W3 |----->
+ ^ - +--------+ +--------+ | +------+
+ | |
+ +----------------------------------------+
+
+ +--------+
+ | |-----> z1 (p1x1) z1 = W1 e
+ r (px1) ----->| P(s) |-----> z2 (p2x1) z2 = W2 u
+ | |-----> z3 (p3x1) z3...
[truncated message content] |
|
From: <par...@us...> - 2011-08-10 11:32:23
|
Revision: 8455
http://octave.svn.sourceforge.net/octave/?rev=8455&view=rev
Author: paramaniac
Date: 2011-08-10 11:32:16 +0000 (Wed, 10 Aug 2011)
Log Message:
-----------
control: remove cruft
Modified Paths:
--------------
trunk/octave-forge/main/control/devel/makefile_chol.m
trunk/octave-forge/main/control/devel/makefile_h2syn.m
trunk/octave-forge/main/control/devel/makefile_hankel.m
trunk/octave-forge/main/control/devel/makefile_hinfsyn.m
trunk/octave-forge/main/control/devel/makefile_lqr.m
trunk/octave-forge/main/control/devel/makefile_lyap.m
trunk/octave-forge/main/control/devel/makefile_minreal.m
trunk/octave-forge/main/control/devel/makefile_ncfsyn.m
trunk/octave-forge/main/control/devel/makefile_norm.m
trunk/octave-forge/main/control/devel/makefile_place.m
trunk/octave-forge/main/control/devel/makefile_scale.m
trunk/octave-forge/main/control/devel/makefile_zero.m
Modified: trunk/octave-forge/main/control/devel/makefile_chol.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_chol.m 2011-08-10 09:03:19 UTC (rev 8454)
+++ trunk/octave-forge/main/control/devel/makefile_chol.m 2011-08-10 11:32:16 UTC (rev 8455)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -14,16 +11,14 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb03od.cc \
+mkoctfile slsb03od.cc \
SB03OD.f select.f SB03OU.f SB03OT.f MB04ND.f \
MB04OD.f SB03OR.f SB03OY.f SB04PX.f MB04NY.f \
MB04OY.f SB03OV.f
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsg03bd.cc \
+mkoctfile slsg03bd.cc \
SG03BD.f SG03BV.f SG03BU.f SG03BW.f SG03BX.f \
SG03BY.f MB02UU.f MB02UV.f
-cd (homedir);
\ No newline at end of file
+cd (homedir);
Modified: trunk/octave-forge/main/control/devel/makefile_h2syn.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_h2syn.m 2011-08-10 09:03:19 UTC (rev 8454)
+++ trunk/octave-forge/main/control/devel/makefile_h2syn.m 2011-08-10 11:32:16 UTC (rev 8455)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -14,8 +11,7 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb10hd.cc \
+mkoctfile slsb10hd.cc \
SB10HD.f SB10UD.f SB10VD.f SB10WD.f SB02RD.f \
MB01RU.f SB02SD.f MA02ED.f SB02RU.f SB02MR.f \
MB01SD.f SB02MS.f SB02MV.f SB02MW.f MA02AD.f \
@@ -23,12 +19,11 @@
MB01RY.f SB03SX.f SB03SY.f select.f SB03MX.f \
SB03MY.f MB01UD.f SB03MV.f SB03MW.f SB04PX.f
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb10ed.cc \
+mkoctfile slsb10ed.cc \
SB10ED.f SB10SD.f SB10TD.f SB10PD.f MB01RX.f \
SB02SD.f SB02OD.f MB01RU.f SB02OU.f SB02OV.f \
SB02OW.f MB01RY.f SB02OY.f SB03SX.f SB03SY.f \
MA02ED.f select.f SB03MX.f SB02MR.f SB02MV.f \
MB01UD.f SB03MV.f SB04PX.f
-cd (homedir);
\ No newline at end of file
+cd (homedir);
Modified: trunk/octave-forge/main/control/devel/makefile_hankel.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_hankel.m 2011-08-10 09:03:19 UTC (rev 8454)
+++ trunk/octave-forge/main/control/devel/makefile_hankel.m 2011-08-10 11:32:16 UTC (rev 8455)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -14,12 +11,11 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slab13ad.cc \
+mkoctfile slab13ad.cc \
AB13AD.f TB01ID.f TB01KD.f AB13AX.f MA02DD.f \
MB03UD.f TB01LD.f SB03OU.f MB03QX.f select.f \
SB03OT.f MB03QD.f MB04ND.f MB04OD.f MB03QY.f \
SB03OR.f SB03OY.f SB04PX.f MB04NY.f MB04OY.f \
SB03OV.f
-cd (homedir);
\ No newline at end of file
+cd (homedir);
Modified: trunk/octave-forge/main/control/devel/makefile_hinfsyn.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_hinfsyn.m 2011-08-10 09:03:19 UTC (rev 8454)
+++ trunk/octave-forge/main/control/devel/makefile_hinfsyn.m 2011-08-10 11:32:16 UTC (rev 8455)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -14,8 +11,7 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb10fd.cc \
+mkoctfile slsb10fd.cc \
SB10FD.f SB10PD.f SB10QD.f SB10RD.f SB02RD.f \
MB01RU.f MB01RX.f MA02AD.f SB02SD.f MA02ED.f \
SB02RU.f SB02MR.f MB01SD.f SB02MS.f SB02MV.f \
@@ -23,12 +19,11 @@
MB01RY.f SB03SX.f SB03SY.f select.f SB03MX.f \
SB03MY.f MB01UD.f SB03MV.f SB03MW.f SB04PX.f
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb10dd.cc \
+mkoctfile slsb10dd.cc \
SB10DD.f MB01RU.f MB01RX.f SB02SD.f SB02OD.f \
MA02AD.f SB02OU.f SB02OV.f SB02OW.f MB01RY.f \
SB02OY.f SB03SX.f SB03SY.f MA02ED.f select.f \
SB03MX.f SB02MR.f SB02MV.f MB01UD.f SB03MV.f \
SB04PX.f
-cd (homedir);
\ No newline at end of file
+cd (homedir);
Modified: trunk/octave-forge/main/control/devel/makefile_lqr.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_lqr.m 2011-08-10 09:03:19 UTC (rev 8454)
+++ trunk/octave-forge/main/control/devel/makefile_lqr.m 2011-08-10 11:32:16 UTC (rev 8455)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -14,14 +11,12 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb02od.cc \
+mkoctfile slsb02od.cc \
SB02OD.f SB02OU.f SB02OV.f SB02OW.f SB02OY.f \
SB02MR.f SB02MV.f
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsg02ad.cc \
+mkoctfile slsg02ad.cc \
SG02AD.f SB02OU.f SB02OV.f SB02OW.f SB02OY.f \
MB01SD.f MB02VD.f MB02PD.f MA02GD.f
-cd (homedir);
\ No newline at end of file
+cd (homedir);
Modified: trunk/octave-forge/main/control/devel/makefile_lyap.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_lyap.m 2011-08-10 09:03:19 UTC (rev 8454)
+++ trunk/octave-forge/main/control/devel/makefile_lyap.m 2011-08-10 11:32:16 UTC (rev 8455)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -15,26 +12,22 @@
cd (srcdir);
## Lypunov
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb03md.cc \
+mkoctfile slsb03md.cc \
SB03MD.f select.f SB03MX.f SB03MY.f MB01RD.f \
SB03MV.f SB03MW.f SB04PX.f
## Sylvester
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb04md.cc \
+mkoctfile slsb04md.cc \
SB04MD.f SB04MU.f SB04MY.f SB04MR.f SB04MW.f
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb04qd.cc \
+mkoctfile slsb04qd.cc \
SB04QD.f SB04QU.f SB04QY.f SB04MW.f SB04QR.f
## Generalized Lyapunov
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsg03ad.cc \
+mkoctfile slsg03ad.cc \
SG03AD.f MB01RW.f MB01RD.f SG03AX.f SG03AY.f \
MB02UU.f MB02UV.f
-cd (homedir);
\ No newline at end of file
+cd (homedir);
Modified: trunk/octave-forge/main/control/devel/makefile_minreal.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_minreal.m 2011-08-10 09:03:19 UTC (rev 8454)
+++ trunk/octave-forge/main/control/devel/makefile_minreal.m 2011-08-10 11:32:16 UTC (rev 8455)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -14,13 +11,11 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- sltb01pd.cc \
+mkoctfile sltb01pd.cc \
TB01PD.f TB01XD.f TB01ID.f AB07MD.f TB01UD.f \
MB03OY.f MB01PD.f MB01QD.f
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- sltg01jd.cc \
+mkoctfile sltg01jd.cc \
TG01JD.f TG01AD.f TB01XD.f MA02CD.f TG01HX.f
-cd (homedir);
\ No newline at end of file
+cd (homedir);
Modified: trunk/octave-forge/main/control/devel/makefile_ncfsyn.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_ncfsyn.m 2011-08-10 09:03:19 UTC (rev 8454)
+++ trunk/octave-forge/main/control/devel/makefile_ncfsyn.m 2011-08-10 11:32:16 UTC (rev 8455)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -15,8 +12,7 @@
cd (srcdir);
## H-infinity loop shaping - continuous-time
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb10id.cc \
+mkoctfile slsb10id.cc \
SB10ID.f SB02RD.f select.f SB10JD.f MB02VD.f \
MA02GD.f SB02MS.f MA02ED.f SB02RU.f SB02SD.f \
MB01RU.f SB02QD.f SB02MV.f SB02MW.f SB02MR.f \
@@ -25,14 +21,12 @@
SB03QX.f SB03MY.f SB04PX.f SB03MV.f SB03MW.f
## H-infinity loop shaping - discrete-time - strictly proper case
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb10kd.cc \
+mkoctfile slsb10kd.cc \
SB10KD.f SB02OD.f select.f SB02OY.f SB02OW.f \
SB02OV.f SB02MV.f SB02OU.f SB02MR.f
## H-infinity loop shaping - discrete-time - proper case
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb10zd.cc \
+mkoctfile slsb10zd.cc \
SB10ZD.f MA02AD.f SB02OD.f select.f MB01RX.f \
MB02VD.f SB02OY.f SB02OW.f SB02OV.f SB02OU.f \
SB02MR.f MA02GD.f SB02MV.f
Modified: trunk/octave-forge/main/control/devel/makefile_norm.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_norm.m 2011-08-10 09:03:19 UTC (rev 8454)
+++ trunk/octave-forge/main/control/devel/makefile_norm.m 2011-08-10 11:32:16 UTC (rev 8455)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -15,16 +12,14 @@
cd (srcdir);
## H-2 norm
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slab13bd.cc \
+mkoctfile slab13bd.cc \
AB13BD.f SB08DD.f SB03OU.f SB01FY.f TB01LD.f \
SB03OT.f MB04ND.f MB04OD.f MB03QX.f select.f \
SB03OR.f MB04OX.f MB03QD.f SB03OY.f MA02AD.f \
MB03QY.f SB04PX.f MB04NY.f MB04OY.f SB03OV.f
## L-inf norm
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slab13dd.cc \
+mkoctfile slab13dd.cc \
AB13DD.f MA02AD.f MB01SD.f MB03XD.f TB01ID.f \
TG01AD.f TG01BD.f AB13DX.f MA01AD.f MA02ID.f \
MB03XP.f MB04DD.f MB04QB.f MB04TB.f MB03XU.f \
@@ -32,4 +27,4 @@
MB04QF.f MB03YA.f MB03YD.f MB02RZ.f MB04QU.f \
MB02SZ.f MB03YT.f
-cd (homedir);
\ No newline at end of file
+cd (homedir);
Modified: trunk/octave-forge/main/control/devel/makefile_place.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_place.m 2011-08-10 09:03:19 UTC (rev 8454)
+++ trunk/octave-forge/main/control/devel/makefile_place.m 2011-08-10 11:32:16 UTC (rev 8455)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -14,9 +11,8 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slsb01bd.cc \
+mkoctfile slsb01bd.cc \
SB01BD.f MB03QD.f MB03QY.f SB01BX.f SB01BY.f \
select.f
-cd (homedir);
\ No newline at end of file
+cd (homedir);
Modified: trunk/octave-forge/main/control/devel/makefile_scale.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_scale.m 2011-08-10 09:03:19 UTC (rev 8454)
+++ trunk/octave-forge/main/control/devel/makefile_scale.m 2011-08-10 11:32:16 UTC (rev 8455)
@@ -1,3 +1,11 @@
+## ==============================================================================
+## Developer Makefile for OCT-files
+## ==============================================================================
+## USAGE: * fetch control from Octave-Forge by svn
+## * add control/inst, control/src and control/devel to your Octave path
+## * run makefile_*
+## ==============================================================================
+
homedir = pwd ();
develdir = fileparts (which ("makefile_scale"));
srcdir = [develdir, "/../src"];
@@ -4,13 +12,11 @@
cd (srcdir);
## scaling of state-space models
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- sltb01id.cc \
+mkoctfile sltb01id.cc \
TB01ID.f
## scaling of descriptor state-space models
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- sltg01ad.cc \
+mkoctfile sltg01ad.cc \
TG01AD.f
cd (homedir);
Modified: trunk/octave-forge/main/control/devel/makefile_zero.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_zero.m 2011-08-10 09:03:19 UTC (rev 8454)
+++ trunk/octave-forge/main/control/devel/makefile_zero.m 2011-08-10 11:32:16 UTC (rev 8455)
@@ -4,9 +4,6 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
-## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
-## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
-## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -15,19 +12,16 @@
cd (srcdir);
## transmission zeros of state-space models
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slab08nd.cc \
+mkoctfile slab08nd.cc \
AB08ND.f AB08NX.f TB01ID.f MB03OY.f MB03PY.f
## transmission zeros of descriptor state-space models
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- slag08bd.cc \
+mkoctfile slag08bd.cc \
AG08BD.f AG08BY.f TG01AD.f TB01XD.f MA02CD.f \
TG01FD.f MA02BD.f MB03OY.f
## gain of descriptor state-space models
-mkoctfile "-Wl,-framework" "-Wl,vecLib" \
- sltg04bx.cc \
+mkoctfile sltg04bx.cc \
TG04BX.f MB02RD.f MB02SD.f
-cd (homedir);
\ No newline at end of file
+cd (homedir);
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <par...@us...> - 2011-08-15 18:23:46
|
Revision: 8462
http://octave.svn.sourceforge.net/octave/?rev=8462&view=rev
Author: paramaniac
Date: 2011-08-15 18:23:39 +0000 (Mon, 15 Aug 2011)
Log Message:
-----------
control: cleaning up
Modified Paths:
--------------
trunk/octave-forge/main/control/devel/makefile_hankel.m
Added Paths:
-----------
trunk/octave-forge/main/control/devel/test_2.m
trunk/octave-forge/main/control/devel/test_ss2tf.m
Removed Paths:
-------------
trunk/octave-forge/main/control/devel/ss2tf/
Modified: trunk/octave-forge/main/control/devel/makefile_hankel.m
===================================================================
--- trunk/octave-forge/main/control/devel/makefile_hankel.m 2011-08-15 18:06:43 UTC (rev 8461)
+++ trunk/octave-forge/main/control/devel/makefile_hankel.m 2011-08-15 18:23:39 UTC (rev 8462)
@@ -4,6 +4,9 @@
## USAGE: * fetch control from Octave-Forge by svn
## * add control/inst, control/src and control/devel to your Octave path
## * run makefile_*
+## NOTES: * The option "-Wl,-framework" "-Wl,vecLib" is needed for MacPorts'
+## octave-devel @3.3.52_1+gcc44 on MacOS X 10.6.4. However, this option
+## breaks other platforms. See MacPorts Ticket #26640.
## ==============================================================================
homedir = pwd ();
@@ -11,7 +14,8 @@
srcdir = [develdir, "/../src"];
cd (srcdir);
-mkoctfile slab13ad.cc \
+mkoctfile "-Wl,-framework" "-Wl,vecLib" \
+ slab13ad.cc \
AB13AD.f TB01ID.f TB01KD.f AB13AX.f MA02DD.f \
MB03UD.f TB01LD.f SB03OU.f MB03QX.f select.f \
SB03OT.f MB03QD.f MB04ND.f MB04OD.f MB03QY.f \
Added: trunk/octave-forge/main/control/devel/test_2.m
===================================================================
--- trunk/octave-forge/main/control/devel/test_2.m (rev 0)
+++ trunk/octave-forge/main/control/devel/test_2.m 2011-08-15 18:23:39 UTC (rev 8462)
@@ -0,0 +1,14 @@
+ss_sys = WestlandLynx;
+tf_sys = tf (ss_sys);
+
+w = logspace (-4, 3, 500);
+
+figure (1)
+sigma (ss_sys, w)
+
+figure (2)
+sigma (tf_sys, w)
+
+
+sys = ss (0, 1, 1, 0)
+tf (sys)
Copied: trunk/octave-forge/main/control/devel/test_ss2tf.m (from rev 8461, trunk/octave-forge/main/control/devel/ss2tf/test_ss2tf.m)
===================================================================
--- trunk/octave-forge/main/control/devel/test_ss2tf.m (rev 0)
+++ trunk/octave-forge/main/control/devel/test_ss2tf.m 2011-08-15 18:23:39 UTC (rev 8462)
@@ -0,0 +1,83 @@
+a = [ -1.0 0.0 0.0
+ 0.0 -2.0 0.0
+ 0.0 0.0 -3.0 ];
+
+b = [ 0.0 1.0 -1.0
+ 1.0 1.0 0.0 ].';
+
+c = [ 0.0 1.0 1.0
+ 1.0 1.0 1.0 ];
+
+d = [ 1.0 0.0
+ 0.0 1.0 ];
+
+[p, m] = size (d);
+md = 4
+
+[gn, gd, ign, igd] = sltb04bd (a, b, c, d)
+
+num = reshape (gn, md, p, m)
+den = reshape (gd, md, p, m)
+
+numc = mat2cell (num, md, ones(1,p), ones(1,m))
+denc = mat2cell (den, md, ones(1,p), ones(1,m))
+
+numc = squeeze (numc)
+denc = squeeze (denc)
+
+ignc = mat2cell (ign, ones(1,p), ones(1,m));
+igdc = mat2cell (igd, ones(1,p), ones(1,m));
+
+num = cellfun (@(x, y) x(1:y+1), numc, ignc, "uniformoutput", false);
+den = cellfun (@(x, y) x(1:y+1), denc, igdc, "uniformoutput", false);
+
+
+tf (num, den)
+
+%{
+numc{1,2,1}
+denc{1,2,1}
+numc{1,1,2}
+denc{1,1,2}
+%}
+
+
+%num(:, 1, 1)
+%den(:, 1, 1)
+%num(:, 1, 2)
+%den(:, 1, 2)
+
+%num = mat2cell (gn, p, m)
+%den = mat2cell (gd, p, m)
+
+%num = gn(1:ign+1)
+%den = gd(1:igd+1)
+%{
+[gn, gd, ign, igd] = sltb04bd (-2, 3, 4, 5)
+
+
+% for i = 1 : size (gn, 1)
+% for j = 1 : size (gn, 2)
+% gn(i, j, :)
+% gd(i, j, :)
+% endfor
+% endfor
+
+
+P = tf (1, [1 5 11 14 11 5 1]);
+
+S = ss (P);
+
+[num, den, ign, igd] = sltb04bd (S.a, S.b, S.c, S.d)
+
+P
+
+
+
+[num, den, ign, igd] = sltb04bd (0, 1, 1, 0)
+
+
+sys = WestlandLynx;
+
+[num, den, ign, igd] = sltb04bd (sys.a, sys.b, sys.c, sys.d);
+%}
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
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