Mercurial > hg > octave-lojdl
changeset 7136:59dcf01bb3e3
[project @ 2007-11-08 20:18:25 by jwe]
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--- a/scripts/ChangeLog +++ b/scripts/ChangeLog @@ -18,21 +18,41 @@ control/obsolete/rotg.m, control/obsolete/series.m, control/obsolete/swapcols.m, control/obsolete/swaprows.m, control/obsolete/syschnames.m, control/obsolete/unpacksys.m, - control/system/buildssic.m, control/system/c2d.m, - control/system/d2c.m, control/system/dmr2d.m, control/system/ss.m, - control/system/ss2sys.m, control/system/sysadd.m, - control/system/sysappend.m, control/system/sysconnect.m, + control/system/__syschnamesl__.m, + control/system/__syscont_disc__.m, + control/system/__sysdefioname__.m, control/system/__sysgroupn__.m, + control/system/__tf2sysl__.m, control/system/__zp2ssg2__.m, + control/system/abcddim.m, control/system/buildssic.m, + control/system/c2d.m, control/system/cellidx.m, + control/system/d2c.m, control/system/dmr2d.m, + control/system/fir2sys.m, control/system/is_abcd.m, + control/system/is_controllable.m, control/system/is_detectable.m, + control/system/is_digital.m, control/system/is_observable.m, + control/system/is_stabilizable.m, control/system/is_stable.m, + control/system/jet707.m, control/system/listidx.m, + control/system/parallel.m, control/system/ss.m, + control/system/ss2sys.m, control/system/ss2zp.m, + control/system/starp.m, control/system/sys2ss.m, + control/system/sys2tf.m, control/system/sys2zp.m, + control/system/sysadd.m, control/system/sysappend.m, + control/system/sysconnect.m, control/system/syscont.m, + control/system/sysdimensions.m, control/system/sysdisc.m, control/system/sysdup.m, control/system/sysgetsignals.m, control/system/sysgroup.m, control/system/sysmin.m, - control/system/sysout.m, control/system/sysprune.m, + control/system/sysmult.m, control/system/sysout.m, + control/system/sysprune.m, control/system/sysreorder.m, control/system/sysscale.m, control/system/syssetsignals.m, - control/system/tf.m, control/system/zp2ss.m, - control/util/__outlist__.m, control/util/__zgpbal__.m, - control/util/axis2dlim.m, control/util/prompt.m, - control/util/sortcom.m, control/util/zgfmul.m, - control/util/zgfslv.m, control/util/zginit.m, - control/util/zgreduce.m, control/util/zgrownorm.m, - control/util/zgscal.m: Style fixes. + control/system/syssub.m, control/system/sysupdate.m, + control/system/tf.m, control/system/tf2ss.m, + control/system/tf2sys.m, control/system/tfout.m, + control/system/zp.m, control/system/zp2ss.m, + control/system/zp2sys.m, control/system/zp2tf.m, + control/system/zpout.m, control/util/__outlist__.m, + control/util/__zgpbal__.m, control/util/axis2dlim.m, + control/util/prompt.m, control/util/sortcom.m, + control/util/zgfmul.m, control/util/zgfslv.m, + control/util/zginit.m, control/util/zgreduce.m, + control/util/zgrownorm.m, control/util/zgscal.m: Style fixes. 2007-11-08 David Bateman <dbateman@free.fr>
--- a/scripts/control/system/__syschnamesl__.m +++ b/scripts/control/system/__syschnamesl__.m @@ -33,45 +33,46 @@ function old_names = __syschnamesl__ (olist, old_names, inames, listname) probstr = []; - if( max(olist) > rows(old_names) ) - probstr = ["index list value(s) exceed(s) number of signals (", ... - num2str(rows(old_names)),")"]; + + if (max (olist) > rows (old_names)) + probstr = sprintf ("index list value(s) exceed(s) number of signals (%d)", + rows (old_names)); - elseif( length(olist) > rows(inames) ) - probstr = ["index list dimension exceeds number of replacement names (", ... - num2str(rows(inames)),")"]; + elseif (length (olist) > rows (inames)) + probstr = sprintf ("index list dimension exceeds number of replacement names (%d)", + rows (inames)); - elseif(isempty(olist)) + elseif (isempty (olist)) probstr = []; # do nothing, no changes - elseif(min(size(olist)) != 1 ) + elseif (min (size (olist)) != 1) probstr = "index list must be either a vector or an empty matrix"; - elseif(max(olist) > rows(old_names)) - probstr = ["max(",listname,")=",num2str(max(olist))," > ", ... - num2str(rows(old_names)),", too big"]; + elseif (max (olist) > rows (old_names)) + probstr = sprintf ("max(%s)=%d > %d, too big", listname, + max (olist), rows (old_names)); - elseif(min(olist) < 1) - probstr = ["min(",listname,")=",num2str(min(olist))," < 1, too small"]; + elseif (min (olist) < 1) + probstr = sprintf ("min(%s)=%d < 1, too small", listname, min (olist)); else - if( length(olist) == 1) - len_in = columns(inames); - len_out = columns(old_names); + if (length(olist) == 1) + len_in = columns (inames); + len_out = columns (old_names); if (len_in < len_out) - inames(1,(len_in+1):(len_out)) = zeros(1,(len_out - len_in)); + inames(1,(len_in+1):(len_out)) = zeros (1, len_out-len_in); endif old_names(olist,1:length(inames)) = inames; - elseif(length(olist) > 1) - for ii=1:length(olist) + elseif (length(olist) > 1) + for ii = 1:length(olist) mystr = inames(ii,:); - len_my = columns(mystr); - len_out = columns(old_names); + len_my = columns (mystr); + len_out = columns (old_names); if (len_my < len_out) - mystr(1,(len_my+1):(len_out)) = " "*ones(1,(len_out - len_my)); + mystr(1,(len_my+1):len_out) = repmat (" ", 1, len_out-len_my); len_my = len_out; endif @@ -79,26 +80,26 @@ endfor endif endif - if(!isempty(probstr)) + if (! isempty (probstr)) ## the following lines are NOT debugging code! - disp("Problem in syschnames: old names are") - __outlist__(old_names," ") - disp("new names are") + disp ("Problem in syschnames: old names are") + __outlist__ (old_names," ") + disp ("new names are") __outlist__(inames," ") - disp("list indices are") - disp(olist) - error(sprintf("syschnames: \"%s\" dim=(%d x %d)--\n\t%s\n", ... - listname, rows(olist), columns(olist),probstr)); + disp ("list indices are") + disp (olist) + error (sprintf ("syschnames: \"%s\" dim=(%d x %d)--\n\t%s\n", ... + listname, rows (olist), columns (olist), probstr)); endif ## change zeros to blanks - if( find(old_names == 0) ) + if (find (old_names == 0)) ## disp("__syschnamesl__: old_names contains zeros ") ## old_names ## disp("/__syschnamesl__"); - [ii,jj] = find(old_names == 0); - for idx=1:length(ii) + [ii, jj] = find (old_names == 0); + for idx = 1:length(ii) old_names(ii(idx),jj(idx)) = " "; endfor @@ -108,8 +109,8 @@ endif ## just in case it's not a string anymore - if( !ischar(old_names) ) - old_names = char(old_names); + if (! ischar (old_names)) + old_names = char (old_names); endif ## disp("__syschnamesl__: exit, old_names=")
--- a/scripts/control/system/__syscont_disc__.m +++ b/scripts/control/system/__syscont_disc__.m @@ -47,11 +47,11 @@ function [n_tot, st_c, st_d, y_c, y_d] = __syscont_disc__ (sys) ## get ranges for discrete/continuous states and outputs - [nn,nz,mm,pp,yd] = sysdimensions(sys); + [nn, nz, mm, pp, yd] = sysdimensions (sys); n_tot = nn + nz; st_c = 1:(nn); st_d = nn + (1:nz); - y_c = find(yd == 0); # y_c, y_d will be empty if there are none. - y_d = find(yd == 1); + y_c = find (yd == 0); # y_c, y_d will be empty if there are none. + y_d = find (yd == 1); endfunction
--- a/scripts/control/system/__sysdefioname__.m +++ b/scripts/control/system/__sysdefioname__.m @@ -41,20 +41,22 @@ function ioname = __sysdefioname__ (n, str, m) - if (nargin < 2 | nargin > 3) + if (nargin < 2 || nargin > 3) print_usage (); endif - if (nargin == 2) m = min(1,n); endif + if (nargin == 2) + m = min (1, n); + endif ioname = {}; jj = 1; - if(n > 0 & m > 0 & m <= n) + if (n > 0 && m > 0 && m <= n) for ii = m:n - ioname{ii+1-m} = sprintf("%s_%d",str,ii); + ioname{ii+1-m} = sprintf ("%s_%d", str, ii); endfor - elseif(m > n) - error("str=%s; start value m=%d > final value n=%d",str,m,n); + elseif (m > n) + error ("str=%s; start value m=%d > final value n=%d", str, m, n); endif endfunction
--- a/scripts/control/system/__sysgroupn__.m +++ b/scripts/control/system/__sysgroupn__.m @@ -35,25 +35,25 @@ function names = __sysgroupn__ (names, kind) ## check for duplicate names - l = length(names); + l = length (names); ii = 1; - while(ii <= l-1) + while (ii <= l-1) st1 = names{ii}; jj = ii+1; - while ( jj <= l) + while (jj <= l) st2 = names{jj}; - if(strcmp(st1,st2)) - suffix = ["_",num2str(jj)]; - warning("sysgroup: %s name(%d) = %s name(%d) = %s", ... - kind,ii,kind,jj,st1); - strval = sprintf("%s%s",st2,suffix); + if (strcmp (st1, st2)) + warning ("sysgroup: %s name(%d) = %s name(%d) = %s", + kind, ii, kind, jj, st1); + strval = sprintf ("%s_%d", st2, jj) names{jj} = strval; - warning("sysgroup: changed %s name %d to %s",kind,jj,strval); + warning ("sysgroup: changed %s name %d to %s", kind, jj, strval); ## restart the check (just to be sure there's no further duplications) - ii = 0; jj = l; + ii = 0; + jj = l; endif - jj = jj+1; + jj++; endwhile - ii = ii+1; + ii++; endwhile endfunction
--- a/scripts/control/system/__tf2sysl__.m +++ b/scripts/control/system/__tf2sysl__.m @@ -27,6 +27,6 @@ function vec = __tf2sysl__ (vec) - error("__tf2sysl__ no longer used; use the tf function."); + error ("__tf2sysl__ no longer used; use the tf function."); endfunction
--- a/scripts/control/system/__zp2ssg2__.m +++ b/scripts/control/system/__zp2ssg2__.m @@ -32,25 +32,27 @@ function [poly, rvals] = __zp2ssg2__ (rvals) ## locate imaginary roots (if any) - cidx = find(imag(rvals)); + cidx = find (imag (rvals)); - if(!isempty(cidx)) + if (! isempty (cidx)) ## select first complex root, omit from cidx - r1i = cidx(1); r1 = rvals(r1i); cidx = complement(r1i,cidx); + r1i = cidx(1); + r1 = rvals(r1i); + cidx = complement (r1i, cidx); ## locate conjugate root (must be in cidx list, just in case there's ## roundoff) - err = abs(rvals(cidx) - r1'); - minerr = min(err); - c2i = find(err == minerr, 1); + err = abs (rvals(cidx) - r1'); + minerr = min (err); + c2i = find (err == minerr, 1); r2i = cidx(c2i); r2 = rvals(r2i); - cidx = complement(r2i,cidx); + cidx = complement (r2i, cidx); ## don't check for divide by zero, since 0 is not complex. - if(abs(r2 - r1')/abs(r1) > 1e-12) - error(sprintf("r1=(%f,%f); r2=(%f,%f), not conjugates.", ... - real(r1),imag(r1),real(r2),imag(r2))); + if (abs (r2-r1') / abs (r1) > 1e-12) + error ("r1=(%f,%f); r2=(%f,%f), not conjugates.", + real (r1), imag (r1), real (r2), imag(r2)); endif ## complex conjugate pair @@ -60,11 +62,12 @@ r1 = rvals(1); r2 = rvals(2); poly = [1, -(r1+r2), (r1*r2)]; - r1i = 1; r2i = 2; + r1i = 1; + r2i = 2; endif ## remove roots used - idx = complement([r1i, r2i],1:length(rvals)); + idx = complement ([r1i, r2i], 1:length(rvals)); rvals = rvals(idx); endfunction
--- a/scripts/control/system/abcddim.m +++ b/scripts/control/system/abcddim.m @@ -68,7 +68,7 @@ function [n, m, p] = abcddim (a, b, c, d) if (nargin != 4) - error ("abcddim: four arguments required"); + print_usage (); endif n = m = p = -1; @@ -78,52 +78,53 @@ [c, cn, cm] = __abcddims__ (c); [d, dn, dm] = __abcddims__ (d); - if ( (!issquare(a)) & (!isempty(a)) ) - warning (["abcddim: a is not square (",num2str(an),"x",num2str(am),")"]); - return + if (! issquare (a) && ! isempty (a)) + warning ("abcddim: a is not square (%dx%d)", an, am); + return; endif - if( (bm == 0) & (dm == 0) ) - warning("abcddim: no inputs"); + if (bm == 0 && dm == 0) + warning ("abcddim: no inputs"); elseif (bn != am) - warning (["abcddim: a(",num2str(an),"x",num2str(am), ... - " and b(",num2str(bn),"x",num2str(bm),") are not compatible"]); - return + warning ("abcddim: a(%dx%d) and b(%dx%d) are not compatible", + an, am, bn, bm); + return; endif - if( (cn == 0) & (dn == 0 ) ) - warning("abcddim: no outputs"); + if (cn == 0 && dn == 0) + warning ("abcddim: no outputs"); elseif (cm != an) - warning (["abcddim: a(",num2str(an),"x",num2str(am), ... - " and c(",num2str(cn),"x",num2str(cm),") are not compatible"]); - return + warning ("abcddim: a(%dx%d) and c(%dx%d) are not compatible", + an, am, cn, cm); + return; endif have_connections = (bn*cn != 0); - if( (dn == 0) & have_connections) - warning("abcddim: empty d matrix passed; setting compatibly with b, c"); + if (dn == 0 && have_connections) + warning ("abcddim: empty d matrix passed; setting compatibly with b, c"); [d, dn, dm] = __abcddims__ (zeros (cn, bm)); endif - if(an > 0) - [dn, dm] = size(d); - if ( (cn != dn) & have_connections ) - warning (["abcddim: c(",num2str(cn),"x",num2str(cm), ... - " and d(",num2str(dn),"x",num2str(dm),") are not compatible"]); - return + if (an > 0) + [dn, dm] = size (d); + if (cn != dn && have_connections) + warning ("abcddim: c(%dx%d) and d(%dx%d) are not compatible", + cn, cm, dn, dm); + return; endif - if ( (bm != dm) & have_connections ) - warning (["abcddim: b(",num2str(bn),"x",num2str(bm), ... - " and d(",num2str(dn),"x",num2str(dm),") are not compatible"]); - return + if (bm != dm && have_connections) + warning ("abcddim: b(",num2str(bn),"x",num2str(bm), ... + " and d(",num2str(dn),"x",num2str(dm),") are not compatible"); + return; endif m = bm; p = cn; else - [p,m] = size(d); + [p, m] = size (d); endif n = an; + endfunction
--- a/scripts/control/system/cellidx.m +++ b/scripts/control/system/cellidx.m @@ -34,65 +34,67 @@ ## screen and exits with an error. ## @end deftypefn -function [idxvec,errmsg] = cellidx(listvar,strlist) +function [idxvec,errmsg] = cellidx (listvar, strlist) -if(nargin != 2) - print_usage (); -endif + if (nargin != 2) + print_usage (); + endif -if(ischar(strlist)) - tmp = strlist; - strlist = {}; - for kk=1:rows(tmp) - strlist{kk} = deblank(tmp(kk,:)); - endfor -endif + if (ischar (strlist)) + tmp = strlist; + strlist = {}; + for kk = 1:rows(tmp) + strlist{kk} = deblank (tmp(kk,:)); + endfor + endif -if(ischar(listvar)) - tmp = listvar; - listvar = {}; - for kk=1:rows(tmp) - listvar{kk} = deblank(tmp(kk,:)); - endfor -endif + if (ischar (listvar)) + tmp = listvar; + listvar = {}; + for kk = 1:rows(tmp) + listvar{kk} = deblank (tmp(kk,:)); + endfor + endif + + ## initialize size of idxvec (for premature return) + idxvec = zeros (length(strlist), 1); -## initialize size of idxvec (for premature return) -idxvec = zeros(length(strlist),1); + errmsg = ""; + if (! is_signal_list (listvar)) + errmsg = "listvar must be a list of strings"; + elseif (! is_signal_list (strlist)) + errmsg = "strlist must be a list of strings"; + endif -errmsg = ""; -if(!is_signal_list(listvar)) - errmsg = "listvar must be a list of strings"; -elseif(!is_signal_list(strlist)) - errmsg = "strlist must be a list of strings"; -endif + if (length (errmsg)) + if (nargout < 2) + error (errmsg); + else + return; + endif + endif -if(length(errmsg)) - if(nargout < 2) error(errmsg); - else return; - endif -endif - -nsigs = length(listvar); -for idx = 1:length(strlist) - signame = strlist{idx}; - for jdx = 1:nsigs - if( strcmp(signame,listvar{jdx}) ) - if(idxvec(idx) != 0) - warning("Duplicate signal name %s (%d,%d)\n", ... - listvar{jdx},jdx,idxvec(idx)); + nsigs = length(listvar); + for idx = 1:length(strlist) + signame = strlist{idx}; + for jdx = 1:nsigs + if (strcmp (signame, listvar{jdx}) ) + if (idxvec(idx) != 0) + warning ("Duplicate signal name %s (%d,%d)\n", + listvar{jdx}, jdx, idxvec(idx)); + else + idxvec(idx) = jdx; + endif + endif + endfor + if (idxvec(idx) == 0) + errmsg = sprintf ("Did not find %s", signame); + if (nargout == 1) + error (errmsg); else - idxvec(idx) = jdx; + break; endif endif endfor - if(idxvec(idx) == 0) - errmsg = sprintf("Did not find %s",signame); - if(nargout == 1) - error(errmsg); - else - break - end - endif -endfor endfunction
--- a/scripts/control/system/fir2sys.m +++ b/scripts/control/system/fir2sys.m @@ -87,18 +87,16 @@ function sys = fir2sys (num, tsam, inname, outname) ## Test for the correct number of input arguments - if (nargin < 1 | nargin > 4) + if (nargin < 1 || nargin > 4) print_usage (); endif ## let tf do the argument checking - den = [1,zeros(1,length(num)-1)]; + den = [1, zeros(1,length(num)-1)]; ## check sampling interval (if any) - if (nargin <= 1) + if (nargin < 2 || isempty (tsam)) tsam = 1; # default - elseif (isempty(tsam)) - tsam = 1; endif ## Set name of input
--- a/scripts/control/system/is_abcd.m +++ b/scripts/control/system/is_abcd.m @@ -32,61 +32,67 @@ function retval = is_abcd (a, b, c, d) retval = 0; + switch (nargin) - case (1) + case 1 ## A only - [na, ma] = size(a); + [na, ma] = size (a); if (na != ma) - disp("Matrix A ist not square.") + disp ("Matrix A ist not square.") endif - case (2) + case 2 ## A, B only - [na, ma] = size(a); [nb, mb] = size(b); + [na, ma] = size (a); + [nb, mb] = size(b); if (na != ma) - disp("Matrix A ist not square.") + disp ("Matrix A ist not square.") return; endif if (na != nb) - disp("A and B column dimension different.") + disp ("A and B column dimension different.") return; endif - case (3) + case 3 ## A, B, C only - [na, ma] = size(a); [nb, mb] = size(b); [nc, mc] = size(c); + [na, ma] = size(a); + [nb, mb] = size(b); + [nc, mc] = size(c); if (na != ma) - disp("Matrix A ist not square.") + disp ("Matrix A ist not square.") return; endif if (na != nb) - disp("A and B column dimensions not compatible.") + disp ("A and B column dimensions not compatible.") return; endif if (ma != mc) - disp("A and C row dimensions not compatible.") + disp ("A and C row dimensions not compatible.") return; endif - case (4) + case 4 ## all matrices A, B, C, D - [na, ma] = size(a); [nb, mb] = size(b); - [nc, mc] = size(c); [nd, md] = size(d); + [na, ma] = size(a); + [nb, mb] = size(b); + [nc, mc] = size(c); + [nd, md] = size(d); if (na != ma) - disp("Matrix A ist not square.") + disp ("Matrix A ist not square.") return; endif if (na != nb) - disp("A and B column dimensions not compatible.") + disp ("A and B column dimensions not compatible.") return; endif if (ma != mc) - disp("A and C row dimensions not compatible.") + disp ("A and C row dimensions not compatible.") return; endif if (mb != md) - disp("B and D row dimensions not compatible.") + disp ("B and D row dimensions not compatible.") return; endif if (nc != nd) - disp("C and D column dimensions not compatible.") + disp ("C and D column dimensions not compatible.") return; endif otherwise @@ -94,4 +100,5 @@ endswitch ## all tests passed, signal ok. retval = 1; + endfunction
--- a/scripts/control/system/is_controllable.m +++ b/scripts/control/system/is_controllable.m @@ -65,22 +65,23 @@ function [retval, U] = is_controllable (a, b, tol) deftol = 1; # assume default tolerance - if(nargin < 1 | nargin > 3) + + if (nargin < 1 || nargin > 3) print_usage (); - elseif(isstruct(a)) + elseif (isstruct (a)) ## system structure passed. - sys = sysupdate(a,"ss"); - [a,bs] = sys2ss(sys); - if(nargin > 2) + sys = sysupdate (a, "ss"); + [a, bs] = sys2ss (sys); + if (nargin > 2) print_usage (); - elseif(nargin == 2) + elseif (nargin == 2) tol = b; % get tolerance deftol = 0; endif b = bs; else ## a,b arguments sent directly. - if(nargin < 2) + if (nargin < 2) print_usage (); else deftol = 1; @@ -88,27 +89,30 @@ endif ## check for default tolerance - if(deftol) tol = 1000*eps; endif + if (deftol) + tol = 1000*eps; + endif ## check tol dimensions - if( !isscalar(tol) ) - error("is_controllable: tol(%dx%d) must be a scalar", ... - rows(tol),columns(tol)); - elseif( !is_sample(tol) ) - error("is_controllable: tol=%e must be positive",tol); + if (! isscalar (tol)) + error ("is_controllable: tol(%dx%d) must be a scalar", ... + rows (tol), columns (tol)); + elseif (! is_sample (tol)) + error ("is_controllable: tol=%e must be positive",tol); endif ## check dimensions compatibility n = issquare (a); [nr, nc] = size (b); - if (n == 0 | n != nr | nc == 0) - warning("is_controllable: a=(%dx%d), b(%dx%d)",rows(a),columns(a),nr,nc); + if (n == 0 || n != nr || nc == 0) + warning ("is_controllable: a=(%dx%d), b(%dx%d)",rows(a),columns(a),nr,nc); retval = 0; else ## call block-krylov subspace routine to get an orthogonal basis ## of the controllable subspace. - [U,H,Ucols] = krylov(a,b,n,tol,1); + [U, H, Ucols] = krylov (a, b, n, tol, 1); retval = (Ucols == n); endif + endfunction
--- a/scripts/control/system/is_detectable.m +++ b/scripts/control/system/is_detectable.m @@ -38,30 +38,31 @@ function [retval, U] = is_detectable (a, c, tol, dflg) - if( nargin < 1) + if (nargin < 1) print_usage (); - elseif(isstruct(a)) + elseif (isstruct (a)) ## system form - if(nargin == 2) + if (nargin == 2) tol = c; - elseif(nargin > 2) + elseif (nargin > 2) print_usage (); endif - dflg = is_digital(a); - [a,b,c] = sys2ss(a); + dflg = is_digital (a); + [a,b,c] = sys2ss (a); else - if ((nargin > 4)||(nargin == 1)) + if (nargin > 4 || nargin == 1) print_usage (); endif - if (~exist("dflg")) + if (! exist ("dflg")) dflg = 0; - end - end + endif + endif - if(~exist("tol")) + if (! exist ("tol")) tol = 200*eps; end - retval = is_stabilizable(a',c',tol,dflg); + + retval = is_stabilizable (a', c', tol, dflg); endfunction
--- a/scripts/control/system/is_digital.m +++ b/scripts/control/system/is_digital.m @@ -47,11 +47,12 @@ function DIGITAL = is_digital (sys, eflg) - switch(nargin) - case(1), eflg = 0; - case(2), - if( isempty(find(eflg == [0, 1, 2])) ) - error("invalid value of eflg=%d (%e)",eflg,eflg); + switch (nargin) + case 1 + eflg = 0; + case 2 + if (isempty (find (eflg == [0, 1, 2]))) + error ("invalid value of eflg=%g", eflg); endif otherwise, print_usage (); @@ -59,19 +60,19 @@ ## checked for sampled data system (mixed) ## discrete system - sysyd = sysgetsignals(sys,"yd"); - [nn,nz] = sysdimensions(sys); - cont = sum(sysyd == 0) + nn; - tsam = sysgettsam(sys); - dig = sum(sysyd != 0) + nz + tsam; + sysyd = sysgetsignals (sys, "yd"); + [nn, nz] = sysdimensions (sys); + cont = sum (sysyd == 0) + nn; + tsam = sysgettsam (sys); + dig = sum (sysyd != 0) + nz + tsam; ## check for mixed system - if( cont*dig != 0) - switch(eflg) - case(0), - error("continuous/discrete system; use syscont, sysdisc, or c2d first"); - case(1), - warning("is_digital: mixed continuous/discrete system"); + if (cont*dig != 0) + switch (eflg) + case 0 + error ("continuous/discrete system; use syscont, sysdisc, or c2d first"); + case 1 + warning ("is_digital: mixed continuous/discrete system"); endswitch dig_sign = -1; else
--- a/scripts/control/system/is_observable.m +++ b/scripts/control/system/is_observable.m @@ -38,23 +38,23 @@ function [retval, U] = is_observable (a, c, tol) - if( nargin < 1) + if (nargin < 1) print_usage (); - elseif(isstruct(a)) + elseif (isstruct (a)) ## system form - if(nargin == 2) + if (nargin == 2) tol = c; - elseif(nargin > 2) + elseif (nargin > 2) print_usage (); endif - [a,b,c] = sys2ss(a); - elseif(nargin > 3) + [a, b, c] = sys2ss (a); + elseif (nargin > 3) print_usage (); endif - if(exist("tol")) - [retval,U] = is_controllable (a', c', tol); + if (exist ("tol")) + [retval, U] = is_controllable (a', c', tol); else - [retval,U] = is_controllable (a', c'); + [retval, U] = is_controllable (a', c'); endif endfunction
--- a/scripts/control/system/is_stabilizable.m +++ b/scripts/control/system/is_stabilizable.m @@ -46,79 +46,81 @@ function retval = is_stabilizable (a, b, tol, dflg) - if(nargin < 1) + if (nargin < 1) print_usage (); - elseif(isstruct(a)) + elseif (isstruct (a)) ## system passed. - if(nargin == 2) + if (nargin == 2) tol = b; % get tolerance - elseif(nargin > 2) + elseif (nargin > 2) print_usage (); endif disc = is_digital(a); - [a,b] = sys2ss(a); + [a, b] = sys2ss (a); else ## a,b arguments sent directly. - if ((nargin > 4)||(nargin == 1)) + if (nargin > 4 || nargin == 1) print_usage (); endif - if(exist("dflg")) + if (exist ("dflg")) disc = dflg; else disc = 0; end endif - if(~exist("tol")) + if (! exist ("tol")) tol = 200*eps; - end + endif ## Checking dimensions - n = is_square(a); - if (n==0) - error("is_stabilizable: a must be square"); - end - [nr,m] = size(b); - if (nr!=n) - error("is_stabilizable: (a,b) not conformal"); - end + n = is_square (a); + if (n == 0) + error ("is_stabilizable: a must be square"); + endif + [nr, m] = size (b); + if (nr != n) + error ("is_stabilizable: (a,b) not conformal"); + endif ##Computing the eigenvalue of A - L = eig(a); + L = eig (a); retval = 1; specflag = 0; - for i=1:n - if (disc==0) + for i = 1:n + if (disc == 0) ## Continuous time case - rL = real(L(i)); - if (rL>=0) + rL = real (L(i)); + if (rL >= 0) H = [eye(n)*L(i)-a, b]; - f = (rank(H,tol)==n); - if (f==0) + f = (rank (H, tol) == n); + if (f == 0) retval = 0; - if (rL==0) + if (rL == 0) specflag = 1; - end - end - end + endif + endif + endif else ## Discrete time case - rL = abs(L(i)); - if (rL>=1) + rL = abs (L(i)); + if (rL >= 1) H = [eye(n)*L(i)-a, b]; - f = (rank(H,tol)==n); - if (f==0) + f = (rank (H, tol) == n); + if (f == 0) retval = 0; - if (rL==1) + if (rL == 1) specflag = 1; - end - end - end - end - end - if (specflag==1) + endif + endif + endif + endif + endfor + if (specflag == 1) ## This means that the system has uncontrollable modes at the imaginary axis ## (or at the unit circle for discrete time systems) retval = -1; - end + endif + +endfunction
--- a/scripts/control/system/is_stable.m +++ b/scripts/control/system/is_stable.m @@ -48,30 +48,39 @@ function retval = is_stable (a, tol, disc) - if( (nargin < 1) | (nargin > 3) ) print_usage (); - elseif(isstruct(a)) + if (nargin < 1 || nargin > 3) + print_usage (); + elseif (isstruct (a)) ## system was passed - if(nargin < 3) disc = is_digital(a); - elseif(disc != is_digital(a)) - warning("is_stable: disc =%d does not match system",disc) + if (nargin < 3) + disc = is_digital(a); + elseif (disc != is_digital (a)) + warning ("is_stable: disc =%d does not match system", disc) endif - sys = sysupdate(a,"ss"); - a = sys2ss(sys); + sys = sysupdate (a, "ss"); + a = sys2ss (sys); else - if(nargin < 3) disc = 0; endif - if(issquare(a) == 0) - error("A(%dx%d) must be square",rows(A), columns(A)); + if (nargin < 3) + disc = 0; + endif + if (issquare (a) == 0) + error ("A(%dx%d) must be square", rows (A), columns (A)); endif endif - if(nargin < 2) tol = 200*eps; - elseif( !isscalar(tol) ) - error("is_stable: tol(%dx%d) must be a scalar",rows(tol),columns(tol)); + if (nargin < 2) + tol = 200*eps; + elseif (! isscalar (tol)) + error ("is_stable: tol(%dx%d) must be a scalar", rows (tol), + columns (tol)); endif - l = eig(a); - if(disc) nbad = sum(abs(l)*(1+tol) > 1); - else nbad = sum(real(l)+tol > 0); endif + l = eig (a); + if (disc) + nbad = sum (abs(l)*(1+tol) > 1); + else + nbad = sum (real(l)+tol > 0); + endif retval = (nbad == 0); endfunction
--- a/scripts/control/system/jet707.m +++ b/scripts/control/system/jet707.m @@ -33,7 +33,8 @@ ## ## System outputs: (1) airspeed and (2) pitch angle. ## -## @strong{Reference}: R. Brockhaus: @cite{Flugregelung} (Flight Control), Springer, 1994. +## @strong{Reference}: R. Brockhaus: @cite{Flugregelung} (Flight +## Control), Springer, 1994. ## @seealso{ord2} ## @end deftypefn @@ -45,24 +46,26 @@ if (nargin != 0) print_usage (); endif - if (nargin > 1) - print_usage (); - endif + + a = [-0.46E-01, 0.10681415316, 0.0, -0.17121680433; + -0.1675901504661613, -0.515, 1.0, 0.6420630320636088E-02; + 0.1543104215347786, -0.547945, -0.906, -0.1521689385990753E-02; + 0.0, 0.0, 1.0, 0.0]; + + b = [0.1602300107479095, 0.2111848453E-02; + 0.8196877780963616E-02, -0.3025E-01; + 0.9173594317692437E-01, -0.75283075; + 0.0, 0.0]; - a = [ -0.46E-01, 0.10681415316, 0.0, -0.17121680433; - -0.1675901504661613, -0.515, 1.0, 0.6420630320636088E-02; - 0.1543104215347786, -0.547945, -0.906, -0.1521689385990753E-02; - 0.0, 0.0, 1.0, 0.0 ]; - b = [ 0.1602300107479095, 0.2111848453E-02; - 0.8196877780963616E-02, -0.3025E-01; - 0.9173594317692437E-01, -0.75283075; - 0.0, 0.0 ]; - c = [ 1.0, 0.0, 0.0, 0.0; - 0.0, 0.0, 0.0, 1.0 ]; - d=zeros(2,2); - inam = ["thrust"; "rudder"]; - onam = ["speed"; "pitch"]; - snam = ["x1"; "x2"; "x3"; "x4"]; - outsys = ss(a, b, c, d, 0.0, 4, 0, snam, inam, onam); + c = [1.0, 0.0, 0.0, 0.0; + 0.0, 0.0, 0.0, 1.0]; + + d = zeros(2,2); + + inam = {"thrust"; "rudder"}; + onam = {"speed"; "pitch"}; + snam = {"x1"; "x2"; "x3"; "x4"}; + + outsys = ss (a, b, c, d, 0.0, 4, 0, snam, inam, onam); endfunction
--- a/scripts/control/system/listidx.m +++ b/scripts/control/system/listidx.m @@ -34,66 +34,69 @@ ## screen and exits with an error. ## @end deftypefn -function [idxvec,errmsg] = listidx(listvar,strlist) - error("listidx: don't use this anymore, ok?\n"); +function [idxvec, errmsg] = listidx (listvar, strlist) + + error ("listidx: don't use this anymore, ok?"); -if(nargin != 2) - print_usage (); -endif + if (nargin != 2) + print_usage (); + endif -if(ischar(strlist)) - tmp = strlist; - strlist = list(); - for kk=1:rows(tmp) - strlist(kk) = deblank(tmp(kk,:)); - endfor -endif + if (ischar (strlist)) + tmp = strlist; + strlist = list(); + for kk = 1:rows(tmp) + strlist(kk) = deblank (tmp(kk,:)); + endfor + endif -if(ischar(listvar)) - tmp = listvar; - listvar = list(); - for kk=1:rows(tmp) - listvar(kk) = deblank(tmp(kk,:)); - endfor -endif + if (ischar (listvar)) + tmp = listvar; + listvar = list(); + for kk = 1:rows(tmp) + listvar(kk) = deblank (tmp(kk,:)); + endfor + endif + + ## initialize size of idxvec (for premature return) + idxvec = zeros (length(strlist), 1); -## initialize size of idxvec (for premature return) -idxvec = zeros(length(strlist),1); + errmsg = ""; + if (! is_signal_list (listvar)) + errmsg = "listvar must be a list of strings"; + elseif (! is_signal_list(strlist)) + errmsg = "strlist must be a list of strings"; + endif -errmsg = ""; -if(!is_signal_list(listvar)) - errmsg = "listvar must be a list of strings"; -elseif(!is_signal_list(strlist)) - errmsg = "strlist must be a list of strings"; -endif + if (length (errmsg)) + if (nargout < 2) + error(errmsg); + else + return; + endif + endif -if(length(errmsg)) - if(nargout < 2) error(errmsg); - else return; - endif -endif - -nsigs = length(listvar); -for idx = 1:length(strlist) - signame = strlist{idx}; - for jdx = 1:nsigs - if( strcmp(signame,listvar{jdx}) ) - if(idxvec(idx) != 0) - warning("Duplicate signal name %s (%d,%d)\n", ... - listvar{jdx},jdx,idxvec(idx)); + nsigs = length (listvar); + for idx = 1:length(strlist) + signame = strlist{idx}; + for jdx = 1:nsigs + if (strcmp (signame, listvar{jdx})) + if (idxvec(idx) != 0) + warning ("Duplicate signal name %s (%d,%d)\n", + listvar{jdx}, jdx, idxvec(idx)); + else + idxvec(idx) = jdx; + endif + endif + endfor + if (idxvec (idx) == 0) + errmsg = sprintf ("Did not find %s", signame); + if (nargout == 1) + error (errmsg); else - idxvec(idx) = jdx; + break; endif endif endfor - if(idxvec(idx) == 0) - errmsg = sprintf("Did not find %s",signame); - if(nargout == 1) - error(errmsg); - else - break - end - endif -endfor endfunction
--- a/scripts/control/system/parallel.m +++ b/scripts/control/system/parallel.m @@ -46,28 +46,28 @@ if(nargin != 2) print_usage (); endif - if(! isstruct(Asys) ) - error("1st input argument is not a system data structure") + if (! isstruct(Asys) ) + error ("1st input argument is not a system data structure"); elseif (! isstruct(Bsys) ) - error("2nd input argument is not a system data structure") + error ("2nd input argument is not a system data structure"); endif - [Ann,Anz,mA] = sysdimensions(Asys); - [Bnn,Bnz,mB] = sysdimensions(Bsys); - if(mA != mB) - error(["Asys has ",num2str(mA)," inputs, Bsys has ",num2str(mB)," inputs"]); + [Ann, Anz, mA] = sysdimensions(Asys); + [Bnn, Bnz, mB] = sysdimensions(Bsys); + if (mA != mB) + error ("Asys has %d inputs, Bsys has %d inputs", mA, mB); endif ## save signal names - Ain = sysgetsignals(Asys,"in"); + Ain = sysgetsignals (Asys, "in"); ## change signal names to avoid warning messages from sysgroup - Asys = syssetsignals(Asys,"in",__sysdefioname__(length(Ain),"Ain_u")); - Bsys = syssetsignals(Bsys,"in",__sysdefioname__(length(Ain),"Bin_u")); + Asys = syssetsignals (Asys, "in", __sysdefioname__ (length (Ain), "Ain_u")); + Bsys = syssetsignals (Bsys, "in", __sysdefioname__ (length (Ain), "Bin_u")); - sysp = sysgroup(Asys,Bsys); - sysD = ss([],[],[],[eye(mA);eye(mA)]); + sysp = sysgroup (Asys, Bsys); + sysD = ss ([], [], [], [eye(mA); eye(mA)]); - sysp = sysmult(sysp,sysD); - sysp = syssetsignals(sysp,"in",Ain); + sysp = sysmult (sysp, sysD); + sysp = syssetsignals (sysp, "in", Ain); endfunction
--- a/scripts/control/system/ss2zp.m +++ b/scripts/control/system/ss2zp.m @@ -32,25 +32,25 @@ function [zer, pol, k] = ss2zp (a, b, c, d) - if(nargin != 4) + if (nargin != 4) print_usage (); endif - [n,m,p] = abcddim(a,b,c,d); + [n, m, p] = abcddim (a, b, c, d); if (n == -1) - error("ss2tf: Non compatible matrix arguments"); - elseif ( (m != 1) | (p != 1)) - error(["ss2tf: not SISO system: m=",num2str(m)," p=",num2str(p)]); + error ("ss2tf: Non compatible matrix arguments"); + elseif (m != 1 || p != 1) + error ("ss2tf: not SISO system: m=%d p=%d", m, p); endif - if(n == 0) + if (n == 0) ## gain block only k = d; zer = pol = []; else ## First, get the denominator coefficients - [zer,k] = tzero(a,b,c,d); - pol = eig(a); + [zer, k] = tzero (a, b, c, d); + pol = eig (a); endif + endfunction -
--- a/scripts/control/system/starp.m +++ b/scripts/control/system/starp.m @@ -53,28 +53,28 @@ function sys = starp (P, K, ny, nu); - if((nargin != 2) && (nargin != 4)) + if (nargin != 2 && nargin != 4) print_usage (); endif - if (!isstruct(P)) - error("---> P must be in system data structure"); + if (! isstruct (P)) + error ("---> P must be in system data structure"); endif - if (!isstruct(K)) - error("---> K must be in system data structure"); + if (! isstruct (K)) + error ("---> K must be in system data structure"); endif - P = sysupdate(P, "ss"); - [n, nz, mp, pp] = sysdimensions(P); + P = sysupdate (P, "ss"); + [n, nz, mp, pp] = sysdimensions (P); np = n + nz; - K = sysupdate(K, "ss"); - [n, nz, mk, pk] = sysdimensions(K); + K = sysupdate (K, "ss"); + [n, nz, mk, pk] = sysdimensions (K); nk = n + nz; ny_sign = 1; nu_sign = 1; if (nargin == 2) ## perform a LFT of P and K (upper or lower) - ny = min([pp, mk]); - nu = min([pk, mp]); + ny = min ([pp, mk]); + nu = min ([pk, mp]); else if (ny < 0) ny = -ny; @@ -86,40 +86,48 @@ endif endif if (ny > pp) - error("---> P has not enough outputs."); + error ("---> P has not enough outputs."); endif if (nu > mp) - error("---> P has not enough inputs."); + error ("---> P has not enough inputs."); endif if (ny > mk) - error("---> K has not enough inputs."); + error ("---> K has not enough inputs."); endif if (nu > pk) - error("---> K has not enough outputs."); + error ("---> K has not enough outputs."); endif nwp = mp - nu; nzp = pp - ny; nwk = mk - ny; nzk = pk - nu; - if ((nwp + nwk) < 1) - error("---> no inputs left for star product."); + if (nwp + nwk < 1) + error ("---> no inputs left for star product."); endif - if ((nzp + nzk) < 1) - error("---> no outputs left for star product."); + if (nzp + nzk < 1) + error ("---> no outputs left for star product."); endif ## checks done, form sys - if (nzp) Olst = [1:nzp]; endif - if (nzk) Olst = [Olst, pp+nu+1:pp+pk]; endif - if (nwp) Ilst = [1:nwp]; endif - if (nwk) Ilst = [Ilst, mp+ny+1:mp+mk]; endif - Clst = zeros(ny+nu,2); + if (nzp) + Olst = 1:nzp; + endif + if (nzk) + Olst = [Olst, pp+nu+1:pp+pk]; + endif + if (nwp) + Ilst = 1:nwp; + endif + if (nwk) + Ilst = [Ilst, mp+ny+1:mp+mk]; + endif + Clst = zeros (ny+nu, 2); for ii = 1:nu Clst(ii,:) = [nwp+ii, nu_sign*(pp+ii)]; endfor for ii = 1:ny Clst(nu+ii,:) = [mp+ii, ny_sign*(nzp+ii)]; endfor - sys = buildssic(Clst,[],Olst,Ilst,P,K); + sys = buildssic (Clst, [], Olst, Ilst, P, K); endfunction
--- a/scripts/control/system/sys2ss.m +++ b/scripts/control/system/sys2ss.m @@ -82,19 +82,19 @@ print_usage (); endif - if( ! isstruct(sys) ) - error("input argument must be a system data structure"); + if (! isstruct (sys)) + error ("input argument must be a system data structure"); endif - sys = sysupdate(sys,"ss"); # make sure state space data is there - [n,nz,m,p] = sysdimensions(sys); - [stname,inname,outname,yd] = sysgetsignals(sys); - tsam = sysgettsam(sys); + sys = sysupdate (sys, "ss"); # make sure state space data is there + [n, nz, m, p] = sysdimensions (sys); + [stname, inname, outname, yd] = sysgetsignals (sys); + tsam = sysgettsam (sys); - cont = sum(yd == 0) + n; - dig = sum(yd != 0) + nz + tsam; - if(cont*dig) - warning("sys2ss: input system is mixed continuous/discrete"); + cont = sum (yd == 0) + n; + dig = sum (yd != 0) + nz + tsam; + if (cont*dig) + warning ("sys2ss: input system is mixed continuous/discrete"); endif a = sys.a;
--- a/scripts/control/system/sys2tf.m +++ b/scripts/control/system/sys2tf.m @@ -39,26 +39,25 @@ function [num, den, tsam, inname, outname] = sys2tf (Asys) - if(nargin != 1) + if (nargin != 1) print_usage (); endif - if( !isstruct(Asys)) - error("Asys must be a system data structure (see ss, tf, zp)"); - elseif (! is_siso(Asys) ) - [n, nz, m, p] = sysdimensions(Asys); - error(["system is not SISO (",num2str(m)," inputs, ... - ", num2str(p)," outputs"]); + if (! isstruct (Asys)) + error ("Asys must be a system data structure (see ss, tf, zp)"); + elseif (! is_siso (Asys)) + [n, nz, m, p] = sysdimensions (Asys); + error ("system is not SISO: %d inputs, %d outputs", m, p); endif - Asys = sysupdate(Asys,"tf"); # just in case + Asys = sysupdate (Asys, "tf"); # just in case num = Asys.num; den = Asys.den; - tsam = sysgettsam(Asys); - inname = sysgetsignals(Asys,"in"); - outname = sysgetsignals(Asys,"out"); + tsam = sysgettsam (Asys); + inname = sysgetsignals (Asys, "in"); + outname = sysgetsignals (Asys, "out"); endfunction
--- a/scripts/control/system/sys2zp.m +++ b/scripts/control/system/sys2zp.m @@ -41,25 +41,24 @@ function [zer, pol, k, tsam, inname, outname] = sys2zp (sys) - if(nargin != 1) + if (nargin != 1) print_usage (); - elseif( !isstruct(sys)) - error("sysconnect: sys must be in system data structure form") - elseif (! is_siso(sys) ) - [n, nz, m, p] = sysdimensions(sys); - error(["system is not SISO (",num2str(m)," inputs, ... - ", num2str(p)," outputs"]); + elseif (! isstruct (sys)) + error ("sysconnect: sys must be in system data structure form") + elseif (! is_siso (sys)) + [n, nz, m, p] = sysdimensions (sys); + error ("system is not SISO: %d inputs, %d outputs", m, p); endif ## update zero-pole form - sys = sysupdate(sys,"zp"); + sys = sysupdate (sys, "zp"); zer = sys.zer; pol = sys.pol; k = sys.k; - tsam = sysgettsam(sys); - inname = sysgetsignals(sys,"in"); - outname = sysgetsignals(sys,"out"); + tsam = sysgettsam (sys); + inname = sysgetsignals (sys, "in"); + outname = sysgetsignals (sys, "out"); endfunction
--- a/scripts/control/system/syscont.m +++ b/scripts/control/system/syscont.m @@ -47,8 +47,8 @@ if (nargin != 1) print_usage (); - elseif (!isstruct(sys)) - error("sys must be in system data structure form"); + elseif (! isstruct (sys)) + error ("sys must be in system data structure form"); endif sys = sysupdate (sys, "ss"); @@ -57,31 +57,31 @@ ## assume there's nothing there; build partitions as appropriate Acc = Acd = Bcc = Ccc = Ccd = Dcc = []; - if(isempty(st_c) & isempty(y_c)) - error("syscont: expecting continuous states and/or continuous outputs"); - elseif (isempty(st_c)) - warning("syscont: no continuous states"); - elseif(isempty(y_c)) - warning("syscont: no continuous outputs"); + if (isempty (st_c) && isempty (y_c)) + error ("syscont: expecting continuous states and/or continuous outputs"); + elseif (isempty (st_c)) + warning ("syscont: no continuous states"); + elseif (isempty (y_c)) + warning ("syscont: no continuous outputs"); endif - [sys_a, sys_b, sys_c, sys_d ] = sys2ss(sys); - [sys_stname, sys_inname, sys_outname] = sysgetsignals(sys); - [sys_n, sys_nz, sys_m, sys_p] = sysdimensions(sys); - if(!isempty(st_c)) + [sys_a, sys_b, sys_c, sys_d ] = sys2ss (sys); + [sys_stname, sys_inname, sys_outname] = sysgetsignals (sys); + [sys_n, sys_nz, sys_m, sys_p] = sysdimensions (sys); + if (! isempty (st_c)) Acc = sys_a(st_c,st_c); stname = sys_stname(st_c); Bcc = sys_b(st_c,:); Ccc = sys_c(y_c,st_c); Acd = sys_a(st_c,st_d); else - stname=[]; + stname = []; endif outname = sys_outname(y_c); Dcc = sys_d(y_c,:); Ccd = sys_c(y_c,st_d); inname = sys_inname; - csys = ss(Acc,Bcc,Ccc,Dcc,0,sys_n,0,stname,inname,outname); + csys = ss (Acc, Bcc, Ccc, Dcc, 0, sys_n, 0, stname, inname, outname); endfunction
--- a/scripts/control/system/sysdimensions.m +++ b/scripts/control/system/sysdimensions.m @@ -78,19 +78,19 @@ n = sys.n; nz = sys.nz; - m = length(sysgetsignals(sys,"in")); - p = length(sysgetsignals(sys,"out")); + m = length (sysgetsignals (sys, "in")); + p = length (sysgetsignals (sys, "out")); yd = sys.yd; - valid_options = {"all","cst","dst","st","in","out"}; + valid_options = {"all", "cst", "dst", "st", "in", "out"}; valid_values = {n,n,nz,n+nz,m,p}; valid_opt = 0; - for ii=1:length(valid_options) - if(strcmp(valid_options{ii},opt)) + for ii = 1:length(valid_options) + if (strcmp(valid_options{ii}, opt)) n = valid_values{ii}; valid_opt = 1; - if(ii > 1 & nargout > 1) - warning("opt=%s, %d output arguments requested",opt,nargout); + if (ii > 1 && nargout > 1) + warning ("opt=%s, %d output arguments requested", opt, nargout); endif endif endfor
--- a/scripts/control/system/sysdisc.m +++ b/scripts/control/system/sysdisc.m @@ -42,8 +42,8 @@ if (nargin != 1) print_usage (); - elseif (!isstruct(sys)) - error("sys must be in system data structure form"); + elseif (! isstruct (sys)) + error ("sys must be in system data structure form"); endif sys = sysupdate (sys, "ss"); @@ -52,46 +52,47 @@ ## assume there's nothing there; build partitions as appropriate Add = Adc = Bdd = Cdd = Cdc = Ddd = []; - if(isempty(st_d) & isempty(y_d)) - error("sysdisc: expecting discrete states and/or continuous outputs"); - elseif (isempty(st_d)) - warning("sysdisc: no discrete states"); - elseif(isempty(y_d)) - warning("sysdisc: no discrete outputs"); + if (isempty (st_d) && isempty (y_d)) + error ("sysdisc: expecting discrete states and/or continuous outputs"); + elseif (isempty (st_d)) + warning ("sysdisc: no discrete states"); + elseif (isempty (y_d)) + warning ("sysdisc: no discrete outputs"); endif - [aa,bb,cc,dd] = sys2ss(sys); - if(!isempty(st_d) ) - Add = aa( st_d , st_d); - stname = sysgetsignals(sys,"st",st_d); - Bdd = bb( st_d , :); - if(!isempty(st_c)) - Adc = aa( st_d , st_c); + [aa, bb, cc, dd] = sys2ss (sys); + if (! isempty(st_d)) + Add = aa(st_d,st_d); + stname = sysgetsignals (sys, "st", st_d); + Bdd = bb(st_d,:); + if (! isempty (st_c)) + Adc = aa(st_d,st_c); endif - if(!isempty(y_d)) - Cdd = cc(y_d , st_d); + if (! isempty (y_d)) + Cdd = cc(y_d,st_d); endif else stname = []; endif - if(!isempty(y_d)) + if (! isempty (y_d)) Ddd = dd(y_d , :); - outname = sysgetsignals(sys,"out",y_d); - if(!isempty(st_c)) - Cdc = cc(y_d , st_c); + outname = sysgetsignals (sys, "out", y_d); + if (! isempty (st_c)) + Cdc = cc(y_d,st_c); endif else - outname=[]; + outname = []; endif - inname = sysgetsignals(sys,"in"); + inname = sysgetsignals (sys, "in"); outlist = 1:rows(outname); - if(!isempty(outname)) - tsam = sysgettsam(sys); - [nc,nz] = sysdimensions(sys); - dsys = ss(Add,Bdd,Cdd,Ddd,tsam,0,nz,stname,inname,outname,outlist); + if (! isempty (outname)) + tsam = sysgettsam (sys); + [nc, nz] = sysdimensions (sys); + dsys = ss (Add, Bdd, Cdd, Ddd, tsam, 0, nz, stname, inname, + outname, outlist); else - dsys=[]; + dsys = []; endif endfunction
--- a/scripts/control/system/sysmult.m +++ b/scripts/control/system/sysmult.m @@ -39,75 +39,81 @@ function sys = sysmult (varargin) - if(nargin < 1) + if (nargin < 1) print_usage (); endif ## collect all arguments arglist = {}; - for kk=1:nargin + for kk = 1:nargin arglist{kk} = varargin{kk}; - if(!isstruct(arglist{kk})) - error("sysadd: argument %d is not a data structure",kk); + if (! isstruct (arglist{kk})) + error ("sysadd: argument %d is not a data structure", kk); endif endfor ## check system dimensions - [n,nz,mg,pg,Gyd] = sysdimensions(arglist{1}); - for kk=2:nargin - [n,nz,mh,ph,Hyd] = sysdimensions(arglist{kk}); + [n, nz, mg, pg, Gyd] = sysdimensions (arglist{1}); + for kk = 2:nargin + [n, nz, mh, ph, Hyd] = sysdimensions (arglist{kk}); if(ph != mg) - error("arg %d has %d outputs; arg %d has %d inputs",kk,ph,kk-1,mg); + error ("arg %d has %d outputs; arg %d has %d inputs", kk, ph, kk-1, mg); endif - [n,nz,mg,pg,Gyd] = sysdimensions(arglist{kk}); # for next iteration + [n, nz, mg, pg, Gyd] = sysdimensions (arglist{kk}); # for next iteration endfor ## perform the multiply - if(nargin == 2) + if (nargin == 2) Asys = arglist{1}; Bsys = arglist{2}; - [An,Anz,Am,Ap] = sysdimensions(Asys); - [Bn,Bnz,Bm,Bp] = sysdimensions(Bsys); + [An, Anz, Am, Ap] = sysdimensions (Asys); + [Bn, Bnz, Bm, Bp] = sysdimensions (Bsys); - [Aa,Ab,Ac,Ad,Atsam,An,Anz,Astname,Ainname,Aoutname,Ayd] = sys2ss(Asys); - [Ba,Bb,Bc,Bd,Btsam,Bn,Bnz,Bstname,Binname,Boutname,Byd] = sys2ss(Bsys); + [Aa, Ab, Ac, Ad, Atsam, An, Anz, ... + Astname, Ainname, Aoutname, Ayd] = sys2ss(Asys); - if(Byd) + [Ba, Bb, Bc, Bd, Btsam, Bn, Bnz, ... + Bstname, Binname, Boutname, Byd] = sys2ss(Bsys); + + if (Byd) ## check direct feed-through of inputs through discrete outputs - alist = find(Byd); - if(An) - bd = Ab(1:An)* Bd(alist,:); - if(norm(bd,1)) - warning("sysmult: inputs -> Bsys discrete outputs -> continuous states of Asys"); + alist = find (Byd); + if (An) + bd = Ab(1:An) * Bd(alist,:); + if (norm (bd, 1)) + warning ("sysmult: inputs -> Bsys discrete outputs -> continuous states of Asys"); endif endif ## check direct feed-through of continuous state through discrete outputs - if(Bn) - bc = Ab(1:An)* Bc(alist,1:(Bn)); - if( norm(bc,1) ) - warning("sysmult: Bsys states -> Bsys discrete outputs -> continuous states of Asys"); + if (Bn) + bc = Ab(1:An) * Bc(alist,1:(Bn)); + if (norm (bc, 1)) + warning ("sysmult: Bsys states -> Bsys discrete outputs -> continuous states of Asys"); endif endif endif ## change signal names to avoid spurious warnings from sysgroup - Asys = syssetsignals(Asys,"in",__sysdefioname__(Am,"A_sysmult_tmp_name")); - Bsys = syssetsignals(Bsys,"out",__sysdefioname__(Bp,"B_sysmult_tmp_name")); + Asys = syssetsignals (Asys, "in", + __sysdefioname__ (Am, "A_sysmult_tmp_name")); - sys = sysgroup(Asys,Bsys); + Bsys = syssetsignals (Bsys, "out", + __sysdefioname__ (Bp, "B_sysmult_tmp_name")); + + sys = sysgroup (Asys, Bsys); ## connect outputs of B to inputs of A - sys = sysconnect(sys,Ap+(1:Bp),1:Am); + sys = sysconnect (sys, Ap+(1:Bp), 1:Am); ## now keep only outputs of A and inputs of B - sys = sysprune(sys,1:Ap,Am+(1:Bm)); + sys = sysprune (sys, 1:Ap, Am+(1:Bm)); else ## multiple systems (or a single system); combine together one by one sys = arglist{1}; - for kk=2:length(arglist) - sys = sysmult(sys,arglist{kk}); + for kk = 2:length(arglist) + sys = sysmult (sys, arglist{kk}); endfor endif
--- a/scripts/control/system/sysreorder.m +++ b/scripts/control/system/sysreorder.m @@ -53,16 +53,16 @@ pv = 1:vlen; ## make it a row vector list = reshape(list,1,length(list)); - A = pv'*ones(size(list)); - B = ones(size(pv'))*list; + A = pv' * ones (size (list)); + B = ones (size (pv')) * list; X = (A != B); - if(!isvector(X)) - y = min(X'); + if (! isvector (X)) + y = min (X'); else y = X'; endif - z = find(y == 1); - if(!isempty(z)) + z = find (y == 1); + if (! isempty (z)) pv = [z, list]; else pv = list;
--- a/scripts/control/system/syssub.m +++ b/scripts/control/system/syssub.m @@ -47,72 +47,79 @@ function sys = syssub (varargin) - if(nargin < 1) + if (nargin < 1) print_usage (); endif ## collect all arguments arglist = {}; - for kk=1:nargin + for kk = 1:nargin arglist{kk} = varargin{kk}; - if(!isstruct(arglist{kk})) - error("syssub: argument %d is not a data structure",kk); + if (! isstruct (arglist{kk})) + error ("syssub: argument %d is not a data structure", kk); endif endfor ## check system dimensions - [n,nz,mg,pg,Gyd] = sysdimensions(arglist{1}); - for kk=2:nargin - [n,nz,mh,ph,Hyd] = sysdimensions(arglist{kk}); - if(mg != mh) - error("arg 1 has %d inputs; arg %d has vs %d inputs",mg,kk,mh); - elseif(pg != ph) - error("arg 1 has %d outputs; arg %d has vs %d outputs",pg,kk,ph); - elseif(norm(Gyd - Hyd)) - warning("cannot add a discrete output to a continuous output"); - error("Output type mismatch: arguments 1 and %d\n",kk); + [n, nz, mg, pg, Gyd] = sysdimensions (arglist{1}); + for kk = 2:nargin + [n, nz, mh, ph, Hyd] = sysdimensions (arglist{kk}); + if (mg != mh) + error ("arg 1 has %d inputs; arg %d has vs %d inputs", mg, kk, mh); + elseif (pg != ph) + error ("arg 1 has %d outputs; arg %d has vs %d outputs", pg, kk, ph); + elseif (norm (Gyd - Hyd)) + warning ("cannot add a discrete output to a continuous output"); + error ("Output type mismatch: arguments 1 and %d", kk); endif endfor ## perform the subtract - if(nargin == 2) + if (nargin == 2) Gsys = arglist{1}; Hsys = arglist{2}; - if( strcmp(sysgettype(Gsys),"tf") | strcmp(sysgettype(Hsys),"tf") ) + if (strcmp (sysgettype (Gsys), "tf") || strcmp (sysgettype (Hsys), "tf")) ## see if subtracting transfer functions with identical denominators - [Gnum,Gden,GT,Gin,Gout] = sys2tf(Gsys); - [Hnum,Hden,HT,Hin,Hout] = sys2tf(Hsys); - if(length(Hden) == length(Gden) ) - if( (Hden == Gden) & (HT == GT) ) - sys = tf(Gnum-Hnum,Gden,GT,Gin,Gout); - return + [Gnum, Gden, GT, Gin, Gout] = sys2tf (Gsys); + [Hnum, Hden, HT, Hin, Hout] = sys2tf (Hsys); + if (length (Hden) == length (Gden)) + if ((Hden == Gden) & (HT == GT)) + sys = tf (Gnum-Hnum, Gden, GT, Gin, Gout); + return; endif ## if not, we go on and do the usual thing... endif endif ## make sure in ss form - Gsys = sysupdate(Gsys,"ss"); - Hsys = sysupdate(Hsys,"ss"); + Gsys = sysupdate (Gsys, "ss"); + Hsys = sysupdate (Hsys, "ss"); ## change signal names to avoid warning messages from sysgroup - Gsys = syssetsignals(Gsys,"in",__sysdefioname__(length(Gin),"Gin_u")); - Gsys = syssetsignals(Gsys,"out",__sysdefioname__(length(Gout),"Gout_u")); - Hsys = syssetsignals(Hsys,"in",__sysdefioname__(length(Hin),"Hin_u")); - Hsys = syssetsignals(Hsys,"out",__sysdefioname__(length(Hout),"Hout_u")); + Gsys = syssetsignals (Gsys, "in", + __sysdefioname__(length(Gin), "Gin_u")); + + Gsys = syssetsignals (Gsys, "out", + __sysdefioname__(length(Gout), "Gout_u")); - sys = sysgroup(Gsys,Hsys); + Hsys = syssetsignals (Hsys, "in", + __sysdefioname__(length(Hin), "Hin_u")); - eyin = eye(mg); - eyout = eye(pg); + Hsys = syssetsignals (Hsys, "out", + __sysdefioname__(length(Hout), "Hout_u")); + + sys = sysgroup (Gsys, Hsys); + + eyin = eye (mg); + eyout = eye (pg); sys = sysscale (sys, [eyout, -eyout], [eyin; eyin], Gout, Gin); else ## multiple systems (or a single system); combine together one by one sys = arglist{1}; - for kk=2:length(arglist) - sys = syssub(sys,arglist{kk}); + for kk = 2:length(arglist) + sys = syssub (sys, arglist{kk}); endfor endif
--- a/scripts/control/system/sysupdate.m +++ b/scripts/control/system/sysupdate.m @@ -59,63 +59,61 @@ ## check for correct number of inputs if (nargin != 2) print_usage (); - elseif(! isstruct(sys) ) - error("1st argument must be system data structure") - elseif(! (strcmp(opt,"tf") + strcmp(opt,"zp") + ... - strcmp(opt,"ss") + strcmp(opt,"all")) ) - error("2nd argument must be \"tf\", \"zp\", \"ss\", or \"all\""); + elseif (! isstruct (sys)) + error ("first argument must be system data structure"); + elseif (! (strcmp (opt, "tf") || strcmp (opt, "zp") + || strcmp (opt, "ss") || strcmp (opt, "all"))) + error ("second argument must be \"tf\", \"zp\", \"ss\", or \"all\""); endif ## check to make sure not trying to make a SISO system out of a MIMO sys - if ( (strcmp(opt,"tf") + strcmp(opt,"zp") + strcmp(opt,"all")) ... - & strcmp(sysgettype(sys),"ss") & (! is_siso(sys) ) ) - error("MIMO -> SISO update requested"); + if ((strcmp (opt, "tf") || strcmp(opt,"zp") || strcmp (opt, "all")) + && strcmp (sysgettype (sys), "ss") && ! is_siso (sys)) + error ("MIMO -> SISO update requested"); endif ## update transfer function if desired - if ( (strcmp(opt, "tf") + strcmp(opt,"all"))&& (!sys.sys(2))) + if ((strcmp (opt, "tf") || strcmp (opt, "all")) && (! sys.sys(2))) ## check to make sure the system is not discrete and continuous - is_digital(sys); + is_digital (sys); ## if original system zero-pole - if strcmp(sysgettype(sys),"zp") - [sys.num,sys.den] = zp2tf(sys.zer,sys.pol,sys.k); + if (strcmp (sysgettype (sys), "zp")) + [sys.num, sys.den] = zp2tf (sys.zer, sys.pol, sys.k); sys.sys(2) = 1; ## if original system is state-space - elseif(sys.sys(1) == 2) - [sys.num,sys.den] = ss2tf(sys.a,sys.b,sys.c,sys.d); + elseif (sys.sys(1) == 2) + [sys.num, sys.den] = ss2tf (sys.a, sys.b, sys.c, sys.d); sys.sys(2) = 1; endif endif ## update zero-pole if desired - if ( (strcmp(opt, "zp") + strcmp(opt,"all")) && (! sys.sys(3)) ) + if ((strcmp (opt, "zp") || strcmp (opt, "all")) && ! sys.sys(3)) ## check to make sure the system is not discrete and continuous - is_digital(sys); + is_digital (sys); ## original system is transfer function if (sys.sys(1) == 0) - [sys.zer,sys.pol,sys.k] = tf2zp(sys.num,sys.den); + [sys.zer, sys.pol, sys.k] = tf2zp (sys.num, sys.den); sys.sys(3) = 1; ## original system is state-space - - elseif(sys.sys(1) == 2) - [sys.zer,sys.pol,sys.k] = ss2zp(sys.a,sys.b,sys.c,sys.d); + elseif (sys.sys(1) == 2) + [sys.zer, sys.pol, sys.k] = ss2zp (sys.a, sys.b, sys.c, sys.d); sys.sys(3) = 1; endif - endif ## update state-space if desired - if ( (strcmp(opt, "ss") + strcmp(opt,"all")) && (! sys.sys(4)) ) + if ((strcmp (opt, "ss") || strcmp (opt, "all")) && ! sys.sys(4)) ## original system is transfer function if (sys.sys(1) == 0) - [sys.a,sys.b,sys.c,sys.d] = tf2ss(sys.num,sys.den); + [sys.a, sys.b, sys.c, sys.d] = tf2ss (sys.num, sys.den); sys.sys(4) = 1; ## original system is zero-pole - elseif(sys.sys(1) == 1) - [sys.a,sys.b,sys.c,sys.d] = zp2ss(sys.zer,sys.pol,sys.k); + elseif (sys.sys(1) == 1) + [sys.a, sys.b, sys.c, sys.d] = zp2ss (sys.zer, sys.pol, sys.k); sys.sys(4) = 1; endif
--- a/scripts/control/system/tf2ss.m +++ b/scripts/control/system/tf2ss.m @@ -61,48 +61,72 @@ function [a, b, c, d] = tf2ss (num, den) - if(nargin != 2) error("tf2ss: wrong number of input arguments") - elseif(isempty(num)) error("tf2ss: empty numerator"); - elseif(isempty(den)) error("tf2ss: empy denominator"); - elseif(!isvector(num)) - error(sprintf("num(%dx%d) must be a vector",rows(num),columns(num))); - elseif(!isvector(den)) - error(sprintf("den(%dx%d) must be a vector",rows(den),columns(den))); + if (nargin != 2) + print_usage (); + elseif (isempty (num)) + error ("tf2ss: empty numerator"); + elseif (isempty (den)) + error ("tf2ss: empy denominator"); + elseif (! isvector (num)) + error ("num(%dx%d) must be a vector", rows (num), columns (num)); + elseif (! isvector (den)) + error ("den(%dx%d) must be a vector", rows (den), columns (den)); endif ## strip leading zeros from num, den - nz = find(num != 0); - if(isempty(nz)) num = 0; - else num = num(nz(1):length(num)); endif - nz = find(den != 0); - if(isempty(nz)) error("denominator is 0."); - else den = den(nz(1):length(den)); endif + nz = find (num != 0); + if (isempty (nz)) + num = 0; + else + num = num(nz(1):length(num)); + endif + nz = find (den != 0); + if (isempty (nz)) + error ("denominator is 0."); + else + den = den(nz(1):length(den)); + endif ## force num, den to be row vectors - num = vec(num)'; den = vec(den)'; - nn = length(num); nd = length(den); - if(nn > nd) error(sprintf("deg(num)=%d > deg(den)= %d",nn,nd)); endif + num = vec (num)'; + den = vec (den)'; + nn = length (num); + nd = length (den); + if (nn > nd) + error ("deg(num)=%d > deg(den)= %d", nn, nd)); + endif ## Check sizes - if (nd == 1) a = []; b = []; c = []; d = num(:,1) / den(1); + if (nd == 1) + a = b = c = []; + d = num(:,1) / den(1); else ## Pad num so that length(num) = length(den) - if (nd-nn > 0) num = [zeros(1,nd-nn), num]; endif + if (nd-nn > 0) + num = [zeros(1,nd-nn), num]; + endif ## Normalize the numerator and denominator vector w.r.t. the leading ## coefficient - d1 = den(1); num = num / d1; den = den(2:nd)/d1; + d1 = den(1); + num = num / d1; + den = den(2:nd)/d1; sw = nd-1:-1:1; ## Form the A matrix - if(nd > 2) a = [zeros(nd-2,1),eye(nd-2,nd-2);-den(sw)]; - else a = -den(sw); endif + if (nd > 2) + a = [zeros(nd-2,1), eye(nd-2,nd-2); -den(sw)]; + else + a = -den(sw); + endif ## Form the B matrix - b = zeros(nd-1,1); b(nd-1,1) = 1; + b = zeros (nd-1, 1); + b(nd-1,1) = 1; ## Form the C matrix - c = num(:,2:nd)-num(:,1)*den; c = c(:,sw); + c = num(:,2:nd)-num(:,1)*den; + c = c(:,sw); ## Form the D matrix d = num(:,1);
--- a/scripts/control/system/tf2sys.m +++ b/scripts/control/system/tf2sys.m @@ -64,7 +64,7 @@ function outsys = tf2sys (varargin) - warning("tf2sys is deprecated. Use tf() instead."); - outsys = tf(varargin{:}); + warning ("tf2sys is deprecated. Use tf instead."); + outsys = tf (varargin{:}); endfunction
--- a/scripts/control/system/tfout.m +++ b/scripts/control/system/tfout.m @@ -34,24 +34,24 @@ print_usage (); endif - if ( (!isvector(num)) | (!isvector(denom)) ) - error("tfout: first two argument must be vectors"); + if (! isvector (num) || ! isvector (denom)) + error ("tfout: first two argument must be vectors"); endif if (nargin == 2) x = "s"; - elseif( ! ischar(x) ) - error("tfout: third argument must be a string"); + elseif (! ischar (x)) + error ("tfout: third argument must be a string"); endif - numstring = polyout(num,x); - denomstring = polyout(denom,x); - len = max(length(numstring),length(denomstring)); - if(len > 0) - y = strrep(blanks(len)," ","-"); - disp(numstring) - disp(y) - disp(denomstring) + numstring = polyout (num, x); + denomstring = polyout (denom, x); + len = max (length (numstring), length (denomstring)); + if (len > 0) + y = strrep (blanks (len), " ", "-"); + disp (numstring) + disp (y) + disp (denomstring) else error ("tfout: empty transfer function") end
--- a/scripts/control/system/zp.m +++ b/scripts/control/system/zp.m @@ -59,34 +59,34 @@ function outsys = zp (zer, pol, k, tsam, inname, outname) ## Test for the correct number of input arguments - if ((nargin < 3) || (nargin > 6)) + if (nargin < 3 || nargin > 6) print_usage (); endif ## check input format - if( ! (isvector(zer) | isempty(zer) ) ) - error("zer must be a vector or empty"); + if (! (isvector (zer) || isempty (zer))) + error ("zer must be a vector or empty"); endif - if(!isempty(zer)) - zer = reshape(zer,1,length(zer)); # make it a row vector + if (! isempty (zer)) + zer = reshape (zer, 1, length (zer)); # make it a row vector endif - if( ! (isvector(pol) | isempty(pol))) - error("pol must be a vector"); + if (! (isvector (pol) || isempty (pol))) + error ("pol must be a vector"); endif - if(!isempty(pol)) - pol = reshape(pol,1,length(pol)); + if (! isempty (pol)) + pol = reshape (pol, 1, length (pol)); endif - if (! isscalar(k)) - error("k must be a scalar"); + if (! isscalar (k)) + error ("k must be a scalar"); endif ## Test proper numbers of poles and zeros. The number of poles must be ## greater than or equal to the number of zeros. - if (length(zer) > length(pol)) - error(["number of poles (", num2str(length(pol)), ... - ") < number of zeros (", num2str(length(zer)),")"]); + if (length (zer) > length (pol)) + error ("number of poles (%d) < number of zeros (%d)", + length (pol), length (zer)); endif ## Set the system transfer function @@ -99,19 +99,19 @@ ## Set defaults outsys.tsam = 0; - outsys.n = length(pol); + outsys.n = length (pol); outsys.nz = 0; outsys.yd = 0; # assume (for now) continuous time outputs ## Set the type of system if (nargin > 3) - if( !isscalar(tsam) ) - error("tsam must be a nonnegative scalar"); + if (! isscalar (tsam)) + error ("tsam must be a nonnegative scalar"); endif if (tsam < 0) - error("sampling time must be positve") + error ("sampling time must be positve") elseif (tsam > 0) - [outsys.n,outsys.nz] = swap(outsys.n, outsys.nz); + [outsys.n, outsys.nz] = swap (outsys.n, outsys.nz); outsys.yd = 1; # discrete-time output endif @@ -125,12 +125,12 @@ ## Set name of input if (nargin > 4) ## make sure its a string - if(!isempty(inname)) - if(!iscell(inname)) + if (! isempty (inname)) + if (! iscell (inname)) inname = {inname}; endif - if(!is_signal_list(inname)) - error("inname must be a single signal name"); + if (! is_signal_list (inname)) + error ("inname must be a single signal name"); endif outsys.inname = inname(1); endif @@ -138,12 +138,12 @@ ## Set name of output if (nargin > 5) - if(!isempty(outname)) - if(!iscell(outname)) + if (! isempty (outname)) + if (! iscell (outname)) outname = {outname}; endif - if(!is_signal_list(outname)) - error("outname must be a single signal name"); + if (! is_signal_list (outname)) + error ("outname must be a single signal name"); endif outsys.outname = outname(1); endif
--- a/scripts/control/system/zp2sys.m +++ b/scripts/control/system/zp2sys.m @@ -61,7 +61,7 @@ function outsys = zp2sys ( varargin ) - warning("zp2sys is deprecated. Use zp() instead."); - outsys = zp(varargin{:}); + warning ("zp2sys is deprecated. Use zp instead."); + outsys = zp (varargin{:}); endfunction
--- a/scripts/control/system/zp2tf.m +++ b/scripts/control/system/zp2tf.m @@ -49,7 +49,7 @@ if (! (isvector (zer) || isempty (zer))) error ("zer(%dx%d) must be a vector", rz, cz); - elseif(! (isvector (pol) || isempty (pol))) + elseif (! (isvector (pol) || isempty (pol))) error ("pol(%dx%d) must be a vector", rp, cp); elseif (length (zer) > length (pol)) error ("zer(%dx%d) longer than pol(%dx%d)", rz, cz, rp, cp); @@ -57,12 +57,13 @@ ## initialize converted polynomials - num = k; den = 1; + num = k; + den = 1; ## call __zp2ssg2__ if there are complex conjugate pairs left, otherwise ## construct real zeros one by one. Repeat for poles. - while(! isempty (zer)) + while (! isempty (zer)) if (max (abs (imag (zer)))) [poly, zer] = __zp2ssg2__ (zer); else
--- a/scripts/control/system/zpout.m +++ b/scripts/control/system/zpout.m @@ -34,70 +34,72 @@ print_usage (); endif - if( !(isvector(zer) | isempty(zer)) | !(isvector(pol) | isempty(pol)) ) - error("zer, pol must be vectors or empty"); + if (! (isvector (zer) || isempty (zer)) + || ! (isvector (pol) || isempty(pol))) + error ("zer, pol must be vectors or empty"); endif - if(!isscalar(k)) + if (! isscalar(k)) error("zpout: argument k must be a scalar.") endif if (nargin == 3) x = "s"; - elseif( ! ischar(x) ) - error("zpout: third argument must be a string"); + elseif (! ischar (x)) + error ("zpout: third argument must be a string"); endif - numstring = num2str(k); + numstring = num2str (k); - if(length(zer)) + if (length (zer)) ## find roots at z,s = 0 - nzr = sum(zer == 0); - if(nzr) - if(nzr > 1) - numstring = [numstring,sprintf(" %s^%d",x,nzr)]; - else - numstring = [numstring,sprintf(" %s",x)]; - endif + nzr = sum (zer == 0); + if (nzr) + if (nzr > 1) + numstring = sprintf ("%s %s^%d", numstring, x, nzr); + else + numstring = strcat (numstring, x); + endif endif - zer = sortcom(-zer); - for ii=1:length(zer) - if(zer(ii) != 0) - numstring = [numstring,sprintf(" (%s %s)",x,com2str(zer(ii),1) ) ]; - endif + zer = sortcom (-zer); + for ii = 1:length(zer) + if (zer(ii) != 0) + numstring = sprintf ("%s (%s %s)", numstring, x, com2str (zer(ii), 1)); + endif endfor endif - if(length(pol)) + if (length (pol)) ## find roots at z,s = 0 - nzr = sum(pol == 0); - if(nzr) - if(nzr > 1) - denomstring = [sprintf("%s^%d",x,nzr)]; - else - denomstring = [sprintf("%s",x)]; - endif + nzr = sum (pol == 0); + if (nzr) + if (nzr > 1) + denomstring = sprintf("%s^%d", x, nzr); + else + denomstring = sprintf ("%s", x); + endif else - denomstring = " "; + denomstring = " "; endif - pol = sortcom(-pol); - for ii=1:length(pol) - if(pol(ii) != 0) - denomstring = [denomstring,sprintf(" (%s %s)",x,com2str(pol(ii),1))]; - endif + pol = sortcom (-pol); + for ii = 1:length(pol) + if (pol(ii) != 0) + denomstring = sprintf ("%s (%s %s)", denomstring, x, + com2str (pol(ii), 1)); + endif endfor endif - len = max(length(numstring),length(denomstring)); + len = max (length (numstring), length (denomstring)); if(len > 0) - y = strrep(blanks(len)," ","-"); - disp(numstring) - if(length(denomstring)) - disp(y) - disp(denomstring) + y = strrep (blanks (len), " ", "-"); + disp (numstring) + if (length (denomstring)) + disp (y) + disp (denomstring) endif else error ("zpout: empty transfer function") - end + endif endfunction