Mercurial > hg > octave-lojdl
changeset 3502:b5238ac1dca9
[project @ 2000-01-31 07:40:53 by jwe]
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--- a/scripts/control/base/bode.m +++ b/scripts/control/base/bode.m @@ -34,7 +34,7 @@ ## ## if @var{sys} is discrete, then bode evaluates G(@code{exp}(jwT)), where ## @itemize @bullet -## @item @var{T}=@code{sysgettsam(@var{sys})} (the system sampling time) and +## @item @math{T} is the system sampling time ## @item @math{G(z)} is the system transfer function. ## @end itemize ##
--- a/scripts/control/base/ctrb.m +++ b/scripts/control/base/ctrb.m @@ -18,14 +18,14 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} ctrb (@var{sys}, @var{b}) -## @deftypefnx {Function File} {} ctrb (@var{A}, @var{B}) +## @deftypefnx {Function File} {} ctrb (@var{a}, @var{b}) ## Build controllability matrix ## @example ## 2 n-1 ## Qs = [ B AB A B ... A B ] ## @end example ## -## of a system data structure or the pair (@var{A}, @var{B}). +## of a system data structure or the pair (@var{a}, @var{b}). ## ## @strong{Note} @code{ctrb} forms the controllability matrix. ## The numerical properties of @code{is_controllable}
--- a/scripts/control/base/damp.m +++ b/scripts/control/base/damp.m @@ -19,7 +19,7 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} damp (@var{p}, @var{tsam}) ## Displays eigenvalues, natural frequencies and damping ratios -## of the eigenvalues of a matrix @var{p} or the @var{A}-matrix of a +## of the eigenvalues of a matrix @var{p} or the @math{A}-matrix of a ## system @var{p}, respectively. ## If @var{p} is a system, @var{tsam} must not be specified. ## If @var{p} is a matrix and @var{tsam} is specified, eigenvalues
--- a/scripts/control/base/dcgain.m +++ b/scripts/control/base/dcgain.m @@ -17,11 +17,11 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} dcgain (@var{sys}, tol) +## @deftypefn {Function File} {} dcgain (@var{sys}, @var{tol}) ## Returns dc-gain matrix. If dc-gain is infinite ## an empty matrix is returned. ## The argument @var{tol} is an optional tolerance for the condition -## number of @var{A}-Matrix in @var{sys} (default @var{tol} = 1.0e-10) +## number of the @math{A}-Matrix in @var{sys} (default @var{tol} = 1.0e-10) ## @end deftypefn ## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de>
--- a/scripts/control/base/dlyap.m +++ b/scripts/control/base/dlyap.m @@ -48,8 +48,7 @@ ## ## @strong{Method} ## Uses Schur decomposition method as in Kitagawa, -## @cite{An Algorithm for Solving the Matrix Equation @var{X} = -## @var{F}@var{X}@var{F}' + @var{S}}, +## @cite{An Algorithm for Solving the Matrix Equation @math{X = F X F' + S}}, ## International Journal of Control, Volume 25, Number 5, pages 745--753 ## (1977). ##
--- a/scripts/control/base/dre.m +++ b/scripts/control/base/dre.m @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{tvals}, @var{Plist}] =} dre (@var{sys}, @var{Q}, @var{R}, @var{Qf}, @var{t0}, @var{tf}[, @var{Ptol}, @var{maxits}]); +## @deftypefn {Function File} {[@var{tvals}, @var{plist}] =} dre (@var{sys}, @var{q}, @var{r}, @var{qf}, @var{t0}, @var{tf}, @var{ptol}, @var{maxits}); ## Solve the differential Riccati equation ## @ifinfo ## @example @@ -58,16 +58,16 @@ ## @table @var ## @item sys ## continuous time system data structure -## @item Q +## @item q ## state integral penalty -## @item R +## @item r ## input integral penalty -## @item Qf +## @item qf ## state terminal penalty ## @item t0 ## @itemx tf ## limits on the integral -## @item Ptol +## @item ptol ## tolerance (used to select time samples; see below); default = 0.1 ## @item maxits ## number of refinement iterations (default=10) @@ -75,10 +75,10 @@ ## @strong{Outputs} ## @table @var ## @item tvals -## time values at which @var{P}(@var{t}) is computed -## @item Plist -## list values of @var{P}(@var{t}); nth (@var{Plist}, @var{ii}) -## is @var{P}(@var{tvals}(@var{ii})). +## time values at which @var{p}(@var{t}) is computed +## @item plist +## list values of @var{p}(@var{t}); nth (@var{plist}, @var{ii}) +## is @var{p}(@var{tvals}(@var{ii})). ## ## @item tvals ## @example
--- a/scripts/control/base/lqg.m +++ b/scripts/control/base/lqg.m @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{K}, @var{Q}, @var{P}, @var{Ee}, @var{Er}] =} lqg (@var{sys}, @var{Sigw}, @var{Sigv}, @var{Q}, @var{R}, @var{in_idx}) +## @deftypefn {Function File} {[@var{k}, @var{q1}, @var{p1}, @var{ee}, @var{er}] =} lqg (@var{sys}, @var{sigw}, @var{sigv}, @var{q}, @var{r}, @var{in_idx}) ## Design a linear-quadratic-gaussian optimal controller for the system ## @example ## dx/dt = A x + B u + G w [w]=N(0,[Sigw 0 ]) @@ -33,11 +33,11 @@ ## @table @var ## @item sys ## system data structure -## @item Sigw -## @itemx Sigv +## @item sigw +## @itemx sigv ## intensities of independent Gaussian noise processes (as above) -## @item Q -## @itemx R +## @item q +## @itemx r ## state, control weighting respectively. Control ARE is ## @item in_idx ## names or indices of controlled inputs (see @code{sysidx}, @code{listidx}) @@ -47,17 +47,17 @@ ## @end table ## @strong{Outputs} ## @table @var -## @item K +## @item k ## system data structure format LQG optimal controller (Obtain A,B,C ## matrices with @code{sys2ss}, @code{sys2tf}, or @code{sys2zp} as ## appropriate) -## @item P +## @item p1 ## Solution of control (state feedback) algebraic Riccati equation -## @item Q +## @item q1 ## Solution of estimation algebraic Riccati equation -## @item Ee +## @item ee ## estimator poles -## @item Es +## @item es ## controller poles ## @end table ## @end deftypefn
--- a/scripts/control/base/ltifr.m +++ b/scripts/control/base/ltifr.m @@ -17,13 +17,13 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} ltifr (@var{A}, @var{B}, @var{w}) +## @deftypefn {Function File} {} ltifr (@var{a}, @var{b}, @var{w}) ## @deftypefnx {Function File} {} ltifr (@var{sys}, @var{w}) ## Linear time invariant frequency response of single input systems ## @strong{Inputs} ## @table @var -## @item A -## @itemx B +## @item a +## @itemx b ## coefficient matrices of @math{dx/dt = A x + B u} ## @item sys ## system data structure
--- a/scripts/control/base/nyquist.m +++ b/scripts/control/base/nyquist.m @@ -32,7 +32,7 @@ ## frequency values for evaluation. ## if sys is continuous, then bode evaluates @math{G(jw)} ## if sys is discrete, then bode evaluates @math{G(exp(jwT))}, where -## @math{@var{T}=sysgettsam(@var{sys})} (the system sampling time) +## @math{T} is the system sampling time. ## @item default ## the default frequency range is selected as follows: (These ## steps are NOT performed if @var{w} is specified)
--- a/scripts/control/base/place.m +++ b/scripts/control/base/place.m @@ -17,10 +17,10 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} place (@var{sys}, @var{P}) +## @deftypefn {Function File} {} place (@var{sys}, @var{p}) ## Computes the matrix K such that if the state ## is feedback with gain K, then the eigenvalues of the closed loop -## system (i.e. A-BK) are those specified in the vector P. +## system (i.e. A-BK) are those specified in the vector @var{p}. ## ## Version: Beta (May-1997): If you have any comments, please let me know. ## (see the file place.m for my address)
--- a/scripts/control/hinf/h2syn.m +++ b/scripts/control/hinf/h2syn.m @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[K}, @var{gain}, @var{Kc}, @var{Kf}, @var{Pc}, @var{Pf}] = h2syn (@var{Asys}, @var{nu}, @var{ny}, @var{tol}) +## @deftypefn {Function File} {[K}, @var{gain}, @var{kc}, @var{kf}, @var{pc}, @var{pf}] = h2syn (@var{asys}, @var{nu}, @var{ny}, @var{tol}) ## Design H2 optimal controller per procedure in ## Doyle, Glover, Khargonekar, Francis, "State Space Solutions to Standard ## H2 and Hinf Control Problems", IEEE TAC August 1989 @@ -27,7 +27,7 @@ ## ## @strong{Inputs} input system is passed as either ## @table @var -## @item Asys +## @item asys ## system data structure (see ss2sys, sys2ss) ## @itemize @bullet ## @item controller is implemented for continuous time systems @@ -43,17 +43,17 @@ ## ## @strong{Outputs} ## @table @var -## @item K +## @item k ## system controller ## @item gain ## optimal closed loop gain -## @item Kc +## @item kc ## full information control (packed) -## @item Kf +## @item kf ## state estimator (packed) -## @item Pc +## @item pc ## ARE solution matrix for regulator subproblem -## @item Pf +## @item pf ## ARE solution matrix for filter subproblem ## @end table ## @end deftypefn
--- a/scripts/control/hinf/hinf_ctr.m +++ b/scripts/control/hinf/hinf_ctr.m @@ -17,21 +17,21 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} hinf_ctr (@var{dgs}, @var{F}, @var{H}, @var{Z}, @var{g}) +## @deftypefn {Function File} {} hinf_ctr (@var{dgs}, @var{f}, @var{h}, @var{z}, @var{g}) ## Called by @code{hinfsyn} to compute the H_inf optimal controller. ## ## @strong{Inputs} ## @table @var ## @item dgs ## data structure returned by @code{is_dgkf} -## @item F -## @itemx H +## @item f +## @itemx h ## feedback and filter gain (not partitioned) ## @item g ## final gamma value ## @end table ## @strong{Outputs} -## controller K (system data structure) +## controller (system data structure) ## ## Do not attempt to use this at home; no argument checking performed. ## @end deftypefn
--- a/scripts/control/hinf/hinfsyn.m +++ b/scripts/control/hinf/hinfsyn.m @@ -17,11 +17,11 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{K}, @var{g}, @var{GW}, @var{Xinf}, @var{Yinf}] =} hinfsyn (@var{Asys}, @var{nu}, @var{ny}, @var{gmin}, @var{gmax}, @var{gtol}, @var{ptol}, @var{tol}) +## @deftypefn {Function File} {[@var{k}, @var{g}, @var{gw}, @var{xinf}, @var{yinf}] =} hinfsyn (@var{asys}, @var{nu}, @var{ny}, @var{gmin}, @var{gmax}, @var{gtol}, @var{ptol}, @var{tol}) ## ## @strong{Inputs} input system is passed as either ## @table @var -## @item Asys +## @item asys ## system data structure (see ss2sys, sys2ss) ## @itemize @bullet ## @item controller is implemented for continuous time systems @@ -49,15 +49,15 @@ ## @end table ## @strong{Outputs} ## @table @var -## @item K +## @item k ## system controller ## @item g ## designed gain value -## @item GW +## @item gw ## closed loop system -## @item Xinf +## @item xinf ## ARE solution matrix for regulator subproblem -## @item Yinf +## @item yinf ## ARE solution matrix for filter subproblem ## @end table ##
--- a/scripts/control/hinf/hinfsyn_chk.m +++ b/scripts/control/hinf/hinfsyn_chk.m @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{retval}, @var{Pc}, @var{Pf}] =} hinfsyn_chk (@var{A}, @var{B1}, @var{B2}, @var{C1}, @var{C2}, @var{D12}, @var{D21}, @var{g}, @var{ptol}) +## @deftypefn {Function File} {[@var{retval}, @var{pc}, @var{pf}] =} hinfsyn_chk (@var{a}, @var{b1}, @var{b2}, @var{c1}, @var{c2}, @var{d12}, @var{d21}, @var{g}, @var{ptol}) ## Called by @code{hinfsyn} to see if gain @var{g} satisfies conditions in ## Theorem 3 of ## Doyle, Glover, Khargonekar, Francis, "State Space Solutions to Standard @@ -38,9 +38,9 @@ ## @table @var ## @item retval ## 1 if g exceeds optimal Hinf closed loop gain, else 0 -## @item Pc +## @item pc ## solution of "regulator" H-inf ARE -## @item Pf +## @item pf ## solution of "filter" H-inf ARE ## @end table ## Do not attempt to use this at home; no argument checking performed.
--- a/scripts/control/hinf/hinfsyn_ric.m +++ b/scripts/control/hinf/hinfsyn_ric.m @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{Xinf}, @var{x_ha_err}] =} hinfsyn_ric (@var{A}, @var{BB}, @var{C1}, @var{d1dot}, @var{R}, @var{ptol}) +## @deftypefn {Function File} {[@var{xinf}, @var{x_ha_err}] =} hinfsyn_ric (@var{a}, @var{bb}, @var{c1}, @var{d1dot}, @var{r}, @var{ptol}) ## Forms ## @example ## xx = ([BB; -C1'*d1dot]/R) * [d1dot'*C1 BB']; @@ -30,17 +30,17 @@ ## @item 0 ## successful ## @item 1 -## Xinf has imaginary eigenvalues +## @var{xinf} has imaginary eigenvalues ## @item 2 -## Hx not Hamiltonian +## @var{hx} not Hamiltonian ## @item 3 -## Xinf has inf. eigenvalues (numerical overflow) +## @var{xinf} has infinite eigenvalues (numerical overflow) ## @item 4 -## Xinf not symmetric +## @var{xinf} not symmetric ## @item 5 -## Xinf not positive definite +## @var{xinf} not positive definite ## @item 6 -## R is singular +## @var{r} is singular ## @end table ## @end deftypefn
--- a/scripts/control/hinf/is_dgkf.m +++ b/scripts/control/hinf/is_dgkf.m @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{retval}, @var{dgkf_struct} ] =} is_dgkf (@var{Asys}, @var{nu}, @var{ny}, @var{tol} ) +## @deftypefn {Function File} {[@var{retval}, @var{dgkf_struct} ] =} is_dgkf (@var{asys}, @var{nu}, @var{ny}, @var{tol} ) ## Determine whether a continuous time state space system meets ## assumptions of DGKF algorithm. ## Partitions system into: @@ -27,14 +27,14 @@ ## [ y ] [Cy | Dyw Dyu ] ## @end example ## or similar discrete-time system. -## If necessary, orthogonal transformations @var{Qw}, @var{Qz} and nonsingular -## transformations @var{Ru}, @var{Ry} are applied to respective vectors +## If necessary, orthogonal transformations @var{qw}, @var{qz} and nonsingular +## transformations @var{ru}, @var{ry} are applied to respective vectors ## @var{w}, @var{z}, @var{u}, @var{y} in order to satisfy DGKF assumptions. -## Loop shifting is used if @var{Dyu} block is nonzero. +## Loop shifting is used if @var{dyu} block is nonzero. ## ## @strong{Inputs} ## @table @var -## @item Asys +## @item asys ## system data structure ## @item nu ## number of controlled inputs @@ -53,32 +53,32 @@ ## @item nw ## @itemx nz ## dimensions of @var{w}, @var{z} -## @item A -## system @var{A} matrix -## @item Bw -## (@var{n} x @var{nw}) @var{Qw}-transformed disturbance input matrix -## @item Bu -## (@var{n} x @var{nu}) @var{Ru}-transformed controlled input matrix; +## @item a +## system @math{A} matrix +## @item bw +## (@var{n} x @var{nw}) @var{qw}-transformed disturbance input matrix +## @item bu +## (@var{n} x @var{nu}) @var{ru}-transformed controlled input matrix; ## ## @strong{Note} @math{B = [Bw Bu]} -## @item Cz +## @item cz ## (@var{nz} x @var{n}) Qz-transformed error output matrix -## @item Cy -## (@var{ny} x @var{n}) @var{Ry}-transformed measured output matrix +## @item cy +## (@var{ny} x @var{n}) @var{ry}-transformed measured output matrix ## ## @strong{Note} @math{C = [Cz; Cy]} -## @item Dzu -## @item Dyw -## off-diagonal blocks of transformed @var{D} matrix that enter +## @item dzu +## @item dyw +## off-diagonal blocks of transformed system @math{D} matrix that enter ## @var{z}, @var{y} from @var{u}, @var{w} respectively -## @item Ru +## @item ru ## controlled input transformation matrix -## @item Ry +## @item ry ## observed output transformation matrix -## @item Dyu_nz -## nonzero if the @var{Dyu} block is nonzero. -## @item Dyu -## untransformed @var{Dyu} block +## @item dyu_nz +## nonzero if the @var{dyu} block is nonzero. +## @item dyu +## untransformed @var{dyu} block ## @item dflg ## nonzero if the system is discrete-time ## @end table
--- a/scripts/control/obsolete/qzval.m +++ b/scripts/control/obsolete/qzval.m @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} qzval (@var{A}, @var{B}) +## @deftypefn {Function File} {} qzval (@var{a}, @var{b}) ## Compute generalized eigenvalues of the matrix pencil ## @ifinfo ## @example @@ -30,7 +30,7 @@ ## @end tex ## @end iftex ## -## @var{A} and @var{B} must be real matrices. +## @var{a} and @var{b} must be real matrices. ## ## @strong{Note} @code{qzval} is obsolete; use @code{qz} instead. ## @end deftypefn
--- a/scripts/control/system/buildssic.m +++ b/scripts/control/system/buildssic.m @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} buildssic (@var{Clst}, @var{Ulst}, @var{Olst}, @var{Ilst}, @var{s1}, @var{s2}, @var{s3}, @var{s4}, @var{s5}, @var{s6}, @var{s7}, @var{s8}) +## @deftypefn {Function File} {} buildssic (@var{clst}, @var{ulst}, @var{olst}, @var{ilst}, @var{s1}, @var{s2}, @var{s3}, @var{s4}, @var{s5}, @var{s6}, @var{s7}, @var{s8}) ## ## Form an arbitrary complex (open or closed loop) system in ## state-space form from several systems. "@code{buildssic}" can @@ -36,7 +36,7 @@ ## outputs and inputs and up to 8 systems s1-s8. ## Format of the lists: ## @table @var -## @item Clst +## @item clst ## connection list, describes the input signal of ## each system. The maximum number of rows of Clst is ## equal to the sum of all inputs of s1-s8. @@ -46,20 +46,20 @@ ## + output 2 - output 1, new input 2 is old input 2 ## + output 1. The order of rows is arbitrary. ## -## @item Ulst +## @item ulst ## if not empty the old inputs in vector Ulst will ## be appended to the outputs. You need this if you ## want to "pull out" the input of a system. Elements ## are input numbers of s1-s8. ## -## @item Olst +## @item olst ## output list, specifiy the outputs of the resulting ## systems. Elements are output numbers of s1-s8. ## The numbers are alowed to be negative and may ## appear in any order. An empty matrix means ## all outputs. ## -## @item Ilst +## @item ilst ## input list, specifiy the inputs of the resulting ## systems. Elements are input numbers of s1-s8. ## The numbers are alowed to be negative and may @@ -87,14 +87,14 @@ ## GW = buildssic([1 2; 2 -1], 2, [1 2 3], 2, G, K); ## @end example ## @table @var -## @item Clst +## @item clst ## (1. row) connect input 1 (G) with output 2 (K). ## (2. row) connect input 2 (K) with neg. output 1 (G). -## @item Ulst +## @item ulst ## append input of (2) K to the number of outputs. -## @item Olst +## @item olst ## Outputs are output of 1 (G), 2 (K) and appended output 3 (from Ulst). -## @item Ilst +## @item ilst ## the only input is 2 (K). ## @end table ##
--- a/scripts/control/system/c2d.m +++ b/scripts/control/system/c2d.m @@ -17,8 +17,8 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} c2d (@var{sys}, @var{opt}, @var{T}) -## @deftypefnx {Function File} {} c2d (@var{sys}, @var{T}) +## @deftypefn {Function File} {} c2d (@var{sys}, @var{opt}, @var{t}) +## @deftypefnx {Function File} {} c2d (@var{sys}, @var{t}) ## ## @strong{Inputs} ## @table @var @@ -41,16 +41,16 @@ ## @end example ## FIXME: This option exits with an error if @var{sys} is not purely ## continuous. (The @code{ex} option can handle mixed systems.) -## @item @var{T} +## @item t ## sampling time; required if sys is purely continuous. ## ## @strong{Note} If the 2nd argument is not a string, @code{c2d} assumes that -## the 2nd argument is @var{T} and performs appropriate argument checks. +## the 2nd argument is @var{t} and performs appropriate argument checks. ## @end table ## ## @strong{Outputs} ## @var{dsys} discrete time equivalent via zero-order hold, -## sample each @var{T} sec. +## sample each @var{t} sec. ## ## converts the system data structure describing ## @example
--- a/scripts/control/system/d2c.m +++ b/scripts/control/system/d2c.m @@ -36,14 +36,14 @@ ## (default) Conversion is performed via a matrix logarithm. ## Due to some problems with this computation, it is ## followed by a steepest descent algorithm to identify continuous time -## @var{A}, @var{B}, to get a better fit to the original data. +## @var{a}, @var{b}, to get a better fit to the original data. ## ## If called as @code{d2c (@var{sys}, @var{tol})}, with @var{tol} ## positive scalar, the @code{"log"} option is used. The default value ## for @var{tol} is @code{1e-8}. ## @item "bi" ## Conversion is performed via bilinear transform -## @math{z = (1 + s T / 2)/(1 - s T / 2)} where @var{T} is the +## @math{z = (1 + s T / 2)/(1 - s T / 2)} where @math{T} is the ## system sampling time (see @code{sysgettsam}). ## ## FIXME: bilinear option exits with an error if @var{sys} is not purely
--- a/scripts/control/system/dmr2d.m +++ b/scripts/control/system/dmr2d.m @@ -17,10 +17,10 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{dsys}, @var{fidx}] =} dmr2d (@var{sys}, @var{idx}, @var{sprefix}, @var{Ts2}, @var{cuflg}) +## @deftypefn {Function File} {[@var{dsys}, @var{fidx}] =} dmr2d (@var{sys}, @var{idx}, @var{sprefix}, @var{ts2}, @var{cuflg}) ## convert a multirate digital system to a single rate digital system -## states specified by @var{idx}, @var{sprefix} are sampled at @var{Ts2}, all -## others are assumed sampled at @var{Ts1} = @code{sysgettsam(@var{sys})}. +## states specified by @var{idx}, @var{sprefix} are sampled at @var{ts2}, all +## others are assumed sampled at @var{ts1} = @code{sysgettsam (@var{sys})}. ## ## @strong{Inputs} ## @table @var @@ -33,14 +33,14 @@ ## @item sprefix ## list of string prefixes of states with sampling time ## @code{sysgettsam(@var{sys})} (may be empty) -## @item Ts2 +## @item ts2 ## sampling time of states not specified by @var{idx}, @var{sprefix} ## must be an integer multiple of @code{sysgettsam(@var{sys})} ## @item cuflg ## "constant u flag" if @var{cuflg} is nonzero then the system inputs are -## assumed to be constant over the revised sampling interval @var{Ts2}. +## assumed to be constant over the revised sampling interval @var{ts2}. ## Otherwise, since the inputs can change during the interval -## @var{t} in @math{[k Ts2, (k+1) Ts2]}, an additional set of inputs is +## @var{t} in @math{[k ts2, (k+1) ts2]}, an additional set of inputs is ## included in the revised B matrix so that these intersample inputs ## may be included in the single-rate system. ## default @var{cuflg} = 1. @@ -49,21 +49,21 @@ ## @strong{Outputs} ## @table @var ## @item dsys -## equivalent discrete time system with sampling time @var{Ts2}. +## equivalent discrete time system with sampling time @var{ts2}. ## -## The sampling time of sys is updated to @var{Ts2}. +## The sampling time of sys is updated to @var{ts2}. ## ## if @var{cuflg}=0 then a set of additional inputs is added to ## the system with suffixes _d1, ..., _dn to indicate their -## delay from the starting time k @var{Ts2}, i.e. +## delay from the starting time k @var{ts2}, i.e. ## u = [u_1; u_1_d1; ..., u_1_dn] where u_1_dk is the input -## k*Ts1 units of time after u_1 is sampled. (Ts1 is -## the original sampling time of discrete time sys and -## @var{Ts2} = (n+1)*Ts1) +## k*ts1 units of time after u_1 is sampled. (@var{ts1} is +## the original sampling time of the discrete time system and +## @var{ts2} = (n+1)*ts1) ## ## @item fidx ## indices of "formerly fast" states specified by @var{idx} and @var{sprefix}; -## these states are updated to the new (slower) sampling interval @var{Ts2}. +## these states are updated to the new (slower) sampling interval @var{ts2}. ## @end table ## ## @strong{WARNING} Not thoroughly tested yet; especially when
--- a/scripts/control/system/is_controllable.m +++ b/scripts/control/system/is_controllable.m @@ -17,8 +17,8 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{retval}, @var{U}] =} is_controllable (@var{sys}, @var{tol}) -## @deftypefnx {Function File} {[@var{retval}, @var{U}] =} is_controllable (@var{a}, @var{b}, @var{tol}) +## @deftypefn {Function File} {[@var{retval}, @var{u}] =} is_controllable (@var{sys}, @var{tol}) +## @deftypefnx {Function File} {[@var{retval}, @var{u}] =} is_controllable (@var{a}, @var{b}, @var{tol}) ## Logical check for system controllability. ## ## @strong{Inputs}
--- a/scripts/control/system/is_detectable.m +++ b/scripts/control/system/is_detectable.m @@ -17,8 +17,8 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{retval}, @var{U}] =} is_detectable (@var{a}, @var{c}, @var{tol}) -## @deftypefnx {Function File} {[@var{retval}, @var{U}] =} is_detectable (@var{sys}, @var{tol}) +## @deftypefn {Function File} {[@var{retval}, @var{u}] =} is_detectable (@var{a}, @var{c}, @var{tol}) +## @deftypefnx {Function File} {[@var{retval}, @var{u}] =} is_detectable (@var{sys}, @var{tol}) ## Test for detactability (observability of unstable modes) of ## (@var{a},@var{c}). ##
--- a/scripts/control/system/is_observable.m +++ b/scripts/control/system/is_observable.m @@ -17,8 +17,8 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{retval}, @var{U}] =} is_observable (@var{a}, @var{c}, @var{tol}) -## @deftypefnx {Function File} {[@var{retval}, @var{U}] =} is_observable (@var{sys}, @var{tol}) +## @deftypefn {Function File} {[@var{retval}, @var{u}] =} is_observable (@var{a}, @var{c}, @var{tol}) +## @deftypefnx {Function File} {[@var{retval}, @var{u}] =} is_observable (@var{sys}, @var{tol}) ## Logical check for system observability. ## ## Default: tol = 10*norm(a,'fro')*eps
--- a/scripts/control/system/is_sample.m +++ b/scripts/control/system/is_sample.m @@ -17,8 +17,8 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} is_sample (@var{Ts}) -## return true if @var{Ts} is a valid sampling time +## @deftypefn {Function File} {} is_sample (@var{ts}) +## Return true if @var{ts} is a valid sampling time ## (real,scalar, > 0) ## @end deftypefn
--- a/scripts/control/system/is_stabilizable.m +++ b/scripts/control/system/is_stabilizable.m @@ -17,16 +17,16 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{retval}, @var{U}] =} is_stabilizable (@var{sys}, @var{tol}) -## @deftypefnx {Function File} {[@var{retval}, @var{U}] =} is_stabilizable (@var{a}, @var{b}, @var{tol}) +## @deftypefn {Function File} {[@var{retval}, @var{u}] =} is_stabilizable (@var{sys}, @var{tol}) +## @deftypefnx {Function File} {[@var{retval}, @var{u}] =} is_stabilizable (@var{a}, @var{b}, @var{tol}) ## Logical check for system stabilizability (i.e., all unstable modes are controllable). ## ## Test for stabilizability is performed via an ordered Schur decomposition -## that reveals the unstable subspace of the system @var{A} matrix. +## that reveals the unstable subspace of the system @var{a} matrix. ## -## Returns @code{retval} = 1 if the system, @code{a}, is stabilizable, -## if the pair (@code{a}, @code{b}) is stabilizable, or 0 if not. -## @code{U} = orthogonal basis of controllable subspace. +## Returns @code{retval} = 1 if the system, @var{a}, is stabilizable, +## if the pair (@var{a}, @var{b}) is stabilizable, or 0 if not. +## @var{u} = orthogonal basis of controllable subspace. ## ## Controllable subspace is determined by applying Arnoldi iteration with ## complete re-orthogonalization to obtain an orthogonal basis of the
--- a/scripts/control/system/parallel.m +++ b/scripts/control/system/parallel.m @@ -17,18 +17,18 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} parallel (@var{Asys}, @var{Bsys}) +## @deftypefn {Function File} {} parallel (@var{asys}, @var{bsys}) ## Forms the parallel connection of two systems. ## ## ____________________ ## | ________ | -## u ----->|----> | Asys |--->|----> y1 +## u ----->|----> | asys |--->|----> y1 ## | | -------- | ## | | ________ | -## |--->|----> | Bsys |--->|----> y2 +## |--->|----> | bsys |--->|----> y2 ## | -------- | ## -------------------- -## Ksys +## ksys ## @end deftypefn ## Author: David Clem
--- a/scripts/control/system/ss2sys.m +++ b/scripts/control/system/ss2sys.m @@ -175,7 +175,7 @@ ## 0 0 ## 0 0 ## @end example -## Notice that the @var{D} matrix is constructed by default to the +## Notice that the @math{D} matrix is constructed by default to the ## correct dimensions. Default input and output signals names were assigned ## since none were given. ## @end deftypefn
--- a/scripts/control/system/sysadd.m +++ b/scripts/control/system/sysadd.m @@ -17,23 +17,23 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} sysadd (@var{Gsys}, @var{Hsys}) -## returns @var{sys} = @var{Gsys} + @var{Hsys}. +## @deftypefn {Function File} {} sysadd (@var{gsys}, @var{hsys}) +## returns @var{sys} = @var{gsys} + @var{hsys}. ## @itemize @bullet ## @item Exits with -## an error if @var{Gsys} and @var{Hsys} are not compatibly dimensioned. +## an error if @var{gsys} and @var{hsys} are not compatibly dimensioned. ## @item Prints a warning message is system states have identical names; ## duplicate names are given a suffix to make them unique. -## @item @var{sys} input/output names are taken from @var{Gsys}. +## @item @var{sys} input/output names are taken from @var{gsys}. ## @end itemize ## @example ## @group ## ________ -## ----| Gsys |--- +## ----| gsys |--- ## u | ---------- +| ## ----- (_)----> y ## | ________ +| -## ----| Hsys |--- +## ----| hsys |--- ## -------- ## @end group ## @end example
--- a/scripts/control/system/sysappend.m +++ b/scripts/control/system/sysappend.m @@ -55,10 +55,10 @@ ## [D21 | D22 ] ## @end group ## @end example -## where @var{D12}, @var{D21}, and @var{D22} are the appropriate dimensioned +## where @math{D12}, @math{D21}, and @math{D22} are the appropriate dimensioned ## blocks of the input parameter @var{d}. ## @itemize @bullet -## @item The leading block @var{D11} of @var{d} is ignored. +## @item The leading block @math{D11} of @var{d} is ignored. ## @item If @var{inname} and @var{outname} are not given as arguments, ## the new inputs and outputs are be assigned default names. ## @item @var{yd} is a binary vector of length rows(c) that indicates
--- a/scripts/control/system/syscont.m +++ b/scripts/control/system/syscont.m @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{csys}, @var{Acd}, @var{Ccd}] =} syscont (@var{sys}) +## @deftypefn {Function File} {[@var{csys}, @var{acd}, @var{ccd}] =} syscont (@var{sys}) ## Extract the purely continuous subsystem of an input system. ## ## @strong{Inputs} @@ -27,8 +27,8 @@ ## @table @var ## @item csys ## is the purely continuous input/output connections of @var{sys} -## @item Acd -## @itemx Ccd +## @item acd +## @itemx ccd ## connections from discrete states to continuous states, ## discrete states to continuous outputs, respectively. ##
--- a/scripts/control/system/sysdisc.m +++ b/scripts/control/system/sysdisc.m @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{dsys}, @var{Adc}, @var{Cdc}] =} sysdisc (@var{sys}) +## @deftypefn {Function File} {[@var{dsys}, @var{adc}, @var{cdc}] =} sysdisc (@var{sys}) ## ## @strong{Inputs} ## @var{sys} = system data structure @@ -27,8 +27,8 @@ ## @item dsys ## purely discrete portion of sys (returned empty if there is ## no purely discrete path from inputs to outputs) -## @item Adc -## @itemx Cdc +## @item adc +## @itemx cdc ## connections from continuous states to discrete states and discrete ## outputs, respectively. ## @end table
--- a/scripts/control/system/sysdup.m +++ b/scripts/control/system/sysdup.m @@ -17,12 +17,12 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} sysdup (@var{Asys}, @var{out_idx}, @var{in_idx}) +## @deftypefn {Function File} {} sysdup (@var{asys}, @var{out_idx}, @var{in_idx}) ## Duplicate specified input/output connections of a system ## ## @strong{Inputs} ## @table @var -## @item Asys +## @item asys ## system data structure ## @item out_idx ## @itemx in_idx @@ -44,7 +44,7 @@ ## @group ## ____________________ ## u1 ----->| |----> y1 -## | Asys | +## | asys | ## u2 ------>| |----->y2 ## (in_idx) -------------------| (out_idx) ## @end group
--- a/scripts/control/system/sysgroup.m +++ b/scripts/control/system/sysgroup.m @@ -17,22 +17,22 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} sysgroup (@var{Asys}, @var{Bsys}) +## @deftypefn {Function File} {} sysgroup (@var{asys}, @var{bsys}) ## Combines two systems into a single system ## ## @strong{Inputs} -## @var{Asys}, @var{Bsys}: system data structures +## @var{asys}, @var{bsys}: system data structures ## ## @strong{Outputs} -## @math{sys = @r{block diag}(Asys,Bsys)} +## @math{sys = @r{block diag}(asys,bsys)} ## @example ## @group ## __________________ ## | ________ | -## u1 ----->|--> | Asys |--->|----> y1 +## u1 ----->|--> | asys |--->|----> y1 ## | -------- | ## | ________ | -## u2 ----->|--> | Bsys |--->|----> y2 +## u2 ----->|--> | bsys |--->|----> y2 ## | -------- | ## ------------------ ## Ksys
--- a/scripts/control/system/sysmult.m +++ b/scripts/control/system/sysmult.m @@ -17,19 +17,19 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} sysmult (@var{Asys}, @var{Bsys}) +## @deftypefn {Function File} {} sysmult (@var{asys}, @var{bsys}) ## Compute @math{sys = Asys*Bsys} (series connection): ## @example ## @group ## u ---------- ---------- -## --->| Bsys |---->| Asys |---> +## --->| bsys |---->| asys |---> ## ---------- ---------- ## @end group ## @end example ## A warning occurs if there is direct feed-through -## from an input of Bsys or a continuous state of Bsys through a discrete -## output of Bsys to a continuous state or output in Asys (system data -## structure does not recognize discrete inputs). +## from an input of Bsys or a continuous state of @var{bsys} through a +## discrete output of Bsys to a continuous state or output in @var{asys} +## (system data structure does not recognize discrete inputs). ## @end deftypefn ## Author: John Ingram <ingraje@eng.auburn.edu>
--- a/scripts/control/system/sysprune.m +++ b/scripts/control/system/sysprune.m @@ -17,12 +17,12 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} sysprune (@var{Asys}, @var{out_idx}, @var{in_idx}) +## @deftypefn {Function File} {} sysprune (@var{asys}, @var{out_idx}, @var{in_idx}) ## Extract specified inputs/outputs from a system ## ## @strong{Inputs} ## @table @var -## @item Asys +## @item asys ## system data structure ## @item out_idx ## @itemx in_idx
--- a/scripts/control/system/syssub.m +++ b/scripts/control/system/syssub.m @@ -17,22 +17,22 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} syssub (@var{Gsys}, @var{Hsys}) -## returns @math{sys = Gsys - Hsys} +## @deftypefn {Function File} {} syssub (@var{gsys}, @var{hsys}) +## Return @math{sys = Gsys - Hsys}. ## -## Method: @var{Gsys} and @var{Hsys} are connected in parallel +## Method: @var{gsys} and @var{hsys} are connected in parallel ## The input vector is connected to both systems; the outputs are -## subtracted. Returned system names are those of @var{Gsys}. +## subtracted. Returned system names are those of @var{gsys}. ## @example ## @group ## +--------+ -## +--->| Gsys |---+ +## +--->| gsys |---+ ## | +--------+ | ## | +| ## u --+ (_)--> y ## | -| ## | +--------+ | -## +--->| Hsys |---+ +## +--->| hsys |---+ ## +--------+ ## @end group ## @end example
--- a/scripts/control/system/zp2ss.m +++ b/scripts/control/system/zp2ss.m @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{A}, @var{B}, @var{C}, @var{D}] =} zp2ss (@var{zer}, @var{pol}, @var{k}) +## @deftypefn {Function File} {[@var{a}, @var{b}, @var{c}, @var{d}] =} zp2ss (@var{zer}, @var{pol}, @var{k}) ## Conversion from zero / pole to state space. ## @strong{Inputs} ## @table @var @@ -30,7 +30,7 @@ ## real scalar (leading coefficient) ## @end table ## @strong{Outputs} -## @var{A}, @var{B}, @var{C}, @var{D} +## @var{a}, @var{b}, @var{c}, @var{d} ## The state space system ## @example ## .
--- a/scripts/control/util/__zgpbal__.m +++ b/scripts/control/util/__zgpbal__.m @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} __zgpbal__ (@var{Asys}) +## @deftypefn {Function File} {} __zgpbal__ (@var{sys}) ## ## used internally in @code{tzero}; minimal argument checking performed ##
--- a/scripts/control/util/zgfmul.m +++ b/scripts/control/util/zgfmul.m @@ -18,8 +18,7 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} zgfmul (@var{a}, @var{b}, @var{c}, @var{d}, @var{x}) -## -## Compute product of zgep incidence matrix @var{F} with vector @var{x}. +## Compute product of zgep incidence matrix @math{F} with vector @var{x}. ## Used by zgepbal (in zgscal) as part of generalized conjugate gradient ## iteration. ## @end deftypefn
--- a/scripts/control/util/zgreduce.m +++ b/scripts/control/util/zgreduce.m @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {retsys =} zgreduce (@var{Asys}, @var{meps}) +## @deftypefn {Function File} {} zgreduce (@var{sys}, @var{meps}) ## Implementation of procedure REDUCE in (Emami-Naeini and Van Dooren, ## Automatica, # 1982). ## @end deftypefn