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1 ## Copyright (C) 1996, 1998, 2000, 2002, 2004, 2005, 2006, 2007 |
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2 ## Auburn University. All rights reserved. |
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3 ## |
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4 ## This file is part of Octave. |
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5 ## |
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6 ## Octave is free software; you can redistribute it and/or modify it |
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7 ## under the terms of the GNU General Public License as published by |
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8 ## the Free Software Foundation; either version 3 of the License, or (at |
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9 ## your option) any later version. |
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10 ## |
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11 ## Octave is distributed in the hope that it will be useful, but |
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12 ## WITHOUT ANY WARRANTY; without even the implied warranty of |
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13 ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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14 ## General Public License for more details. |
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15 ## |
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16 ## You should have received a copy of the GNU General Public License |
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17 ## along with Octave; see the file COPYING. If not, see |
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18 ## <http://www.gnu.org/licenses/>. |
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19 |
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20 ## -*- texinfo -*- |
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21 ## @deftypefn {Function File} {@var{clsys} =} sysconnect (@var{sys}, @var{out_idx}, @var{in_idx}, @var{order}, @var{tol}) |
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22 ## Close the loop from specified outputs to respective specified inputs |
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23 ## |
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24 ## @strong{Inputs} |
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25 ## @table @var |
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26 ## @item sys |
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27 ## System data structure. |
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28 ## @item out_idx |
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29 ## @itemx in_idx |
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30 ## Names or indices of signals to connect (see @code{sysidx}). |
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31 ## The output specified by @math{out_idx(ii)} is connected to the input |
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32 ## specified by @math{in_idx(ii)}. |
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33 ## @item order |
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34 ## logical flag (default = 0) |
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35 ## @table @code |
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36 ## @item 0 |
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37 ## Leave inputs and outputs in their original order. |
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38 ## @item 1 |
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39 ## Permute inputs and outputs to the order shown in the diagram below. |
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40 ## @end table |
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41 ## @item tol |
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42 ## Tolerance for singularities in algebraic loops, default: 200@code{eps}. |
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43 ## @end table |
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44 ## |
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45 ## @strong{Outputs} |
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46 ## @table @var |
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47 ## @item clsys |
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48 ## Resulting closed loop system. |
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49 ## @end table |
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50 ## |
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51 ## @strong{Method} |
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52 ## |
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53 ## @code{sysconnect} internally permutes selected inputs, outputs as shown |
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54 ## below, closes the loop, and then permutes inputs and outputs back to their |
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55 ## original order |
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56 ## @example |
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57 ## @group |
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58 ## -------------------- |
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59 ## u_1 ----->| |----> y_1 |
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60 ## | sys | |
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61 ## old u_2 | | |
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62 ## u_2* ---->(+)--->| |----->y_2 |
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63 ## (in_idx) ^ -------------------- | (out_idx) |
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64 ## | | |
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65 ## ------------------------------- |
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66 ## @end group |
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67 ## @end example |
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68 ## The input that has the summing junction added to it has an * added to |
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69 ## the end of the input name. |
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70 ## @end deftypefn |
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71 |
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72 ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu> |
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73 ## Created: August 1995 |
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74 ## modified by John Ingram July 1996 |
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75 |
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76 function sys = sysconnect (sys, output_list, input_list, order, tol) |
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77 |
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78 if (nargin < 3 || nargin > 5) |
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79 print_usage (); |
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80 endif |
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81 |
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82 ## check order |
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83 if (nargin < 4) |
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84 order = 0; |
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85 elseif (order != 0 && order != 1) |
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86 error ("sysconnect: order must be either 0 or 1") |
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87 endif |
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88 |
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89 if (nargin < 5) |
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90 tol = 200*eps; |
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91 elseif (! is_sample (tol)) |
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92 error ("sysconnect: tol must be a positive scalar"); |
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93 elseif (tol > 1e2*sqrt(eps)) |
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94 warning ("sysconnect: tol set to large value=%g, eps=%g", tol, eps); |
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95 endif |
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96 |
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97 ## convert signal names to indices |
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98 if (is_signal_list (input_list) || ischar (input_list)) |
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99 input_list = sysidx (sys, "in", input_list); |
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100 endif |
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101 if (is_signal_list (output_list) || ischar (output_list)) |
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102 output_list = sysidx (sys, "out", output_list); |
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103 endif |
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104 |
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105 ## verify sizes,format of input, output lists |
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106 if (min (size (output_list)) * min (size (input_list)) != 1) |
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107 error ("output_list and input_list must be vectors"); |
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108 else |
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109 lo = length (output_list); |
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110 li = length (input_list); |
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111 if (lo != li) |
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112 error ("output_list and input_list must be of the same length") |
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113 endif |
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114 |
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115 if (is_duplicate_entry (output_list) || is_duplicate_entry (input_list)) |
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116 error ("duplicate entry in input_list and/or output_list"); |
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117 endif |
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118 endif |
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119 |
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120 [nc, nz, mm, pp] = sysdimensions (sys); |
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121 nn = nc+nz; |
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122 |
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123 if (! isstruct (sys)) |
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124 error ("sys must be in structured system form") |
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125 elseif (pp < lo) |
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126 error ("length(output_list)=%d, sys has only %d system outputs", lo, pp); |
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127 elseif (mm < li) |
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128 error ("length(input_list)=%d, sys has only %d system inputs", li, mm); |
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129 endif |
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130 |
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131 ## check that there are enough inputs/outputs in the system for the lists |
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132 if (max (input_list) > mm) |
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133 error ("max(input_list) exceeds the number of inputs"); |
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134 elseif (max (output_list) > pp) |
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135 error ("max(output_list) exceeds the number of outputs"); |
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136 endif |
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137 |
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138 output_list = reshape (output_list, 1, length (output_list)); |
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139 |
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140 ## make sure we're in state space form |
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141 sys = sysupdate (sys, "ss"); |
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142 |
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143 ## permute rows and columns of B,C,D matrices into pseudo-dgkf form... |
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144 all_inputs = sysreorder (mm, input_list); |
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145 all_outputs = sysreorder (pp, output_list); |
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146 |
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147 [aa, bb, cc, dd] = sys2ss (sys); |
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148 bb = bb(:,all_inputs); |
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149 cc = cc(all_outputs,:); |
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150 dd = dd(all_outputs,all_inputs); |
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151 |
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152 yd = sysgetsignals (sys, "yd"); |
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153 yd = yd(all_outputs); |
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154 |
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155 ## m1, p1 = number of inputs, outputs that are not being connected |
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156 m1 = mm-li; |
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157 p1 = pp-li; |
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158 |
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159 ## m2, p2: 1st column, row of B, C that is being connected |
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160 m2 = m1+1; |
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161 p2 = p1+1; |
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162 |
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163 ## partition system into a DGKF-like form; the loop is closed around |
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164 ## B2, C2 |
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165 if (m1 > 0) |
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166 B1 = bb(:,1:m1); |
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167 D21= dd(p2:pp,1:m1); |
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168 endif |
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169 B2 = bb(:,m2:mm); |
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170 if (p1 > 0) |
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171 C1 = cc(1:p1,:); |
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172 D12= dd(1:p1,m2:mm); |
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173 endif |
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174 C2 = cc(p2:pp,:); |
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175 if (m1*p1 > 0) |
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176 D11 = dd(1:p1,1:m1); |
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177 endif |
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178 D22 = dd(p2:pp,m2:mm); |
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179 |
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180 if (norm (D22)) |
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181 warning ("sysconnect: possible algebraic loop, D22 non-zero"); |
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182 D22i = eye (size (D22)) - D22; |
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183 C2h = D22i\C2; |
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184 if (m1 > 0) |
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185 D21h = D22i\D21; |
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186 endif |
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187 D22h = D22i\D22; |
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188 else |
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189 C2h = C2; |
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190 if (m1 > 0) |
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191 D21h = D21; |
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192 endif |
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193 D22h = D22; |
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194 |
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195 endif |
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196 |
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197 ## check cont state -> disc output -> cont state |
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198 dyi = find (yd(p2:pp)); |
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199 |
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200 ## disp("sysconnect: dyi=") |
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201 ## dyi |
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202 ## nc |
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203 ## disp("/sysconnect"); |
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204 |
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205 if ((nc > 0) & find (dyi > 0)) |
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206 B2con = B2(1:nc,dyi); # connection to cont states |
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207 C2hd = C2h(dyi,1:nc); # cont states -> outputs |
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208 else |
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209 B2con = C2hd = []; |
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210 endif |
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211 |
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212 if (max (size (B2con)) & max (size (C2hd))) |
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213 if (norm (B2con*C2hd)) |
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214 warning ("sysconnect: cont-state -> disc output -> cont state derivative"); |
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215 warning ("connection made; resulting system may not be meaningful"); |
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216 endif |
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217 endif |
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218 |
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219 Ac = aa+B2*C2h; |
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220 if (m1 > 0) |
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221 B1c = B1 + B2*D21h; |
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222 endif |
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223 B2c = B2*(eye(size(D22h)) + D22h); |
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224 if (p1*m1 > 0) |
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225 D11c = D11 + D12*D21h; |
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226 endif |
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227 if (p1 > 0) |
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228 C1c = C1+D12*C2h; |
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229 D12c = D12*(eye(size(D22h))+D22h); |
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230 endif |
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231 |
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232 ## construct system data structure |
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233 if (m1 > 0) |
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234 Bc = [B1c, B2c]; |
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235 else |
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236 Bc = B2c; |
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237 endif |
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238 |
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239 if (p1 > 0) |
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240 Cc = [C1c;C2h]; |
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241 else |
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242 Cc = C2h; |
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243 endif |
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244 |
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245 if (m1*p1 > 0) |
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246 Dc = [D11c,D12c; D21h,D22h]; |
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247 elseif (m1 > 0) |
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248 Dc = [D21h, D22h]; |
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249 elseif (p1 > 0) |
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250 Dc = [D12c; D22h]; |
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251 else |
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252 Dc = D22h; |
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253 endif |
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254 |
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255 ## permute rows and columns of Bc, Cc, Dc back into original order |
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256 Im = eye (mm, mm); |
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257 Pi = Im(:,all_inputs); |
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258 back_inputs = Pi*[1:mm]'; |
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259 |
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260 Ip = eye (pp, pp); |
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261 Po = Ip(:,all_outputs); |
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262 back_outputs = Po*[1:pp]'; |
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263 |
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264 Bc = Bc(:,back_inputs); |
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265 Cc = Cc(back_outputs,:); |
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266 Dc = Dc(back_outputs,back_inputs); |
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267 yd = yd(back_outputs); |
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268 |
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269 ## rebuild system |
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270 Ts = sysgettsam (sys); |
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271 [stnam, innam, outnam] = sysgetsignals (sys); |
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272 sys = ss (Ac, Bc, Cc, Dc, Ts, nc, nz, stnam, innam, outnam, find (yd)); |
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273 |
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274 ## update connected input names |
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275 for ii = 1:length(input_list) |
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276 idx = input_list(ii); |
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277 tmpval = sysgetsignals (sys, "in", idx); |
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278 strval = sprintf ("%s*", tmpval{1} ); |
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279 sys = syssetsignals (sys, "in", strval, idx); |
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280 endfor |
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281 |
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282 ## maintain original system type if it was SISO |
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283 if (strcmp (sysgettype (sys), "tf")) |
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284 sysupdate (sys, "tf"); |
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285 elseif (strcmp (sysgettype (sys),"zp")) |
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286 sysupdate (sys, "zp"); |
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287 endif |
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288 |
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289 endfunction |
