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1 ## Copyright (C) 1996, 1999, 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{sys} =} sysmult (@var{Asys}, @var{Bsys}) |
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22 ## Compute @math{sys = Asys*Bsys} (series connection): |
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23 ## @example |
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24 ## @group |
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25 ## u ---------- ---------- |
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26 ## --->| Bsys |---->| Asys |---> |
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27 ## ---------- ---------- |
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28 ## @end group |
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29 ## @end example |
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30 ## A warning occurs if there is direct feed-through from an input |
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31 ## or a continuous state of @var{Bsys}, through a discrete output |
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32 ## of @var{Bsys}, to a continuous state or output in @var{Asys} |
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33 ## (system data structure does not recognize discrete inputs). |
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34 ## @end deftypefn |
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35 |
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36 ## Author: John Ingram <ingraje@eng.auburn.edu> |
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37 ## Created: July 1996 |
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38 ## updated for variable number of arguments by A. S. Hodel July 1999 |
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39 |
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40 function sys = sysmult (varargin) |
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41 |
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42 if (nargin < 1) |
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43 print_usage (); |
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44 endif |
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45 |
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46 ## collect all arguments |
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47 arglist = {}; |
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48 for kk = 1:nargin |
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49 arglist{kk} = varargin{kk}; |
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50 if (! isstruct (arglist{kk})) |
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51 error ("sysadd: argument %d is not a data structure", kk); |
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52 endif |
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53 endfor |
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54 |
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55 ## check system dimensions |
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56 [n, nz, mg, pg, Gyd] = sysdimensions (arglist{1}); |
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57 for kk = 2:nargin |
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58 [n, nz, mh, ph, Hyd] = sysdimensions (arglist{kk}); |
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59 if(ph != mg) |
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60 error ("arg %d has %d outputs; arg %d has %d inputs", kk, ph, kk-1, mg); |
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61 endif |
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62 [n, nz, mg, pg, Gyd] = sysdimensions (arglist{kk}); # for next iteration |
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63 endfor |
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64 |
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65 ## perform the multiply |
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66 if (nargin == 2) |
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67 Asys = arglist{1}; |
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68 Bsys = arglist{2}; |
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69 |
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70 [An, Anz, Am, Ap] = sysdimensions (Asys); |
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71 [Bn, Bnz, Bm, Bp] = sysdimensions (Bsys); |
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72 |
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73 [Aa, Ab, Ac, Ad, Atsam, An, Anz, ... |
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74 Astname, Ainname, Aoutname, Ayd] = sys2ss(Asys); |
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75 |
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76 [Ba, Bb, Bc, Bd, Btsam, Bn, Bnz, ... |
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77 Bstname, Binname, Boutname, Byd] = sys2ss(Bsys); |
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78 |
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79 if (Byd) |
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80 ## check direct feed-through of inputs through discrete outputs |
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81 alist = find (Byd); |
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82 if (An) |
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83 bd = Ab(1:An) * Bd(alist,:); |
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84 if (norm (bd, 1)) |
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85 warning ("sysmult: inputs -> Bsys discrete outputs -> continuous states of Asys"); |
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86 endif |
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87 endif |
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88 ## check direct feed-through of continuous state through discrete outputs |
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89 if (Bn) |
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90 bc = Ab(1:An) * Bc(alist,1:(Bn)); |
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91 if (norm (bc, 1)) |
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92 warning ("sysmult: Bsys states -> Bsys discrete outputs -> continuous states of Asys"); |
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93 endif |
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94 endif |
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95 endif |
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96 |
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97 ## change signal names to avoid spurious warnings from sysgroup |
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98 Asys = syssetsignals (Asys, "in", |
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99 __sysdefioname__ (Am, "A_sysmult_tmp_name")); |
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100 |
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101 Bsys = syssetsignals (Bsys, "out", |
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102 __sysdefioname__ (Bp, "B_sysmult_tmp_name")); |
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103 |
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104 sys = sysgroup (Asys, Bsys); |
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105 |
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106 ## connect outputs of B to inputs of A |
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107 sys = sysconnect (sys, Ap+(1:Bp), 1:Am); |
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108 |
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109 ## now keep only outputs of A and inputs of B |
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110 sys = sysprune (sys, 1:Ap, Am+(1:Bm)); |
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111 |
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112 else |
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113 ## multiple systems (or a single system); combine together one by one |
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114 sys = arglist{1}; |
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115 for kk = 2:length(arglist) |
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116 sys = sysmult (sys, arglist{kk}); |
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117 endfor |
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118 endif |
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119 |
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120 endfunction |
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121 |
