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1 ## Copyright (C) 1996, 1998, 1999 Auburn University. All rights reserved. |
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2 ## |
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3 ## This file is part of Octave. |
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4 ## |
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5 ## Octave is free software; you can redistribute it and/or modify it |
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6 ## under the terms of the GNU General Public License as published by the |
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7 ## Free Software Foundation; either version 2, or (at your option) any |
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8 ## later version. |
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9 ## |
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10 ## Octave is distributed in the hope that it will be useful, but WITHOUT |
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11 ## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or |
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12 ## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License |
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13 ## for more details. |
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14 ## |
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15 ## You should have received a copy of the GNU General Public License |
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16 ## along with Octave; see the file COPYING. If not, write to the Free |
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17 ## Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA |
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18 ## 02110-1301 USA. |
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19 |
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20 ## -*- texinfo -*- |
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21 ## @deftypefn {Function File} {@var{sys} =} sysgroup (@var{asys}, @var{bsys}) |
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22 ## Combines two systems into a single system. |
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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 asys |
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27 ## @itemx bsys |
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28 ## System data structures. |
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29 ## @end table |
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30 ## |
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31 ## @strong{Output} |
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32 ## @table @var |
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33 ## @item sys |
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34 ## @math{sys = @r{block diag}(asys,bsys)} |
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35 ## @end table |
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36 ## @example |
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37 ## @group |
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38 ## __________________ |
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39 ## | ________ | |
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40 ## u1 ----->|--> | asys |--->|----> y1 |
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41 ## | -------- | |
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42 ## | ________ | |
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43 ## u2 ----->|--> | bsys |--->|----> y2 |
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44 ## | -------- | |
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45 ## ------------------ |
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46 ## Ksys |
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47 ## @end group |
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48 ## @end example |
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49 ## The function also rearranges the internal state-space realization of @var{sys} |
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50 ## so that the continuous states come first and the discrete states come last. |
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51 ## If there are duplicate names, the second name has a unique suffix appended |
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52 ## on to the end of the name. |
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53 ## @end deftypefn |
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54 |
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55 ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu> |
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56 ## Created: August 1995 |
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57 ## modified by John Ingram July 1996 |
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58 ## A. S. Hodel: modified for variable number of arguments 1999 |
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59 |
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60 function sys = sysgroup (varargin) |
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61 |
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62 if(nargin < 1) |
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63 print_usage (); |
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64 endif |
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65 |
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66 ## collect all arguments |
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67 arglist = {}; |
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68 for kk=1:nargin |
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69 arglist(kk) = varargin{kk}; |
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70 if(!isstruct(arglist{kk})) |
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71 error("sysgroup: argument %d is not a data structure",kk); |
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72 endif |
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73 endfor |
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74 |
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75 if(nargin == 2) |
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76 ## the usual case; group the two systems together |
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77 Asys = arglist{1}; |
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78 Bsys = arglist{2}; |
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79 |
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80 ## extract information from Asys, Bsys to consruct sys |
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81 Asys = sysupdate(Asys,"ss"); |
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82 Bsys = sysupdate(Bsys,"ss"); |
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83 [n1,nz1,m1,p1] = sysdimensions(Asys); |
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84 [n2,nz2,m2,p2] = sysdimensions(Bsys); |
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85 [Aa,Ab,Ac,Ad,Atsam,An,Anz,Ast,Ain,Aout,Ayd] = sys2ss(Asys); |
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86 [Ba,Bb,Bc,Bd,Btsam,Bn,Bnz,Bst,Bin,Bout,Byd] = sys2ss(Bsys); |
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87 nA = An + Anz; |
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88 nB = Bn + Bnz; |
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89 |
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90 if(p1*m1*p2*m2 == 0) |
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91 error("sysgroup: argument lacks inputs and/or outputs"); |
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92 |
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93 elseif((Atsam + Btsam > 0) & (Atsam * Btsam == 0) ) |
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94 warning("sysgroup: creating combination of continuous and discrete systems") |
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95 |
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96 elseif(Atsam != Btsam) |
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97 error("sysgroup: Asys.tsam=%e, Bsys.tsam =%e", Atsam, Btsam); |
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98 endif |
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99 |
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100 if(nA*nB > 0) |
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101 A12 = zeros(nA,nB); |
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102 else |
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103 A12 = []; |
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104 endif |
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105 A = [Aa,A12; A12', Ba]; |
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106 |
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107 if(nA*m2 > 0) |
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108 B12 = zeros(nA,m2); |
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109 else |
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110 B12 = []; |
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111 endif |
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112 if(nB*m1 > 0) |
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113 B21 = zeros(nB,m1); |
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114 else |
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115 B21 = []; |
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116 endif |
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117 if(isempty(Ab)) |
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118 Ab = []; |
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119 endif |
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120 if(isempty(Bb)) |
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121 Bb = []; |
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122 endif |
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123 B = [Ab, B12; B21, Bb]; |
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124 |
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125 if(p1*nB > 0) |
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126 C12 = zeros(p1,nB); |
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127 else |
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128 C12 = []; |
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129 endif |
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130 if(p2*nA > 0) |
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131 C21 = zeros(p2,nA); |
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132 else |
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133 C21 = []; |
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134 endif |
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135 C = [Ac, C12; C21,Bc]; |
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136 |
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137 if(p1*m2 > 0) |
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138 D12 = zeros(p1,m2); |
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139 else |
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140 D12 = []; |
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141 endif |
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142 if(p2*m1 > 0) |
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143 D21 = zeros(p2,m1); |
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144 else |
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145 D21 = []; |
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146 endif |
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147 D = [Ad, D12; D21, Bd]; |
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148 tsam = max(Atsam,Btsam); |
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149 |
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150 ## construct combined signal names; stnames must check for pure gain blocks |
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151 if(isempty(Ast)) |
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152 stname = Bst; |
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153 elseif(isempty(Bst)) |
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154 stname = Ast; |
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155 else |
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156 stname= __sysconcat__(Ast,Bst); |
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157 endif |
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158 inname = __sysconcat__(Ain,Bin); |
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159 outname = __sysconcat__(Aout,Bout); |
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160 |
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161 ## Sort states into continous first, then discrete |
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162 dstates = ones(1,(nA+nB)); |
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163 if(An) |
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164 dstates(1:(An)) = zeros(1,An); |
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165 endif |
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166 if(Bn) |
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167 dstates((nA+1):(nA+Bn)) = zeros(1,Bn); |
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168 endif |
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169 [tmp,pv] = sort(dstates); |
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170 A = A(pv,pv); |
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171 B = B(pv,:); |
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172 C = C(:,pv); |
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173 stname = stname(pv); |
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174 |
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175 ## check for duplicate signal names |
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176 inname = __sysgroupn__ (inname, "input"); |
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177 stname = __sysgroupn__ (stname, "state"); |
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178 outname = __sysgroupn__ (outname, "output"); |
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179 |
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180 ## mark discrete outputs |
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181 outlist = find([Ayd, Byd]); |
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182 |
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183 ## build new system |
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184 sys = ss(A,B,C,D,tsam,An+Bn,Anz+Bnz,stname,inname,outname); |
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185 |
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186 else |
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187 ## multiple systems (or a single system); combine together one by one |
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188 sys = arglist{1}; |
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189 for kk=2:length(arglist) |
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190 printf("sysgroup: kk=%d\n",kk); |
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191 sys = sysgroup(sys,arglist{kk}); |
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192 endfor |
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193 endif |
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194 |
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195 endfunction |
