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1 ## Copyright (C) 1996, 1998 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} =} sysappend (@var{syst}, @var{b}, @var{c}, @var{d}, @var{outname}, @var{inname}, @var{yd}) |
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22 ## appends new inputs and/or outputs to a 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 syst |
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27 ## system data structure |
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28 ## |
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29 ## @item b |
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30 ## matrix to be appended to sys "B" matrix (empty if none) |
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31 ## |
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32 ## @item c |
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33 ## matrix to be appended to sys "C" matrix (empty if none) |
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34 ## |
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35 ## @item d |
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36 ## revised sys d matrix (can be passed as [] if the revised d is all zeros) |
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37 ## |
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38 ## @item outname |
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39 ## list of names for new outputs |
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40 ## |
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41 ## @item inname |
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42 ## list of names for new inputs |
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43 ## |
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44 ## @item yd |
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45 ## binary vector; @math{yd(ii)=0} indicates a continuous output; |
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46 ## @math{yd(ii)=1} indicates a discrete output. |
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47 ## @end table |
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48 ## |
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49 ## @strong{Outputs} |
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50 ## @table @var |
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51 ## @item sys |
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52 ## @example |
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53 ## @group |
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54 ## sys.b := [syst.b , b] |
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55 ## sys.c := [syst.c ] |
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56 ## [ c ] |
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57 ## sys.d := [syst.d | D12 ] |
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58 ## [ D21 | D22 ] |
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59 ## @end group |
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60 ## @end example |
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61 ## where @math{D12}, @math{D21}, and @math{D22} are the appropriate dimensioned |
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62 ## blocks of the input parameter @var{d}. |
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63 ## @itemize @bullet |
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64 ## @item The leading block @math{D11} of @var{d} is ignored. |
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65 ## @item If @var{inname} and @var{outname} are not given as arguments, |
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66 ## the new inputs and outputs are be assigned default names. |
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67 ## @item @var{yd} is a binary vector of length rows(c) that indicates |
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68 ## continuous/sampled outputs. Default value for @var{yd} is: |
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69 ## @itemize @minus |
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70 ## @item @var{sys} is continuous or mixed |
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71 ## @var{yd} = @code{zeros(1,rows(c))} |
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72 ## |
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73 ## @item @var{sys} is discrete |
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74 ## @var{yd} = @code{ones(1,rows(c))} |
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75 ## @end itemize |
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76 ## @end itemize |
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77 ## @end table |
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78 ## @end deftypefn |
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79 |
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80 ## Author: John Ingram <ingraje@eng.auburn.edu> |
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81 ## Created: August 1996 |
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82 |
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83 function retsys = sysappend (sys, b, c, d, outname, inname, yd) |
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84 |
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85 save_warn_empty_list_elements = warn_empty_list_elements; |
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86 unwind_protect |
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87 warn_empty_list_elements = 0; |
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88 |
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89 ## check input arguments |
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90 if ( (nargin < 2) | (nargin > 7) | (!isstruct(sys))) |
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91 usage("retsys = sysappend(sys,b,c[,d,outname,inname,yd]) "); |
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92 elseif(!isstruct(sys)) |
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93 error("sys must be a system data structure"); |
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94 endif |
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95 |
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96 ## default system type must be state space form |
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97 [Aa,Ab,Ac,Ad,Ats,Ann,Anz,Ast,Ain,Aout,Ayd] = sys2ss(sys); |
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98 [Ann,Anz,Am,Ap] = sysdimensions(sys); |
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99 |
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100 ## default c |
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101 if(nargin < 3) c = []; endif |
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102 |
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103 ## default d |
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104 if(nargin < 4) make_d = 1; |
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105 elseif(isempty(d)) make_d = 1; |
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106 else make_d = 0; endif |
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107 if(make_d) d = zeros(rows(c)+Ap,columns(b) + Am); endif |
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108 |
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109 ## Append new input(s) if any |
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110 Bm = max(columns(d),columns(b)+Am); |
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111 if(Bm != Am) |
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112 ## construct new signal names |
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113 if(nargin >= 6) # new names were passed |
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114 if(!isstr(inname)) |
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115 error("inname must be a string"); |
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116 elseif(rows(inname) != (Bm - Am)) |
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117 error(sprintf("%d new inputs requested; inname(%dx%d)", ... |
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118 (Bm-Am),rows(inname),columns(inname))); |
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119 endif |
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120 else |
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121 inname = __sysdefioname__(Bm,"u",(Am+1)); |
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122 endif |
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123 |
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124 if(Am) |
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125 Ain = __sysconcat__(Ain,inname); |
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126 else |
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127 Ain = inname; |
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128 endif |
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129 |
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130 ## default b matrix |
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131 if(isempty(b)) b = zeros(Ann+Anz,(Bm-Am)); |
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132 elseif(rows(b) != Ann+Anz | columns(b) != (Bm-Am)) |
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133 error(sprintf("b(%dx%d); should be (%dx%d)", rows(b), columns(b), ... |
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134 (Ann+Anz), (Bm-Am))); |
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135 endif |
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136 |
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137 ## append new b matrix |
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138 Ab = [Ab,b]; |
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139 endif |
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140 |
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141 ## Append new output(s) if any |
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142 Bp = max(rows(d),rows(c)+Ap); |
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143 if(Bp != Ap) |
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144 |
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145 ## construct new signal names, output classification |
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146 if(nargin >= 5) # new names were passed |
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147 if(!isstr(outname)) |
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148 error("outname must be a string"); |
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149 elseif(rows(outname) != (Bp - Ap)) |
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150 error(sprintf("%d new outputs requested; outname(%dx%d)", ... |
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151 (Bp-Ap),rows(outname),columns(outname))); |
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152 endif |
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153 else |
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154 outname = __sysdefioname__(Bp,"y",(Ap+1)); |
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155 endif |
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156 if(Ap) Aout = __sysconcat__(Aout,outname); |
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157 else Aout = outname; endif |
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158 |
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159 ## construct new yd entries |
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160 if(nargin == 7) |
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161 if(!isvector(yd)) |
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162 error(sprintf("yd(%dx%d) must be a vector",rows(yd),columns(yd))) |
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163 elseif(rows(c) != length(yd) & rows(d) != length(yd)) |
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164 error(sprintf("length(yd) = %d; c(%dx%d), d(%dx%d); mismatch", ... |
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165 length(yd), rows(c), columns(c),rows(d),columns(d))); |
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166 endif |
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167 else |
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168 ## default yd values |
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169 yd = ones(1,Bp)*( (Ats > 0) & (Ann == 0) & isempty(find(Ayd == 0)) ) ; |
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170 endif |
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171 Ayd = [vec(Ayd);vec(yd)]; |
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172 |
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173 ## default c matrix |
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174 if(isempty(c)) c = zeros((Bp-Ap),Ann+Anz); |
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175 elseif(columns(c) != Ann+Anz | rows(c) != (Bp-Ap)) |
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176 error(sprintf("c(%dx%d); should be (%dx%d)", rows(c), columns(c), ... |
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177 (Bp-Ap), (Ann+Anz) )); |
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178 endif |
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179 |
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180 ## append new c matrix |
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181 Ac = [Ac;c]; |
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182 endif |
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183 |
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184 ## check d matrix |
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185 if(isempty(d)) d = zeros(Bp,Bm); |
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186 elseif(rows(d) != Bp | columns(d) != Bm) |
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187 error(sprintf("d(%dx%d) should be (%dx%d)",rows(d), columns(d), Bp, Bp)); |
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188 endif |
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189 |
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190 ## Splice in original D matrix |
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191 if(Am & Ap) d(1:Ap, 1:Am) = Ad; endif |
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192 Ad = d; |
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193 |
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194 ## construct return system |
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195 retsys = ss(Aa,Ab,Ac,Ad,Ats,Ann,Anz,Ast,Ain,Aout,find(Ayd == 1)); |
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196 |
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197 unwind_protect_cleanup |
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198 warn_empty_list_elements = save_warn_empty_list_elements; |
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199 end_unwind_protect |
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200 |
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201 endfunction |
