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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, 59 Temple Place, Suite 330, Boston, MA 02111 USA. |
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18 |
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19 ## -*- texinfo -*- |
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20 ## @deftypefn {Function File} {@var{sys} =} sysgroup (@var{Asys}, @var{Bsys}) |
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21 ## Combines two systems into a single system |
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22 ## |
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23 ## @strong{Inputs} |
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24 ## @var{Asys}, @var{Bsys}: system data structures |
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25 ## |
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26 ## @strong{Outputs} |
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27 ## @math{sys = @r{block diag}(Asys,Bsys)} |
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28 ## @example |
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29 ## @group |
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30 ## __________________ |
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31 ## | ________ | |
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32 ## u1 ----->|--> | Asys |--->|----> y1 |
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33 ## | -------- | |
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34 ## | ________ | |
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35 ## u2 ----->|--> | Bsys |--->|----> y2 |
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36 ## | -------- | |
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37 ## ------------------ |
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38 ## Ksys |
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39 ## @end group |
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40 ## @end example |
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41 ## The function also rearranges the internal state-space realization of @var{sys} |
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42 ## so that the |
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43 ## continuous states come first and the discrete states come last. |
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44 ## If there are duplicate names, the second name has a unique suffix appended |
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45 ## on to the end of the name. |
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46 ## @end deftypefn |
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47 |
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48 ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu> |
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49 ## Created: August 1995 |
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50 ## modified by John Ingram July 1996 |
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51 ## A. S. Hodel: modified for variable number of arguments 1999 |
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52 |
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53 function sys = sysgroup (...) |
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54 |
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55 save_emp = empty_list_elements_ok; |
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56 empty_list_elements_ok = 1; |
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57 |
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58 if(nargin < 1) |
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59 usage("sys = sysgroup(Asys{,Bsys,...})"); |
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60 endif |
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61 |
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62 ## collect all arguments |
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63 arglist = list(); |
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64 va_start(); |
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65 for kk=1:nargin |
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66 arglist(kk) = va_arg(); |
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67 if(!is_struct(nth(arglist,kk))) |
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68 error("sysgroup: argument %d is not a data structure",kk); |
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69 endif |
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70 endfor |
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71 |
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72 if(nargin == 2) |
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73 ## the usual case; group the two systems together |
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74 Asys = nth(arglist,1); |
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75 Bsys = nth(arglist,2); |
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76 |
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77 ## extract information from Asys, Bsys to consruct sys |
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78 Asys = sysupdate(Asys,"ss"); |
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79 Bsys = sysupdate(Bsys,"ss"); |
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80 [n1,nz1,m1,p1] = sysdimensions(Asys); |
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81 [n2,nz2,m2,p2] = sysdimensions(Bsys); |
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82 [Aa,Ab,Ac,Ad,Atsam,An,Anz,Ast,Ain,Aout,Ayd] = sys2ss(Asys); |
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83 [Ba,Bb,Bc,Bd,Btsam,Bn,Bnz,Bst,Bin,Bout,Byd] = sys2ss(Bsys); |
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84 nA = An + Anz; |
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85 nB = Bn + Bnz; |
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86 |
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87 if(p1*m1*p2*m2 == 0) |
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88 error("sysgroup: argument lacks inputs and/or outputs"); |
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89 |
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90 elseif((Atsam + Btsam > 0) & (Atsam * Btsam == 0) ) |
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91 warning("sysgroup: creating combination of continuous and discrete systems") |
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92 |
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93 elseif(Atsam != Btsam) |
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94 error("sysgroup: Asys.tsam=%e, Bsys.tsam =%e", Atsam, Btsam); |
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95 endif |
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96 |
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97 A = [Aa,zeros(nA,nB); zeros(nB,nA),Ba]; |
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98 B = [Ab,zeros(nA,m2); zeros(nB,m1),Bb]; |
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99 C = [Ac,zeros(p1,nB); zeros(p2,nA),Bc]; |
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100 D = [Ad,zeros(p1,m2); zeros(p2,m1),Bd]; |
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101 tsam = max(Atsam,Btsam); |
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102 |
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103 ## construct combined signal names; stnames must check for pure gain blocks |
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104 if(isempty(Ast)) |
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105 stname = Bst; |
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106 elseif(isempty(Bst)) |
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107 stname = Ast; |
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108 else |
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109 stname = append(Ast, Bst); |
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110 endif |
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111 inname = append(Ain, Bin); |
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112 outname = append(Aout,Bout); |
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113 |
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114 ## Sort states into continous first, then discrete |
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115 dstates = ones(1,(nA+nB)); |
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116 if(An) |
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117 dstates(1:(An)) = zeros(1,An); |
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118 endif |
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119 if(Bn) |
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120 dstates((nA+1):(nA+Bn)) = zeros(1,Bn); |
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121 endif |
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122 [tmp,pv] = sort(dstates); |
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123 A = A(pv,pv); |
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124 B = B(pv,:); |
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125 C = C(:,pv); |
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126 stname = stname(pv); |
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127 |
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128 ## check for duplicate signal names |
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129 inname = sysgroupn(inname,"input"); |
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130 stname = sysgroupn(stname,"state"); |
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131 outname = sysgroupn(outname,"output"); |
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132 |
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133 ## mark discrete outputs |
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134 outlist = find([Ayd, Byd]); |
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135 |
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136 ## build new system |
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137 sys = ss2sys(A,B,C,D,tsam,An+Bn,Anz+Bnz,stname,inname,outname); |
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138 |
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139 else |
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140 ## multiple systems (or a single system); combine together one by one |
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141 sys = nth(arglist,1); |
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142 for kk=2:length(arglist) |
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143 printf("sysgroup: kk=%d\n",kk); |
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144 sys = sysgroup(sys,nth(arglist,kk)); |
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145 endfor |
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146 endif |
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147 |
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148 empty_list_elements_ok = save_emp; |
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149 |
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150 endfunction |
