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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, 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{clsys} =} sysconnect (@var{sys}, @var{out_idx}, @var{in_idx}, @var{order}, @var{tol}) |
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21 ## Close the loop from specified outputs to respective specified inputs |
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22 ## |
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23 ## @strong{Inputs} |
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24 ## @table @var |
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25 ## @item sys |
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26 ## System data structure. |
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27 ## @item out_idx |
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28 ## @itemx in_idx |
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29 ## Names or indices of signals to connect (see @code{sysidx}). |
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30 ## The output specified by @math{out_idx(ii)} is connected to the input |
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31 ## specified by @math{in_idx(ii)}. |
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32 ## @item order |
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33 ## logical flag (default = 0) |
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34 ## @table @code |
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35 ## @item 0 |
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36 ## Leave inputs and outputs in their original order. |
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37 ## @item 1 |
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38 ## Permute inputs and outputs to the order shown in the diagram below. |
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39 ## @end table |
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40 ## @item tol |
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41 ## Tolerance for singularities in algebraic loops, default: 200@code{eps}. |
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42 ## @end table |
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43 ## |
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44 ## @strong{Outputs} |
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45 ## @table @var |
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46 ## @item clsys |
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47 ## Resulting closed loop system. |
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48 ## @end table |
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49 ## |
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50 ## @strong{Method} |
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51 ## |
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52 ## @code{sysconnect} internally permutes selected inputs, outputs as shown |
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53 ## below, closes the loop, and then permutes inputs and outputs back to their |
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54 ## original order |
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55 ## @example |
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56 ## @group |
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57 ## -------------------- |
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58 ## u_1 ----->| |----> y_1 |
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59 ## | sys | |
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60 ## old u_2 | | |
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61 ## u_2* ---->(+)--->| |----->y_2 |
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62 ## (in_idx) ^ -------------------- | (out_idx) |
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63 ## | | |
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64 ## ------------------------------- |
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65 ## @end group |
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66 ## @end example |
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67 ## The input that has the summing junction added to it has an * added to |
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68 ## the end of the input name. |
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69 ## @end deftypefn |
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70 |
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71 ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu> |
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72 ## Created: August 1995 |
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73 ## modified by John Ingram July 1996 |
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74 |
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75 function sys = sysconnect (sys, output_list, input_list, order, tol) |
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76 |
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77 if( (nargin < 3) | (nargin > 5) ) |
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78 usage("retsys = sysconnect(sys,output_list,input_list[,order,tol])"); |
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79 endif |
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80 |
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81 ## check order |
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82 if(nargin <= 3) |
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83 order = 0; |
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84 elseif( (order != 0) & (order != 1) ) |
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85 error("sysconnect: order must be either 0 or 1") |
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86 endif |
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87 |
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88 if (nargin <= 4) |
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89 tol = 200*eps; |
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90 elseif( !is_sample(tol) ) |
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91 error("sysconnect: tol must be a positive scalar"); |
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92 elseif(tol > 1e2*sqrt(eps)) |
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93 warning(["sysconnect: tol set to large value=",num2str(tol), ... |
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94 ", eps=",num2str(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) | isstr(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) | isstr(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 < li) |
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126 error(["length(output_list)=",num2str(li),", sys has only ", ... |
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127 num2str(pp),"system outputs"]) |
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128 elseif(mm < li) |
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129 error(["length(input_list)=",num2str(li),", sys has only ", ... |
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130 num2str(mm),"system inputs"]) |
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131 endif |
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132 |
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133 ## check that there are enough inputs/outputs in the system for the lists |
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134 if(max(input_list) > mm) |
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135 error("max(input_list) exceeds the number of inputs"); |
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136 elseif(max(output_list) > pp) |
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137 error("max(output_list) exceeds the number of outputs"); |
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138 endif |
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139 |
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140 output_list = reshape(output_list,1,length(output_list)); |
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141 |
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142 ## make sure we're in state space form |
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143 sys = sysupdate (sys, "ss"); |
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144 |
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145 ## permute rows and columns of B,C,D matrices into pseudo-dgkf form... |
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146 all_inputs = sysreorder(mm,input_list); |
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147 all_outputs = sysreorder(pp,output_list); |
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148 |
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149 [aa,bb,cc,dd] = sys2ss(sys); |
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150 bb = bb(:,all_inputs); |
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151 cc = cc(all_outputs,:); |
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152 dd = dd(all_outputs,all_inputs); |
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153 |
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154 yd = sysgetsignals(sys,"yd"); |
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155 yd = yd(all_outputs); |
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156 |
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157 ## m1, p1 = number of inputs, outputs that are not being connected |
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158 m1 = mm-li; |
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159 p1 = pp-li; |
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160 |
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161 ## m2, p2: 1st column, row of B, C that is being connected |
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162 m2 = m1+1; |
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163 p2 = p1+1; |
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164 |
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165 ## partition system into a DGKF-like form; the loop is closed around |
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166 ## B2, C2 |
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167 if(m1 > 0) |
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168 B1 = bb(:,1:m1); |
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169 D21= dd(p2:pp,1:m1); |
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170 endif |
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171 B2 = bb(:,m2:mm); |
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172 if(p1 > 0) |
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173 C1 = cc(1:p1,:); |
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174 D12= dd(1:p1,m2:mm); |
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175 endif |
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176 C2 = cc(p2:pp,:); |
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177 if(m1*p1 > 0) |
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178 D11= dd(1:p1,1:m1); |
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179 endif |
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180 D22= dd(p2:pp,m2:mm); |
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181 |
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182 if(norm(D22)) |
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183 warning("sysconnect: possible algebraic loop, D22 non-zero"); |
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184 D22i = (eye(size(D22))-D22); |
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185 C2h = D22i\C2; |
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186 if(m1 > 0) |
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187 D21h = D22i\D21; |
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188 endif |
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189 D22h = D22i\D22; |
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190 else |
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191 C2h = C2; |
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192 if(m1 > 0) |
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193 D21h = D21; |
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194 endif |
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195 D22h = D22; |
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196 |
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197 endif |
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198 |
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199 ## check cont state -> disc output -> cont state |
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200 dyi = find(yd(p2:pp)); |
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201 |
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202 ## disp("sysconnect: dyi=") |
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203 ## dyi |
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204 ## nc |
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205 ## disp("/sysconnect"); |
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206 |
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207 if( (nc > 0) & find(dyi > 0) ) |
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208 B2con = B2(1:nc,dyi); # connection to cont states |
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209 C2hd = C2h(dyi,1:nc); # cont states -> outputs |
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210 else |
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211 B2con = C2hd = []; |
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212 endif |
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213 |
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214 if(max(size(B2con)) & max(size(C2hd)) ) |
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215 if(norm(B2con*C2hd)) |
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216 warning("sysconnect: cont-state -> disc output -> cont state derivative"); |
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217 warning(" connection made; resulting system may not be meaningful"); |
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218 endif |
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219 endif |
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220 |
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221 Ac = aa+B2*C2h; |
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222 if(m1 > 0) |
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223 B1c = B1 + B2*D21h; |
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224 endif |
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225 B2c = B2*(eye(size(D22h)) + D22h); |
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226 if(p1*m1 > 0) |
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227 D11c = D11 + D12*D21h; |
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228 endif |
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229 if(p1 > 0) |
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230 C1c = C1+D12*C2h; |
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231 D12c = D12*(eye(size(D22h))+D22h); |
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232 endif |
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233 |
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234 ## construct system data structure |
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235 if(m1 > 0) |
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236 Bc = [B1c, B2c]; |
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237 else |
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238 Bc = B2c; |
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239 endif |
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240 |
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241 if(p1 > 0) |
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242 Cc = [C1c;C2h]; |
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243 else |
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244 Cc = C2h; |
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245 endif |
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246 |
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247 if(m1*p1 > 0) |
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248 Dc = [D11c,D12c; D21h,D22h]; |
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249 elseif(m1 > 0) |
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250 Dc = [D21h, D22h]; |
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251 elseif(p1 > 0) |
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252 Dc = [D12c; D22h]; |
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253 else |
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254 Dc = D22h; |
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255 endif |
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256 |
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257 ## permute rows and columns of Bc, Cc, Dc back into original order |
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258 Im = eye(mm,mm); |
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259 Pi = Im(:,all_inputs); |
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260 back_inputs = Pi*[1:mm]'; |
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261 |
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262 Ip = eye(pp,pp); |
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263 Po = Ip(:,all_outputs); |
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264 back_outputs = Po*[1:pp]'; |
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265 |
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266 Bc = Bc(:,back_inputs); |
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267 Cc = Cc(back_outputs,:); |
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268 Dc = Dc(back_outputs,back_inputs); |
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269 yd = yd(back_outputs); |
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270 |
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271 ## rebuild system |
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272 Ts = sysgettsam(sys); |
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273 [stnam,innam,outnam] = sysgetsignals(sys); |
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274 sys = ss(Ac,Bc,Cc,Dc,Ts,nc,nz,stnam,innam,outnam,find(yd)); |
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275 |
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276 ## update connected input names |
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277 for ii = 1:length(input_list) |
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278 idx = input_list(ii); |
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279 tmpval = sysgetsignals(sys,"in",idx); |
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280 strval = sprintf("%s*",tmpval{1} ); |
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281 sys = syssetsignals(sys,"in",strval,idx); |
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282 endfor |
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283 |
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284 ## maintain original system type if it was SISO |
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285 if (strcmp (sysgettype (sys), "tf")) |
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286 sysupdate (sys, "tf"); |
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287 elseif (strcmp (sysgettype (sys),"zp")) |
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288 sysupdate (sys, "zp"); |
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289 endif |
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290 |
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291 endfunction |
