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1 ## Copyright (C) 1996 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{outputs} =} bddemo (@var{inputs}) |
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21 ## Octave Controls toolbox demo: Block Diagram Manipulations demo |
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22 ## @end deftypefn |
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23 |
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24 ## Author: David Clem |
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25 ## Created: August 15, 1994 |
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26 ## Modified by A S Hodel Summer-Fall 1996 |
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27 |
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28 function bddemo () |
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29 |
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30 sav_page = page_screen_output; |
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31 page_screen_output = 1; |
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32 |
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33 while (1) |
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34 clc |
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35 k=0; |
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36 while(k > 14 || k < 1) |
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37 k = menu("Octave Block Diagram Manipulations Demo", ... |
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38 "sysadd/syssub: F(s) = G(s) +/- H(s)", ... |
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39 "sysappend: add new inputs/outputs", ... |
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40 "syssetsignals: change names of inputs, outputs, and/or states", ... |
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41 "sysconnect: connect specified system inputs/outputs", ... |
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42 "syscont/sysdisc: extract the continuous (discrete) part of a system", ... |
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43 "sysdup: duplicate specified inputs/outputs", ... |
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44 "sysgroup: group two systems into a single system,", ... |
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45 "sysmult: F(s) = G(s)*H(s) (series connection)", ... |
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46 "sysprune: keep only specified inputs/outputs", ... |
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47 "sysscale: scale inputs/outputs by specified gain matrices", ... |
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48 "parallel: parallel connection of two systems", ... |
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49 "buildssic: the combination of all", ... |
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50 "Design examples:", ... |
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51 "Return to main demo menu"); |
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52 endwhile |
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53 if (k == 1) |
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54 clc |
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55 disp("sysadd: add two systems together") |
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56 disp("syssub: subtract F = G - H") |
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57 prompt |
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58 help sysadd |
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59 prompt |
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60 help syssub |
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61 prompt |
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62 disp("Example #1, \n") |
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63 cmd = "sys1 = tf2sys([1 -1],[1 2 1]);"; |
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64 run_cmd |
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65 cmd = "sys2 = tf2sys([1 -1],[1 2 3]);"; |
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66 run_cmd |
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67 disp("sys1=") |
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68 sysout(sys1); |
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69 prompt |
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70 disp("sys2=") |
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71 sysout(sys2); |
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72 cmd = "sys_sum1 = sysadd(sys1,sys1);"; |
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73 run_cmd |
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74 disp("This example adds sys1 to itself.") |
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75 cmd = "sysout(sys_sum1)"; |
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76 run_cmd |
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77 disp("Notice that the numerator is twice what it used to be.") |
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78 prompt |
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79 disp("Example 2:") |
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80 cmd = "sys_sub1 = syssub(sys1,sys2);"; |
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81 run_cmd |
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82 disp("Notice that sysadd (actually sysgroup, called by sysadd) lets you") |
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83 disp("know that your two systems had identical names for their states,") |
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84 disp("inputs and outputs. The warning message is perfectly harmless,") |
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85 disp("and is provided for user information only.") |
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86 disp("sys_sub1=") |
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87 sysout(sys_sub1) |
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88 disp("Notice that, since the two transfer functions had different") |
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89 disp("denominators, syssub converted the primary system type to ") |
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90 disp("state space. This is the typical behavior unless the") |
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91 disp("the two systems are both SISO, they both have the same poles,") |
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92 disp("and at least one of them has tf for its primary system type."); |
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93 prompt |
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94 elseif (k == 2) |
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95 disp("sysappend: add new inputs and/or outputs to a system") |
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96 help sysappend |
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97 prompt |
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98 disp("Consider a double-integrator system:") |
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99 sys = tf2sys(1, [1, 0, 0]); |
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100 sys=sysupdate(sys,"ss"); |
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101 sysout(sys,"ss"); |
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102 disp("We add a velocity disturbance input as follows:") |
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103 cmd = "sys1=sysappend(sys,[1;0]);"; |
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104 run_cmd |
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105 sysout(sys1,"ss"); |
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106 disp("Names of inputs can be included as follows:") |
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107 cmd = "sys1=sysappend(sys,[1;0], [],[],[],\"Disturb\");"; |
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108 run_cmd |
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109 disp("Notice that empty matrices can be listed for the D matrix if") |
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110 disp("all entries are zeros.") |
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111 disp(" ") |
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112 disp("sys1 is thus:") |
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113 sysout(sys1); |
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114 prompt |
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115 elseif (k == 3) |
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116 disp("syssetsignals:") |
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117 help syssetsignals |
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118 disp("Example system"); |
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119 a = rand(3,3); |
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120 b = rand(3,2); |
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121 c = rand(2,3); |
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122 sys = ss2sys(a,b,c); |
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123 sysout(sys); |
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124 prompt |
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125 disp("Change state names to larry, moe, and curly as follows:") |
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126 cmd = "sys = syssetsignals(sys,\"st\",list(\"larry\",\"moe \" , \"curly\"));"; |
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127 run_cmd |
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128 disp("Indicate that output 2 is discrete-time:") |
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129 cmd = "sys = syssetsignals(sys,\"yd\",1,2);"; |
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130 run_cmd |
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131 disp("Change output 2 name to \"Vir\""); |
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132 cmd = "sys = syssetsignals(sys,\"out\",\"Vir\",2);"; |
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133 run_cmd |
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134 disp("Resulting system is:") |
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135 sysout(sys); |
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136 prompt |
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137 elseif (k == 4) |
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138 help sysconnect |
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139 prompt |
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140 disp("********* N O T E *********") |
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141 disp("sysconnect is demonstrated fully in the design examples (option 13)"); |
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142 prompt |
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143 elseif (k == 5) |
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144 disp("syscont and sysdisc: ") |
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145 disp("Example block diagram 1:") |
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146 disp(" ------------------ ---------------------"); |
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147 disp(" u_in ->| Discrete system |--->| Continuous system | ---> y_out"); |
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148 disp(" ------------------ ---------------------"); |
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149 sys1 = tf2sys([1, 2],[1, 2, 1], 1,"u_in","y_disc"); |
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150 sys2 = tf2sys([1, 0],[1, -3, -2],0,"c_in","y_out"); |
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151 sys = sysmult(sys2,sys1); |
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152 disp("Consider the hybrid system") |
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153 sysout(sys); |
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154 prompt |
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155 help syscont |
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156 disp("The continuous part of the system can be extracted with syscont") |
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157 cmd = "[csys,Acd,Ccd] = syscont(sys);"; |
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158 run_cmd |
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159 disp("The resulting csys is") |
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160 sysout(csys); |
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161 disp("Notice that B is 0; there is no purely continuous path from the") |
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162 disp("input to the output"); |
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163 prompt |
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164 help sysdisc |
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165 disp("The discrete part of the system can be extracted with sysdisc") |
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166 cmd = "[dsys,Adc,Cdc] = sysdisc(sys)"; |
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167 run_cmd |
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168 disp("The resulting dsys is") |
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169 sysout(dsys); |
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170 disp("sysdisc returns dsys=empty since sys has no discrete outputs."); |
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171 prompt |
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172 disp("Example block diagram 2:") |
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173 sys1 = tf2sys([1, 2],[1, 2, 1], 1,"u_in","y_disc"); |
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174 sys2 = tf2sys([1, 0],[1, -3, -2],0,"c_in","y_out"); |
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175 disp(" ---------------------") |
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176 disp(" u_in -->o-->| Discrete system | --------> y_disc") |
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177 disp(" ^ --------------------- |") |
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178 disp(" | | "); |
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179 disp(" -----------------------------|---") |
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180 disp(" | |") |
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181 disp(" ------------------------------ |") |
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182 disp(" | |") |
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183 disp(" v --------------------- |") |
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184 disp(" c_in -->o-->| continuous system | --------> y_out") |
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185 disp(" ---------------------") |
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186 disp("repeat the above example with sys=") |
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187 sys = sysgroup(sys1, sys2); |
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188 sysout(sys) |
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189 prompt |
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190 sys = sysconnect(sys,[1, 2],[2, 1]); |
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191 sysout(sys); |
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192 cmd = "[csys,Acd,Bcd] = syscont(sys);"; |
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193 run_cmd |
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194 cmd = "[dsys,Acd,Bcd] = sysdisc(sys);"; |
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195 run_cmd |
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196 disp("csys is now") |
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197 sysout(csys) |
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198 disp("dsys is now") |
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199 sysout(dsys); |
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200 prompt |
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201 elseif (k == 6) |
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202 help sysdup |
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203 prompt |
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204 disp("********* N O T E *********") |
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205 disp("sysdup is fully demonstrated in the design examples (option 13)") |
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206 prompt |
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207 elseif (k == 7) |
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208 help sysgroup |
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209 disp(" ") |
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210 prompt |
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211 disp("Example: combine two SISO systems together:") |
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212 cmd = "sys_a=tf2sys([1, 2],[3, 4]);"; |
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213 run_cmd |
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214 cmd = "sys_b=tf2sys([5, 6],[7, 8],1);"; |
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215 run_cmd |
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216 cmd = "sys_g=sysgroup(sys_a,sys_b);"; |
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217 run_cmd |
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218 disp("Notice that sysgroup warns you when you join a purely continuous") |
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219 disp("system to a purely discrete system. sysgroup also warns when") |
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220 disp("you join two systems that have common state, input, or output names.") |
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221 cmd = "sysout(sys_g)"; |
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222 run_cmd |
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223 disp("Since the grouped system is a multiple-input multiple-output system,") |
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224 disp("the output system is by default in state-space format.") |
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225 disp(" ") |
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226 disp("********* N O T E *********") |
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227 disp("sysgroup is further demonstrated in the design examples (option 13)") |
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228 prompt |
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229 elseif (k == 8) |
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230 help sysmult |
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231 disp("sysmult performs a series connection of two systems.") |
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232 disp("Example 1") |
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233 disp(" ") |
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234 disp(" ---------- ----------") |
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235 disp(" u --->| Bsys |---->| Asys |---> y") |
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236 disp(" ---------- ----------") |
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237 disp(" ") |
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238 Asys = tf2sys(1,[1, 2, 1],0,"a_in","a_out"); |
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239 Bsys = tf2sys([2, 3],[1, 3, 2],0,"b_in","b_out"); |
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240 disp("Asys=") |
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241 sysout(Asys); |
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242 disp("Bsys="); |
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243 sysout(Bsys); |
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244 cmd = "sys = sysmult(Asys,Bsys);"; |
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245 run_cmd |
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246 disp("sys =") |
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247 sysout(sys); |
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248 disp("Notice that sysmult automatically transforms to state space") |
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249 disp("internal representation. This is to avoid numerical problems") |
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250 disp("when multiplying polynomials"); |
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251 prompt |
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252 disp("Example 2: same system, except that Bsys is discrete-time"); |
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253 Bsys = tf2sys([2, 3],[1, 3, 2],1e-2,"b_in","b_out"); |
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254 sysout(Bsys); |
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255 cmd = "sys = sysmult(Asys,Bsys);"; |
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256 run_cmd |
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257 disp("sys =") |
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258 sysout(sys); |
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259 prompt |
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260 elseif (k == 9) |
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261 help sysprune |
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262 prompt |
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263 disp("********* N O T E *********") |
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264 disp("sysprune is demonstrated in the design examples (option 13)"); |
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265 prompt |
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266 elseif (k == 10) |
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267 help sysscale |
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268 disp(" ") |
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269 prompt |
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270 disp("********* N O T E *********") |
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271 disp("See the design examples (option 13) for use of sysscale.") |
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272 prompt |
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273 elseif ( k == 11) |
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274 help parallel |
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275 disp("parallel operates by making a call to sysgroup and sysscale.") |
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276 disp("Example:") |
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277 sys1 = tf2sys(1,[1, 1],0,"in1","out1"); |
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278 sys2 = tf2sys(2,[1, 2],0,"in2","out2"); |
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279 disp("sys1=") |
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280 sysout(sys1); |
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281 disp("sys2=") |
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282 sysout(sys2); |
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283 cmd = "sysp = parallel(sys1,sys2);"; |
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284 run_cmd |
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285 disp("sysp=") |
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286 sysout(sysp); |
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287 prompt |
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288 disp("parallel can be used for multiple input systems as well:") |
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289 |
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290 in1 = list("u1.1","u1.2"); |
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291 in2 = list("u2.1","u2.2"); |
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292 out1 = list("y1.1","y1.2"); |
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293 out2 = list("y2.1","y2.2"); |
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294 |
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295 sys1 = ss2sys([-1, 0; 0, -2],eye(2),eye(2),[]); |
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296 sys2 = ss2sys([-2, 0; 0, -4],eye(2),eye(2),[]); |
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297 |
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298 sys1 = syssetsignals(sys1,"in",in1); |
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299 sys1 = syssetsignals(sys1,"out",out1); |
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300 |
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301 sys2 = syssetsignals(sys2,"in",in2); |
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302 sys2 = syssetsignals(sys2,"out",out2); |
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303 |
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304 disp("sys1=") |
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305 sysout(sys1); |
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306 disp("sys2=") |
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307 sysout(sys2); |
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308 cmd = "sysp = parallel(sys1,sys2);"; |
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309 run_cmd |
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310 disp("sysp=") |
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311 sysout(sysp); |
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312 prompt |
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313 elseif (k == 12) |
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314 ## buildssic description |
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315 disp(" ") |
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316 disp(" ---------------------------------------") |
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317 disp(" b u i l d s s i c") |
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318 disp(" (BUILD State Space InterConnections)") |
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319 disp(" ---------------------------------------") |
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320 disp(" ") |
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321 disp("buildssic builds a single system from up to 8 systems.") |
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322 disp("It's primary pupose is the forming of interconnections") |
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323 disp("for H2/H_inf designs and the building of closed loop") |
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324 disp("systems.") |
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325 disp("The interconnections may be of arbitrary complexity.") |
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326 disp("The use of buildssic is an alternative to sysgroup,") |
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327 disp("sysadd/syssub, sysappend, sysconnect, sysdup, sysmult") |
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328 disp("sysprune, sysscale, parallel etc.") |
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329 disp("In contrast to these functions buildssic does not") |
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330 disp("handle mixed continuous and discrete systems. However,") |
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331 disp("discrete systems can be connected as long as their") |
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332 disp("sampling times are identical. Another drawback: the") |
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333 disp("names of input/output and state variables are clobbered.") |
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334 disp("Of course, buildsysic is useful in combination with sysgroup,") |
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335 disp("sysmult etc.") |
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336 prompt |
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337 disp("********* N O T E *********") |
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338 disp("buildssic is demonstrated in the design examples (option 13)"); |
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339 prompt |
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340 elseif (k == 13) |
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341 disp("Design examples") |
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342 disp("Packed system matrices may be connected and manipulated") |
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343 disp("With the functions listed below:") |
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344 disp(" sysdup: duplicate selected inputs/outputs") |
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345 disp(" sysconnect: connect selected inputs/outputs") |
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346 disp(" sysgroup: group two systems together") |
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347 disp(" sysprune: prune a system to keep only selected inputs and outputs") |
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348 disp(" sysscale:pre/post multiply a system by constant matrices") |
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349 disp(" buildssic: connect systems with arbitrary complexity.") |
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350 prompt |
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351 disp("As a simple example, we will construct the system block ") |
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352 disp("diagram shown below ") |
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353 disp(" ") |
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354 disp(" + -------- --------"); |
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355 disp(" r(t) ---> (+) --->| K(s) |--->| P(s) | ----> y(t)"); |
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356 disp(" -^ -------- -------- |"); |
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357 disp(" | |"); |
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358 disp(" ------------------------------"); |
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359 disp(" ") |
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360 disp("where P(s) is the plant, K(s) is the controller.") |
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361 prompt |
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362 disp("Simple example: P(s) is a first order lag, K(s) is a PI ") |
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363 disp("controller") |
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364 nump = 1; |
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365 denp = [1, 1]; |
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366 disp("P(s)=") |
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367 tfout(nump,denp) |
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368 numk = [1, 1]; |
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369 denk = [1, 0]; |
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370 disp("\nK(s)=") |
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371 tfout(numk,denk); |
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372 prompt |
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373 disp("We'll show three approaches. ") |
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374 P = tf2sys(nump,denp,0,"plant input","plant output"); |
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375 K = tf2sys(numk, denk,0,"controller input","controller output"); |
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376 |
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377 meth = 0; |
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378 while(meth != 5) |
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379 disp("The first method consists of the following steps:") |
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380 disp(" step 1: create systems P and K") |
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381 disp(" step 2: group P and K together") |
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382 disp(" step 3: create a summing junction") |
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383 disp(" step 4: connect outputs to respective inputs") |
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384 disp(" step 5: prune the desired i/o connections") |
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385 disp("The second method is done as follows:") |
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386 disp(" step 1: create systems P and K and a summing block S") |
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387 disp(" step 2: connect P, K, and S in series") |
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388 disp(" step 3: connect y to inverted summing connection") |
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389 disp(" step 4: prune the desired i/o connections") |
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390 disp("The third method uses buildssic:") |
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391 disp(" step 1: GW = buildssic(...,K,P)") |
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392 disp(" ") |
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393 disp("Other design examples are in dgkfdemo (controldemo option 7)") |
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394 disp(" ") |
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395 meth = menu("Select design example method", ... |
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396 "Method 1 ", ... |
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397 "Method 1 (w/o algebraic loop warning)", ... |
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398 "Method 2", ... |
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399 "Method 3", ... |
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400 "Exit design examples"); |
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401 if(meth == 1) |
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402 disp(" * * * Method 1 * * *") |
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403 disp(" ") |
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404 disp(" + -------- --------"); |
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405 disp(" r(t) ---> (+) --->| K(s) |--->| P(s) | ----> y(t)"); |
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406 disp(" -^ -------- -------- |"); |
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407 disp(" | |"); |
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408 disp(" ------------------------------"); |
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409 disp(" ") |
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410 disp("Step 1: put plants in system format:"); |
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411 nump |
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412 denp |
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413 cmd = "P = tf2sys(nump,denp,0,""plant input"",""plant output"");"; |
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414 run_cmd |
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415 disp("P=") |
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416 sysout(P) |
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417 prompt |
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418 numk |
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419 denk |
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420 cmd = "K = tf2sys(numk, denk,0,""controller input"",""controller output"");"; |
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421 run_cmd |
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422 sysout(K) |
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423 prompt |
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424 disp("Step 2: group the systems together") |
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425 cmd = "PK = sysgroup(P,K);"; |
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426 run_cmd |
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427 disp("PK=") |
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428 sysout(PK); |
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429 prompt |
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430 disp(" ") |
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431 disp(" y2 u1") |
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432 disp(" + -------- --------"); |
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433 disp(" r(t) ---> (+) --->| K(s) |--->| P(s) | ----> y(t)"); |
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434 disp(" u2 -^ -------- -------- | y1"); |
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435 disp(" u3 | |"); |
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436 disp(" --------------------------------"); |
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437 disp(" ") |
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438 disp("The controller has two inputs summed together, r(t)") |
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439 disp("and the negative feedback of y(t)") |
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440 disp("Step 3a: duplicate controller input: (input 2 of PK)") |
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441 prompt |
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442 cmd = "PK = sysdup(PK,[],2);"; |
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443 run_cmd |
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444 disp("PK=") |
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445 sysout(PK); |
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446 disp("Notice that PK now has three inputs (input 3 is a duplicate "); |
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447 prompt("of input 2). Press return to go on") |
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448 disp("Step 3b: scale input 3 by -1") |
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449 cmd = "PK = sysscale(PK,[],diag([1, 1, -1]));"; |
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450 run_cmd |
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451 disp("PK=") |
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452 sysout(PK); |
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453 prompt |
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454 disp("Step 4: connect:") |
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455 disp(" y(t) (output 1) to the negative sum junction (input 3)") |
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456 disp(" u(t) (output 2) to plant input (input 1)") |
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457 disp("and prune extraneous inputs/outputs (retain input 2, output 1)") |
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458 prompt |
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459 out_connect = [1, 2] |
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460 in_connect = [3, 1] |
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461 cmd = "PK0 = sysconnect(PK,out_connect,in_connect);"; |
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462 run_cmd |
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463 prompt |
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464 disp("Notice that sysconnect detects the possibility of algebraic") |
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465 disp("connections when connecting inputs. Option 2 (Method 1 ") |
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466 disp("without algebraic loops) shows how to avoid this warning") |
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467 disp("by performing connections one at a time.") |
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468 prompt |
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469 disp("PK0=") |
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470 sysout(PK0); |
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471 disp("Notice that the connected inputs now have stars on their") |
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472 disp("names. This is how the Octave controls toolbox reminds you") |
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473 disp("that the loop has been closed around these inputs.") |
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474 prompt("Press return to prune extra inputs/outputs from system") |
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475 disp("Only keep plant output (output 1) and r(t) (input 2)") |
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476 cmd = "PK0 = sysprune(PK0,1,2);"; |
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477 run_cmd |
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478 disp("PK0=") |
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479 sysout(PK0); |
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480 prompt |
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481 disp("The resulting closed-loop transfer function is obtained as follows:") |
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482 cmd = "[num,den] = sys2tf(PK0);"; |
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483 run_cmd |
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484 prompt |
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485 disp("Transfer function is now") |
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486 tfout(num,den) |
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487 disp("You can check this: Pk0=PK/(1+PK), as expected") |
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488 prompt |
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489 elseif(meth == 2) |
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490 disp("Method 1 without algebraic loops") |
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491 disp(" ") |
|
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492 disp(" y2 u1") |
|
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493 disp(" + -------- --------"); |
|
|
494 disp(" r(t) ---> (+) --->| K(s) |--->| P(s) | ----> y(t)"); |
|
|
495 disp(" u2 -^ -------- -------- | y1"); |
|
|
496 disp(" u3 | |"); |
|
|
497 disp(" --------------------------------"); |
|
|
498 disp(" ") |
|
|
499 disp("Recall that sysconnect checks for algebraic loops. Although") |
|
|
500 disp("Design option 1 gets a warning message about a possible"); |
|
|
501 disp("algebraic loop, such a loop does not exist.") |
|
|
502 disp("This can be seen by performing the connections one at a time"); |
|
|
503 cmd = "PK = sysgroup(P,K);"; |
|
|
504 run_cmd |
|
|
505 disp("PK=") |
|
|
506 sysout(PK); |
|
|
507 disp("Create an additial inverted input to the controller.") |
|
|
508 cmd = "PK = sysdup(PK,[],2);"; |
|
|
509 run_cmd |
|
|
510 cmd = "PK = sysscale(PK,[],diag([1,1,-1]));"; |
|
|
511 run_cmd |
|
|
512 disp("PK=") |
|
|
513 sysout(PK); |
|
|
514 disp("Connect controller to plant:") |
|
|
515 cmd = "PK0 = sysconnect(PK,2,1);"; |
|
|
516 run_cmd |
|
|
517 disp("Plant output to negative control input") |
|
|
518 cmd = "PK0 = sysconnect(PK0,1,3);"; |
|
|
519 run_cmd |
|
|
520 disp("Only keep plant output (output 1) and r(t) (input 2)") |
|
|
521 cmd = "PK0 = sysprune(PK0,1,2);"; |
|
|
522 run_cmd |
|
|
523 disp("PK0=") |
|
|
524 sysout(PK0); |
|
|
525 prompt |
|
|
526 disp("The transfer function form of PK0 is:") |
|
|
527 sysout(PK0,"tf"); |
|
|
528 prompt |
|
|
529 elseif(meth == 3) |
|
|
530 disp(" * * * Method 2 * * *") |
|
|
531 disp(" ") |
|
|
532 disp(" + -------- --------"); |
|
|
533 disp(" r(t) ---> (+) --->| K(s) |--->| P(s) | ----> y(t)"); |
|
|
534 disp(" -^ -------- -------- |"); |
|
|
535 disp(" | |"); |
|
|
536 disp(" ------------------------------"); |
|
|
537 disp(" ") |
|
|
538 disp("Step 1: We've already created systems P and K. Create a sum ") |
|
|
539 disp("block as follows:") |
|
|
540 cmd = "S = ss2sys([],[],[],[1, -1],0,0,0,[],list(""r(t)"",""y(t)""),""e(t)"");"; |
|
|
541 run_cmd |
|
|
542 disp("(You may wish to look at help ss2sys to see what the above does)"); |
|
|
543 disp("S=") |
|
|
544 sysout(S) |
|
|
545 disp("notice that this is just a gain block that outputs e = r - y") |
|
|
546 prompt |
|
|
547 disp("Step 2: series connections of P, K, and S") |
|
|
548 cmd = "PKS = sysmult(P,sysmult(K,S));"; |
|
|
549 run_cmd |
|
|
550 disp("PKS=") |
|
|
551 sysout(PKS) |
|
|
552 disp("Step 3: connect y to inverted input") |
|
|
553 cmd = "PKcl = sysconnect(PKS,1,2);"; |
|
|
554 run_cmd |
|
|
555 disp("PKcl=") |
|
|
556 sysout(PKcl) |
|
|
557 disp("Step 4: prune desired inputs/outputs") |
|
|
558 cmd = "PKcl=sysprune(PKcl,1,1);"; |
|
|
559 run_cmd |
|
|
560 disp("PKcl=") |
|
|
561 sysout(PKcl) |
|
|
562 prompt |
|
|
563 elseif(meth == 4) |
|
|
564 disp(" * * * Method 3 * * *") |
|
|
565 disp(" ") |
|
|
566 disp(" + -------- --------"); |
|
|
567 disp(" r(t) ---> (+) --->| K(s) |--->| P(s) | ----> y(t)"); |
|
|
568 disp(" -^ -------- -------- |"); |
|
|
569 disp(" | |"); |
|
|
570 disp(" ------------------------------"); |
|
|
571 disp(" ") |
|
|
572 disp("Step 1: We've already created systems P and K.") |
|
|
573 disp(" Let us call buildssic:") |
|
|
574 disp(" PKcl = buildssic([1, 2; 2, -1],[],[1],[2],P,K)") |
|
|
575 disp(" ") |
|
|
576 disp(" ^ ^ ^ ^ ^ ^") |
|
|
577 disp(" | | | | | |") |
|
|
578 disp(" Connection list ----+ | | | | |") |
|
|
579 disp(" internal input list -----------+ | | | +-- controller") |
|
|
580 disp(" output list --------------+ | |") |
|
|
581 disp(" input list ------------------+ +---- plant") |
|
|
582 disp(" ") |
|
|
583 disp(" Connection list: connect input 1 (P) with output 2 (K)") |
|
|
584 disp(" connect input 2 (K) with neg. outp. 1 (P)") |
|
|
585 disp(" ") |
|
|
586 disp(" int. inp. list: do not append internal inputs") |
|
|
587 disp(" (e.g. the internal input of K (r-y))") |
|
|
588 disp(" ") |
|
|
589 disp(" output list: the only output is 1 (P), positive") |
|
|
590 disp(" ") |
|
|
591 disp(" input list: the only input is 2 (K), positive") |
|
|
592 disp(" ") |
|
|
593 cmd = "PKcl = buildssic([1, 2; 2, -1],[],[1],[2],P,K);" |
|
|
594 run_cmd |
|
|
595 sysout(PKcl) |
|
|
596 prompt |
|
|
597 disp("The transfer function form of PKcl is:") |
|
|
598 sysout(PKcl,"tf"); |
|
|
599 disp("You can check this: PKcl = PK / (1 + PK), as expected") |
|
|
600 prompt |
|
|
601 elseif(meth != 5) |
|
|
602 disp("invalid selection") |
|
|
603 endif |
|
|
604 endwhile |
|
|
605 |
|
|
606 elseif (k == 14) |
|
|
607 return |
|
|
608 endif |
|
|
609 endwhile |
|
|
610 implict_str_to_num_ok = str_sav; |
|
|
611 page_screen_output = sav_page; |
|
|
612 endfunction |
