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comparison scripts/control/system/dmr2d.m @ 3462:04aef7306dca

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[project @ 2000-01-19 17:16:43 by hodelas] Updated to accept signal names or signal indices as inputs (calls to either sysidx or listidx)
author hodelas
date Wed, 19 Jan 2000 17:16:45 +0000
parents 99ab64f4a09d
children 7923abdeb4e5
comparison
equal deleted inserted replaced
3461:1f2ce6b49c57 3462:04aef7306dca
26 ## @table @var 26 ## @table @var
27 ## @item sys 27 ## @item sys
28 ## discrete time system; 28 ## discrete time system;
29 ## @code{dmr2d} exits with an error if @var{sys} is not discrete 29 ## @code{dmr2d} exits with an error if @var{sys} is not discrete
30 ## @item idx 30 ## @item idx
31 ## list of states with sampling time @code{sysgettsam(@var{sys})} (may 31 ## indices or names of states with sampling time
32 ## be empty) 32 ## @code{sysgettsam(@var{sys})} (may be empty); see @code{listidx}
33 ## @item sprefix 33 ## @item sprefix
34 ## list of string prefixes of states with sampling time 34 ## list of string prefixes of states with sampling time
35 ## @code{sysgettsam(@var{sys})} 35 ## @code{sysgettsam(@var{sys})} (may be empty)
36 ## (may be empty)
37 ## @item Ts2 36 ## @item Ts2
38 ## sampling time of states not specified by @var{idx}, @var{sprefix} 37 ## sampling time of states not specified by @var{idx}, @var{sprefix}
39 ## must be an integer multiple of @code{sysgettsam(@var{sys})} 38 ## must be an integer multiple of @code{sysgettsam(@var{sys})}
40 ## @item cuflg 39 ## @item cuflg
41 ## "constant u flag" if @var{cuflg} is nonzero then the system inputs are 40 ## "constant u flag" if @var{cuflg} is nonzero then the system inputs are
82 elseif (!is_struct(sys)) 81 elseif (!is_struct(sys))
83 error("sys must be in system data structure form"); 82 error("sys must be in system data structure form");
84 83
85 elseif(!is_digital(sys)) 84 elseif(!is_digital(sys))
86 error("sys must be discrete-time; continuous time passed"); 85 error("sys must be discrete-time; continuous time passed");
86
87 endif
88
89 if(is_signal_list(idx) | isstr(idx))
90 idx = sysidx(sys,"st",idx);
87 91
88 elseif (!(is_vector(idx) | isempty(idx))) 92 elseif (!(is_vector(idx) | isempty(idx)))
89 error(["idx(",num2str(rows(idx)),"x",num2str(columns(idx)), ... 93 error(["idx(",num2str(rows(idx)),"x",num2str(columns(idx)), ...
90 ") must be a vector"]); 94 ") must be a vector"]);
91 95
115 ## extract state space information 119 ## extract state space information
116 [da,db,dc,dd,Ts1,nc,nz,stname,inname,outname,yd] = sys2ss(sys); 120 [da,db,dc,dd,Ts1,nc,nz,stname,inname,outname,yd] = sys2ss(sys);
117 121
118 ## compute number of steps 122 ## compute number of steps
119 if(Ts1 > Ts2) 123 if(Ts1 > Ts2)
120 error(["Current sampling time=",num2str(Ts1),"< Ts2=",num2str(Ts2)]); 124 error(["Current sampling time=",num2str(Ts1)," > Ts2=",num2str(Ts2)]);
121 endif 125 endif
122 nstp = floor(Ts2/Ts1+0.5); 126 nstp = floor(Ts2/Ts1+0.5);
123 if(abs((Ts2 - Ts1*nstp)/Ts1) > 1e-12) 127 if(abs((Ts2 - Ts1*nstp)/Ts1) > 1e-12)
124 warning(["dmr2d: Ts1=",num2str(Ts1),", Ts2=",num2str(Ts2), ... 128 warning(["dmr2d: Ts1=",num2str(Ts1),", Ts2=",num2str(Ts2), ...
125 ", selecting nsteps=",num2str(nstp),"; mismatch"]); 129 ", selecting nsteps=",num2str(nstp),"; mismatch"]);
170 pvi = (Inz(pv,:)'*[1:nz]')'; 174 pvi = (Inz(pv,:)'*[1:nz]')';
171 175
172 ## permute A, B (stname permuted for debugging only) 176 ## permute A, B (stname permuted for debugging only)
173 da = da(pv,pv); 177 da = da(pv,pv);
174 db = db(pv,:); 178 db = db(pv,:);
175 stname = stname(pv,:); 179 stname = stname(pv);
176 180
177 ## partition A, B: 181 ## partition A, B:
178 lfidx = length(fidx); 182 lfidx = length(fidx);
179 bki = 1:lfidx; 183 bki = 1:lfidx;
180 a11 = da(bki,bki); 184 a11 = da(bki,bki);
249 da(bki,bki2) = a12b; 253 da(bki,bki2) = a12b;
250 endif 254 endif
251 255
252 da = da(pvi,pvi); 256 da = da(pvi,pvi);
253 db = db(pvi,:); 257 db = db(pvi,:);
254 stname = stname(pvi,:); 258 stname = stname(pvi);
255 259
256 ## construct new system and return 260 ## construct new system and return
257 dsys = ss2sys(da,db,dc,dd,Ts2,0,nz,stname,inname,outname,find(yd == 1)); 261 dsys = ss2sys(da,db,dc,dd,Ts2,0,nz,stname,inname,outname,find(yd == 1));
258 262
259 endfunction 263 endfunction