Mercurial > hg > octave-max
changeset 3381:69b167451491
[project @ 1999-12-15 20:48:10 by jwe]
line wrap: on
line diff
--- a/scripts/control/DEMOcontrol.m +++ b/scripts/control/DEMOcontrol.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All rights reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All rights reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { } DEMOcontrol
--- a/scripts/control/abcddim.m +++ b/scripts/control/abcddim.m @@ -1,20 +1,20 @@ -# Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{n}, @var{m}, @var{p}] =} abcddim (@var{a}, @var{b}, @var{c}, @var{d}) @@ -62,8 +62,8 @@ ## @end deftypefn function [n, m, p] = abcddim (a, b, c, d) -# Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. -# a s hodel: modified to accept pure-gain systems aug 1996 +## Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. +## a s hodel: modified to accept pure-gain systems aug 1996 if (nargin != 4) error ("abcddim: four arguments required");
--- a/scripts/control/abcddims.m +++ b/scripts/control/abcddims.m @@ -1,20 +1,20 @@ -# Copyright (C) 1997 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1997 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[@var{y}, @var{my}, @var{ny}] =} abcddims (@var{x}) @@ -25,7 +25,7 @@ ## @end deftypefn function [y,my,ny] = abcddims (x) -# Written by A. S. Hodel (scotte@eng.auburn.edu) Feb 1997 +## Written by A. S. Hodel (scotte@eng.auburn.edu) Feb 1997 y = x; if(isempty(y))
--- a/scripts/control/analdemo.m +++ b/scripts/control/analdemo.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { } analdemo ( ) @@ -22,8 +22,8 @@ ## @end deftypefn function analdemo() -# Written by David Clem August 15, 1994 -# Updated by John Ingram December 1996 +## Written by David Clem August 15, 1994 +## Updated by John Ingram December 1996 while (1) clc
--- a/scripts/control/are.m +++ b/scripts/control/are.m @@ -1,20 +1,20 @@ -# Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File} {} are (@var{a}, @var{b}, @var{c}, @var{opt}) @@ -62,7 +62,7 @@ ## See also: balance, dare function x = are (a, b, c, opt) -# Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. +## Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. if (nargin == 3 || nargin == 4) if (nargin == 4) @@ -98,11 +98,11 @@ error ("are: a, b, c not conformably dimensioned."); endif -# Should check for controllability/observability here -# use Boley-Golub (Syst. Contr. Letters, 1984) method, not the -# -# n-1 -# rank ([ B A*B ... A^ *B]) method +## Should check for controllability/observability here +## use Boley-Golub (Syst. Contr. Letters, 1984) method, not the +## +## n-1 +## rank ([ B A*B ... A^ *B]) method [d, h] = balance ([a, -b; -c, -a'], opt); [u, s] = schur (h, "A");
--- a/scripts/control/axis2dlim.m +++ b/scripts/control/axis2dlim.m @@ -1,20 +1,20 @@ -# Copyright (C) 1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn{Function File } { @var{axvec} =} axis2dlim (@var{axdata}) @@ -35,7 +35,7 @@ axdata = 0; endif - # compute axis limits + ## compute axis limits minv = min(axdata); maxv = max(axdata); delv = (maxv-minv)/2; # breadth of the plot @@ -50,7 +50,7 @@ axdel(3:4) = [-0.1*midv(2),0.1*midv(2)]; endif else - # they're at least one-dimensional + ## they're at least one-dimensional if(delv(1) != 0) axdel(1:2) = 1.1*[-delv(1),delv(1)]; endif
--- a/scripts/control/bddemo.m +++ b/scripts/control/bddemo.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { outputs =} bddemo ( inputs ) @@ -22,8 +22,9 @@ ## @end deftypefn function bddemo() -# Written by David Clem August 15, 1994 -# Modified by A S Hodel Summer-Fall 1996 + + ## Written by David Clem August 15, 1994 + ## Modified by A S Hodel Summer-Fall 1996 str_sav = implicit_str_to_num_ok; sav_page = page_screen_output; @@ -311,7 +312,7 @@ sysout(sysp); prompt elseif (k == 12) - # buildssic description + ## buildssic description disp(" ") disp(" ---------------------------------------") disp(" b u i l d s s i c")
--- a/scripts/control/bode.m +++ b/scripts/control/bode.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[@var{mag}, @var{phase}, @var{w}] =} bode(@var{sys}@{,@var{w}, @var{out_idx}, @var{in_idx}@}) @@ -91,14 +91,15 @@ ## @end deftypefn function [mag_r,phase_r,w_r] = bode(sys,w,outputs,inputs,plot_style) -# Written by John Ingram July 10th, 1996 -# Based on previous code -# By R. Bruce Tenison, July 13, 1994 -# Modified by David Clem November 13, 1994 -# again by A. S. Hodel July 1995 (smart plot range, etc.) -# Modified by Kai P. Mueller September 28, 1997 (multiplot mode) - # check number of input arguments given + ## Written by John Ingram July 10th, 1996 + ## Based on previous code + ## By R. Bruce Tenison, July 13, 1994 + ## Modified by David Clem November 13, 1994 + ## again by A. S. Hodel July 1995 (smart plot range, etc.) + ## Modified by Kai P. Mueller September 28, 1997 (multiplot mode) + + ## check number of input arguments given if (nargin < 1 | nargin > 5) usage("[mag,phase,w] = bode(sys[,w,outputs,inputs,plot_style])"); endif @@ -128,12 +129,12 @@ [stname,inname,outname] = sysgetsignals(sys); systsam = sysgettsam(sys); - # Get the magnitude and phase of f. + ## Get the magnitude and phase of f. mag = abs(f); phase = arg(f)*180.0/pi; if (nargout < 1), - # Plot the information + ## Plot the information if(gnuplot_has_multiplot) oneplot(); endif @@ -196,7 +197,7 @@ "), u=", nth(inname,1),", y=",nth(outname,1)]); grid("on"); semilogx(w,phase); - # This should be the default for subsequent plot commands. + ## This should be the default for subsequent plot commands. if(gnuplot_has_multiplot) oneplot(); endif
--- a/scripts/control/bode_bounds.m +++ b/scripts/control/bode_bounds.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[@var{wmin}, @var{wmax}] =} bode_bounds (@var{zer}, @var{pol}, @var{dflg}@{, @var{tsam} @}) @@ -26,17 +26,18 @@ ## @end deftypefn function [wmin,wmax] = bode_bounds(zer,pol,DIGITAL,tsam) - # make sure zer,pol are row vectors + + ## make sure zer,pol are row vectors if(!isempty(pol)) pol = reshape(pol,1,length(pol)); endif if(!isempty(zer)) zer = reshape(zer,1,length(zer)); endif -# check for natural frequencies away from omega = 0 + ## check for natural frequencies away from omega = 0 if (DIGITAL) - # The 2nd conditions prevents log(0) in the next log command + ## The 2nd conditions prevents log(0) in the next log command iiz = find(abs(zer - 1) > norm(zer) * eps && abs(zer) > norm(zer) * eps); iip = find(abs(pol - 1) > norm(pol) * eps && abs(pol) > norm(pol) * eps); - # avoid dividing empty matrices, it would work but looks nasty + ## avoid dividing empty matrices, it would work but looks nasty if (!isempty(iiz)) czer = log(zer(iiz))/tsam; else czer = []; endif @@ -44,7 +45,7 @@ else cpol = []; endif else - # continuous + ## continuous iip = find((abs(pol)) > (norm(pol) * eps)); iiz = find((abs(zer)) > (norm(zer) * eps)); @@ -58,15 +59,15 @@ wmin = floor(log10(min(abs([cpol,czer])))); wmax = ceil(log10(max(abs([cpol,czer])))); else - # no poles/zeros away from omega = 0; pick defaults + ## no poles/zeros away from omega = 0; pick defaults wmin = -1; wmax = 3; endif - # expand to show the entirety of the "interesting" portion of the plot + ## expand to show the entirety of the "interesting" portion of the plot wmin--; wmax++; - # run digital frequency all the way to pi + ## run digital frequency all the way to pi if (DIGITAL) wmax = log10(pi/tsam); endif endfunction
--- a/scripts/control/bodquist.m +++ b/scripts/control/bodquist.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { [@var{f}, @var{w}] =} bodquist (@var{sys}, @var{w}, @var{out_idx}, @var{in_idx}) @@ -51,23 +51,24 @@ ## @end deftypefn function [f,w] = bodquist(sys,w,outputs,inputs,rname) - # check number of input arguments given + + ## check number of input arguments given if (nargin != 5) usage("[f,w] = bodquist(sys,w,outputs,inputs,rname)"); endif - # check each argument to see if it's in the correct form + ## check each argument to see if it's in the correct form if (!is_struct(sys)) error("sys must be a system data structure"); endif - # let freqresp determine w if it's not already given + ## let freqresp determine w if it's not already given USEW = freqchkw(w); - # get initial dimensions (revised below if sysprune is called) + ## get initial dimensions (revised below if sysprune is called) [nn,nz,mm,pp ] = sysdimensions(sys); - # check for an output vector and to see whether it`s correct + ## check for an output vector and to see whether it`s correct if (!isempty(outputs)) if (isempty(inputs)) inputs = 1:mm; # use all inputs @@ -77,20 +78,20 @@ [nn,nz,mm,pp ] = sysdimensions(sys); endif - # for speed in computation, convert local copy of - # SISO state space systems to zero-pole form + ## for speed in computation, convert local copy of + ## SISO state space systems to zero-pole form if( is_siso(sys) & strcmp( sysgettype(sys), "ss") ) [zer,pol,k,tsam,inname,outname] = sys2zp(sys); sys = zp2sys(zer,pol,k,tsam,inname,outname); endif - # get system frequency response + ## get system frequency response [f,w] = freqresp(sys,USEW,w); phase = arg(f)*180.0/pi; if(!USEW) - # smooth plots + ## smooth plots pcnt = 5; # max number of refinement steps dphase = 5; # desired max change in phase dmag = 0.2; # desired max change in magnitude @@ -142,7 +143,7 @@ endwhile endif - # ensure unique frequency values + ## ensure unique frequency values [w,idx] = sort(w); f = f(idx);
--- a/scripts/control/buildssic.m +++ b/scripts/control/buildssic.m @@ -1,20 +1,20 @@ -# Copyright (C) 1998 Kai P. Mueller -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1998 Kai P. Mueller +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[@var{sys}] =} buildssic(@var{Clst}, @var{Ulst}, @var{Olst}, @var{Ilst}, @var{s1}, @var{s2}, @var{s3}, @var{s4}, @var{s5}, @var{s6}, @var{s7}, @var{s8}) @@ -127,7 +127,8 @@ ## @end deftypefn function [sys] = buildssic(Clst,Ulst,Olst,Ilst,s1,s2,s3,s4,s5,s6,s7,s8) -# Written by Kai Mueller April 1998 + + ## Written by Kai Mueller April 1998 if((nargin < 5) || (nargin > 12)) usage("[sys] = buildssic(Clst,Ulst,Olst,Ilst,s1,s2,s3,s4,s5,s6,s7,s8)"); @@ -169,7 +170,7 @@ [as,bs,cs,ds] = sys2ss(ss); nt1 = n1 + nz1; if (!nt1) - # pure gain (pad B, C with zeros) + ## pure gain (pad B, C with zeros) B = [B, zeros(nt,m1)]; C = [C; zeros(p1,nt)]; else @@ -185,7 +186,7 @@ p = p + p1; endfor - # check maximum dimensions + ## check maximum dimensions [nx, mx] = size(Clst); if (nx > m) error("---> more rows in Clst than total number of inputs."); @@ -193,7 +194,7 @@ if (mx > p+1) error("---> more cols in Clst than total number of outputs."); endif - # empty vector Ulst is OK + ## empty vector Ulst is OK lul = length(Ulst); if (lul) if (!is_vector(Ulst)) @@ -212,7 +213,7 @@ error("---> Input list Ilst must be a vector."); endif - # build the feedback "K" from the interconnection data Clst + ## build the feedback "K" from the interconnection data Clst K = zeros(m, p); inp_used = zeros(m,1); for ii = 1:nx @@ -235,15 +236,15 @@ endfor endfor - # form the "closed loop", i.e replace u in - # . - # x = Ax + Bu - # ~ - # y = Cx + Du by u = K*y+u - # - # -1 - # R = (I-D*K) must exist. - # + ## form the "closed loop", i.e replace u in + ## . + ## x = Ax + Bu + ## ~ + ## y = Cx + Du by u = K*y+u + ## + ## -1 + ## R = (I-D*K) must exist. + R = eye(p) - D*K; if (rank(R) < p) error("---> singularity in algebraic loop."); @@ -255,7 +256,7 @@ C = R*C; D = R*D; - # append old inputs u to the outputs (if lul > 0) + ## append old inputs u to the outputs (if lul > 0) kc = K*C; kdi = eye(m) + K*D; for ii = 1:lul @@ -267,7 +268,7 @@ D = [D; kdi(it,:)]; endfor - # select and rearrange outputs + ## select and rearrange outputs nn = length(A); lol = length(Olst); Cnew = zeros(lol,nn);
--- a/scripts/control/c2d.m +++ b/scripts/control/c2d.m @@ -1,20 +1,20 @@ -# Copyright (C) 1993, 1994, 1995 John W. Eaton -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1993, 1994, 1995 John W. Eaton +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{dsys} =} c2d (@var{sys}@{, @var{opt}, @var{T}@}) @@ -67,14 +67,15 @@ ## @end deftypefn function dsys = c2d (sys, opt, T) -# Written by R.B. Tenison (btenison@eng.auburn.edu) -# October 1993 -# Updated by John Ingram for system data structure August 1996 + + ## Written by R.B. Tenison (btenison@eng.auburn.edu) + ## October 1993 + ## Updated by John Ingram for system data structure August 1996 save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1; -# parse input arguments + ## parse input arguments if(nargin < 1 | nargin > 3) usage("dsys=c2d(sys[,T])"); elseif (!is_struct(sys)) @@ -86,7 +87,7 @@ opt = "ex"; endif - # check if sampling period T was passed. + ## check if sampling period T was passed. Ts = sysgettsam(sys); if(!exist("T")) T = Ts; @@ -112,7 +113,7 @@ warning("c2d: sys has no continuous states; setting outputs to discrete"); dsys = syssetsignals(sys,"yd",ones(1:p)); elseif(strcmp(opt,"ex")) - # construct new state-space (a,b,c,d) for continuous subsystem + ## construct new state-space (a,b,c,d) for continuous subsystem [csys,Acd] = syscont(sys); # extract continuous subsystem [csys_a, csys_b, csys_c, csys_d] = sys2ss(csys); [ sys_a, sys_b, sys_c, sys_d] = sys2ss( sys); @@ -142,7 +143,7 @@ [stnames,innames,outnames] = sysgetsignals(csys); dsys = ss2sys(Abar,Bbar,csysc,csysd,T,0,newnz,stnames,innames, ... outnames,outlist); - # rename states + ## rename states for ii=1:newnz strval = sprintf("%s_d",sysgetsignals(dsys,"st",ii,1)); dsys = syssetsignals(dsys,"st",strval,ii); @@ -152,7 +153,7 @@ if(is_digital(sys)) error("c2d: system is already digital") else - # convert with bilinear transform + ## convert with bilinear transform [a,b,c,d,tsam,n,nz,stname,inname,outname,yd] = sys2ss(sys); IT = (2/T)*eye(size(a)); A = (IT+a)/(IT-a);
--- a/scripts/control/com2str.m +++ b/scripts/control/com2str.m @@ -1,30 +1,30 @@ -# Copyright (C) 1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## usage retval = com2str(zz{,flg}) +## +## convert complex number to a string +## zz: complex number +## flg: format flag +## 0 (default): -1, 0, 1, 1i, 1 + 0.5i +## 1 (for use with zpout): -1, 0, + 1, + 1i, + 1 + 0.5i + function retval = com2str(zz,flg) -# usage retval = com2str(zz{,flg}) -# -# convert complex number to a string -# zz: complex number -# flg: format flag -# 0 (default): -1, 0, 1, 1i, 1 + 0.5i -# 1 (for use with zpout): -1, 0, + 1, + 1i, + 1 + 0.5i -# if (nargin < 1 | nargin > 2) usage("com2str(zz{,flg})"); @@ -46,7 +46,7 @@ iz = imag(zz); az = abs(zz); if(iz == 0) - # strictly a real number + ## strictly a real number switch(flg) case(0) retval = num2str(rz); @@ -54,7 +54,7 @@ retval = [ sgns(1+(rz< 0))," ", num2str(abs(rz))]; endswitch elseif(rz == 0) - # strictly an imaginary number + ## strictly an imaginary number switch(flg) case(0) retval = num2str(iz); @@ -62,8 +62,8 @@ retval = [ sgns(1+(iz< 0))," ", num2str(abs(iz)),"i"]; endswitch else - # complex number - # strictly an imaginary number + ## complex number + ## strictly an imaginary number switch(flg) case(0) retval = [num2str(rz)," ",com2str(i*iz,1)];
--- a/scripts/control/controldemo.m +++ b/scripts/control/controldemo.m @@ -1,26 +1,26 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. function DEMOcontrol() -# Controls toolbox demo. -# Demo programs: bddemo.m, frdemo.m, analdemo.m, moddmeo.m, rldemo.m -# -# Written by David Clem August 15, 1994 +## Controls toolbox demo. +## Demo programs: bddemo.m, frdemo.m, analdemo.m, moddmeo.m, rldemo.m +## +## Written by David Clem August 15, 1994 disp(' O C T A V E C O N T R O L S Y S T E M S T O O L B O X')
--- a/scripts/control/ctrb.m +++ b/scripts/control/ctrb.m @@ -1,20 +1,20 @@ -# Copyright (C) 1997 Kai P. Mueller -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1997 Kai P. Mueller +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {@var{Qs} =} ctrb(@var{sys} @{, @var{b}@}) @@ -33,9 +33,10 @@ ## @end deftypefn function Qs = ctrb(sys, b) - # Written by Kai P. Mueller November 4, 1997 - # based on is_controllable.m of Scottedward Hodel - # modified by + + ## Written by Kai P. Mueller November 4, 1997 + ## based on is_controllable.m of Scottedward Hodel + ## modified by if (nargin == 2) a = sys; @@ -49,9 +50,9 @@ if (!is_abcd(a,b)) Qs = []; else - # no need to check dimensions, we trust is_abcd(). + ## no need to check dimensions, we trust is_abcd(). [na, ma] = size(a); - # using imb avoids name conflict with the "mb" function + ## using imb avoids name conflict with the "mb" function [inb, imb] = size(b); Qs = zeros(na, ma*imb); for i = 1:na
--- a/scripts/control/d2c.m +++ b/scripts/control/d2c.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {@var{csys} =} d2c (@var{sys}@{,@var{tol}@}) @@ -57,9 +57,10 @@ function csys = d2c(sys,opt) -# Written by R. Bruce Tenison August 23, 1994 -# Updated by John Ingram for system data structure August 1996 -# SYS_INTERNAL accesses members of system data structure + + ## Written by R. Bruce Tenison August 23, 1994 + ## Updated by John Ingram for system data structure August 1996 + ## SYS_INTERNAL accesses members of system data structure save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1; @@ -88,8 +89,8 @@ T = sysgettsam(sys); if(strcmp(opt,"bi")) - # bilinear transform - # convert with bilinear transform + ## bilinear transform + ## convert with bilinear transform if (! is_digital(sys) ) error("d2c requires a discrete time system for input") endif @@ -146,8 +147,8 @@ Mtop = logmat(1:na,:); endif - # perform simplistic, stupid optimization approach. - # should re-write with a Davidson-Fletcher CG approach + ## perform simplistic, stupid optimization approach. + ## should re-write with a Davidson-Fletcher CG approach mxthresh = norm(Mtop); if(mxthresh == 0) mxthresh = 1; @@ -157,7 +158,7 @@ newgrad=1; #signal for new gradient while( (eps1/mxthresh > tol) & cnt) cnt = cnt-1; - # calculate the gradient of error with respect to Amat... + ## calculate the gradient of error with respect to Amat... geps = norm(Mtop)*1e-8; if(geps == 0) geps = 1e-8; @@ -185,7 +186,7 @@ newgrad = 0; endif - #got a gradient, now try to use it + ## got a gradient, now try to use it DMall = Mall-eps1*GrMall; FMall = expm(Mall*T); @@ -213,7 +214,7 @@ endif csys = ss2sys(aa,bb,cc,dd,0,na,0,stnam,innam,outnam); - # update names + ## update names nn = sysdimensions(sys); for ii = (nn+1):na strval = sprintf("%s_c",sysgetsignals(csys,"st",ii,1));
--- a/scripts/control/damp.m +++ b/scripts/control/damp.m @@ -1,20 +1,20 @@ -# Copyright (C) 1993, 1994, 1995 John W. Eaton -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1993, 1994, 1995 John W. Eaton +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {} damp(@var{p}@{, @var{tsam}@}) @@ -29,10 +29,11 @@ ## @end deftypefn function damp(p, tsam) -# Written by Kai P. Mueller September 29, 1997. -# Update - # assume a continuous system + ## Written by Kai P. Mueller September 29, 1997. + ## Update + + ## assume a continuous system DIGITAL = 0; if(nargin < 1 || nargin > 2) usage("damp(p,[ tsamp])") @@ -57,7 +58,7 @@ error("damp: Sampling time tsam must not be <= 0.") endif - # all checks done. + ## all checks done. e = eig(aa); [n, m] = size(aa); if (DIGITAL)
--- a/scripts/control/dare.m +++ b/scripts/control/dare.m @@ -87,7 +87,7 @@ opt = "B"; endif - # dimension checks are done in is_controllable, is_observable + ## dimension checks are done in is_controllable, is_observable if (is_controllable (a, b) == 0) warning ("dare: a,b are not controllable"); elseif (is_observable (a, c) == 0)
--- a/scripts/control/dcgain.m +++ b/scripts/control/dcgain.m @@ -1,20 +1,20 @@ -# Copyright (C) 1993, 1994, 1995 John W. Eaton -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1993, 1994, 1995 John W. Eaton +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {@var{gm} =} dcgain(@var{sys}@{, tol@}) @@ -25,7 +25,7 @@ ## @end deftypefn function gm = dcgain(sys, tol) -# Written by Kai P Mueller (mueller@ifr.ing.tu-bs.de) October 1, 1997 +## Written by Kai P Mueller (mueller@ifr.ing.tu-bs.de) October 1, 1997 if((nargin < 1) || (nargin > 2) || (nargout > 1)) usage("[gm, ok] = dcgain(sys[, tol])");
--- a/scripts/control/demomarsyas.m +++ b/scripts/control/demomarsyas.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. page_screen_output = 1; opt = 0;
--- a/scripts/control/dezero.m +++ b/scripts/control/dezero.m @@ -29,7 +29,7 @@ function t = dezero (s) - # delete the next line if you're stubbornly going to use dezero. + ## delete the next line if you're stubbornly going to use dezero. error("dezero is no longer supported."); if (nargin != 1) @@ -48,7 +48,7 @@ s = reshape (s, 1, len); - # need to remove zeros first, then call deblank + ## need to remove zeros first, then call deblank s = 1*s; t = deblank(setstr(s(find(s != 0) ))); endif
--- a/scripts/control/dgkfdemo.m +++ b/scripts/control/dgkfdemo.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ##@deftypefn {Function File } { } dgkfdemo ( ) @@ -22,7 +22,7 @@ ##@end deftypefn function dgkfdemo() -# Written by A. S. Hodel June 1995 +## Written by A. S. Hodel June 1995 save_val = page_screen_output; page_screen_output = 1;
--- a/scripts/control/dgram.m +++ b/scripts/control/dgram.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{m} =} dgram ( @var{a}, @var{b}) @@ -40,8 +40,9 @@ ## @end deftypefn function m = dgram(a,b) - # Written by A. S. Hodel July 1995 - # let dlyap do the error checking... + ## Written by A. S. Hodel July 1995 + + ## let dlyap do the error checking... m = dlyap(a,b*b'); endfunction
--- a/scripts/control/dhinfdemo.m +++ b/scripts/control/dhinfdemo.m @@ -1,63 +1,63 @@ -# Copyright (C) 1996,1998 Kai Mueller -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Kai Mueller +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. -# ------------------------------------------------------------ -# dhinfdemo Design of a discrete H_infinity controller. -# This is not a true discrete design. The design -# is carried out in continuous time while the -# effect of sampling is described by a bilinear -# transformation of the sampled system. -# This method works quite well if the sampling -# period is "small" compared to the plant time -# constants. -# -# This is a script file for OCTAVE. -# ------------------------------------------------------------ -# -# continuous plant: -# 1 -# G(s) = -------------- -# (s + 2)(s + 1) -# -# discretised plant with ZOH (Sampling period = Ts = 1 second) -# -# 0.39958z + 0.14700 -# G(s) = -------------------------- -# (z - 0.36788)(z - 0.13533) -# -# +----+ -# -------------------->| W1 |---> v1 -# z | +----+ -# ----|-------------+ || T || => min. -# | | vz infty -# | +---+ v +----+ -# *--->| G |--->O--*-->| W2 |---> v2 -# | +---+ | +----+ -# | | -# | +---+ | -# -----| K |<------- -# +---+ -# -# W1 and W2 are the robustness and performancs weighting -# functions +## ------------------------------------------------------------ +## dhinfdemo Design of a discrete H_infinity controller. +## This is not a true discrete design. The design +## is carried out in continuous time while the +## effect of sampling is described by a bilinear +## transformation of the sampled system. +## This method works quite well if the sampling +## period is "small" compared to the plant time +## constants. +## +## This is a script file for OCTAVE. +## ------------------------------------------------------------ +## +## continuous plant: +## 1 +## G(s) = -------------- +## (s + 2)(s + 1) +## +## discretised plant with ZOH (Sampling period = Ts = 1 second) +## +## 0.39958z + 0.14700 +## G(s) = -------------------------- +## (z - 0.36788)(z - 0.13533) +## +## +----+ +## -------------------->| W1 |---> v1 +## z | +----+ +## ----|-------------+ || T || => min. +## | | vz infty +## | +---+ v +----+ +## *--->| G |--->O--*-->| W2 |---> v2 +## | +---+ | +----+ +## | | +## | +---+ | +## -----| K |<------- +## +---+ +## +## W1 and W2 are the robustness and performancs weighting +## functions -# K. Mueller, <mueller@ifr.ing.tu-bs.de> -# Technical University of Braunschweig, IfR +## K. Mueller, <mueller@ifr.ing.tu-bs.de> +## Technical University of Braunschweig, IfR echo off disp(" "); @@ -82,21 +82,21 @@ cmd = "W2 = wgt1o(350.0, 0.05, 0.0002);"; disp(cmd); eval(cmd); -# omega axis (column vector) +## omega axis (column vector) ww = vec(logspace(-4.99, 3.99, 100)); disp("Create ZOH equivalent model of a continuous plant"); cmd = "G = tf2sys(2,[1 3 2]); Gd = c2d(G, Ts);"; run_cmd -# w-plane (continuous representation of the sampled system) +## w-plane (continuous representation of the sampled system) disp("W-plane transform of discrete time system:"); cmd = "Gw = d2c(Gd, \"bi\");"; run_cmd disp(" "); disp(" o building P..."); -# need One as the pseudo transfer function One = 1 +## need One as the pseudo transfer function One = 1 cmd = "One = ugain(1);"; disp(cmd); eval(cmd); @@ -140,4 +140,4 @@ endif endif -# --------- End of dhinfdemo/kpm +## --------- End of dhinfdemo/kpm
--- a/scripts/control/dlqe.m +++ b/scripts/control/dlqe.m @@ -1,20 +1,20 @@ -# Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{l}, @var{m}, @var{p}, @var{e}] =} dlqe (@var{a}, @var{g}, @var{c}, @var{sigw}, @var{sigv}, @var{z}) @@ -96,15 +96,15 @@ ## @end deftypefn function [l, m, p, e] = dlqe (a, g, c, sigw, sigv, s) -# Written by A. S. Hodel (scotte@eng.auburn.edu) August, 1993. -# Modified for discrete time by R. Bruce Tenison (btenison@eng.auburn.edu) -# October, 1993 +## Written by A. S. Hodel (scotte@eng.auburn.edu) August, 1993. +## Modified for discrete time by R. Bruce Tenison (btenison@eng.auburn.edu) +## October, 1993 if (nargin != 5 && nargin != 6) error ("dlqe: invalid number of arguments"); endif -# The problem is dual to the regulator design, so transform to dlqr call. +## The problem is dual to the regulator design, so transform to dlqr call. if (nargin == 5) [k, p, e] = dlqr (a', c', g*sigw*g', sigv);
--- a/scripts/control/dlqg.m +++ b/scripts/control/dlqg.m @@ -1,124 +1,123 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## O B S O L E T E * * * D O N O T U S E! +## +## Use lqg instead. +## +## function [K,Q,P,Ee,Er] = dlqg(A,B,C,G,Sigw,Sigv,Q,R) +## function [K,Q,P,Ee,Er] = dlqg(Sys,Sigw,Sigv,Q,R) +## +## design a discrete-time linear quadratic gaussian optimal controller +## for the system +## +## x(k+1) = A x(k) + B u(k) + G w(k) [w]=N(0,[Sigw 0 ]) +## y(k) = C x(k) + v(k) [v] ( 0 Sigv ]) +## +## Outputs: +## K: system data structure format LQG optimal controller +## P: Solution of control (state feedback) algebraic Riccati equation +## Q: Solution of estimation algebraic Riccati equation +## Ee: estimator poles +## Es: controller poles +## inputs: +## A,B,C,G, or Sys: state space representation of system. +## Sigw, Sigv: covariance matrices of independent Gaussian noise processes +## (as above) +## Q, R: state, control weighting matrices for dlqr call respectively. +## +## See also: lqg, dlqe, dlqr + function [K,Q,P,Ee,Er] = dlqg(A,B,C,G,Sigw, Sigv,Q,R) -# -# -# O B S O L E T E * * * D O N O T U S E! -# -# Use lqg instead. -# -# function [K,Q,P,Ee,Er] = dlqg(A,B,C,G,Sigw,Sigv,Q,R) -# function [K,Q,P,Ee,Er] = dlqg(Sys,Sigw,Sigv,Q,R) -# -# design a discrete-time linear quadratic gaussian optimal controller -# for the system -# -# x(k+1) = A x(k) + B u(k) + G w(k) [w]=N(0,[Sigw 0 ]) -# y(k) = C x(k) + v(k) [v] ( 0 Sigv ]) -# -# Outputs: -# K: system data structure format LQG optimal controller -# P: Solution of control (state feedback) algebraic Riccati equation -# Q: Solution of estimation algebraic Riccati equation -# Ee: estimator poles -# Es: controller poles -# inputs: -# A,B,C,G, or Sys: state space representation of system. -# Sigw, Sigv: covariance matrices of independent Gaussian noise processes -# (as above) -# Q, R: state, control weighting matrices for dlqr call respectively. -# -# See also: lqg, dlqe, dlqr + + ## Written by A. S. Hodel August 1995 + + warning("dlqg: obsolete. use lqg instead (system data structure format)"); + + if (nargin == 5) + ## system data structure format + + ## check that it really is system data structure + if(! is_struct(A) ) + error("dlqg: 5 arguments, first argument is not a system data structure structure") + endif + + sys = sysupdate(sys,"ss"); # make sure in proper form + [ncstates,ndstates,nin,nout] = sysdimensions(sys); + if(ndstates == -1) + error("this message should never appear: bad system dimensions"); + endif -# Written by A. S. Hodel August 1995 - -warning("dlqg: obsolete. use lqg instead (system data structure format)"); + if(ncstates) + error("dlqg: system has continuous-time states (try lqg?)") + elseif(ndstates < 1) + error("dlqg: system has no discrete time states") + elseif(nin <= columns(Sigw)) + error(["dlqg: ",num2str(nin)," inputs provided, noise dimension is ", ... + num2str(columns(Sigw))]) + elseif(nout != columns(Sigv)) + error(["dlqg: number of outputs (",num2str(nout),") incompatible with ", ... + "dimension of Sigv (",num2str(columns(Sigv)),")"]) + endif -if (nargin == 5) - # system data structure format - - # check that it really is system data structure - if(! is_struct(A) ) - error("dlqg: 5 arguments, first argument is not a system data structure structure") + ## put parameters into correct variables + R = Sigw; + Q = G; + Sigv = C; + Sigw = B; + [A,B,C,D] = sys2ss(Sys) + [n,m] = size(B) + m1 = columns(Sigw); + m2 = m1+1; + G = B(:,1:m1); + B = B(:,m2:m); + + elseif (nargin == 8) + ## state-space format + m = columns(B); + m1 = columns(G); + p = rows(C); + n = abcddim(A,B,C,zeros(p,m)); + n1 = abcddim(A,G,C,zeros(p,m1)); + if( (n == -1) || (n1 == -1)) + error("dlqg: A,B,C,G incompatibly dimensioned"); + elseif(p != columns(Sigv)) + error("dlqg: C, Sigv incompatibly dimensioned"); + elseif(m1 != columns(Sigw)) + error("dlqg: G, Sigw incompatibly dimensioned"); + endif + else + error("dlqg: illegal number of arguments") endif - sys = sysupdate(sys,"ss"); # make sure in proper form - [ncstates,ndstates,nin,nout] = sysdimensions(sys); - if(ndstates == -1) - error("this message should never appear: bad system dimensions"); - endif - - if(ncstates) - error("dlqg: system has continuous-time states (try lqg?)") - elseif(ndstates < 1) - error("dlqg: system has no discrete time states") - elseif(nin <= columns(Sigw)) - error(["dlqg: ",num2str(nin)," inputs provided, noise dimension is ", ... - num2str(columns(Sigw))]) - elseif(nout != columns(Sigv)) - error(["dlqg: number of outputs (",num2str(nout),") incompatible with ", ... - "dimension of Sigv (",num2str(columns(Sigv)),")"]) + if (! (is_square(Sigw) && is_square(Sigv) ) ) + error("dlqg: Sigw, Sigv must be square"); endif - # put parameters into correct variables - R = Sigw; - Q = G; - Sigv = C; - Sigw = B; - [A,B,C,D] = sys2ss(Sys) - [n,m] = size(B) - m1 = columns(Sigw); - m2 = m1+1; - G = B(:,1:m1); - B = B(:,m2:m); - -elseif (nargin == 8) - # state-space format - m = columns(B); - m1 = columns(G); - p = rows(C); - n = abcddim(A,B,C,zeros(p,m)); - n1 = abcddim(A,G,C,zeros(p,m1)); - if( (n == -1) || (n1 == -1)) - error("dlqg: A,B,C,G incompatibly dimensioned"); - elseif(p != columns(Sigv)) - error("dlqg: C, Sigv incompatibly dimensioned"); - elseif(m1 != columns(Sigw)) - error("dlqg: G, Sigw incompatibly dimensioned"); - endif -else - error("dlqg: illegal number of arguments") -endif - -if (! (is_square(Sigw) && is_square(Sigv) ) ) - error("dlqg: Sigw, Sigv must be square"); -endif - -# now we can just do the design; call dlqr and dlqe, since all matrices -# are not given in Cholesky factor form (as in h2syn case) -[Ks, P, Er] = dlqr(A,B,Q,R); -[Ke, Q, jnk, Ee] = dlqe(A,G,C,Sigw,Sigv); -Ac = A - Ke*C - B*Ks; -Bc = Ke; -Cc = -Ks; -Dc = zeros(rows(Cc),columns(Bc)); -K = ss2sys(Ac,Bc,Cc,Dc,1); -disp("HODEL: need to add names to this guy!") + ## now we can just do the design; call dlqr and dlqe, since all matrices + ## are not given in Cholesky factor form (as in h2syn case) + [Ks, P, Er] = dlqr(A,B,Q,R); + [Ke, Q, jnk, Ee] = dlqe(A,G,C,Sigw,Sigv); + Ac = A - Ke*C - B*Ks; + Bc = Ke; + Cc = -Ks; + Dc = zeros(rows(Cc),columns(Bc)); + K = ss2sys(Ac,Bc,Cc,Dc,1); + disp("HODEL: need to add names to this guy!") endfunction
--- a/scripts/control/dlqr.m +++ b/scripts/control/dlqr.m @@ -1,20 +1,20 @@ -# Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{k}, @var{p}, @var{e}] =} dlqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{z}) @@ -105,44 +105,44 @@ ## @end deftypefn function [k, p, e] = dlqr (a, b, q, r, s) -# Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. -# Converted to discrete time by R. B. Tenison -# (btenison@eng.auburn.edu) October 1993 +## Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. +## Converted to discrete time by R. B. Tenison +## (btenison@eng.auburn.edu) October 1993 if (nargin != 4 && nargin != 5) error ("dlqr: invalid number of arguments"); endif -# Check a. +## Check a. if ((n = is_square (a)) == 0) error ("dlqr: requires 1st parameter(a) to be square"); endif -# Check b. +## Check b. [n1, m] = size (b); if (n1 != n) error ("dlqr: a,b not conformal"); endif -# Check q. +## Check q. if ((n1 = is_square (q)) == 0 || n1 != n) error ("dlqr: q must be square and conformal with a"); endif -# Check r. +## Check r. if((m1 = is_square(r)) == 0 || m1 != m) error ("dlqr: r must be square and conformal with column dimension of b"); endif -# Check if n is there. +## Check if n is there. if (nargin == 5) [n1, m1] = size (s); if (n1 != n || m1 != m) error ("dlqr: z must be identically dimensioned with b"); endif -# Incorporate cross term into a and q. +## Incorporate cross term into a and q. ao = a - (b/r)*s'; qo = q - (s/r)*s'; @@ -152,7 +152,7 @@ qo = q; endif -# Check that q, (r) are symmetric, positive (semi)definite +## Check that q, (r) are symmetric, positive (semi)definite if (is_symmetric (q) && is_symmetric (r) ... && all (eig (q) >= 0) && all (eig (r) > 0))
--- a/scripts/control/dlyap.m +++ b/scripts/control/dlyap.m @@ -1,20 +1,20 @@ -# Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File} {@var{x} = } dlyap (@var{a}, @var{b}) @@ -61,7 +61,8 @@ ## @end deftypefn function x = dlyap (a, b) -# Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. + + ## Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. if ((n = is_square (a)) == 0) warning ("dlyap: a must be square"); @@ -82,7 +83,7 @@ warning ("dlyap: a,b not conformably dimensioned"); endif - # Solve the equation column by column. + ## Solve the equation column by column. [u, s] = schur (a); b = u'*b*u; @@ -91,7 +92,7 @@ while (j > 0) j1 = j; -# Check for Schur block. + ## Check for Schur block. if (j == 1) blksiz = 1; @@ -122,7 +123,7 @@ endwhile -# Back-transform to original coordinates. + ## Back-transform to original coordinates. x = u*x*u';
--- a/scripts/control/dmr2d.m +++ b/scripts/control/dmr2d.m @@ -1,20 +1,20 @@ -# Copyright (C) 1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[@var{dsys}, @var{fidx}] =} dmr2d (@var{sys}, @var{idx}, @var{sprefix}, @var{Ts2} @{,@var{cuflg}@}) @@ -71,12 +71,13 @@ ## @end deftypefn function [dsys,fidx] = dmr2d (sys, idx, sprefix, Ts2,cuflg) -# Adapted from c2d by a.s.hodel@eng.auburn.edu + + ## Adapted from c2d by a.s.hodel@eng.auburn.edu save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1; - # parse input arguments + ## parse input arguments if(nargin != 4 | nargout > 2) usage("[dsys,fidx] = dmr2d (sys, idx, sprefix, Ts2 {,cuflg})"); @@ -104,7 +105,7 @@ endif - # optional argument: cuflg + ## optional argument: cuflg if(nargin <= 4) cuflg = 1; # default: constant inputs over Ts2 sampling interv. elseif( !is_scalar(cuflg) ) @@ -113,10 +114,10 @@ error(["cuflg = ",num2str(cuflg),", should be 0 or 1"]); endif - # extract state space information + ## extract state space information [da,db,dc,dd,Ts1,nc,nz,stname,inname,outname,yd] = sys2ss(sys); - # compute number of steps + ## compute number of steps if(Ts1 > Ts2) error(["Current sampling time=",num2str(Ts1),"< Ts2=",num2str(Ts2)]); endif @@ -135,17 +136,17 @@ fidx = idx; else fidx = reshape(idx,1,length(idx)); - # find states whose name begins with any strings in sprefix. + ## find states whose name begins with any strings in sprefix. ns = length(sprefix); for kk=1:ns spk = nth(sprefix,kk); # get next prefix and length spl = length(spk); - # check each state name + ## check each state name for ii=1:nz sti = nth(stname,ii); # compare spk with this state name if(length(sti) >= spl) - # if the prefix matches and ii isn't already in the list, add ii + ## if the prefix matches and ii isn't already in the list, add ii if(strcmp(sti(1:spl),spk) & !any(fidx == ii) ) fidx = sort([fidx,ii]); endif @@ -162,20 +163,20 @@ error(["nstp = ", num2str(nstp)," < 0; this shouldn't be!"]); endif - # permute system matrices + ## permute system matrices pv = sysreorder(nz,fidx); pv = pv(nz:-1:1); # reverse order to put fast modes in leading block - # construct inverse permutation + ## construct inverse permutation Inz = eye(nz); pvi = (Inz(pv,:)'*[1:nz]')'; - # permute A, B (stname permuted for debugging only) + ## permute A, B (stname permuted for debugging only) da = da(pv,pv); db = db(pv,:); stname = stname(pv,:); - # partition A, B: + ## partition A, B: lfidx = length(fidx); bki = 1:lfidx; a11 = da(bki,bki); @@ -192,26 +193,23 @@ bki2 = []; endif - ##################################### - # begin system conversion: nstp steps - ##################################### + ## begin system conversion: nstp steps - # compute abar_{n-1}*a12 and appropriate b matrix stuff + ## compute abar_{n-1}*a12 and appropriate b matrix stuff a12b = a12; # running total of abar_{n-1}*a12 a12w = a12; # current a11^n*a12 (start with n = 0) if(cuflg) b1b = b1; b1w = b1; else - # cuflg == 0, need to keep track of intersample inputs too + ## cuflg == 0, need to keep track of intersample inputs too nzdx = find(max(abs(b1)) != 0); # FIXME: check tolerance relative to ||b1|| b1w = b1(nzdx); innamenz = inname(nzdx); b1b = b1; # initial b1 must match columns in b2 endif - ###################################### - # compute a11h = a11^nstp by squaring + ## compute a11h = a11^nstp by squaring a11h = eye(size(a11)); p2 = 1; a11p2 = a11; #a11^p2 @@ -228,14 +226,14 @@ endif endwhile - # FIXME: this part should probably also use squaring, but - # that would require exponentially growing memory. What do do? + ## FIXME: this part should probably also use squaring, but + ## that would require exponentially growing memory. What do do? for kk=2:nstp - # update a12 block to sum(a12 + ... + a11^(kk-1)*a12) + ## update a12 block to sum(a12 + ... + a11^(kk-1)*a12) a12w = a11*a12w; a12b = a12b + a12w; - # similar for b1 block (checking for cuflg first!) + ## similar for b1 block (checking for cuflg first!) b1w = a11*b1w; if(cuflg) b1b = b1b + b1w; # update b1 block just like we did a12 @@ -246,7 +244,7 @@ endif endfor - # reconstruct system and return + ## reconstruct system and return da(bki,bki) = a11h; db(bki,1:columns(b1b)) = b1b; if(!isempty(bki2)) @@ -257,7 +255,7 @@ db = db(pvi,:); stname = stname(pvi,:); - # construct new system and return + ## construct new system and return dsys = ss2sys(da,db,dc,dd,Ts2,0,nz,stname,inname,outname,find(yd == 1)); implicit_str_to_num_ok = save_val; # restore value
--- a/scripts/control/dre.m +++ b/scripts/control/dre.m @@ -1,126 +1,125 @@ -# Copyright (C) 1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. + +## [tvals,Plist] = dre(sys,Q,R,Qf,t0,tf{,Ptol,maxits}); +## Solve the differential Riccati equation +## -d P/dt = A'P + P A - P B inv(R) B' P + Q +## P(tf) = Qf +## for the LTI system sys. Solution of standard LTI +## state feedback optimization +## min \int_{t_0}^{t_f} x' Q x + u' R u dt + x(t_f)' Qf x(t_f) +## optimal input is +## u = - inv(R) B' P(t) x +## inputs: +## sys: continuous time system data structure +## Q: state integral penalty +## R: input integral penalty +## Qf: state terminal penalty +## t0,tf: limits on the integral +## Ptol: tolerance (used to select time samples; see below); default = 0.1 +## max number of refinement iterations (default=10) +## outputs: +## tvals: time values at which P(t) is computed +## Plist: list values of P(t); nth(Plist,ii) is P(tvals(ii)). +## +## tvals is selected so that || nth(Plist,ii) - nth(Plist,ii-1) || < Ptol +## for ii=2:length(tvals) function [tvals,Plist] = dre(sys,Q,R,Qf,t0,tf,Ptol,maxits) -# [tvals,Plist] = dre(sys,Q,R,Qf,t0,tf{,Ptol,maxits}); -# Solve the differential Riccati equation -# -d P/dt = A'P + P A - P B inv(R) B' P + Q -# P(tf) = Qf -# for the LTI system sys. Solution of standard LTI -# state feedback optimization -# min \int_{t_0}^{t_f} x' Q x + u' R u dt + x(t_f)' Qf x(t_f) -# optimal input is -# u = - inv(R) B' P(t) x -# inputs: -# sys: continuous time system data structure -# Q: state integral penalty -# R: input integral penalty -# Qf: state terminal penalty -# t0,tf: limits on the integral -# Ptol: tolerance (used to select time samples; see below); default = 0.1 -# max number of refinement iterations (default=10) -# outputs: -# tvals: time values at which P(t) is computed -# Plist: list values of P(t); nth(Plist,ii) is P(tvals(ii)). -# -# tvals is selected so that || nth(Plist,ii) - nth(Plist,ii-1) || < Ptol -# for ii=2:length(tvals) -# -# Reference: + + if(nargin < 6 | nargin > 8 | nargout != 2) + usage("[tvals,Plist] = dre(sys,Q,R,Qf,t0,tf{,Ptol})"); + elseif(!is_struct(sys)) + error("sys must be a system data structure") + elseif(is_digital(sys)) + error("sys must be a continuous time system") + elseif(!is_matrix(Q) | !is_matrix(R) | !is_matrix(Qf)) + error("Q, R, and Qf must be matrices."); + elseif(!is_scalar(t0) | !is_scalar(tf)) + error("t0 and tf must be scalars") + elseif(t0 >= tf) error("t0=%e >= tf=%e",t0,tf); + elseif(nargin == 6) Ptol = 0.1; + elseif(!is_scalar(Ptol)) error("Ptol must be a scalar"); + elseif(Ptol <= 0) error("Ptol must be positive"); + endif -if(nargin < 6 | nargin > 8 | nargout != 2) - usage("[tvals,Plist] = dre(sys,Q,R,Qf,t0,tf{,Ptol})"); -elseif(!is_struct(sys)) - error("sys must be a system data structure") -elseif(is_digital(sys)) - error("sys must be a continuous time system") -elseif(!is_matrix(Q) | !is_matrix(R) | !is_matrix(Qf)) - error("Q, R, and Qf must be matrices."); -elseif(!is_scalar(t0) | !is_scalar(tf)) - error("t0 and tf must be scalars") -elseif(t0 >= tf) error("t0=%e >= tf=%e",t0,tf); -elseif(nargin == 6) Ptol = 0.1; -elseif(!is_scalar(Ptol)) error("Ptol must be a scalar"); -elseif(Ptol <= 0) error("Ptol must be positive"); -endif + if(nargin < 8) maxits = 10; + elseif(!is_scalar(maxits)) error("maxits must be a scalar"); + elseif(maxits <= 0) error("maxits must be positive"); + endif + maxits = ceil(maxits); + + [aa,bb] = sys2ss(sys); + nn = sysdimensions(sys,"cst"); + mm = sysdimensions(sys,"in"); + pp = sysdimensions(sys,"out"); -if(nargin < 8) maxits = 10; -elseif(!is_scalar(maxits)) error("maxits must be a scalar"); -elseif(maxits <= 0) error("maxits must be positive"); -endif -maxits = ceil(maxits); + if(size(Q) != [nn, nn]) + error("Q(%dx%d); sys has %d states",rows(Q),columns(Q),nn); + elseif(size(Qf) != [nn, nn]) + error("Qf(%dx%d); sys has %d states",rows(Qf),columns(Qf),nn); + elseif(size(R) != [mm, mm]) + error("R(%dx%d); sys has %d inputs",rows(R),columns(R),mm); + endif -[aa,bb] = sys2ss(sys); -nn = sysdimensions(sys,"cst"); -mm = sysdimensions(sys,"in"); -pp = sysdimensions(sys,"out"); + ## construct Hamiltonian matrix + H = [aa , -(bb/R)*bb' ; -Q, -aa']; -if(size(Q) != [nn, nn]) - error("Q(%dx%d); sys has %d states",rows(Q),columns(Q),nn); -elseif(size(Qf) != [nn, nn]) - error("Qf(%dx%d); sys has %d states",rows(Qf),columns(Qf),nn); -elseif(size(R) != [mm, mm]) - error("R(%dx%d); sys has %d inputs",rows(R),columns(R),mm); -endif - -# construct Hamiltonian matrix -H = [aa , -(bb/R)*bb' ; -Q, -aa']; + ## select time step to avoid numerical overflow + fast_eig = max(abs(eig(H))); + tc = log(10)/fast_eig; + nst = ceil((tf-t0)/tc); + tvals = -linspace(-tf,-t0,nst); + Plist = list(Qf); + In = eye(nn); + n1 = nn+1; + n2 = nn+nn; + done = 0; + while(!done) + done = 1; # assume this pass will do the job + ## sort time values in reverse order + tvals = -sort(-tvals); + tvlen = length(tvals); + maxerr = 0; + ## compute new values of P(t); recompute old values just in case + for ii=2:tvlen + uv_i_minus_1 = [ In ; nth(Plist,ii-1) ]; + delta_t = tvals(ii-1) - tvals(ii); + uv = expm(-H*delta_t)*uv_i_minus_1; + Qi = uv(n1:n2,1:nn)/uv(1:nn,1:nn); + Plist(ii) = (Qi+Qi')/2; + ## check error + Perr = norm(nth(Plist,ii) - nth(Plist,ii-1))/norm(nth(Plist,ii)); + maxerr = max(maxerr,Perr); + if(Perr > Ptol) + new_t = mean(tvals([ii,ii-1])); + tvals = [tvals, new_t]; + done = 0; + endif + endfor -# select time step to avoid numerical overflow -fast_eig = max(abs(eig(H))); -tc = log(10)/fast_eig; -nst = ceil((tf-t0)/tc); -tvals = -linspace(-tf,-t0,nst); -Plist = list(Qf); -In = eye(nn); -n1 = nn+1; -n2 = nn+nn; -done = 0; -while(!done) - done = 1; # assume this pass will do the job - # sort time values in reverse order - tvals = -sort(-tvals); - tvlen = length(tvals); - maxerr = 0; - # compute new values of P(t); recompute old values just in case - for ii=2:tvlen - uv_i_minus_1 = [ In ; nth(Plist,ii-1) ]; - delta_t = tvals(ii-1) - tvals(ii); - uv = expm(-H*delta_t)*uv_i_minus_1; - Qi = uv(n1:n2,1:nn)/uv(1:nn,1:nn); - Plist(ii) = (Qi+Qi')/2; - # check error - Perr = norm(nth(Plist,ii) - nth(Plist,ii-1))/norm(nth(Plist,ii)); - maxerr = max(maxerr,Perr); - if(Perr > Ptol) - new_t = mean(tvals([ii,ii-1])); - tvals = [tvals, new_t]; - done = 0; - endif - endfor - - # check number of iterations - maxits = maxits - 1; - done = done+(maxits==0); -endwhile -if(maxerr > Ptol) - warning("dre: \n\texiting with%4d points, max rel chg. =%e, Ptol=%e\n", ... - tvlen,maxerr,Ptol); - tvals = tvals(1:length(Plist)); -endif + ## check number of iterations + maxits = maxits - 1; + done = done+(maxits==0); + endwhile + if(maxerr > Ptol) + warning("dre: \n\texiting with%4d points, max rel chg. =%e, Ptol=%e\n", ... + tvlen,maxerr,Ptol); + tvals = tvals(1:length(Plist)); + endif endfunction
--- a/scripts/control/fir2sys.m +++ b/scripts/control/fir2sys.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{sys} =} fir2sys ( @var{num}@{, @var{tsam}, @var{inname}, @var{outname} @} ) @@ -68,41 +68,31 @@ ## @end deftypefn function sys = fir2sys (num,tsam,inname,outname) - # - # outsys = fir2sys(num,{tsam,inname,outname}) - # construct a system data structure from FIR description - # inputs: - # num: vector of coefficients [c0 c1 ... cn] of the SISO FIR transfer - # function C(z) = c0 + c1*z^{-1} + c2*z^{-2} + ... + znz^{-n} - # tsam: sampling time (default: 1) - # inname: name of input signal - # outname: name of output signal - # outputs: sys (system data structure) - - # Written by R. Bruce Tenison July 29, 1994 - # Name changed to TF2SYS July 1995 - # updated for new system data structure format July 1996 - # adapted from tf2sys july 1996 + + ## Written by R. Bruce Tenison July 29, 1994 + ## Name changed to TF2SYS July 1995 + ## updated for new system data structure format July 1996 + ## adapted from tf2sys july 1996 save_val = implicit_str_to_num_ok; implicit_str_to_num_ok = 1; - # Test for the correct number of input arguments + ## Test for the correct number of input arguments if (nargin < 1 | nargin > 4) usage('sys=fir2sys(num[,tsam,inname,outname])'); endif - # let tf2sys do the argument checking + ## let tf2sys do the argument checking den = [1,zeros(1,length(num)-1)]; - # check sampling interval (if any) + ## check sampling interval (if any) if(nargin <= 1) tsam = 1; # default elseif (isempty(tsam)) tsam = 1; endif - # Set name of input + ## Set name of input if(nargin < 3) inname = sysdefioname(1,"u"); endif - # Set name of output + ## Set name of output if(nargin < 4) outname = sysdefioname(1,"y"); endif sys = tf2sys(num,den,tsam,inname,outname);
--- a/scripts/control/frdemo.m +++ b/scripts/control/frdemo.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { } frdemo ( ) @@ -22,10 +22,11 @@ ## @end deftypefn function frdemo() -# Written by David Clem August 15, 1994 + + ## Written by David Clem August 15, 1994 -# a s hodel: updated to match new order of ss2zp outputs -# J Ingram: updated for system data structure format August 1996 + ## a s hodel: updated to match new order of ss2zp outputs + ## J Ingram: updated for system data structure format August 1996 disp("") clc @@ -566,20 +567,20 @@ clc disp("MIMO SYSTEM: Nyquist cannot be used for discrete MIMO systems"); disp("at this time."); -# cmd = "dsys_mimo = sysgroup(sys2,dsys3);"; -# disp(cmd); -# eval(cmd); -# cmd = "sysout(dsys_mimo);"; -# disp(cmd); -# eval(cmd); -# disp("\nTo view the system's nyquist plot, execute the following command:\n") -# cmd = "nyquist(dsys_mimo);"; -# run_cmd; -# prompt -# disp("\nTo view the nyquist plots for selected channels, the command form changes:") -# cmd = "nyquist(dsys_mimo,[],1,1);"; -# run_cmd; -# disp("\nNotice that this bode plot is the same as the plot from example 2."); + ## cmd = "dsys_mimo = sysgroup(sys2,dsys3);"; + ## disp(cmd); + ## eval(cmd); + ## cmd = "sysout(dsys_mimo);"; + ## disp(cmd); + ## eval(cmd); + ## disp("\nTo view the system's nyquist plot, execute the following command:\n") + ## cmd = "nyquist(dsys_mimo);"; + ## run_cmd; + ## prompt + ## disp("\nTo view the nyquist plots for selected channels, the command form changes:") + ## cmd = "nyquist(dsys_mimo,[],1,1);"; + ## run_cmd; + ## disp("\nNotice that this bode plot is the same as the plot from example 2."); prompt closeplot
--- a/scripts/control/freqchkw.m +++ b/scripts/control/freqchkw.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{retval} =} freqchkw ( @var{w} ) @@ -23,7 +23,8 @@ ## @end deftypefn function USEW = freqchkw(w) - # A S Hodel July 1996 + + ## A S Hodel July 1996 if(isempty(w)) USEW = 0;
--- a/scripts/control/freqresp.m +++ b/scripts/control/freqresp.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{out} =} freqresp (@var{sys},@var{USEW}@{,@var{w}@}); @@ -40,13 +40,14 @@ ## @end deftypefn function [ff,w] = freqresp(sys,USEW,w); - # Written by: R. Bruce Tenison July 11, 1994 - # SYS_INTERNAL accesses members of system data structure + + ## Written by: R. Bruce Tenison July 11, 1994 + ## SYS_INTERNAL accesses members of system data structure save_val = empty_list_elements_ok; empty_list_elements_ok = 1; - # Check Args + ## Check Args if( (nargin < 2) || (nargin > 4) ) usage ("[ff,w] = freqresp(sys,USEW{,w})"); elseif( USEW & (nargin < 3) ) @@ -58,7 +59,7 @@ DIGITAL = is_digital(sys); - # compute default w if needed + ## compute default w if needed if(!USEW) if(is_siso(sys)) sys = sysupdate(sys,"zp"); @@ -68,14 +69,14 @@ pol = eig(sys2ss(sys)); endif - # get default frequency range + ## get default frequency range [wmin,wmax] = bode_bounds(zer,pol,DIGITAL,sysgettsam(sys)); w = logspace(wmin,wmax,50); else w = reshape(w,1,length(w)); # make sure it's a row vector endif - # now get complex values of s or z + ## now get complex values of s or z if(DIGITAL) jw = exp(i*w*sysgettsam(sys)); else @@ -84,9 +85,9 @@ [nn,nz,mm,pp] = sysdimensions(sys); - # now compute the frequency response - divide by zero yields a warning + ## now compute the frequency response - divide by zero yields a warning if (strcmp(sysgettype(sys),"zp")) - # zero-pole form (preferred) + ## zero-pole form (preferred) [zer,pol,sysk] = sys2zp(sys); ff = ones(size(jw)); l1 = min(length(zer)*(1-isempty(zer)),length(pol)*(1-isempty(pol))); @@ -94,25 +95,25 @@ ff = ff .* (jw - zer(ii)) ./ (jw - pol(ii)); endfor - # require proper transfer function, so now just get poles. + ## require proper transfer function, so now just get poles. for ii=(l1+1):length(pol) ff = ff ./ (jw - pol(ii)); endfor ff = ff*sysk; elseif (strcmp(sysgettype(sys),"tf")) - # transfer function form + ## transfer function form [num,den] = sys2tf(sys); ff = polyval(num,jw)./polyval(den,jw); elseif (mm==pp) - # The system is square; do state-space form bode plot + ## The system is square; do state-space form bode plot [sysa,sysb,sysc,sysd,tsam,sysn,sysnz] = sys2ss(sys); n = sysn + sysnz; for ii=1:length(jw); ff(ii) = det(sysc*((jw(ii).*eye(n)-sysa)\sysb)+sysd); endfor; else - # Must be state space... bode + ## Must be state space... bode [sysa,sysb,sysc,sysd,tsam,sysn,sysnz] = sys2ss(sys); n = sysn + sysnz; for ii=1:length(jw); @@ -124,7 +125,7 @@ w = reshape(w,1,length(w)); ff = reshape(ff,1,length(ff)); - # restore global variable + ## restore global variable empty_list_elements_ok = save_val; endfunction
--- a/scripts/control/gram.m +++ b/scripts/control/gram.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{m} =} gram (@var{a}, @var{b}) @@ -25,8 +25,9 @@ ## @end deftypefn function m = gram(a,b) - # Written by A. S. Hodel - # let lyap do the error checking... + ## Written by A. S. Hodel + + ## let lyap do the error checking... m = lyap(a,b*b'); endfunction
--- a/scripts/control/h2norm.m +++ b/scripts/control/h2norm.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {@var{retval} =} h2norm(@var{sys}) @@ -25,10 +25,10 @@ ## H2 and Hinf Control Problems", IEEE TAC August 1989 ## @end deftypefn +function h2gain = h2norm(sys) -function h2gain = h2norm(sys) - # A. S. Hodel Aug 1995 - # updated for system data structure by John Ingram November 1996 + ## A. S. Hodel Aug 1995 + ## updated for system data structure by John Ingram November 1996 if((nargin != 1)) usage("h2gain = h2norm(sys)"); @@ -41,7 +41,7 @@ warning("h2norm: unstable input system; returning Inf"); h2gain = Inf; else - # compute gain + ## compute gain [a,b,c,d] = sys2ss(sys); if(dflg) M = dlyap(a,b*b');
--- a/scripts/control/h2syn.m +++ b/scripts/control/h2syn.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[K}, @var{gain}, @var{Kc}, @var{Kf}, @var{Pc}, @var{Pf}] = h2syn(@var{Asys}, @var{nu}, @var{ny}, @var{tol}) @@ -59,7 +59,8 @@ ## @end deftypefn function [K,gain, Kc, Kf, Pc, Pf] = h2syn(Asys,nu,ny,tol) - # Updated for System structure December 1996 by John Ingram + + ## Updated for System structure December 1996 by John Ingram if ((nargin < 3) | (nargin > 4)) usage("[K,gain, Kc, Kf, Pc, Pf] = h2syn(Asys,nu,ny[,tol])"); @@ -75,7 +76,7 @@ error("h2syn: exit"); endif - # extract dgs information + ## extract dgs information nw = dgs.nw; nu = dgs.nu; A = dgs.A; Bw = dgs.Bw; Bu = dgs.Bu; Cz = dgs.Cz; Dzw = dgs.Dzw; Dzu = dgs.Dzu; nz = dgs.nz; @@ -89,7 +90,7 @@ D = [Dzw, Dzu ; Dyw, Dyu] endif - # recover i/o transformations + ## recover i/o transformations Ru = dgs.Ru; Ry = dgs.Ry; [ncstates, ndstates, nout, nin] = sysdimensions(Asys); Atsam = sysgettsam(Asys); @@ -107,7 +108,7 @@ BwL2 = Bw+L2*(Ry\Dyw); else - # discrete time solution + ## discrete time solution error("h2syn: discrete-time case not yet implemented") Pc = dare(A,Bu*Bu',Cz'*Cz); Pf = dare(A',Cy'*Cy,Bw*Bw'); @@ -122,7 +123,7 @@ g1 = h2norm(Kc1); g2 = h2norm(Kf1); - # compute optimal closed loop gain + ## compute optimal closed loop gain gain = sqrt ( g1*g1 + g2*g2 ); if(nargout) @@ -130,18 +131,18 @@ Kin = strappend(Aout((nout-ny+1):(nout)),"_K"); Kout = strappend(Ain((nin-nu+1):(nin)),"_K"); - # compute systems for return + ## compute systems for return K = ss2sys(KA,-L2/Ru,Ry\F2,zeros(nu,ny),Atsam,ncstates,ndstates,Kst,Kin,Kout); endif if (nargout > 2) - #system full information control state names + ## system full information control state names stname2 = strappend(Ast,"_FI"); - #system full information control input names + ## system full information control input names inname2 = strappend(Ast,"_FI_in"); - #system full information control output names + ## system full information control output names outname2 = strappend(Aout(1:(nout-ny)),"_FI_out"); nz = rows (Cz); @@ -152,13 +153,13 @@ endif if (nargout >3) - #fix system state estimator state names + ## fix system state estimator state names stname3 = strappend(Ast,"_Kf"); - #fix system state estimator input names + ## fix system state estimator input names inname3 = strappend(Ast,"_Kf_noise"); - #fix system state estimator output names + ## fix system state estimator output names outname3 = strappend(Ast,"_est"); Kf = ss2sys(AL2, BwL2, In, zeros(nn,nw),Atsam, ...
--- a/scripts/control/hinf_ctr.m +++ b/scripts/control/hinf_ctr.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {@var{K} =} hinf_ctr(@var{dgs}, @var{F}, @var{H}, @var{Z}, @var{g}) @@ -36,10 +36,11 @@ ## @end deftypefn function K = hinf_ctr(dgs,F,H,Z,g) - # A. S. Hodel August 1995 - # Revised by Kai P Mueller April 1998 to solve the general H_infinity - # problem using unitary transformations Q (on w and z) - # and non-singular transformations R (on u and y). + + ## A. S. Hodel August 1995 + ## Revised by Kai P Mueller April 1998 to solve the general H_infinity + ## problem using unitary transformations Q (on w and z) + ## and non-singular transformations R (on u and y). nw = dgs.nw; nu = dgs.nu; @@ -71,13 +72,13 @@ H12 = H(:,(nz-nu+1):nz); H2 = H(:,(nz+1):nout); - # D11 partitions + ## D11 partitions D1111 = D11(1:(nz-nu),1:(nw-ny)); D1112 = D11(1:(nz-nu),(nw-ny+1):nw); D1121 = D11((nz-nu+1):nz,1:(nw-ny)); D1122 = D11((nz-nu+1):nz,(nw-ny+1):nw); - # D11ik may be the empty matrix, don't calculate with empty matrices + ## D11ik may be the empty matrix, don't calculate with empty matrices [nd1111,md1111] = size(D1111); md1112 = length(D1112); md1121 = length(D1121); @@ -113,14 +114,14 @@ c1hat = F2*Z + (d11hat/d21hat)*c2hat; ahat = A + H*C + (b2hat/d12hat)*c1hat; - # rescale controller by Ru and Ry + ## rescale controller by Ru and Ry b1hat = b1hat/Ry; c1hat = Ru\c1hat; bhat = [b1hat, b2hat]; chat = [c1hat; c2hat]; dhat = [Ru\d11hat/Ry, Ru\d12hat; d21hat/Ry, 0*d11hat']; - # non-zero D22 is a special case + ## non-zero D22 is a special case if (d22nz) if (rank(eye(nu) + d11hat*D22) < nu) error(" *** cannot compute controller for D22 non-zero.");
--- a/scripts/control/hinfdemo.m +++ b/scripts/control/hinfdemo.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Kai Mueller -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Kai Mueller +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## hinfdemo H_infinity design demos for continuous SISO and MIMO @@ -125,7 +125,7 @@ ## functions ## @end deftypefn -# Kai P. Mueller 30-APR-1998 <mueller@ifr.ing.tu-bs.de +## Kai P. Mueller 30-APR-1998 <mueller@ifr.ing.tu-bs.de yn = []; while (length(yn) < 1) @@ -146,7 +146,7 @@ switch (sys_type) case (1) - # siso + ## siso disp(" "); disp(" ----------------------------------------------"); disp(" H_infinity optimal control for the SISO plant:"); @@ -158,14 +158,14 @@ disp(" ----------------------------------------------"); disp(" "); - # weighting on actuator u + ## weighting on actuator u W1 = wgt1o(0.05, 100.0, 425.0); - # weighting on controlled variable y + ## weighting on controlled variable y W2 = wgt1o(10.0, 0.05, 0.001); - # plant + ## plant G = tf2sys([1 -2],[1 1 -2]); - # need One as the pseudo transfer function One = 1 + ## need One as the pseudo transfer function One = 1 One = ugain(1); disp(" o forming P..."); psys = buildssic([1 4;2 4;3 1],[3],[2 3 5],[3 4],G,W1,W2,One); @@ -177,8 +177,8 @@ disp(" Closed loop poles:"); damp(GW); - # disp(" o Testing H_infinity norm: (hinfnorm does not work)"); - # hinfnorm(GW); + ## disp(" o Testing H_infinity norm: (hinfnorm does not work)"); + ## hinfnorm(GW); disp(" "); yn = input(" * Plot closed loop step response? [n]: ","S"); @@ -192,22 +192,22 @@ endif case (2) - # mimo + ## mimo disp(" "); disp(" -----------------------------------------------"); disp(" H_inf optimal control for the jet707 plant"); disp(" -----------------------------------------------"); disp(" "); - # Weighting function on u (robustness weight) + ## Weighting function on u (robustness weight) ww1 = wgt1o(0.01,5,0.9); ww2 = wgt1o(0.01,5,2.2); W1 = buildssic([1 0;2 0],[],[1 2],[1 2],ww1,ww2); - # Weighting function on y (performance weight) + ## Weighting function on y (performance weight) ww1 = wgt1o(250,0.1,0.0001); ww2 = wgt1o(250,0.1,0.0002); W2 = buildssic([1 0;2 0],[],[1 2],[1 2],ww1,ww2); - # plant (2 x 2 system) + ## plant (2 x 2 system) G = jet707; disp(" o forming P..."); @@ -249,7 +249,7 @@ endif case (3) - # discrete + ## discrete disp(" "); disp(" --------------------------------------------------"); disp(" Discrete H_infinity optimal control for the plant:"); @@ -260,26 +260,26 @@ disp(" --------------------------------------------------"); disp(" "); - # sampling time + ## sampling time Ts = 1.0; - # weighting on actuator value u + ## weighting on actuator value u W1 = wgt1o(0.1, 200.0, 50.0); - # weighting on controlled variable y + ## weighting on controlled variable y W2 = wgt1o(350.0, 0.05, 0.0002); - # omega axis + ## omega axis ww = logspace(-4.99, 3.99, 100); if (columns(ww) > 1); ww = ww'; endif - # continuous plant + ## continuous plant G = tf2sys(2,[1 3 2]); - # discrete plant with zoh + ## discrete plant with zoh Gd = c2d(G, Ts); - # w-plane (continuous representation of the sampled system) + ## w-plane (continuous representation of the sampled system) Gw = d2c(Gd, "bi"); disp(" "); disp(" o building P..."); - # need One as the pseudo transfer function One = 1 + ## need One as the pseudo transfer function One = 1 One = ugain(1); psys = buildssic([1 4;2 4;3 1],[3],[2 3 5],[3 4],Gw,W1,W2,One); disp(" o controller design..."); @@ -323,4 +323,4 @@ disp(" o hinfdemo terminated successfully."); -# KPM-hinfdemo/End +## KPM-hinfdemo/End
--- a/scripts/control/hinfnorm.m +++ b/scripts/control/hinfnorm.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[@var{g}, @var{gmin}, @var{gmax}] =} hinfnorm(@var{sys}@{, @var{tol}, @var{gmin}, @var{gmax}, @var{ptol}@}) @@ -71,7 +71,7 @@ error("Sys must be a system data structure"); endif - # set defaults where applicable + ## set defaults where applicable if(nargin < 5) ptol = 1e-9; # pole tolerance endif @@ -84,7 +84,7 @@ [A,B,C,D] = sys2ss(sys); [n,nz,m,p] = sysdimensions(sys); - # eigenvalues of A must all be stable + ## eigenvalues of A must all be stable if(!is_stable(sys)) warning(["hinfnorm: unstable system (is_stable, ptol=",num2str(ptol), ... "), returning Inf"]); @@ -102,7 +102,7 @@ tol = 0.001; # convergence measure for gmin, gmax endif - # check for scalar input arguments 2...5 + ## check for scalar input arguments 2...5 if( ! (is_scalar(tol) && is_scalar(gmin) && is_scalar(gmax) && is_scalar(ptol)) ) error("hinfnorm: tol, gmin, gmax, ptol must be scalars"); @@ -111,22 +111,22 @@ In = eye(n+nz); Im = eye(m); Ip = eye(p); - # find the Hinf norm via binary search + ## find the Hinf norm via binary search while((gmax/gmin - 1) > tol) g = (gmax+gmin)/2; if(dflg) - # multiply g's through in formulas to avoid extreme magnitudes... + ## multiply g's through in formulas to avoid extreme magnitudes... Rg = g^2*Im - D'*D; Ak = A + (B/Rg)*D'*C; Ck = g^2*C'*((g^2*Ip-D*D')\C); - # set up symplectic generalized eigenvalue problem per Iglesias & Glover + ## set up symplectic generalized eigenvalue problem per Iglesias & Glover s1 = [Ak , zeros(nz) ; -Ck, In ]; s2 = [In, -(B/Rg)*B' ; zeros(nz) , Ak' ]; - # guard against roundoff again: zero out extremely small values - # prior to balancing + ## guard against roundoff again: zero out extremely small values + ## prior to balancing s1 = s1 .* (abs(s1) > ptol*norm(s1,"inf")); s2 = s2 .* (abs(s2) > ptol*norm(s2,"inf")); [cc,dd,s1,s2] = balance(s1,s2); @@ -135,15 +135,15 @@ normH = norm([s1,s2]); Hb = [s1, s2]; - # check R - B' X B condition (Iglesias and Glover's paper) + ## check R - B' X B condition (Iglesias and Glover's paper) X = zz((nz+1):(2*nz),1:nz)/zz(1:nz,1:nz); dcondfailed = min(real( eig(Rg - B'*X*B)) < ptol); else Rinv = inv(g*g*Im - (D' * D)); H = [A + B*Rinv*D'*C, B*Rinv*B'; ... -C'*(Ip + D*Rinv*D')*C, -(A + B*Rinv*D'*C)']; - # guard against roundoff: zero out extremely small values prior - # to balancing + ## guard against roundoff: zero out extremely small values prior + ## to balancing H = H .* (abs(H) > ptol*norm(H,"inf")); [DD,Hb] = balance(H); pls = eig(Hb);
--- a/scripts/control/hinfsyn.m +++ b/scripts/control/hinfsyn.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[@var{K}, @var{g}, @var{GW}, @var{Xinf}, @var{Yinf}] =} hinfsyn(@var{Asys}, @var{nu}, @var{ny}, @var{gmin}, @var{gmax}, @var{gtol}@{, @var{ptol}, @var{tol}@}) @@ -76,17 +76,18 @@ ## @end deftypefn function [K,g,GW,Xinf,Yinf] = hinfsyn(Asys,nu,ny,gmin,gmax,gtol,ptol,tol) - # A. S. Hodel August 1995 - # Updated for Packed system structures December 1996 by John Ingram - # - # Revised by Kai P Mueller April 1998 to solve the general H_infinity - # problem using unitary transformations Q (on w and z) - # and non-singular transformations R (on u and y). + + ## A. S. Hodel August 1995 + ## Updated for Packed system structures December 1996 by John Ingram + ## + ## Revised by Kai P Mueller April 1998 to solve the general H_infinity + ## problem using unitary transformations Q (on w and z) + ## and non-singular transformations R (on u and y). if( (nargin < 1) | (nargin > 8) ) usage("[K,g,GW,Xinf,Yinf] = hinfsyn(Asys,nu,ny,gmin,gmax,gtol,ptol,tol)"); endif - # set default arguments + ## set default arguments if(nargin < 8) tol = 200*eps; elseif(!is_sample(tol)) @@ -111,7 +112,7 @@ error("hinfsyn: exit"); endif - # extract dgs information + ## extract dgs information nw = dgs.nw; nu = dgs.nu; A = dgs.A; B1 = dgs.Bw; B2 = dgs.Bu; C1 = dgs.Cz; D11 = dgs.Dzw; D12 = dgs.Dzu; nz = dgs.nz; @@ -119,7 +120,7 @@ d22nz = dgs.Dyu_nz; dflg = dgs.dflg; - # recover i/o transformations + ## recover i/o transformations R12 = dgs.Ru; R21 = dgs.Ry; [ncstates, ndstates, nin, nout] = sysdimensions(Asys); Atsam = sysgettsam(Asys); @@ -131,9 +132,9 @@ if (dflg == 0) n = ncstates; - # perform binary search to find gamma min + ## perform binary search to find gamma min ghi = gmax; - # derive a lower lower bound for gamma from D matrices + ## derive a lower lower bound for gamma from D matrices xx1 = norm((eye(nz) - (D12/(D12'*D12))*D12')*D11); xx2 = norm(D11*(eye(nw)-(D21'/(D21*D21'))*D21)); glo = max(xx1, xx2); @@ -160,7 +161,7 @@ printf("----------------------------------------"); printf("--------------------------------------\n"); - # ------123456789012345678901234567890123456789012345678901234567890 + ## ------123456789012345678901234567890123456789012345678901234567890 printf(" .........X......... .........Y......... "); printf(".Z. PASS REMARKS\n"); printf(" ga iax nev ene sym pos iax nev ene sym pos "); @@ -168,7 +169,7 @@ printf("----------------------------------------"); printf("--------------------------------------\n"); - # set up error messages + ## set up error messages errmesg = list(" o o o o o ", ... " # - - - - ", ... " o # - - - ", ... @@ -193,7 +194,7 @@ "Rtilde singular"); - # now do the search + ## now do the search while (!iteration_finished) switch (search_state) case (0) g = ghi; @@ -203,7 +204,7 @@ endswitch printf("%10.4f ", g); - # computing R and R~ + ## computing R and R~ d1dot = [D11, D12]; R = zeros(nin, nin); R(1:nw,1:nw) = -g*g*eye(nw); @@ -216,14 +217,14 @@ [Xinf,x_ha_err] = hinfsyn_ric(A,BB,C1,d1dot,R,ptol); [Yinf,y_ha_err] = hinfsyn_ric(A',CC',B1',ddot1',Rtilde,ptol); - # assume failure for this gamma + ## assume failure for this gamma passed = 0; rerr=""; if (!x_ha_err && !y_ha_err) - # test spectral radius condition + ## test spectral radius condition rho = max(abs(eig(Xinf * Yinf))); if (rho < g*g) - # spectral radius condition passed + ## spectral radius condition passed passed = 1; else rerr = sprintf("rho=%f",rho); @@ -254,7 +255,7 @@ switch (search_state) case (0) if (!passed) - # upper bound must pass but did not + ## upper bound must pass but did not fprintf(" *** the upper bound of gamma (%f) is too small.\n", g); iteration_finished = 2; else @@ -263,12 +264,12 @@ case (1) if (!passed) search_state = 2; else - # lower bound must not pass but passed + ## lower bound must not pass but passed fprintf(" *** the lower bound of gamma (%f) passed.\n", g); iteration_finished = 3; endif case (2) - # Normal case; must check that singular R, Rtilde wasn't the problem. + ## Normal case; must check that singular R, Rtilde wasn't the problem. if ((!passed) & (x_ha_err != 6) & (y_ha_err != 6) ) glo = g; else ghi = g; endif de = ghi - glo; @@ -282,7 +283,7 @@ if (iteration_finished != 1) K = []; else - # success: compute controller + ## success: compute controller fprintf(" hinfsyn final: glo=%f ghi=%f, test gain g=%f\n", \ glo, ghi, g); printf("----------------------------------------"); @@ -304,7 +305,7 @@ elseif(ndstates) - # discrete time solution + ## discrete time solution error("hinfsyn: discrete-time case not yet implemented") endif
--- a/scripts/control/hinfsyn_chk.m +++ b/scripts/control/hinfsyn_chk.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{retval}, @var{Pc}, @var{Pf}] =} hinfsyn_chk(@var{A}, @var{B1}, @var{B2}, @var{C1}, @var{C2}, @var{D12}, @var{D21}, @var{g}, @var{ptol}) @@ -46,16 +46,17 @@ ## @end deftypefn function [retval,Pc,Pf] = hinfsyn_chk(A,B1,B2,C1,C2,D12,D21,g,ptol) - # A. S. Hodel August 1995 + + ## A. S. Hodel August 1995 Pc = Pf = []; - # Construct the two Hamiltonians + ## Construct the two Hamiltonians g2 = 1/(g*g); Hc = [ A , g2*B1*B1' - B2*B2'; -C1'*C1 , -A']; Hf = [ A' , g2*C1'*C1 - C2'*C2; -B1*B1' , -A]; - # check if Hc, Hf are in dom(Ric) + ## check if Hc, Hf are in dom(Ric) Hcminval = min(abs(real(eig(Hc)))); Hfminval = min(abs(real(eig(Hf)))); if(Hcminval < ptol); @@ -69,7 +70,7 @@ return endif - #Solve ARE's + ## Solve ARE's Pc = are(A, B2*B2'-g2*B1*B1',C1'*C1); Pf = are(A',C2'*C2-g2*C1'*C1,B1*B1'); @@ -93,7 +94,7 @@ return endif - # all conditions met. + ## all conditions met. retval = 1; endfunction
--- a/scripts/control/hinfsyn_ric.m +++ b/scripts/control/hinfsyn_ric.m @@ -1,72 +1,75 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. + +## usage: [Xinf,x_ha_err] = hinfsyn_ric(A,BB,C1,d1dot,R,ptol) +## +## forms +## xx = ([BB; -C1'*d1dot]/R) * [d1dot'*C1 BB']; +## Ha = [A 0*A; -C1'*C1 -A'] - xx; +## and solves associated Riccati equation +## returns error code +## x_ha_err: +## 0: successful +## 1: Xinf has imaginary eigenvalues +## 2: Hx not Hamiltonian +## 3: Xinf has inf. eigenvalues (numerical overflow) +## 4: Xinf not symmetric +## 5: Xinf not positive definite +## 6: R is singular function [Xinf,x_ha_err] = hinfsyn_ric(A,BB,C1,d1dot,R,ptol) -# -# forms -# xx = ([BB; -C1'*d1dot]/R) * [d1dot'*C1 BB']; -# Ha = [A 0*A; -C1'*C1 -A'] - xx; -# and solves associated Riccati equation -# returns error code -# x_ha_err: -# 0: successful -# 1: Xinf has imaginary eigenvalues -# 2: Hx not Hamiltonian -# 3: Xinf has inf. eigenvalues (numerical overflow) -# 4: Xinf not symmetric -# 5: Xinf not positive definite -# 6: R is singular + + x_ha_err = 0; # assume success + Xinf = []; # default return value + n = is_square(A); + nw = is_square(R); + if(rank(R) != nw) x_ha_err = 6; + else # build hamiltonian Ha for X_inf + xx = ([BB; -C1'*d1dot]/R) * [d1dot'*C1, BB']; + Ha = [A, 0*A; -C1'*C1, -A'] - xx; + x_ha_err = 0; + [d, Ha] = balance(Ha); + [u, s] = schur(Ha, "A"); + rev = real(eig(s)); -x_ha_err = 0; # assume success -Xinf = []; # default return value -n = is_square(A); -nw = is_square(R); -if(rank(R) != nw) x_ha_err = 6; -else # build hamiltonian Ha for X_inf - xx = ([BB; -C1'*d1dot]/R) * [d1dot'*C1, BB']; - Ha = [A, 0*A; -C1'*C1, -A'] - xx; - x_ha_err = 0; - [d, Ha] = balance(Ha); - [u, s] = schur(Ha, "A"); - rev = real(eig(s)); - - if (any(abs(rev) <= ptol)) # eigenvalues near the imaginary axis - x_ha_err = 1; - elseif (sum(rev > 0) != sum(rev < 0)) - # unequal number of positive and negative eigenvalues - x_ha_err = 2; - else - # compute positive Riccati equation solution - u = d * u; - Xinf = u(n+1:2*n,1:n) / u(1:n,1:n); - if (!all(all(finite(Xinf)))) - x_ha_err = 3; - elseif (norm(Xinf-Xinf') >= 10*ptol) - # solution not symmetric - x_ha_err = 4; + if (any(abs(rev) <= ptol)) # eigenvalues near the imaginary axis + x_ha_err = 1; + elseif (sum(rev > 0) != sum(rev < 0)) + ## unequal number of positive and negative eigenvalues + x_ha_err = 2; else - # positive semidefinite? - # force symmetry (faster, avoids some convergence problems) - Xinf = (Xinf + Xinf')/2; - rev = eig(Xinf); - if (any(rev <= -ptol)) - x_ha_err = 5; + ## compute positive Riccati equation solution + u = d * u; + Xinf = u(n+1:2*n,1:n) / u(1:n,1:n); + if (!all(all(finite(Xinf)))) + x_ha_err = 3; + elseif (norm(Xinf-Xinf') >= 10*ptol) + ## solution not symmetric + x_ha_err = 4; + else + ## positive semidefinite? + ## force symmetry (faster, avoids some convergence problems) + Xinf = (Xinf + Xinf')/2; + rev = eig(Xinf); + if (any(rev <= -ptol)) + x_ha_err = 5; + endif endif endif endif -endif +endfunction
--- a/scripts/control/impulse.m +++ b/scripts/control/impulse.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[@var{y}, @var{t}] =} impulse (@var{sys}@{, @var{inp},@var{tstop}, @var{n}@}) @@ -46,9 +46,9 @@ function [y, t] = impulse(sys, inp, tstop, n) -# Written by Kai P. Mueller October 2, 1997 -# based on lsim.m of Scottedward Hodel -# modified by +## Written by Kai P. Mueller October 2, 1997 +## based on lsim.m of Scottedward Hodel +## modified by if((nargin < 1) || (nargin > 4)) usage("[y, u] = impulse(sys[, inp, tstop, n])");
--- a/scripts/control/is_abcd.m +++ b/scripts/control/is_abcd.m @@ -1,20 +1,20 @@ -# Copyright (C) 1997 Kai P. Mueller -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1997 Kai P. Mueller +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{retval} =} is_abcd( @var{a}@{, @var{b}, @var{c}, @var{d}@}) @@ -26,20 +26,21 @@ ## See also: abcddim function retval = is_abcd(a, b, c, d) - # Written by Kai P. Mueller November 4, 1997 - # based on is_controllable.m of Scottedward Hodel - # modified by + + ## Written by Kai P. Mueller November 4, 1997 + ## based on is_controllable.m of Scottedward Hodel + ## modified by retval = 0; switch (nargin) case (1) - # A only + ## A only [na, ma] = size(a); if (na != ma) disp("Matrix A ist not square.") endif case (2) - # A, B only + ## A, B only [na, ma] = size(a); [nb, mb] = size(b); if (na != ma) disp("Matrix A ist not square.") @@ -50,7 +51,7 @@ return; endif case (3) - # A, B, C only + ## A, B, C only [na, ma] = size(a); [nb, mb] = size(b); [nc, mc] = size(c); if (na != ma) disp("Matrix A ist not square.") @@ -65,7 +66,7 @@ return; endif case (4) - # all matrices A, B, C, D + ## all matrices A, B, C, D [na, ma] = size(a); [nb, mb] = size(b); [nc, mc] = size(c); [nd, md] = size(d); if (na != ma) @@ -91,6 +92,6 @@ otherwise usage("retval = is_abcd(a [, b, c, d])") endswitch - # all tests passed, signal ok. + ## all tests passed, signal ok. retval = 1; endfunction
--- a/scripts/control/is_controllable.m +++ b/scripts/control/is_controllable.m @@ -1,20 +1,20 @@ -# Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[@var{retval}, @var{U}] =} is_controllable (@var{sys}@{, @var{tol}@}) @@ -55,20 +55,21 @@ ## ## @end deftypefn -# See also: size, rows, columns, length, is_matrix, is_scalar, is_vector -# is_observable, is_stabilizable, is_detectable, krylov, krylovb +## See also: size, rows, columns, length, is_matrix, is_scalar, is_vector +## is_observable, is_stabilizable, is_detectable, krylov, krylovb function [retval,U] = is_controllable (a, b, tol) -# Written by A. S. Hodel (scotte@eng.auburn.edu) August, 1993. -# Updated by A. S. Hodel (scotte@eng.auburn.edu) Aubust, 1995 to use krylovb -# Updated by John Ingram (ingraje@eng.auburn.edu) July, 1996 for packed systems + + ## Written by A. S. Hodel (scotte@eng.auburn.edu) August, 1993. + ## Updated by A. S. Hodel (scotte@eng.auburn.edu) Aubust, 1995 to use krylovb + ## Updated by John Ingram (ingraje@eng.auburn.edu) July, 1996 for packed systems deftol = 1; # assume default tolerance if(nargin < 1 | nargin > 3) usage("[retval,U] = %s\n\t%s", "is_controllable(a {, b ,tol})", ... "is_controllable(sys{,tol})"); elseif(is_struct(a)) - # system structure passed. + ## system structure passed. sys = sysupdate(a,"ss"); [a,bs] = sys2ss(sys); if(nargin > 2) @@ -79,7 +80,7 @@ endif b = bs; else - # a,b arguments sent directly. + ## a,b arguments sent directly. if(nargin < 2) usage("[retval,U] = is_controllable(a {, b ,tol})"); else @@ -87,10 +88,10 @@ endif endif - # check for default tolerance + ## check for default tolerance if(deftol) tol = 1000*eps; endif - # check tol dimensions + ## check tol dimensions if( !is_scalar(tol) ) error("is_controllable: tol(%dx%d) must be a scalar", ... rows(tol),columns(tol)); @@ -98,7 +99,7 @@ error("is_controllable: tol=%e must be positive",tol); endif - # check dimensions compatibility + ## check dimensions compatibility n = is_square (a); [nr, nc] = size (b); @@ -106,8 +107,8 @@ warning("is_controllable: a=(%dx%d), b(%dx%d)",rows(a),columns(a),nr,nc); retval = 0; else - # call block-krylov subspace routine to get an orthogonal basis - # of the controllable subspace. + ## call block-krylov subspace routine to get an orthogonal basis + ## of the controllable subspace. [U,H,Ucols] = krylov(a,b,n,tol,1); retval = (Ucols == n); endif
--- a/scripts/control/is_detectable.m +++ b/scripts/control/is_detectable.m @@ -1,20 +1,20 @@ -# Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { [@var{retval}, @var{U}] =} is_detectable (@var{a}, @var{c}@{, @var{tol}@}) @@ -34,13 +34,14 @@ ## See also: size, rows, columns, length, is_matrix, is_scalar, is_vector. function [retval,U] = is_detectable (a,c,tol) -# Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. -# Updated by John Ingram (ingraje@eng.auburn.edu) July 1996. + + ## Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. + ## Updated by John Ingram (ingraje@eng.auburn.edu) July 1996. if( nargin < 1) usage("[retval,U] = is_detectable(a , c {, tol})"); elseif(is_struct(a)) - # system form + ## system form if(nargin == 2) tol = c; elseif(nargin > 2)
--- a/scripts/control/is_dgkf.m +++ b/scripts/control/is_dgkf.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { [@var{retval}, @var{dgkf_struct} ] =} is_dgkf (@var{Asys}, @var{nu}, @var{ny}, @var{tol} ) @@ -95,29 +95,30 @@ ## @end deftypefn function [retval,dgkf_struct] = is_dgkf(Asys,nu,ny,tol) - # Written by A. S. Hodel - # Updated by John Ingram July 1996 to accept structured systems - # - # Revised by Kai P Mueller April 1998 to solve the general H_infinity - # problem using unitary transformations Q (on w and z) - # and non-singular transformations R (on u and y) such - # that the Dzu and Dyw matrices of the transformed plant - # - # ~ - # P (the variable Asys here) - # - # become - # - # ~ -1 T - # D = Q D R = [ 0 I ] or [ I ], - # 12 12 12 12 - # - # ~ T - # D = R D Q = [ 0 I ] or [ I ]. - # 21 21 21 21 - # - # This transformation together with the algorithm in [1] solves - # the general problem (see [2] for example). + + ## Written by A. S. Hodel + ## Updated by John Ingram July 1996 to accept structured systems + + ## Revised by Kai P Mueller April 1998 to solve the general H_infinity + ## problem using unitary transformations Q (on w and z) + ## and non-singular transformations R (on u and y) such + ## that the Dzu and Dyw matrices of the transformed plant + ## + ## ~ + ## P (the variable Asys here) + ## + ## become + ## + ## ~ -1 T + ## D = Q D R = [ 0 I ] or [ I ], + ## 12 12 12 12 + ## + ## ~ T + ## D = R D Q = [ 0 I ] or [ I ]. + ## 21 21 21 21 + ## + ## This transformation together with the algorithm in [1] solves + ## the general problem (see [2] for example). if (nargin < 3) | (nargin > 4) usage("[retval,dgkf_struct] = is_dgkf(Asys,nu,ny{,tol})"); @@ -149,25 +150,25 @@ nz = nout - ny; nz1 = nz + 1; [A,B,C,D] = sys2ss(Asys); - # scale input/output for numerical reasons + ## scale input/output for numerical reasons if(norm(C,'fro')*norm(B,'fro') == 0) error("||C||*||B|| = 0; no dynamic connnection from inputs to outputs"); endif xx = sqrt(norm(B, Inf) / norm(C, Inf)); B = B / xx; C = C * xx; - # partition matrices + ## partition matrices Bw = B(:,1:nw); Bu = B(:,nw1:nin); Cz = C(1:nz,:); Dzw = D(1:nz,1:nw); Dzu = D(1:nz,nw1:nin); Cy = C(nz1:nout,:); Dyw = D(nz1:nout,1:nw); Dyu = D(nz1:nout,nw1:nin); - # Check for loopo shifting + ## Check for loopo shifting Dyu_nz = (norm(Dyu,Inf) != 0); if (Dyu_nz) warning("is_dgkf: D22 nonzero; performing loop shifting"); endif - # 12 - rank condition at w = 0 + ## 12 - rank condition at w = 0 xx =[A, Bu; Cz, Dzu]; [nr, nc] = size(xx); irank = rank(xx); @@ -178,7 +179,7 @@ warning(" *** 12-rank condition violated at w = 0."); endif - # 21 - rank condition at w = 0 + ## 21 - rank condition at w = 0 xx =[A, Bw; Cy, Dyw]; [nr, nc] = size(xx); irank = rank(xx); @@ -189,8 +190,8 @@ warning(" *** 21-rank condition violated at w = 0."); endif - # can Dzu be transformed to become [0 I]' or [I]? - # This ensures a normalized weight + ## can Dzu be transformed to become [0 I]' or [I]? + ## This ensures a normalized weight [Qz, Ru] = qr(Dzu); irank = rank(Ru); if (irank != nu) @@ -205,8 +206,8 @@ endif Ru = Ru(1:nu,:); - # can Dyw be transformed to become [0 I] or [I]? - # This ensures a normalized weight + ## can Dyw be transformed to become [0 I] or [I]? + ## This ensures a normalized weight [Qw, Ry] = qr(Dyw'); irank = rank(Ry); if (irank != ny) @@ -222,7 +223,7 @@ endif Ry = Ry(1:ny,:)'; - # transform P by Qz/Ru and Qw/Ry + ## transform P by Qz/Ru and Qw/Ry Bw = Bw*Qw; Bu = Bu/Ru; B = [Bw, Bu]; @@ -233,7 +234,7 @@ Dzu = Qz*Dzu/Ru; Dyw = Ry\Dyw*Qw; - # pack the return structure + ## pack the return structure dgkf_struct.nw = nw; dgkf_struct.nu = nu; dgkf_struct.nz = nz;
--- a/scripts/control/is_digital.m +++ b/scripts/control/is_digital.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996, 1999 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996, 1999 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{retval} =} is_digital ( @var{sys}) @@ -33,7 +33,8 @@ ## @end deftypefn function DIGITAL = is_digital(sys,eflg) -# a s hodel July 1996 + + ## a s hodel July 1996 switch(nargin) case(1), eflg = 0; @@ -45,15 +46,15 @@ usage("DIGITAL = is_digital(sys{,eflg})"); endswitch - # checked for sampled data system (mixed) - # discrete system + ## checked for sampled data system (mixed) + ## discrete system sysyd = sysgetsignals(sys,"yd"); [nn,nz] = sysdimensions(sys); cont = sum(sysyd == 0) + nn; tsam = sysgettsam(sys); dig = sum(sysyd != 0) + nz + tsam; - # check for mixed system + ## check for mixed system if( cont*dig != 0) switch(eflg) case(0),
--- a/scripts/control/is_observable.m +++ b/scripts/control/is_observable.m @@ -1,20 +1,20 @@ -# Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { [@var{retval},@var{U}] =} is_observable (@var{a}, @var{c}@{,@var{tol}@}) @@ -34,23 +34,13 @@ function [retval,U] = is_observable (a,c,tol) -# [retval,U] = is_observable (a,c,tol) -# usage: is_observable (a , c {,tol}) -# or is_observable (sys {,tol}) -# -# -# Returns 1 if the system, a, is observable, 1 if the pair (a, c) is -# observable, or 0 if not. -# - - -# Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. -# Updated by John Ingram (ingraje@eng.auburn.edu) July 1996. + ## Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. + ## Updated by John Ingram (ingraje@eng.auburn.edu) July 1996. if( nargin < 1) usage("[retval,U] = is_observable(a , c {, tol})"); elseif(is_struct(a)) - # system form + ## system form if(nargin == 2) tol = c; elseif(nargin > 2)
--- a/scripts/control/is_sample.m +++ b/scripts/control/is_sample.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{retval} =} is_sample (@var{Ts}) @@ -23,7 +23,7 @@ ## @end deftypefn function out = is_sample(Ts) -# A. S. Hodel July 1995 +## A. S. Hodel July 1995 out = (is_scalar(Ts) && (Ts == abs(Ts)) && (Ts != 0) );
--- a/scripts/control/is_signal_list.m +++ b/scripts/control/is_signal_list.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {@var{flg} =} is_signal_list (@var{mylist})
--- a/scripts/control/is_siso.m +++ b/scripts/control/is_siso.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{retval} =} is_siso (@var{sys}) @@ -23,10 +23,10 @@ ## @end deftypefn function SISO = is_siso(sys) -# function SISO = is_siso(sys) -# return nonzero if the system sys is single-input, single-output. +## function SISO = is_siso(sys) +## return nonzero if the system sys is single-input, single-output. -# a s hodel July 1996, 1998 +## a s hodel July 1996, 1998 if(nargin != 1) usage("SISO = is_siso(sys)");
--- a/scripts/control/is_stabilizable.m +++ b/scripts/control/is_stabilizable.m @@ -1,20 +1,20 @@ -# Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[@var{retval}, @var{U}] =} is_stabilizable (@var{sys}@{, @var{tol}@}) @@ -42,13 +42,14 @@ ## is_observable, is_stabilizable, is_detectable function [retval,U] = is_stabilizable (a, b, tol) -# Written by A. S. Hodel (scotte@eng.auburn.edu) August, 1993. -# Updated by A. S. Hodel (scotte@eng.auburn.edu) Aubust, 1995 to use krylovb -# Updated by John Ingram (ingraje@eng.auburn.edu) July, 1996 to accept systems + + ## Written by A. S. Hodel (scotte@eng.auburn.edu) August, 1993. + ## Updated by A. S. Hodel (scotte@eng.auburn.edu) Aubust, 1995 to use krylovb + ## Updated by John Ingram (ingraje@eng.auburn.edu) July, 1996 to accept systems if(nargin < 1) usage("[retval,U] = is_stabilizable(a {, b ,tol})"); elseif(is_struct(a)) - # sustem passed. + ## sustem passed. if(nargin == 2) tol = b; % get tolerance elseif(nargin > 2) @@ -56,7 +57,7 @@ endif [a,b] = sys2ss(sys); else - # a,b arguments sent directly. + ## a,b arguments sent directly. if(nargin > 3) usage("[retval,U] = is_stabilizable(a {, b ,tol})"); endif @@ -70,15 +71,15 @@ endif if( !retval & columns(U) > 0) - # now use an ordered Schur decomposition to get an orthogonal - # basis of the unstable subspace... + ## now use an ordered Schur decomposition to get an orthogonal + ## basis of the unstable subspace... n = rows(a); [ua,s] = schur(-(a+eye(n)*tol),'A'); k = sum( real(eig(a)) >= 0 ); # count unstable poles if( k > 0 ) ua = ua(:,1:k); - # now see if span(ua) is contained in span(U) + ## now see if span(ua) is contained in span(U) retval = (norm(ua - U*U'*ua) < tol); else retval = 1; # all poles stable
--- a/scripts/control/is_stable.m +++ b/scripts/control/is_stable.m @@ -1,20 +1,20 @@ -# Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{retval} =} is_stable (@var{a}@{,@var{tol},@var{dflg}@}) @@ -42,13 +42,14 @@ ## is_observable, is_stabilizable, is_detectable, krylov, krylovb function retval = is_stable (a, tol, disc) -# Written by A. S. Hodel (scotte@eng.auburn.edu) August, 1993. -# Updated by John Ingram (ingraje@eng.auburn.edu) July, 1996 for systems -# Updated to simpler form by a.s.hodel 1998 + + ## Written by A. S. Hodel (scotte@eng.auburn.edu) August, 1993. + ## Updated by John Ingram (ingraje@eng.auburn.edu) July, 1996 for systems + ## Updated to simpler form by a.s.hodel 1998 if( (nargin < 1) | (nargin > 3) ) usage("is_stable(a {,tol,disc})"); elseif(is_struct(a)) - # system was passed + ## system was passed if(nargin < 3) disc = is_digital(a); elseif(disc != is_digital(a)) warning("is_stable: disc =%d does not match system",disc)
--- a/scripts/control/jet707.m +++ b/scripts/control/jet707.m @@ -1,20 +1,20 @@ -# Copyright (C) 1997 Kai P. Mueller -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1997 Kai P. Mueller +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{outsys} =} jet707 ( ) @@ -28,11 +28,11 @@ ## ## Contributed by Kai Mueller ## @end deftypefn - function outsys = jet707() - # Written by Kai P. Mueller September 28, 1997 - # Updates + + ## Written by Kai P. Mueller September 28, 1997 + ## Updates if (nargin != 0) usage("outsys = jet707()")
--- a/scripts/control/lqe.m +++ b/scripts/control/lqe.m @@ -1,20 +1,20 @@ -# Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{k}, @var{p}, @var{e}] =} lqe (@var{a}, @var{g}, @var{c}, @var{sigw}, @var{sigv}, @var{z}) @@ -87,14 +87,14 @@ ## @end deftypefn function [k, p, e] = lqe (a, g, c, sigw, sigv, zz) -# Written by A. S. Hodel (scotte@eng.auburn.edu) August, 1993. +## Written by A. S. Hodel (scotte@eng.auburn.edu) August, 1993. if ( (nargin != 5) && (nargin != 6)) error ("lqe: invalid number of arguments"); endif -# The problem is dual to the regulator design, so transform to lqr -# call. +## The problem is dual to the regulator design, so transform to lqr +## call. if (nargin == 5) [k, p, e] = lqr (a', c', g*sigw*g', sigv);
--- a/scripts/control/lqg.m +++ b/scripts/control/lqg.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996, 1997 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996, 1997 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[@var{K}, @var{Q}, @var{P}, @var{Ee}, @var{Er}] =} lqg(@var{sys}, @var{Sigw}, @var{Sigv}, @var{Q}, @var{R}, @var{in_idx}) @@ -62,89 +62,90 @@ ## See also: h2syn, lqe, lqr function [K,Q1,P1,Ee,Er] = lqg(sys,Sigw,Sigv,Q,R,input_list) -# Written by A. S. Hodel August 1995; revised for new system format -# August 1996 -sav_val = implicit_str_to_num_ok; -implicit_str_to_num_ok = 1; + ## Written by A. S. Hodel August 1995; revised for new system format + ## August 1996 -if ( (nargin < 5) | (nargin > 6)) - usage("[K,Q1,P1,Ee,Er] = lqg(sys,Sigw, Sigv,Q,R{,input_list})"); + sav_val = implicit_str_to_num_ok; + implicit_str_to_num_ok = 1; -elseif(!is_struct(sys) ) - error("sys must be in system data structure"); -endif + if ( (nargin < 5) | (nargin > 6)) + usage("[K,Q1,P1,Ee,Er] = lqg(sys,Sigw, Sigv,Q,R{,input_list})"); -DIG = is_digital(sys); -[A,B,C,D,tsam,n,nz,stname,inname,outname] = sys2ss(sys); -[n,nz,nin,nout] = sysdimensions(sys); -if(nargin == 5) - #construct default input_list - input_list = (columns(Sigw)+1):nin; -endif + elseif(!is_struct(sys) ) + error("sys must be in system data structure"); + endif -if( !(n+nz) ) - error(["lqg: 0 states in system"]); + DIG = is_digital(sys); + [A,B,C,D,tsam,n,nz,stname,inname,outname] = sys2ss(sys); + [n,nz,nin,nout] = sysdimensions(sys); + if(nargin == 5) + ## construct default input_list + input_list = (columns(Sigw)+1):nin; + endif -elseif(nin != columns(Sigw)+ columns(R)) - error(["lqg: sys has ",num2str(nin)," inputs, dim(Sigw)=", ... - num2str(columns(Sigw)),", dim(u)=",num2str(columns(R))]) + if( !(n+nz) ) + error(["lqg: 0 states in system"]); -elseif(nout != columns(Sigv)) - error(["lqg: sys has ",num2str(nout)," outputs, dim(Sigv)=", ... - num2str(columns(Sigv)),")"]) -elseif(length(input_list) != columns(R)) - error(["lqg: length(input_list)=",num2str(length(input_list)), ... - ", columns(R)=", num2str(columns(R))]); -endif + elseif(nin != columns(Sigw)+ columns(R)) + error(["lqg: sys has ",num2str(nin)," inputs, dim(Sigw)=", ... + num2str(columns(Sigw)),", dim(u)=",num2str(columns(R))]) -varname = list("Sigw","Sigv","Q","R"); -for kk=1:length(varname); - eval(sprintf("chk = is_square(%s);",nth(varname,kk))); - if(! chk ) error("lqg: %s is not square",nth(varname,kk)); endif -endfor + elseif(nout != columns(Sigv)) + error(["lqg: sys has ",num2str(nout)," outputs, dim(Sigv)=", ... + num2str(columns(Sigv)),")"]) + elseif(length(input_list) != columns(R)) + error(["lqg: length(input_list)=",num2str(length(input_list)), ... + ", columns(R)=", num2str(columns(R))]); + endif + + varname = list("Sigw","Sigv","Q","R"); + for kk=1:length(varname); + eval(sprintf("chk = is_square(%s);",nth(varname,kk))); + if(! chk ) error("lqg: %s is not square",nth(varname,kk)); endif + endfor -# permute (if need be) -if(nargin == 6) - all_inputs = sysreorder(nin,input_list); - B = B(:,all_inputs); - inname = inname(all_inputs); -endif + ## permute (if need be) + if(nargin == 6) + all_inputs = sysreorder(nin,input_list); + B = B(:,all_inputs); + inname = inname(all_inputs); + endif -# put parameters into correct variables -m1 = columns(Sigw); -m2 = m1+1; -G = B(:,1:m1); -B = B(:,m2:nin); + ## put parameters into correct variables + m1 = columns(Sigw); + m2 = m1+1; + G = B(:,1:m1); + B = B(:,m2:nin); -# now we can just do the design; call dlqr and dlqe, since all matrices -# are not given in Cholesky factor form (as in h2syn case) -if(DIG) - [Ks, P1, Er] = dlqr(A,B,Q,R); - [Ke, Q1, jnk, Ee] = dlqe(A,G,C,Sigw,Sigv); -else - [Ks, P1, Er] = lqr(A,B,Q,R); - [Ke, Q1, Ee] = lqe(A,G,C,Sigw,Sigv); -endif -Ac = A - Ke*C - B*Ks; -Bc = Ke; -Cc = -Ks; -Dc = zeros(rows(Cc),columns(Bc)); + ## now we can just do the design; call dlqr and dlqe, since all matrices + ## are not given in Cholesky factor form (as in h2syn case) + if(DIG) + [Ks, P1, Er] = dlqr(A,B,Q,R); + [Ke, Q1, jnk, Ee] = dlqe(A,G,C,Sigw,Sigv); + else + [Ks, P1, Er] = lqr(A,B,Q,R); + [Ke, Q1, Ee] = lqe(A,G,C,Sigw,Sigv); + endif + Ac = A - Ke*C - B*Ks; + Bc = Ke; + Cc = -Ks; + Dc = zeros(rows(Cc),columns(Bc)); -# fix state names -stname1 = strappend(stname,"_e"); + ## fix state names + stname1 = strappend(stname,"_e"); -# fix controller output names -outname1 = strappend(inname(m2:nin),"_K"); + ## fix controller output names + outname1 = strappend(inname(m2:nin),"_K"); -# fix controller input names -inname1 = strappend(outname,"_K"); + ## fix controller input names + inname1 = strappend(outname,"_K"); -if(DIG) - K = ss2sys(Ac,Bc,Cc,Dc,tsam,n,nz,stname1,inname1,outname1,1:rows(Cc)); -else - K = ss2sys(Ac,Bc,Cc,Dc,tsam,n,nz,stname,inname1,outname1); -endif + if(DIG) + K = ss2sys(Ac,Bc,Cc,Dc,tsam,n,nz,stname1,inname1,outname1,1:rows(Cc)); + else + K = ss2sys(Ac,Bc,Cc,Dc,tsam,n,nz,stname,inname1,outname1); + endif -implicit_str_to_num_ok = sav_val; + implicit_str_to_num_ok = sav_val; endfunction
--- a/scripts/control/lqr.m +++ b/scripts/control/lqr.m @@ -1,20 +1,20 @@ -# Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{k}, @var{p}, @var{e}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{z}) @@ -112,44 +112,44 @@ ## @end deftypefn function [k, p, e] = lqr (a, b, q, r, s) -# Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. - # disp("lqr: entry"); + ## Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. + + ## disp("lqr: entry"); if ((nargin != 4) && (nargin != 5)) error ("lqr: invalid number of arguments"); endif -# Check a. + ## Check a. if ((n = is_square (a)) == 0) error ("lqr: requires 1st parameter(a) to be square"); endif -# Check b. + ## Check b. [n1, m] = size (b); if (n1 != n) error ("lqr: a,b not conformal"); endif -# Check q. - + ## Check q. if ( ((n1 = is_square (q)) == 0) || (n1 != n)) error ("lqr: q must be square and conformal with a"); endif -# Check r. + ## Check r. if ( ((m1 = is_square(r)) == 0) || (m1 != m)) error ("lqr: r must be square and conformal with column dimension of b"); endif -# Check if n is there. + ## Check if n is there. if (nargin == 5) [n1, m1] = size (s); if ( (n1 != n) || (m1 != m)) error ("lqr: z must be identically dimensioned with b"); endif -# Incorporate cross term into a and q. + ## Incorporate cross term into a and q. ao = a - (b/r)*s'; qo = q - (s/r)*s'; else @@ -158,7 +158,7 @@ qo = q; endif -# Check that q, (r) are symmetric, positive (semi)definite + ## Check that q, (r) are symmetric, positive (semi)definite if (is_symmetric (q) && is_symmetric (r) ... && all (eig (q) >= 0) && all (eig (r) > 0)) @@ -169,5 +169,5 @@ error ("lqr: q (r) must be symmetric positive (semi) definite"); endif - # disp("lqr: exit"); + ## disp("lqr: exit"); endfunction
--- a/scripts/control/lsim.m +++ b/scripts/control/lsim.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { } lsim (@var{sys}, @var{u}, @var{t}@{,@var{x0}@}) @@ -35,9 +35,9 @@ ## @end deftypefn function [y,x] = lsim(sys,u,t,x0) -# Written by David Clem, A. S. Hodel July 1995 -# modified by John Ingram for system format August 1996 + ## Written by David Clem, A. S. Hodel July 1995 + ## modified by John Ingram for system format August 1996 if((nargin < 3)||(nargin > 4)) usage("[y,x] = lsim(sys,u,t[,x0])"); @@ -73,10 +73,10 @@ n = max(size(t)); for ii = 1:(n-1) - # check if step size changed + ## check if step size changed if (t(ii+1) - t(ii) != Ts) Ts = t(ii+1) - t(ii); - # [F,G] = c2d(a,b,Ts); + ## [F,G] = c2d(a,b,Ts); dsys = c2d(sys, Ts); [F,G] = sys2ss(dsys); endif @@ -85,7 +85,7 @@ x0 = F*x0 + G*u(:,ii); endfor - # pick up last point + ## pick up last point x(:,n) = x0; y = c*x + d*u;
--- a/scripts/control/ltifr.m +++ b/scripts/control/ltifr.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {@var{out} =} ltifr (@var{A}, @var{B}, @var{w}) @@ -39,8 +39,9 @@ ## @end deftypefn function out = ltifr(a,b,w) - # R. B. Tenison, D. Clem, A. S. Hodel, July 1995 - # updated by John Ingram August 1996 for system format + + ## R. B. Tenison, D. Clem, A. S. Hodel, July 1995 + ## updated by John Ingram August 1996 for system format if ((nargin < 2) || (nargin > 3)) error("incorrect number of input arguments");
--- a/scripts/control/mb.m +++ b/scripts/control/mb.m @@ -1,23 +1,23 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. -# I think that this m-file can be deleted -# a.s.hodel@eng.auburn.edu - 4 Dec. 1998 +## I think that this m-file can be deleted +## a.s.hodel@eng.auburn.edu - 4 Dec. 1998 Ap = [0, 1;1960, 0]; Bp = [0;-6261]; @@ -40,7 +40,7 @@ Gc = sysgroup(Gp,Gk); Gc = sysdup(Gc,[],[1, 2]); -# Gc = sysscale(Gc,[],diag([1,1,1,1])); +## Gc = sysscale(Gc,[],diag([1,1,1,1])); Gc = sysconnect(Gc,[1, 2],[4, 3]); Gc = sysprune(Gc,1,[1, 2]); @@ -48,9 +48,9 @@ disp("after pruning, closed loop system is") sysout(Gc) -# Gc = sysdup(Gc,[],2); -# Gc = sysconnect(Gc,1,3); -# Gc = sysprune(Gc,1,1); +## Gc = sysdup(Gc,[],2); +## Gc = sysconnect(Gc,1,3); +## Gc = sysprune(Gc,1,1); is_stable(Gc) Gca = sys2ss(Gc);
--- a/scripts/control/minfo.m +++ b/scripts/control/minfo.m @@ -1,38 +1,39 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## function [systype, nout, nin, ncstates, ndstates] = minfo(inmat) +## +## MINFO: Determines the type of system matrix. INMAT can be +## a varying(*), system, constant, and empty matrix. +## +## Returns: +## systype can be one of: +## varying, system, constant, and empty +## nout is the number of outputs of the system +## nin is the number of inputs of the system +## ncstates is the number of continuous states of the system +## ndstates is the number of discrete states of the system + function [systype, nout, nin, ncstates, ndstates] = minfo(inmat) - # function [systype, nout, nin, ncstates, ndstates] = minfo(inmat) - # - # MINFO: Determines the type of system matrix. INMAT can be - # a varying(*), system, constant, and empty matrix. - # - # Returns: - # systype can be one of: - # varying, system, constant, and empty - # nout is the number of outputs of the system - # nin is the number of inputs of the system - # ncstates is the number of continuous states of the system - # ndstates is the number of discrete states of the system - # Written by R. Bruce Tenison July 29, 1994 - # Modified by David Clem November 13, 1994 - # Modified by A. S. Hodel July 1995 + ## Written by R. Bruce Tenison July 29, 1994 + ## Modified by David Clem November 13, 1994 + ## Modified by A. S. Hodel July 1995 warning("minfo: obsolete. Use sys2ss, sys2tf, or sys2zp."); @@ -43,20 +44,20 @@ [rr,cc] = size(inmat); - # Check for empty matrix first! + ## Check for empty matrix first! if (isempty(inmat)) systype = "empty"; nout = nin = ncstates = ndstates = 0; return - # Check for Constant matrix + ## Check for Constant matrix elseif (rr == 1 || cc == 1) systype = "constant"; nout = nin = ncstates = ndstates = 1; return - # Check for system type matrix + ## Check for system type matrix elseif (inmat(rr,cc) == -Inf) systype = "system"; ncstates = inmat(1,cc); @@ -65,7 +66,7 @@ nout = rr - nstates - 1; nin = cc - nstates - 1; - # Check for Varying type matrix + ## Check for Varying type matrix elseif (inmat(rr,cc) == Inf) systype = "varying"; npoints = inmat(rr,cc-1); @@ -73,7 +74,7 @@ nout = rr / npoints; nstates = 0; - # Must be a standard matrix + ## Must be a standard matrix else systype = "constant"; nin = cc;
--- a/scripts/control/moddemo.m +++ b/scripts/control/moddemo.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { outputs =} moddemo ( inputs ) @@ -26,8 +26,8 @@ ## @end deftypefn function moddemo() -# Written by David Clem August 15, 1994 -# a s hodel: updated to reflect updated output order in ss2zp +## Written by David Clem August 15, 1994 +## a s hodel: updated to reflect updated output order in ss2zp while (1) clc
--- a/scripts/control/nichols.m +++ b/scripts/control/nichols.m @@ -1,57 +1,58 @@ -# Copyright (C) 1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. -function [mag,phase,w] = nichols(sys,w,outputs,inputs) -# [mag,phase,w] = nichols(sys[,w,outputs,inputs]) -# Produce Nichols plot of a system -# -# Compute the frequency response of a system. -# inputs: -# sys: system data structure (must be either purely continuous or discrete; +## [mag,phase,w] = nichols(sys[,w,outputs,inputs]) +## Produce Nichols plot of a system +## +## Compute the frequency response of a system. +## inputs: +## sys: system data structure (must be either purely continuous or discrete; # see is_digital) -# w: frequency values for evaluation. -# if sys is continuous, then nichols evaluates G(jw) -# if sys is discrete, then nichols evaluates G(exp(jwT)), where T=sys.tsam -# (the system sampling time) -# default: the default frequency range is selected as follows: (These -# steps are NOT performed if w is specified) -# (1) via routine bodquist, isolate all poles and zeros away from -# w=0 (jw=0 or exp(jwT)=1) and select the frequency -# range based on the breakpoint locations of the frequencies. -# (2) if sys is discrete time, the frequency range is limited -# to jwT in [0,2p*pi] -# (3) A "smoothing" routine is used to ensure that the plot phase does -# not change excessively from point to point and that singular -# points (e.g., crossovers from +/- 180) are accurately shown. -# outputs, inputs: the indices of the output(s) and input(s) to be used in -# the frequency response; see sysprune. -# outputs: -# mag, phase: the magnitude and phase of the frequency response -# G(jw) or G(exp(jwT)) at the selected frequency values. -# w: the vector of frequency values used -# If no output arguments are given, nichols plots the results to the screen. -# Descriptive labels are automatically placed. See xlabel, ylable, title, -# and replot. -# -# Note: if the requested plot is for an MIMO system, mag is set to -# ||G(jw)|| or ||G(exp(jwT))|| and phase information is not computed. +## w: frequency values for evaluation. +## if sys is continuous, then nichols evaluates G(jw) +## if sys is discrete, then nichols evaluates G(exp(jwT)), where T=sys.tsam +## (the system sampling time) +## default: the default frequency range is selected as follows: (These +## steps are NOT performed if w is specified) +## (1) via routine bodquist, isolate all poles and zeros away from +## w=0 (jw=0 or exp(jwT)=1) and select the frequency +## range based on the breakpoint locations of the frequencies. +## (2) if sys is discrete time, the frequency range is limited +## to jwT in [0,2p*pi] +## (3) A "smoothing" routine is used to ensure that the plot phase does +## not change excessively from point to point and that singular +## points (e.g., crossovers from +/- 180) are accurately shown. +## outputs, inputs: the indices of the output(s) and input(s) to be used in +## the frequency response; see sysprune. +## outputs: +## mag, phase: the magnitude and phase of the frequency response +## G(jw) or G(exp(jwT)) at the selected frequency values. +## w: the vector of frequency values used +## If no output arguments are given, nichols plots the results to the screen. +## Descriptive labels are automatically placed. See xlabel, ylable, title, +## and replot. +## +## Note: if the requested plot is for an MIMO system, mag is set to +## ||G(jw)|| or ||G(exp(jwT))|| and phase information is not computed. - # check number of input arguments given +function [mag,phase,w] = nichols(sys,w,outputs,inputs) + + ## check number of input arguments given if (nargin < 1 | nargin > 4) usage("[mag,phase,w] = nichols(sys[,w,outputs,inputs])"); endif @@ -70,12 +71,12 @@ [stname,inname,outname] = sysgetsignals(sys); systsam = sysgettsam(sys); - # Get the magnitude and phase of f. + ## Get the magnitude and phase of f. mag = abs(f); phase = arg(f)*180.0/pi; if (nargout < 1), - # Plot the information + ## Plot the information if(gnuplot_has_multiplot) oneplot(); endif
--- a/scripts/control/nyquist.m +++ b/scripts/control/nyquist.m @@ -1,149 +1,106 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -##@deftypefn {Function File } {[@var{realp}, @var{imagp}, @var{w}] =} nyquist (@var{sys}@{, @var{w}, @var{out_idx}, @var{in_idx}, @var{atol}@}) -##@deftypefnx {Function File } {} nyquist (@var{sys}@{, @var{w}, @var{out_idx}, @var{in_idx}, @var{atol}@}) -##Produce Nyquist plots of a system; if no output arguments are given, Nyquist -##plot is printed to the screen. -## -##Compute the frequency response of a system. -##@strong{Inputs} (pass as empty to get default values) -##@table -##@item sys -## system data structure (must be either purely continuous or discrete; -## see is_digital) -##@item w -## frequency values for evaluation. -## if sys is continuous, then bode evaluates @math{G(jw)} -## if sys is discrete, then bode evaluates @math{G(exp(jwT))}, where -## @math{@var{T}=sysgettsam(@var{sys})} (the system sampling time) -##@item default -## the default frequency range is selected as follows: (These -## steps are NOT performed if @var{w} is specified) -##@end table -##@enumerate -##@item via routine bodquist, isolate all poles and zeros away from -##@var{w}=0 (@var{jw}=0 or @math{exp(@var{jwT})=1}) and select the frequency -##range based on the breakpoint locations of the frequencies. -##@item if @var{sys} is discrete time, the frequency range is limited -##to @var{jwT} in -##@ifinfo -##[0,2p*pi] -##@end ifinfo -##@iftex -##$[0,2p*\pi]$ -##@end iftex -##@item A "smoothing" routine is used to ensure that the plot phase does -## not change excessively from point to point and that singular -## points (e.g., crossovers from +/- 180) are accurately shown. -##@end enumerate -## outputs, inputs: the indices of the output(s) and input(s) to be used in -## the frequency response; see sysprune. -## -##@strong{Inputs} (pass as empty to get default values) -##@table @var -##@item atol -##for interactive nyquist plots: atol is a change-in-slope tolerance -##for the of asymptotes (default = 0; 1e-2 is a good choice). This allows -##the user to ``zoom in'' on portions of the Nyquist plot too small to be -##seen with large asymptotes. -##@end table -##@strong{Outputs} -##@table @var -##@item realp, imagp -##the real and imaginary parts of the frequency response -## @math{G(jw)} or @math{G(exp(jwT))} at the selected frequency values. -##@item w -## the vector of frequency values used -##@end table -## -## If no output arguments are given, nyquist plots the results to the screen. -## If @var{atol} != 0 and asymptotes are detected then the user is asked -## interactively if they wish to zoom in (remove asymptotes) -## Descriptive labels are automatically placed. -## -## Note: if the requested plot is for an MIMO system, a warning message is -## presented; the returned information is of the magnitude -## ||G(jw)|| or ||G(exp(jwT))|| only; phase information is not computed. -## -##@end deftypefn +## @deftypefn {Function File } {[@var{realp}, @var{imagp}, @var{w}] =} nyquist (@var{sys}@{, @var{w}, @var{out_idx}, @var{in_idx}, @var{atol}@}) +## @deftypefnx {Function File } {} nyquist (@var{sys}@{, @var{w}, @var{out_idx}, @var{in_idx}, @var{atol}@}) +## Produce Nyquist plots of a system; if no output arguments are given, Nyquist +## plot is printed to the screen. +## +## Compute the frequency response of a system. +## @strong{Inputs} (pass as empty to get default values) +## @table +## @item sys +## system data structure (must be either purely continuous or discrete; +## see is_digital) +## @item w +## frequency values for evaluation. +## if sys is continuous, then bode evaluates @math{G(jw)} +## if sys is discrete, then bode evaluates @math{G(exp(jwT))}, where +## @math{@var{T}=sysgettsam(@var{sys})} (the system sampling time) +## @item default +## the default frequency range is selected as follows: (These +## steps are NOT performed if @var{w} is specified) +## @end table +## @enumerate +## @item via routine bodquist, isolate all poles and zeros away from +## @var{w}=0 (@var{jw}=0 or @math{exp(@var{jwT})=1}) and select the frequency +## range based on the breakpoint locations of the frequencies. +## @item if @var{sys} is discrete time, the frequency range is limited +## to @var{jwT} in +## @ifinfo +## [0,2p*pi] +## @end ifinfo +## @iftex +## $[0,2p*\pi]$ +## @end iftex +## @item A "smoothing" routine is used to ensure that the plot phase does +## not change excessively from point to point and that singular +## points (e.g., crossovers from +/- 180) are accurately shown. +## @end enumerate +## outputs, inputs: the indices of the output(s) and input(s) to be used in +## the frequency response; see sysprune. +## +## @strong{Inputs} (pass as empty to get default values) +## @table @var +## @item atol +## for interactive nyquist plots: atol is a change-in-slope tolerance +## for the of asymptotes (default = 0; 1e-2 is a good choice). This allows +## the user to ``zoom in'' on portions of the Nyquist plot too small to be +## seen with large asymptotes. +## @end table +## @strong{Outputs} +## @table @var +## @item realp, imagp +## the real and imaginary parts of the frequency response +## @math{G(jw)} or @math{G(exp(jwT))} at the selected frequency values. +## @item w +## the vector of frequency values used +## @end table +## +## If no output arguments are given, nyquist plots the results to the screen. +## If @var{atol} != 0 and asymptotes are detected then the user is asked +## interactively if they wish to zoom in (remove asymptotes) +## Descriptive labels are automatically placed. +## +## Note: if the requested plot is for an MIMO system, a warning message is +## presented; the returned information is of the magnitude +## ||G(jw)|| or ||G(exp(jwT))|| only; phase information is not computed. +## +## @end deftypefn function [realp,imagp,w] = nyquist(sys,w,outputs,inputs,atol) -# [realp,imagp,w] = nyquist(sys[,w,outputs,inputs,atol]) -# Produce Nyquist plots of a system -# -# Compute the frequency response of a system. -# inputs: (pass as empty to get default values -# sys: system data structure (must be either purely continuous or discrete; -# see is_digital) -# w: frequency values for evaluation. -# if sys is continuous, then bode evaluates G(jw) -# if sys is discrete, then bode evaluates G(exp(jwT)), where -# T=sysgettsam(sys) (the system sampling time) -# default: the default frequency range is selected as follows: (These -# steps are NOT performed if w is specified) -# (1) via routine bodquist, isolate all poles and zeros away from -# w=0 (jw=0 or exp(jwT)=1) and select the frequency -# range based on the breakpoint locations of the frequencies. -# (2) if sys is discrete time, the frequency range is limited -# to jwT in [0,2p*pi] -# (3) A "smoothing" routine is used to ensure that the plot phase does -# not change excessively from point to point and that singular -# points (e.g., crossovers from +/- 180) are accurately shown. -# outputs, inputs: the indices of the output(s) and input(s) to be used in -# the frequency response; see sysprune. -# atol: for interactive nyquist plots: atol is a change-in-angle tolerance -# (in degrees) for the of asymptotes (default = 0; 1e-2 is a good choice). -# Consecutive points along the asymptotes whose angle is within atol of -# the angle between the largest two points are omitted for "zooming in" -# -# outputs: -# realp, imagp: the real and imaginary parts of the frequency response -# G(jw) or G(exp(jwT)) at the selected frequency values. -# w: the vector of frequency values used -# -# If no output arguments are given, nyquist plots the results to the screen. -# If atol != 0 and asymptotes are detected then the user is asked -# interactively if they wish to zoom in (remove asymptotes) -# Descriptive labels are automatically placed. See xlabel, ylable, title, -# and replot. -# -# Note: if the requested plot is for an MIMO system, a warning message is -# presented; the returned information is of the magnitude -# ||G(jw)|| or ||G(exp(jwT))|| only; phase information is not computed. - # By R. Bruce Tenison, July 13, 1994 - # A. S. Hodel July 1995 (adaptive frequency spacing, - # remove acura parameter, etc.) - # Revised by John Ingram July 1996 for system format - # + ## By R. Bruce Tenison, July 13, 1994 + ## A. S. Hodel July 1995 (adaptive frequency spacing, + ## remove acura parameter, etc.) + ## Revised by John Ingram July 1996 for system format - # Both bode and nyquist share the same introduction, so the common parts are - # in a file called bodquist.m. It contains the part that finds the - # number of arguments, determines whether or not the system is SISO, and - # computes the frequency response. Only the way the response is plotted is - # different between the two functions. + ## Both bode and nyquist share the same introduction, so the common + ## parts are in a file called bodquist.m. It contains the part that + ## finds the number of arguments, determines whether or not the system + ## is SISO, andd computes the frequency response. Only the way the + ## response is plotted is different between the two functions. save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1; - # check number of input arguments given + ## check number of input arguments given if (nargin < 1 | nargin > 5) usage("[realp,imagp,w] = nyquist(sys[,w,outputs,inputs,atol])"); endif @@ -162,15 +119,15 @@ error("atol must be a nonnegative scalar.") endif - # signal to bodquist who's calling + ## signal to bodquist who's calling [f,w] = bodquist(sys,w,outputs,inputs,"nyquist"); - # Get the real and imaginary part of f. + ## Get the real and imaginary part of f. realp = real(f); imagp = imag(f); - # No output arguments, then display plot, otherwise return data. + ## No output arguments, then display plot, otherwise return data. if (nargout == 0) dnplot = 0; while(!dnplot) @@ -201,27 +158,27 @@ axis(axis2dlim([[vec(realp),vec(imagp)];[vec(realp),-vec(imagp)]])); plot(realp,imagp,"- ;+w;",realp,-imagp,"-@ ;-w;"); - # check for interactive plots + ## check for interactive plots dnplot = 1; # assume done; will change later if atol is satisfied if(atol > 0 & length(f) > 2) - # check for asymptotes + ## check for asymptotes fmax = max(abs(f)); fi = max(find(abs(f) == fmax)); - # compute angles from point to point + ## compute angles from point to point df = diff(f); th = atan2(real(df),imag(df))*180/pi; - # get angle at fmax + ## get angle at fmax if(fi == length(f)) fi = fi-1; endif thm = th(fi); - # now locate consecutive angles within atol of thm + ## now locate consecutive angles within atol of thm ith_same = find(abs(th - thm) < atol); ichk = union(fi,find(diff(ith_same) == 1)); - #locate max, min consecutive indices in ichk + ## locate max, min consecutive indices in ichk loval = max(complement(ichk,1:fi)); if(isempty(loval)) loval = fi; else loval = loval + 1; endif
--- a/scripts/control/obsv.m +++ b/scripts/control/obsv.m @@ -1,20 +1,20 @@ -# Copyright (C) 1997 Kai P. Mueller -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1997 Kai P. Mueller +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ##@deftypefn {Function File } { @var{Qb} =} obsv (@var{sys}@{, @var{c}@}) @@ -37,8 +37,9 @@ ## @end deftypefn function Qb = obsv(sys, c) - # Written by Kai P. Mueller November 4, 1997 - # modified by + + ## Written by Kai P. Mueller November 4, 1997 + ## modified by if (nargin == 2) a = sys; @@ -52,7 +53,7 @@ if (!is_abcd(a,c')) Qb = []; else - # no need to check dimensions, we trust is_abcd(). + ## no need to check dimensions, we trust is_abcd(). [na, ma] = size(a); [nc, mc] = size(c); Qb = zeros(na*nc, ma);
--- a/scripts/control/ord2.m +++ b/scripts/control/ord2.m @@ -1,20 +1,20 @@ -# Copyright (C) 1997 Kai P. Mueller -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1997 Kai P. Mueller +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{outsys} =} ord2 (@var{nfreq}, @var{damp}@{[, @var{gain}@}) @@ -43,8 +43,9 @@ ## See also: jet707 (MIMO example, Boeing 707-321 aircraft model) function outsys = ord2(nfreq, damp, gain) - # Written by Kai P. Mueller September 28, 1997 - # Updates + + ## Written by Kai P. Mueller September 28, 1997 + ## Updates if(nargin != 2 & nargin != 3) usage("outsys = ord2(nfreq, damp[, gain])")
--- a/scripts/control/outlist.m +++ b/scripts/control/outlist.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996, 1998 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996, 1998 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { } outlist (@var{lmat}@{, @var{tabchar}, @var{yd}, @var{ilist} @}) @@ -43,36 +43,38 @@ ## @end deftypefn function str_val = outlist(name_list,tabchar,yd,ilist) -# A. S. Hodel Dec. 1995, 1998 + + ## A. S. Hodel Dec. 1995, 1998 -#save for restore later -save_empty = empty_list_elements_ok; -empty_list_elements_ok = 1; + ## save for restore later + save_empty = empty_list_elements_ok; + empty_list_elements_ok = 1; -if( nargin < 1 | nargin > 4 ) - usage("str_val = outlist(x[,tabchar,yd,ilist])"); -endif + if( nargin < 1 | nargin > 4 ) + usage("str_val = outlist(x[,tabchar,yd,ilist])"); + endif -m = length(name_list); -if(nargin < 4) ilist = 1:m; endif -if(nargin ==1) - empty_list_elements_ok = 1; - tabchar = ""; -endif + m = length(name_list); + if(nargin < 4) ilist = 1:m; endif + if(nargin ==1) + empty_list_elements_ok = 1; + tabchar = ""; + endif -if(nargin < 3) yd = zeros(1,m); -elseif(isempty(yd)) yd = zeros(1,m); endif + if(nargin < 3) yd = zeros(1,m); + elseif(isempty(yd)) yd = zeros(1,m); endif -str_val = ""; -dstr = list(""," (discrete)"); -if((m >= 1) && (is_list(name_list))) - for ii=1:m - str_val = sprintf("%s%s%d: %s%s\n",str_val,tabchar, ilist(ii), ... - nth(name_list,ii),nth(dstr,yd(ii)+1)); - endfor -else - str_val = sprintf("%sNone",tabchar); -endif + str_val = ""; + dstr = list(""," (discrete)"); + if((m >= 1) && (is_list(name_list))) + for ii=1:m + str_val = sprintf("%s%s%d: %s%s\n",str_val,tabchar, ilist(ii), ... + nth(name_list,ii),nth(dstr,yd(ii)+1)); + endfor + else + str_val = sprintf("%sNone",tabchar); + endif -empty_list_elements_ok = save_empty; + empty_list_elements_ok = save_empty; + endfunction
--- a/scripts/control/packedform.m +++ b/scripts/control/packedform.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. save_var = page_screen_output; page_screen_output = 1;
--- a/scripts/control/packsys.m +++ b/scripts/control/packsys.m @@ -1,37 +1,38 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## O B S O L E T E: use ss2sys instead. +## function Asys = packsys(a,b,c[,d,dflg]) +## +## dflg: 0 for continuous time system, 1 for discrete-time system. +## +## defaults: +## D: 0 matrix of appropriate dimension. +## dflg: 0 (continuous time) +## +## Note: discrete-state sampling time is not included! + function Asys = packsys(a,b,c,d,dflg) - # O B S O L E T E: use ss2sys instead. - # function Asys = packsys(a,b,c[,d,dflg]) - # - # dflg: 0 for continuous time system, 1 for discrete-time system. - # - # defaults: - # D: 0 matrix of appropriate dimension. - # dflg: 0 (continuous time) - # - # Note: discrete-state sampling time is not included! - # + - # Written by R. Bruce Tenison July 29, 1994 - # Modified by David Clem November 13, 1994 - # Modified by A. S. Hodel April 1995 + ## Written by R. Bruce Tenison July 29, 1994 + ## Modified by David Clem November 13, 1994 + ## Modified by A. S. Hodel April 1995 warning("packsys is obsolete! Use ss2sys instead."); @@ -39,7 +40,7 @@ disp("packsys: Invalid number of arguments") endif - # check dflg + ## check dflg if(nargin == 5) if( !is_scalar(dflg)) [m,n] = size(dflg); @@ -49,12 +50,12 @@ error(["packsys: dflg=",num2str(dflg),"must be 0 or 1"]); endif else - #default condition + ## default condition dflg = 0; endif if (nargin == 3) - # No D matrix. Form a zero one! + ## No D matrix. Form a zero one! [brows,bcols] = size(b); [crows,ccols] = size(c); d = zeros(crows,bcols);
--- a/scripts/control/parallel.m +++ b/scripts/control/parallel.m @@ -1,38 +1,39 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## function sysp = parallel(Asys,Bsys) +## Forms the parallel connection of two systems. +## +## ____________________ +## | ________ | +## u ----->|----> | Asys |--->|----> y1 +## | | -------- | +## | | ________ | +## |--->|----> | Bsys |--->|----> y2 +## | -------- | +## -------------------- +## Ksys + function sysp = parallel(Asys,Bsys) -# function sysp = parallel(Asys,Bsys) -# Forms the parallel connection of two systems. -# -# ____________________ -# | ________ | -# u ----->|----> | Asys |--->|----> y1 -# | | -------- | -# | | ________ | -# |--->|----> | Bsys |--->|----> y2 -# | -------- | -# -------------------- -# Ksys -# Written by David Clem August 15, 1994 -# completely rewritten Oct 1996 a s hodel -# SYS_INTERNAL accesses members of system structure + ## Written by David Clem August 15, 1994 + ## completely rewritten Oct 1996 a s hodel + ## SYS_INTERNAL accesses members of system structure if(nargin != 2) usage("sysp = parallel(Asys,Bsys)"); @@ -48,10 +49,10 @@ error(["Asys has ",num2str(mA)," inputs, Bsys has ",num2str(mB)," inputs"]); endif - # save signal names + ## save signal names Ain = sysgetsignals(Asys,"in"); - # change signal names to avoid warning messages from sysgroup + ## change signal names to avoid warning messages from sysgroup Asys = syssetsignals(Asys,"in",sysdefioname(length(Ain),"Ain_u")); Bsys = syssetsignals(Bsys,"in",sysdefioname(length(Ain),"Bin_u"));
--- a/scripts/control/place.m +++ b/scripts/control/place.m @@ -1,20 +1,20 @@ -# Copyright (C) 1997 Jose Daniel Munoz Frias -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1997 Jose Daniel Munoz Frias +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{K} =} place (@var{sys}, @var{P}) @@ -29,25 +29,26 @@ ## @end deftypefn function K = place(sys, P) -% Universidad Pontificia Comillas -% ICAIdea -% Alberto Aguilera, 23 -% 28015 Madrid, Spain -% -% E-Mail: daniel@dea.icai.upco.es -% -% Phone: 34-1-5422800 Fax: 34-1-5596569 -% -% Algorithm taken from "The Control Handbook", IEEE press pp. 209-212 -# -# code adaped by A.S.Hodel (a.s.hodel@eng.auburn.edu) for use in controls -# toolbox + + ## Universidad Pontificia Comillas + ## ICAIdea + ## Alberto Aguilera, 23 + ## 28015 Madrid, Spain + ## + ## E-Mail: daniel@dea.icai.upco.es + ## + ## Phone: 34-1-5422800 Fax: 34-1-5596569 + ## + ## Algorithm taken from "The Control Handbook", IEEE press pp. 209-212 + ## + ## code adaped by A.S.Hodel (a.s.hodel@eng.auburn.edu) for use in controls + ## toolbox sav_val = empty_list_elements_ok; empty_list_elements_ok = 1; - # - # check arguments - # + + ## check arguments + if(!is_struct(sys)) error("sys must be in system data structure format (see ss2sys)"); endif @@ -59,7 +60,7 @@ else P = reshape(P,length(P),1); # make P a column vector endif - # system must be purely continuous or discrete + ## system must be purely continuous or discrete is_digital(sys); [n,nz,m,p] = sysdimensions(sys); nx = n+nz; # already checked that it's not a mixed system. @@ -67,7 +68,7 @@ error(["sys has ", num2str(m)," inputs; need only 1"]); endif - # takes the A and B matrix from the system representation + ## takes the A and B matrix from the system representation [A,B]=sys2ss(sys); sp = length(P); if(nx == 0) @@ -77,14 +78,14 @@ "entries."]) endif - # arguments appear to be compatible; let's give it a try! - %The second step is the calculation of the characteristic polynomial ofA + ## arguments appear to be compatible; let's give it a try! + ## The second step is the calculation of the characteristic polynomial ofA PC=poly(A); - %Third step: Calculate the transformation matrix T that transforms the state - %equation in the controllable canonical form. + ## Third step: Calculate the transformation matrix T that transforms the state + ## equation in the controllable canonical form. - %first we must calculate the controllability matrix M: + ## first we must calculate the controllability matrix M: M=B; AA=A; for n = 2:nx @@ -92,9 +93,9 @@ AA=AA*A; endfor - %second, construct the matrix W + ## second, construct the matrix W PCO=PC(nx:-1:1); - PC1=PCO; %Matrix to shift and create W row by row + PC1=PCO; # Matrix to shift and create W row by row for n = 1:nx W(n,:) = PC1; @@ -103,14 +104,14 @@ T=M*W; - %finaly the matrix K is calculated - PD = poly(P); %The desired characteristic polynomial + ## finaly the matrix K is calculated + PD = poly(P); # The desired characteristic polynomial PD = PD(nx+1:-1:2); PC = PC(nx+1:-1:2); K = (PD-PC)/T; - %Check if the eigenvalues of (A-BK) are the same specified in P + ## Check if the eigenvalues of (A-BK) are the same specified in P Pcalc = eig(A-B*K); Pcalc = sortcom(Pcalc);
--- a/scripts/control/polyout.m +++ b/scripts/control/polyout.m @@ -1,20 +1,20 @@ -# Copyright (C) 1995,1998 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1995,1998 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{y} =} polyout ( @var{c}@{, @var{x}@}) @@ -31,8 +31,8 @@ function y = polyout(c,x) -# Written by A. Scottedward Hodel (scotte@eng.auburn.edu) May 1995) -# Nov 1998: Correctly handles complex coefficients +## Written by A. Scottedward Hodel (scotte@eng.auburn.edu) May 1995) +## Nov 1998: Correctly handles complex coefficients if (nargin < 1 ) || (nargin > 2) || (nargout < 0 ) || (nargout > 1) usage("[y = ] polyout(c,[x])");
--- a/scripts/control/prompt.m +++ b/scripts/control/prompt.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { outputs =} prompt ( inputs )
--- a/scripts/control/pzmap.m +++ b/scripts/control/pzmap.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[@var{zer}, @var{pol}]=} pzmap (@var{sys}) @@ -44,7 +44,7 @@ [zer,pol] = sys2zp(sys); - # force to column vectors, split into real, imaginary parts + ## force to column vectors, split into real, imaginary parts zerdata = poldata = []; if(length(zer)) zer = reshape(zer,length(zer),1); @@ -55,11 +55,11 @@ poldata = [real(pol(:,1)), imag(pol(:,1))]; endif - # determine continuous or discrete plane + ## determine continuous or discrete plane vars = "sz"; varstr = vars(is_digital(sys) + 1); - # Plot the data + ## Plot the data gset nologscale xy; if(is_siso(sys)) title(sprintf("Pole-zero map from %s to %s", ... @@ -69,10 +69,10 @@ ylabel(["Im(",varstr,")"]); grid; - # compute axis limits + ## compute axis limits axis(axis2dlim([zerdata;poldata])); grid - # finally, plot the data + ## finally, plot the data if(length(zer) == 0) plot(poldata(:,1), poldata(:,2),"@12 ;poles (no zeros);"); elseif(length(pol) == 0)
--- a/scripts/control/qzval.m +++ b/scripts/control/qzval.m @@ -1,20 +1,20 @@ -# Copyright (C) 1998 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1998 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{x} =} qzval (@var{A}, @var{B}) @@ -36,7 +36,7 @@ ## @end deftypefn function lam = qzval(A,B) -# A. S. Hodel July 1998 +## A. S. Hodel July 1998 warning("qzval is obsolete; calling qz instead") lam = qz(A,B);
--- a/scripts/control/rldemo.m +++ b/scripts/control/rldemo.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ##@deftypefn {Function File } { outputs =} rldemo ( inputs ) @@ -22,8 +22,8 @@ ##@end deftypefn function rldemo() -# Written by David Clem August 15, 1994 -# Updated by John Ingram December 1996 +## Written by David Clem August 15, 1994 +## Updated by John Ingram December 1996 while (1) clc
--- a/scripts/control/rlocus.m +++ b/scripts/control/rlocus.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { outputs =} rlocus ( inputs ) @@ -41,10 +41,11 @@ ## @end deftypefn function [rldata,k_break,rlpol,gvec,real_ax_pts] = rlocus(sys,increment,min_k,max_k) - # Convert the input to a transfer function if necessary - # Written by Clem and Tenison - # Updated by Kristi McGowan July 1996 for intelligent gain selection - # Updated by John Ingram July 1996 for systems + + ## Convert the input to a transfer function if necessary + ## Written by Clem and Tenison + ## Updated by Kristi McGowan July 1996 for intelligent gain selection + ## Updated by John Ingram July 1996 for systems if (nargin < 1) | (nargin > 4) usage("rlocus(sys[,inc,mink,maxk])"); @@ -58,33 +59,33 @@ num = [0, num]; # so that derivative is shortened by one endif - # root locus plot axis limits + ## root locus plot axis limits - # compute real axis locus breakpoints - # compute the derivative of the numerator and the denominator + ## compute real axis locus breakpoints + ## compute the derivative of the numerator and the denominator dern=polyderiv(num); derd=polyderiv(den); - # compute real axis breakpoints + ## compute real axis breakpoints real_ax_pol = conv(den,dern) - conv(num,derd); real_ax_pts = roots(real_ax_pol); if(isempty(real_ax_pts)) k_break = []; maxk = 0; else - # compute gains that achieve the breakpoints + ## compute gains that achieve the breakpoints c1 = polyval(num,real_ax_pts); c2 = polyval(den,real_ax_pts); k_break = -real(c2 ./ c1); maxk = max(max(k_break,0)); endif - # compute gain ranges based on computed K values + ## compute gain ranges based on computed K values if(maxk == 0) maxk = 1; else maxk = 1.1*maxk; endif mink = 0; ngain = 20; - # check for input arguments: + ## check for input arguments: if (nargin > 2) mink = min_k; endif if (nargin > 3) maxk = max_k; endif if (nargin > 1) @@ -94,24 +95,24 @@ endif endif - # vector of gains + ## vector of gains ngain = max(3,ngain); gvec = linspace(mink,maxk,ngain); - # Find the open loop zeros and the initial poles + ## Find the open loop zeros and the initial poles rlzer = roots(num); - # update num to be the same length as den + ## update num to be the same length as den lnum = length(num); if(lnum < lden) num = [zeros(1,lden - lnum),num]; endif - # compute preliminary pole sets + ## compute preliminary pole sets nroots = lden-1; for ii=1:ngain gain = gvec(ii); rlpol(1:nroots,ii) = vec(sortcom(roots(den + gain*num))); endfor - # compute axis limits (isolate asymptotes) + ## compute axis limits (isolate asymptotes) olpol = roots(den); real_axdat = union(real(rlzer), real(union(olpol,real_ax_pts)) ); rmin = min(real_axdat); rmax = max(real_axdat); @@ -122,24 +123,24 @@ xmin = axlim(1); xmax = axlim(2); - # set smoothing tolerance per axis limits + ## set smoothing tolerance per axis limits smtol = 0.01*max(abs(axlim)); - # smooth poles if necessary, up to maximum of 1000 gain points - # only smooth points within the axis limit window - # smoothing done if max_k not specified as a command argument + ## smooth poles if necessary, up to maximum of 1000 gain points + ## only smooth points within the axis limit window + ## smoothing done if max_k not specified as a command argument done=(nargin == 4); # perform a smoothness check while((!done) & ngain < 1000) done = 1 ; # assume done dp = abs(diff(rlpol'))'; maxd = max(dp); - # search for poles in the real axis limits whose neighbors are distant + ## search for poles in the real axis limits whose neighbors are distant idx = find(maxd > smtol); for ii=1:length(idx) i1 = idx(ii); g1 = gvec(i1); p1 = rlpol(:,i1); i2 = idx(ii)+1; g2 = gvec(i2); p2 = rlpol(:,i2); - # isolate poles in p1, p2 that are inside the real axis limits + ## isolate poles in p1, p2 that are inside the real axis limits bidx = find( (real(p1) >= xmin & real(p1) <= xmax) ... | (real(p2) >= xmin & real(p2) <= xmax) ); if(!isempty(bidx)) @@ -165,7 +166,7 @@ endif endfor - # process new gain values + ## process new gain values ngain1 = length(gvec); for ii=(ngain+1):ngain1 gain = gvec(ii); @@ -177,7 +178,7 @@ ngain = length(gvec); endwhile - # Plot the data + ## Plot the data if(nargout == 0) rlpolv = vec(rlpol); idx = find(real(rlpolv) >= xmin & real(rlpolv) <= xmax);
--- a/scripts/control/rotg.m +++ b/scripts/control/rotg.m @@ -1,26 +1,27 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## function [c,s] = rotg(a,b) +## givens rotation calculation +## +## NOTE: Use [c,s] = givens(a,b) instead. + function [c,s] = rotg(a,b) - #function [c,s] = rotg(a,b) - # givens rotation calculation - # - # NOTE: Use [c,s] = givens(a,b) instead. [c,s] = givens(a,b); endfunction
--- a/scripts/control/run_cmd.m +++ b/scripts/control/run_cmd.m @@ -1,23 +1,23 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. -# run_cmd: short script used in demos -# prints string cmd to the screen, then executes after a pause +## run_cmd: short script used in demos +## prints string cmd to the screen, then executes after a pause disp(["Command: ",cmd]) puts("Press a key to execute command");
--- a/scripts/control/series.m +++ b/scripts/control/series.m @@ -1,43 +1,43 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. function [a,b,c,d] = series(a1,b1,c1,d1,a2,b2,c2,d2) -# Forms the series connection of two systems. -# -# Superseded by sysmult. Do not use this routine! -# used internally in zp2ss -# -# Type of input: Transfer functions -# Command: [num,den]=series(num1,den1,num2,den2) -# Forms the series representation of the two transfer functions. -# -# Type of input: State space systems -# Command: [a,b,c,d]=series(a1,b1,c1,d1,a2,b2,c2,d2) -# Forms the series representation of the two state space system arguments. -# The series connected system will have the inputs of system 1 and the -# outputs of system 2. -# -# Type of input: system data structure -# Command: syst=series(syst1,syst2) -# Forms the series representation of the two mu system arguments. -# Written by David Clem August 15, 1994 +## Forms the series connection of two systems. +## +## Superseded by sysmult. Do not use this routine! +## used internally in zp2ss +## +## Type of input: Transfer functions +## Command: [num,den]=series(num1,den1,num2,den2) +## Forms the series representation of the two transfer functions. +## +## Type of input: State space systems +## Command: [a,b,c,d]=series(a1,b1,c1,d1,a2,b2,c2,d2) +## Forms the series representation of the two state space system arguments. +## The series connected system will have the inputs of system 1 and the +## outputs of system 2. +## +## Type of input: system data structure +## Command: syst=series(syst1,syst2) +## Forms the series representation of the two mu system arguments. +## Written by David Clem August 15, 1994 -# If two arguments input, take care of mu system case +## If two arguments input, take care of mu system case warning("series is superseded by sysmult; use sysmult instead.") @@ -49,7 +49,7 @@ muflag = 1; endif -# If four arguments input, put two transfer functions in series +## If four arguments input, put two transfer functions in series if(nargin == 4) a = conv(a1,c1); % was conv1 @@ -57,11 +57,11 @@ c = 0; d = 0; -# Find series combination of 2 state space systems +## Find series combination of 2 state space systems elseif((nargin == 8)||(muflag == 1)) -# check matrix dimensions +## check matrix dimensions [n1,m1,p1] = abcddim(a1,b1,c1,d1); [n2,m2,p2] = abcddim(a2,b2,c2,d2); @@ -70,21 +70,21 @@ error("Incorrect matrix dimensions"); endif -# check to make sure the number of outputs of system1 equals the number -# of inputs of system2 +## check to make sure the number of outputs of system1 equals the number +## of inputs of system2 if(p1 ~= m2) error("System 1 output / System 2 input connection sizes do not match"); endif -# put the two state space systems in series +## put the two state space systems in series a = [a1, zeros(rows(a1),columns(a2));b2*c1, a2]; b = [b1;b2*d1]; c = [d2*c1, c2]; d = [d2*d1]; -# take care of mu output +## take care of mu output if(muflag == 1) a=ss2sys(a,b,c,d);
--- a/scripts/control/sortcom.m +++ b/scripts/control/sortcom.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { outputs =} sortcom ( inputs ) @@ -36,7 +36,8 @@ ## @end deftypefn function [yy,idx] = sortcom(xx,opt) -# Written by A. S. Hodel June 1995 + + ## Written by A. S. Hodel June 1995 if( nargin < 1 | nargin > 2 ) usage("yy = sortcom(xx[,opt]"); @@ -64,12 +65,12 @@ yy= xx(idx); if(strcmp(opt,"re") | strcmp(opt,"mag")) - # sort so that complex conjugate pairs appear together + ## sort so that complex conjugate pairs appear together ddiff = diff(datavec); zidx = find(ddiff == 0); - # sort common datavec values + ## sort common datavec values if(!isempty(zidx)) for iv=create_set(datavec(zidx)) vidx = find(datavec == iv);
--- a/scripts/control/ss2sys.m +++ b/scripts/control/ss2sys.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{sys} =} ss2sys (@var{a},@var{b},@var{c}@{,@var{d}, @var{tsam}, @var{n}, @var{nz}, @var{stname}, @var{inname}, @var{outname}, @var{outlist}@}) @@ -186,42 +186,41 @@ ## since none were given. ## ## @end deftypefn -## function retsys = ss2sys (a,b,c,d,tsam,n,nz,stname,inname,outname,outlist) - # Written by John Ingram (ingraje@eng.auburn.edu) July 20, 1996 + ## Written by John Ingram (ingraje@eng.auburn.edu) July 20, 1996 save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1; - # Test for correct number of inputs + ## Test for correct number of inputs if ((nargin < 3) | (nargin > 11)) usage("retsys = ss2sys (a,b,c{,d,tsam,n,nz,stname,inname,outname,outlist})"); endif - # verify A, B, C, D arguments - # If D is not specified, set it to a zero matrix of appriate dimension. + ## verify A, B, C, D arguments + ## If D is not specified, set it to a zero matrix of appriate dimension. if (nargin == 3) d = zeros(rows(c) , columns(b)); elseif (isempty(d)) d = zeros(rows(c) , columns(b)); endif - # Check the dimensions + ## Check the dimensions [na,m,p] = abcddim(a,b,c,d); - # If dimensions are wrong, exit function + ## If dimensions are wrong, exit function if (m == -1) error("a(%dx%d), b(%dx%d), c(%dx%d), d(%dx%d); incompatible", ... rows(a), columns(a), rows(b), columns(b), rows(c), columns(c), ... rows(d), columns(d)); endif - # check for tsam input + ## check for tsam input if(nargin < 5) tsam = 0; elseif( !( is_sample(tsam) | (tsam == 0) ) ) error("tsam must be a nonnegative real scalar"); endif - # check for continuous states + ## check for continuous states if( (nargin < 6) & (tsam == 0) ) n = na; elseif(nargin < 6) n = 0; elseif((!is_matrix(n)) | isstr(n)) @@ -232,7 +231,7 @@ rows(n), columns(n)); endif endif - # check for num discrete states + ## check for num discrete states if( (nargin < 7) & (tsam == 0)) nz = 0; elseif(nargin < 7) nz = na - n; elseif((!is_matrix(nz)) | isstr(nz)) @@ -246,13 +245,13 @@ endif endif - #check for total number of states + ## check for total number of states if( (n + nz) != na ) error(["Illegal: a is ",num2str(na),"x",num2str(na),", n=", ... num2str(n),", nz=",num2str(nz)]); endif - # construct system with default names + ## construct system with default names retsys.a = a; retsys.b = b; retsys.c = c; @@ -263,29 +262,29 @@ retsys.tsam = tsam; retsys.yd = zeros(1,p); # default value entered below - # Set the system vector: active = 2(ss), updated = [0 0 1]; + ## Set the system vector: active = 2(ss), updated = [0 0 1]; retsys.sys = [2, 0, 0, 1]; retsys.stname = sysdefstname(n,nz); retsys.inname = sysdefioname(m,"u"); retsys.outname = sysdefioname(p,"y"); - # check for state names + ## check for state names if(nargin >= 8) if(!isempty(stname)) retsys = syssetsignals(retsys,"st",stname); endif endif - #check for input names + ## check for input names if(nargin >= 9) if(!isempty(inname)) retsys = syssetsignals(retsys,"in",inname); endif endif - #check for output names + ## check for output names if(nargin >= 10) if(!isempty(outname)) retsys = syssetsignals(retsys,"out",outname); endif endif - # set up yd + ## set up yd if(nargin < 11) retsys = syssetsignals(retsys,"yd",ones(1,p)*(tsam > 0)); else @@ -294,5 +293,5 @@ endif endif - implicit_str_to_num_ok = save_val; # restore value + implicit_str_to_num_ok = save_val; ## restore value endfunction
--- a/scripts/control/ss2tf.m +++ b/scripts/control/ss2tf.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { outputs =} ss2tf ( inputs ) @@ -39,10 +39,11 @@ ## @end deftypefn function [num,den] = ss2tf(a,b,c,d) -# Written by R. Bruce Tenison (June 24, 1994) btenison@eng.auburn.edu -# a s hodel: modified to allow for pure gain blocks Aug 1996 -# Check args + ## Written by R. Bruce Tenison (June 24, 1994) btenison@eng.auburn.edu + ## a s hodel: modified to allow for pure gain blocks Aug 1996 + + ## Check args [n,m,p] = abcddim(a,b,c,d); if (n == -1) num = []; @@ -55,24 +56,24 @@ endif if(n == 0) - # gain block only + ## gain block only num = d; den = 1; else - # First, get the denominator coefficients + ## First, get the denominator coefficients den = poly(a); - # Get the zeros of the system + ## Get the zeros of the system [zz,g] = tzero(a,b,c,d); - # Form the Numerator (and include the gain) + ## Form the Numerator (and include the gain) if (!isempty(zz)) num = g * poly(zz); else num = g; endif - # the coefficients must be real + ## the coefficients must be real den = real(den); num = real(num); endif
--- a/scripts/control/ss2zp.m +++ b/scripts/control/ss2zp.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { outputs =} ss2zp ( inputs ) @@ -32,9 +32,10 @@ function [zer,pol,k] = ss2zp(a,b,c,d) -# Written by David Clem August 15, 1994 -# Hodel: changed order of output arguments to zer, pol, k. July 1996 -# a s hodel: added argument checking, allow for pure gain blocks aug 1996 + + ## Written by David Clem August 15, 1994 + ## Hodel: changed order of output arguments to zer, pol, k. July 1996 + ## a s hodel: added argument checking, allow for pure gain blocks aug 1996 if(nargin != 4) usage("[zer,pol,k] = ss2zp(a,b,c,d)"); @@ -48,11 +49,11 @@ endif if(n == 0) - # gain block only + ## gain block only k = d; zer = pol = []; else - # First, get the denominator coefficients + ## First, get the denominator coefficients [zer,k] = tzero(a,b,c,d); pol = eig(a); endif
--- a/scripts/control/starp.m +++ b/scripts/control/starp.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { outputs =} starp ( inputs ) @@ -50,7 +50,8 @@ ## @end deftypefn function [sys] = starp(P, K, ny, nu); -# Written by Kai Mueller May 1998 + + ## Written by Kai Mueller May 1998 if((nargin != 2) && (nargin != 4)) usage("[sys] = starp(P, K, ny, nu)"); @@ -71,7 +72,7 @@ ny_sign = 1; nu_sign = 1; if (nargin == 2) - # perform a LFT of P and K (upper or lower) + ## perform a LFT of P and K (upper or lower) ny = min([pp, mk]); nu = min([pk, mp]); else @@ -107,7 +108,7 @@ error("---> no outputs left for star product."); endif - # checks done, form sys + ## checks done, form sys if (nzp) Olst = [1:nzp]; endif if (nzk) Olst = [Olst, pp+nu+1:pp+pk]; endif if (nwp) Ilst = [1:nwp]; endif
--- a/scripts/control/step.m +++ b/scripts/control/step.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[@var{y}, @var{t}] =} impulse (@var{sys}@{, @var{inp},@var{tstop}, @var{n}@}) @@ -46,26 +46,26 @@ ## See also: impulse, stepimp -# step: Step response for a linear system. -# The system can be discrete or multivariable (or both). -# -# [y, t] = step(sys[, inp, tstop, n]) -# Produces a plot or the step response data for system sys. -# -# The argument tstop (scalar value) denotes the time when the -# simulation should end. The Parameter n is the number of data values. -# Both parameters tstop and n can be ommitted and will be -# computed from the eigenvalues of the A-Matrix. -# -# When the step function is invoked with the output parameter y -# a plot is not displayed. -# -# See also: impulse, stepimp +## step: Step response for a linear system. +## The system can be discrete or multivariable (or both). +## +## [y, t] = step(sys[, inp, tstop, n]) +## Produces a plot or the step response data for system sys. +## +## The argument tstop (scalar value) denotes the time when the +## simulation should end. The Parameter n is the number of data values. +## Both parameters tstop and n can be ommitted and will be +## computed from the eigenvalues of the A-Matrix. +## +## When the step function is invoked with the output parameter y +## a plot is not displayed. +## +## See also: impulse, stepimp function [y, t] = step(sys, inp, tstop, n) -# Written by Kai P. Mueller September 30, 1997 -# based on lsim.m of Scottedward Hodel -# modified by +## Written by Kai P. Mueller September 30, 1997 +## based on lsim.m of Scottedward Hodel +## modified by if((nargin < 1) || (nargin > 4)) usage("[y, u] = step(sys[, inp, tstop, n])");
--- a/scripts/control/stepimp.m +++ b/scripts/control/stepimp.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[y, t] = } stepimp(@var{sitype},@var{sys}[, @var{inp}, @var{tstop}, @var{n}]) @@ -29,12 +29,13 @@ ## or @code{impulse} instead. ## ## @end deftypefn -## -## ## See also: step, impulse + +## See also: step, impulse function [y, t] = stepimp(sitype, sys, inp, tstop, n) -# Written by Kai P. Mueller October 2, 1997 -# based on lsim.m of Scottedward Hodel + + ## Written by Kai P. Mueller October 2, 1997 + ## based on lsim.m of Scottedward Hodel if (sitype == 1) IMPULSE = 0; elseif (sitype == 2) IMPULSE = 1; @@ -47,7 +48,7 @@ N_MAX = 2000; # maximum number of points T_DEF = 10.0; # default simulation time - # collect useful information about the system + ## collect useful information about the system [ncstates,ndstates,NIN,NOUT] = sysdimensions(sys); TSAMPLE = sysgettsam(sys); @@ -66,11 +67,11 @@ error("step: pure gain block (n_states < 1), step response is trivial"); endif if (nargin < 5) - # we have to compute the time when the system reaches steady state - # and the step size + ## we have to compute the time when the system reaches steady state + ## and the step size ev = eig(sys2ss(sys)); if (DIGITAL) - # perform bilinear transformation on poles in z + ## perform bilinear transformation on poles in z for i = 1:NSTATES pole = ev(i); if (abs(pole + 1) < 1.0e-10) @@ -80,7 +81,7 @@ endif endfor endif - # remove poles near zero from eigenvalue array ev + ## remove poles near zero from eigenvalue array ev nk = NSTATES; for i = 1:NSTATES if (abs(ev(i)) < 1.0e-10) @@ -90,23 +91,23 @@ endfor if (nk == 0) USE_DEF = 1; - #printf("##STEPIMP-DEBUG: using defaults.\n"); + ## printf("##STEPIMP-DEBUG: using defaults.\n"); else ev = ev(find(ev)); x = max(abs(ev)); t_step = 0.2 * pi / x; x = min(abs(real(ev))); t_sim = 5.0 / x; - # round up + ## round up yy = 10^(ceil(log10(t_sim)) - 1); t_sim = yy * ceil(t_sim / yy); - #printf("##STEPIMP-DEBUG: nk=%d t_step=%f t_sim=%f\n", - # nk, t_step, t_sim); + ## printf("##STEPIMP-DEBUG: nk=%d t_step=%f t_sim=%f\n", + ## nk, t_step, t_sim); endif endif if (DIGITAL) - # ---- sampled system + ## ---- sampled system if (nargin == 5) n = round(n); if (n < 2) @@ -114,9 +115,9 @@ endif else if (nargin == 4) - # n is unknown + ## n is unknown elseif (nargin >= 1) - # tstop and n are unknown + ## tstop and n are unknown if (USE_DEF) tstop = (N_MIN - 1) * TSAMPLE; else @@ -135,7 +136,7 @@ tstop = (n - 1) * TSAMPLE; t_step = TSAMPLE; else - # ---- continuous system + ## ---- continuous system if (nargin == 5) n = round(n); if (n < 2) @@ -144,7 +145,7 @@ t_step = tstop / (n - 1); else if (nargin == 4) - # only n in unknown + ## only n in unknown if (USE_DEF) n = N_MIN; t_step = tstop / (n - 1); @@ -152,7 +153,7 @@ n = floor(tstop / t_step) + 1; endif else - # tstop and n are unknown + ## tstop and n are unknown if (USE_DEF) tstop = T_DEF; n = N_MIN; @@ -177,7 +178,7 @@ B = B(:,inp); sys = c2d(sys, t_step); endif - #printf("##STEPIMP-DEBUG: t_step=%f n=%d tstop=%f\n", t_step, n, tstop); + ## printf("##STEPIMP-DEBUG: t_step=%f n=%d tstop=%f\n", t_step, n, tstop); F = sys.a; G = sys.b(:,inp); @@ -211,7 +212,7 @@ endif if(nargout == 0) - # Plot the information + ## Plot the information oneplot(); gset nogrid gset nologscale @@ -257,10 +258,10 @@ plot(t, yy); endif endfor - # leave gnuplot in multiplot mode is bad style + ## leave gnuplot in multiplot mode is bad style oneplot(); else - # plot everything in one diagram + ## plot everything in one diagram title([tt, " response | ", sysgetsignals(sys,"in",inp,1), ... " -> all outputs"]); if (DIGITAL) @@ -275,5 +276,5 @@ y=[]; t=[]; endif - #printf("##STEPIMP-DEBUG: gratulations, successfull completion.\n"); + ## printf("##STEPIMP-DEBUG: gratulations, successfull completion.\n"); endfunction
--- a/scripts/control/strappend.m +++ b/scripts/control/strappend.m @@ -1,24 +1,25 @@ -# Copyright (C) 1998 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1998 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. function retval = strappend(strlist,suffix); - # retval = strappend(strlist,suffix); - # append string suffix to each string in the list of strings strlist + + ## retval = strappend(strlist,suffix); + ## append string suffix to each string in the list of strings strlist if(nargin != 2 | nargout > 1) usage(" retval = strappend(strlist,suffix)");
--- a/scripts/control/susball.m +++ b/scripts/control/susball.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { outputs =} susball ( inputs ) @@ -105,10 +105,10 @@ run_cmd; sysout(closed_loop); -# disp("\nscaling the duplicated input by -1"); -# cmd = "closed_loop = sysscale(closed_loop,[],diag([1,1,1]));" -# run_cmd; -# sysout(closed_loop); +## disp("\nscaling the duplicated input by -1"); +## cmd = "closed_loop = sysscale(closed_loop,[],diag([1,1,1]));" +## run_cmd; +## sysout(closed_loop); disp("\nconnecting plant output to controller input and controller output"); disp("to the duplicated plant input");
--- a/scripts/control/swap.m +++ b/scripts/control/swap.m @@ -1,27 +1,28 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## usage: [a1,b1] = swap(a,b) +## interchange a and b + function [a1,b1] = swap(a,b) - # [a1,b1] = swap(a,b) - # interchange a and b - # A. S. Hodel July 24 1992 - # Conversion to Octave R. Bruce Tenison July 4, 1994 + ## A. S. Hodel July 24 1992 + ## Conversion to Octave R. Bruce Tenison July 4, 1994 a1 = b; b1 = a;
--- a/scripts/control/swapcols.m +++ b/scripts/control/swapcols.m @@ -1,27 +1,28 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## usage: B = swapcols(A) +## permute columns of A into reverse order + function B = swapcols(A) - # function B = swapcols(A) - # permute columns of A into reverse order - # A. S. Hodel July 23, 1992 - # Conversion to Octave R. Bruce Tenison July 4, 1994 + ## A. S. Hodel July 23, 1992 + ## Conversion to Octave R. Bruce Tenison July 4, 1994 m = length(A(1,:)); idx = m:-1:1;
--- a/scripts/control/swaprows.m +++ b/scripts/control/swaprows.m @@ -1,27 +1,28 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## usage: B = swaprows(A) +## permute rows of A into reverse order + function B = swaprows(A) - # function B = swaprows(A) - # permute rows of A into reverse order - # A. S. Hodel July 23, 1992 - # Conversion to Octave R. Bruce Tenison July 4, 1994 + ## A. S. Hodel July 23, 1992 + ## Conversion to Octave R. Bruce Tenison July 4, 1994 m = rows(A); idx = m:-1:1;
--- a/scripts/control/sys2fir.m +++ b/scripts/control/sys2fir.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[@var{c}, @var{tsam}, @var{input}, @var{output}] =} sys2fir (@var{sys}) @@ -27,9 +27,10 @@ ## See also: fir2sys function [c,tsam,inname,outname] = sys2fir(sys) -# a s hodel July 1996 - # let sys2tf do most of the work + ## a s hodel July 1996 + + ## let sys2tf do most of the work [num,den,tsam,inname,outname] = sys2tf(sys);
--- a/scripts/control/sys2ss.m +++ b/scripts/control/sys2ss.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996, 1998 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996, 1998 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[@var{a},@var{b},@var{c},@var{d},@var{tsam},@var{n},@var{nz},@var{stname},@var{inname},@var{outname},@var{yd}] =} sys2ss (@var{sys}) @@ -64,8 +64,8 @@ function [a,b,c,d,tsam,n,nz,stname,inname,outname,yd] = sys2ss(sys) - # Written by David Clem August 19, 1994 - # Updates by John Ingram July 14, 1996 + ## Written by David Clem August 19, 1994 + ## Updates by John Ingram July 14, 1996 if(nargin != 1) usage("[a,b,c,d,tsam,n,nz,stname,inname,outname,yd] = sys2ss(sys)")
--- a/scripts/control/sys2tf.m +++ b/scripts/control/sys2tf.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[@var{num},@var{den},@var{tsam},@var{inname},@var{outname}] =} sys2tf (@var{sys}) @@ -32,9 +32,9 @@ ## @end deftypefn function [num,den,tsam,inname,outname] = sys2tf(Asys) -# Written by R. Bruce Tenison (June 24, 1994) btenison@eng.auburn.edu -# modified to make sys2tf by A. S. Hodel Aug 1995 -# modified again for updated system format by John Ingram July 1996 +## Written by R. Bruce Tenison (June 24, 1994) btenison@eng.auburn.edu +## modified to make sys2tf by A. S. Hodel Aug 1995 +## modified again for updated system format by John Ingram July 1996 if(nargin != 1) usage("[num,den,tsam,inname,outname] = sys2tf(Asys)");
--- a/scripts/control/sys2zp.m +++ b/scripts/control/sys2zp.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ##@deftypefn {Function File } {[@var{zer}, @var{pol}, @var{k}, @var{tsam}, @var{inname}, @var{outname}] =} sys2zp (@var{sys}) @@ -36,7 +36,8 @@ ## @end deftypefn function [zer,pol,k,tsam,inname,outname] = sys2zp(sys) -# Created by John Ingram July 15 1996 + + ## Created by John Ingram July 15 1996 if(nargin != 1) usage("[zer,pol,k,tsam,inname,outname] = sys2zp(sys)"); @@ -48,7 +49,7 @@ ", num2str(p)," outputs"]); endif - # update zero-pole form + ## update zero-pole form sys = sysupdate(sys,"zp"); zer = sys.zer;
--- a/scripts/control/sysadd.m +++ b/scripts/control/sysadd.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1999 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1999 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{sys} =} sysadd ( @var{Gsys},@var{Hsys}) @@ -40,8 +40,9 @@ ## @end deftypefn function sys = sysadd(...) -# Written by John Ingram July 1996 -# Updated for variable number of arguments July 1999 A. S. Hodel + + ## Written by John Ingram July 1996 + ## Updated for variable number of arguments July 1999 A. S. Hodel save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1; @@ -50,7 +51,7 @@ usage("sysadd: sys = sysysadd(Gsys{,Hsys, ...})"); endif - # collect all arguments + ## collect all arguments arglist = list(); va_start(); for kk=1:nargin @@ -60,7 +61,7 @@ endif endfor - # check system dimensions + ## check system dimensions [n,nz,mg,pg,Gyd] = sysdimensions(nth(arglist,1)); for kk=2:nargin [n,nz,mh,ph,Hyd] = sysdimensions(nth(arglist,kk)); @@ -74,11 +75,11 @@ endif endfor - # perform the add + ## perform the add if(nargin == 2) Gsys = nth(arglist,1); Hsys = nth(arglist,2); if( strcmp(sysgettype(Gsys),"tf") | strcmp(sysgettype(Hsys),"tf") ) - # see if adding transfer functions with identical denominators + ## see if adding transfer functions with identical denominators [Gnum,Gden,GT,Gin,Gout] = sys2tf(Gsys); [Hnum,Hden,HT,Hin,Hout] = sys2tf(Hsys); if(length(Hden) == length(Gden) ) @@ -86,15 +87,15 @@ sys = tf2sys(Gnum+Hnum,Gden,GT,Gin,Gout); return endif - # if not, we go on and do the usual thing... + ## if not, we go on and do the usual thing... endif endif - # make sure in ss form + ## make sure in ss form Gsys = sysupdate(Gsys,"ss"); Hsys = sysupdate(Hsys,"ss"); - # change signal names to avoid warning messages from sysgroup + ## change signal names to avoid warning messages from sysgroup Gsys = syssetsignals(Gsys,"in",sysdefioname(length(Gin),"Gin_u")); Gsys = syssetsignals(Gsys,"out",sysdefioname(length(Gout),"Gout_u")); Hsys = syssetsignals(Hsys,"in",sysdefioname(length(Hin),"Hin_u")); @@ -108,7 +109,7 @@ sys = sysscale(sys,[eyout, eyout],[eyin;eyin],Gout,Gin); else - # multiple systems (or a single system); combine together one by one + ## multiple systems (or a single system); combine together one by one sys = nth(arglist,1); for kk=2:length(arglist) sys = sysadd(sys,nth(arglist,kk));
--- a/scripts/control/sysappend.m +++ b/scripts/control/sysappend.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {@var{retsys} =} sysappend (@var{sys},@var{b}@{, @var{c}, @var{d}, @var{outname}, @var{inname}, @var{yd}@}) @@ -75,38 +75,38 @@ ## @end deftypefn function retsys = sysappend(sys,b,c,d,outname,inname,yd) - # written by John Ingram August 1996 + + ## written by John Ingram August 1996 sav_implicit_str_to_num_ok = implicit_str_to_num_ok; # save for later sav_empty_list_elements_ok = empty_list_elements_ok; empty_list_elements_ok = 1; implicit_str_to_num_ok = 1; - # check input arguments + ## check input arguments if ( (nargin < 2) | (nargin > 7) | (!is_struct(sys))) usage("retsys = sysappend(sys,b,c[,d,outname,inname,yd]) "); elseif(!is_struct(sys)) error("sys must be a system data structure"); endif - # default system type must be state space form + ## default system type must be state space form [Aa,Ab,Ac,Ad,Ats,Ann,Anz,Ast,Ain,Aout,Ayd] = sys2ss(sys); [Ann,Anz,Am,Ap] = sysdimensions(sys); - #default c + ## default c if(nargin < 3) c = []; endif - #default d + ## default d if(nargin < 4) make_d = 1; elseif(isempty(d)) make_d = 1; else make_d = 0; endif if(make_d) d = zeros(rows(c)+Ap,columns(b) + Am); endif - # - # Append new input(s) if any + ## Append new input(s) if any Bm = max(columns(d),columns(b)+Am); if(Bm != Am) - # construct new signal names + ## construct new signal names if(nargin >= 6) # new names were passed if(!isstr(inname)) error("inname must be a string"); @@ -120,23 +120,22 @@ if(Am) Ain = append(Ain,inname); else Ain = inname; endif - # default b matrix + ## default b matrix if(isempty(b)) b = zeros(Ann+Anz,(Bm-Am)); elseif(rows(b) != Ann+Anz | columns(b) != (Bm-Am)) error(sprintf("b(%dx%d); should be (%dx%d)", rows(b), columns(b), ... (Ann+Anz), (Bm-Am))); endif - # append new b matrix + ## append new b matrix Ab = [Ab,b]; # empty_list_elements_ok=1 makes this ok endif - # - # Append new output(s) if any + ## Append new output(s) if any Bp = max(rows(d),rows(c)+Ap); if(Bp != Ap) - # construct new signal names, output classification + ## construct new signal names, output classification if(nargin >= 5) # new names were passed if(!isstr(outname)) error("outname must be a string"); @@ -150,7 +149,7 @@ if(Ap) Aout = append(Aout,outname); else Aout = outname; endif - # construct new yd entries + ## construct new yd entries if(nargin == 7) if(!is_vector(yd)) error(sprintf("yd(%dx%d) must be a vector",rows(yd),columns(yd))) @@ -159,33 +158,33 @@ length(yd), rows(c), columns(c),rows(d),columns(d))); endif else - # default yd values + ## default yd values yd = ones(1,Bp)*( (Ats > 0) & (Ann == 0) & isempty(find(Ayd == 0)) ) ; endif Ayd = [vec(Ayd);vec(yd)]; - # default c matrix + ## default c matrix if(isempty(c)) c = zeros((Bp-Ap),Ann+Anz); elseif(columns(c) != Ann+Anz | rows(c) != (Bp-Ap)) error(sprintf("c(%dx%d); should be (%dx%d)", rows(c), columns(c), ... (Bp-Ap), (Ann+Anz) )); endif - # append new c matrix + ## append new c matrix Ac = [Ac;c]; # empty_list_elements_ok=1 makes this ok endif - # check d matrix + ## check d matrix if(isempty(d)) d = zeros(Bp,Bm); elseif(rows(d) != Bp | columns(d) != Bm) error(sprintf("d(%dx%d) should be (%dx%d)",rows(d), columns(d), Bp, Bp)); endif - # Splice in original D matrix + ## Splice in original D matrix if(Am & Ap) d(1:Ap, 1:Am) = Ad; endif Ad = d; - # construct return system + ## construct return system retsys = ss2sys(Aa,Ab,Ac,Ad,Ats,Ann,Anz,Ast,Ain,Aout,find(Ayd == 1)); implicit_str_to_num_ok = sav_implicit_str_to_num_ok; # restore value
--- a/scripts/control/syschnames.m +++ b/scripts/control/syschnames.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {@var{retsys} =} syschnames (@var{sys}, @var{opt}, @var{list}, @var{names}) @@ -22,7 +22,7 @@ ## @end deftypefn function retsys = syschnames(sys,opt,list,names) -# Written by John Ingram August 1996; updated by A. S. Hodel 1998 +## Written by John Ingram August 1996; updated by A. S. Hodel 1998 retsys = syssetsignals(sys,opt,names,list);
--- a/scripts/control/syschnamesl.m +++ b/scripts/control/syschnamesl.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { } syschnamesl @@ -28,35 +28,34 @@ ## @end deftypefn function old_names = syschnamesl(olist,old_names,inames,listname) - # $Revision: 2.1.14.5 $ - # $Log: syschnamesl.m,v $ -# Revision 2.1.14.5 1999/09/22 21:55:46 scotte -# Auburn copyright fixed; krylov.m patched to fix bug -# -# Revision 2.1.14.4 1999/07/21 19:49:21 scotte -# sysgroup, sysadd, sysmult, syssub accept variable # of input args -# - # Revision 1.3 1998/07/17 15:08:50 hodelas - # use isempty instead of max(size(...)) - # - # Revision 1.2 1998/07/01 16:23:39 hodelas - # Updated c2d, d2c to perform bilinear transforms. - # Updated several files per bug updates from users. - # - # Revision 1.5 1997/02/28 23:47:26 hodel - # fixed bug in checking parameters; (inames dimension not checked against olist) - # a.s.hodel@eng.auburn.edu - # - # Revision 1.4 1997/02/13 15:56:37 hodel - # added code to convert zeros in the name matrix to blanks - # a.s.hodel@eng.auburn.edu - # - # Revision 1.3 1997/02/13 15:11:17 hodel - # fixed bug when len_my < len_out a.s.hodel@eng.auburn.edu - # - # Revision 1.2 1997/02/12 22:54:50 hodel - # fixed string matrix <-> numerical matrix problem - # + ## $Revision: 2.1.14.5 $ + ## $Log: syschnamesl.m,v $ + ## Revision 2.1.14.5 1999/09/22 21:55:46 scotte + ## Auburn copyright fixed; krylov.m patched to fix bug + ## + ## Revision 2.1.14.4 1999/07/21 19:49:21 scotte + ## sysgroup, sysadd, sysmult, syssub accept variable # of input args + ## + ## Revision 1.3 1998/07/17 15:08:50 hodelas + ## use isempty instead of max(size(...)) + ## + ## Revision 1.2 1998/07/01 16:23:39 hodelas + ## Updated c2d, d2c to perform bilinear transforms. + ## Updated several files per bug updates from users. + ## + ## Revision 1.5 1997/02/28 23:47:26 hodel + ## fixed bug in checking parameters; (inames dimension not checked against olist) + ## a.s.hodel@eng.auburn.edu + ## + ## Revision 1.4 1997/02/13 15:56:37 hodel + ## added code to convert zeros in the name matrix to blanks + ## a.s.hodel@eng.auburn.edu + ## + ## Revision 1.3 1997/02/13 15:11:17 hodel + ## fixed bug when len_my < len_out a.s.hodel@eng.auburn.edu + ## + ## Revision 1.2 1997/02/12 22:54:50 hodel + ## fixed string matrix <-> numerical matrix problem probstr = []; if( max(olist) > rows(old_names) ) @@ -106,7 +105,7 @@ endif endif if(!isempty(probstr)) - # the following lines are NOT debugging code! + ## the following lines are NOT debugging code! disp("Problem in syschnames: old names are") outlist(old_names," ") disp("new names are") @@ -117,29 +116,29 @@ listname, rows(olist), columns(olist),probstr)); endif - # change zeros to blanks + ## change zeros to blanks if( find(old_names == 0) ) - #disp("syschnamesl: old_names contains zeros ") - #old_names - #disp("/syschnamesl"); + ## disp("syschnamesl: old_names contains zeros ") + ## old_names + ## disp("/syschnamesl"); [ii,jj] = find(old_names == 0); for idx=1:length(ii) old_names(ii(idx),jj(idx)) = " "; endfor - #disp("syschnamesl: old_names fixed zeros ") - #old_names - #disp("/syschnamesl"); + ## disp("syschnamesl: old_names fixed zeros ") + ## old_names + ## disp("/syschnamesl"); endif - # just in case it's not a string anymore + ## just in case it's not a string anymore if( !isstr(old_names) ) old_names = setstr(old_names); endif - #disp("syschnamesl: exit, old_names=") - #old_names - #disp("/syschnamesl: exiting") + ## disp("syschnamesl: exit, old_names=") + ## old_names + ## disp("/syschnamesl: exiting") endfunction
--- a/scripts/control/syschtsam.m +++ b/scripts/control/syschtsam.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { retsys =} syschtsam ( sys,tsam ) @@ -23,7 +23,7 @@ ## @end deftypefn function retsys = syschtsam(sys,tsam) -# Written by John Ingram August 1996 +## Written by John Ingram August 1996 if (nargin != 2) usage("retsys = syschtsam(sys,tsam)");
--- a/scripts/control/sysconnect.m +++ b/scripts/control/sysconnect.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {@var{retsys} =} sysconnect (@var{sys}, @var{out_idx},@var{in_idx}@{,@var{order}, @var{tol}@}) @@ -64,8 +64,9 @@ ## @end deftypefn function sys = sysconnect(sys,output_list,input_list,order,tol) -# A. S. Hodel August 1995 -# modified by John Ingram July 1996 + + ## A. S. Hodel August 1995 + ## modified by John Ingram July 1996 save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1; @@ -74,7 +75,7 @@ usage("retsys = sysconnect(sys,output_list,input_list[,order,tol])"); endif - # check order + ## check order if(nargin <= 3) order = 0; elseif( (order != 0) & (order != 1) ) @@ -90,7 +91,7 @@ ", eps=",num2str(eps)]) endif - # verify sizes,format of input, output lists + ## verify sizes,format of input, output lists if( min(size(output_list))*min(size(input_list)) != 1) error("output_list and input_list must be vectors"); else @@ -118,7 +119,7 @@ num2str(mm),"system inputs"]) endif - # check that there are enough inputs/outputs in the system for the lists + ## check that there are enough inputs/outputs in the system for the lists if(max(input_list) > mm) error("max(input_list) exceeds the number of inputs"); elseif(max(output_list) > pp) @@ -127,10 +128,10 @@ output_list = reshape(output_list,1,length(output_list)); - # make sure we're in state space form + ## make sure we're in state space form sys = sysupdate(sys,'ss'); - # permute rows and columns of B,C,D matrices into pseudo-dgkf form... + ## permute rows and columns of B,C,D matrices into pseudo-dgkf form... all_inputs = sysreorder(mm,input_list); all_outputs = sysreorder(pp,output_list); @@ -142,16 +143,16 @@ yd = sysgetsignals(sys,"yd"); yd = yd(all_outputs); - # m1, p1 = number of inputs, outputs that are not being connected + ## m1, p1 = number of inputs, outputs that are not being connected m1 = mm-li; p1 = pp-li; - # m2, p2: 1st column, row of B, C that is being connected + ## m2, p2: 1st column, row of B, C that is being connected m2 = m1+1; p2 = p1+1; - # partition system into a DGKF-like form; the loop is closed around - # B2, C2 + ## partition system into a DGKF-like form; the loop is closed around + ## B2, C2 if(m1 > 0) B1 = bb(:,1:m1); D21= dd(p2:pp,1:m1); @@ -184,13 +185,13 @@ endif - # check cont state -> disc output -> cont state + ## check cont state -> disc output -> cont state dyi = find(yd(p2:pp)); - #disp("sysconnect: dyi=") - #dyi - #nc - #disp("/sysconnect"); + ## disp("sysconnect: dyi=") + ## dyi + ## nc + ## disp("/sysconnect"); if( (nc > 0) & find(dyi > 0) ) B2con = B2(1:nc,dyi); # connection to cont states @@ -219,7 +220,7 @@ D12c = D12*(eye(size(D22h))+D22h); endif - # construct system data structure + ## construct system data structure if(m1 > 0) Bc = [B1c, B2c]; else @@ -242,7 +243,7 @@ Dc = D22h; endif - # permute rows and columns of Bc, Cc, Dc back into original order + ## permute rows and columns of Bc, Cc, Dc back into original order Im = eye(mm,mm); Pi = Im(:,all_inputs); back_inputs = Pi*[1:mm]'; @@ -256,19 +257,19 @@ Dc = Dc(back_outputs,back_inputs); yd = yd(back_outputs); - # rebuild system + ## rebuild system Ts = sysgettsam(sys); [stnam,innam,outnam] = sysgetsignals(sys); sys = ss2sys(Ac,Bc,Cc,Dc,Ts,nc,nz,stnam,innam,outnam,find(yd)); - # update connected input names + ## update connected input names for ii = 1:length(input_list) idx = input_list(ii); strval = sprintf("%s*",nth(sysgetsignals(sys,"in",idx),1) ); sys = syssetsignals(sys,"in",strval,idx); endfor - # maintain original system type if it was SISO + ## maintain original system type if it was SISO if (strcmp(sysgettype(sys),"tf") ) sysupdate(sys,'tf'); elseif(strcmp(sysgettype(sys),"zp") ) sysupdate(sys,'zp'); endif
--- a/scripts/control/syscont.m +++ b/scripts/control/syscont.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File} { [@var{csys}, @var{Acd}, @var{Ccd}] = } syscont (@var{sys}) @@ -37,7 +37,8 @@ ## @end deftypefn function [csys,Acd,Ccd] = syscont(sys) -# Written by John Ingram August 1996 + + ## Written by John Ingram August 1996 save_val = implicit_str_to_num_ok; # save for later save_empty = empty_list_elements_ok; @@ -52,7 +53,7 @@ sys = sysupdate(sys,"ss"); [n_tot,st_c,st_d,y_c,y_d] = syscont_disc(sys); # get ranges - # assume there's nothing there; build partitions as appropriate + ## assume there's nothing there; build partitions as appropriate Acc = Acd = Bcc = Ccc = Ccd = Dcc = []; if(isempty(st_c) & isempty(y_c))
--- a/scripts/control/syscont_disc.m +++ b/scripts/control/syscont_disc.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { [@var{n_tot}, @var{st_c}, @var{st_d}, @var{y_c}, @var{y_d}] =} syscont_disc(@var{sys}) @@ -40,9 +40,10 @@ ## @end deftypefn function [n_tot,st_c,st_d,y_c,y_d] = syscont_disc(sys) -# Written by A. S. Hodel (a.s.hodel@eng.auburn.edu) Feb 1997 - # get ranges for discrete/continuous states and outputs + ## Written by A. S. Hodel (a.s.hodel@eng.auburn.edu) Feb 1997 + + ## get ranges for discrete/continuous states and outputs [nn,nz,mm,pp,yd] = sysdimensions(sys); n_tot = nn + nz; st_c = 1:(nn);
--- a/scripts/control/sysdefioname.m +++ b/scripts/control/sysdefioname.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{ioname} =} sysdefioname (@var{n},@var{str} @{,@var{m}@})
--- a/scripts/control/sysdefstname.m +++ b/scripts/control/sysdefstname.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{stname} =} sysdefstname (@var{n}, @var{nz}) @@ -32,7 +32,7 @@ endfor endif - # Set default names for discrete states + ## Set default names for discrete states if(nz > 0) for ii = (n+1):(n+nz) stname(ii) = sprintf("xd_%d",ii);
--- a/scripts/control/sysdimensions.m +++ b/scripts/control/sysdimensions.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { [@var{n}, @var{nz}, @var{m}, @var{p},@var{yd}] =} sysdimensions (@var{sys}@{, @var{opt}@})
--- a/scripts/control/sysdisc.m +++ b/scripts/control/sysdisc.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { [@var{dsys}, @var{Adc}, @var{Cdc}] =} sysdisc (@var{sys}) @@ -35,14 +35,15 @@ ## @end deftypefn function [dsys,Adc,Cdc] = sysdisc(sys) -# function [dsys,Adc,Cdc] = sysdisc(sys) -# inputs: sys = system data structure -# outputs: -# dsys: purely discrete portion of sys (returned empty if there is -# no purely discrete path from inputs to outputs) -# Adc, Cdc: connections from continuous states to discrete states/discrete -# outputs, respectively. -# + + ## function [dsys,Adc,Cdc] = sysdisc(sys) + ## inputs: sys = system data structure + ## outputs: + ## dsys: purely discrete portion of sys (returned empty if there is + ## no purely discrete path from inputs to outputs) + ## Adc, Cdc: connections from continuous states to discrete states/discrete + ## outputs, respectively. + ## save_val = implicit_str_to_num_ok; # save for later save_empty = empty_list_elements_ok; @@ -58,7 +59,7 @@ sys = sysupdate(sys,"ss"); [n_tot,st_c,st_d,y_c,y_d] = syscont_disc(sys); # get ranges - # assume there's nothing there; build partitions as appropriate + ## assume there's nothing there; build partitions as appropriate Add = Adc = Bdd = Cdd = Cdc = Ddd = []; if(isempty(st_d) & isempty(y_d))
--- a/scripts/control/sysdup.m +++ b/scripts/control/sysdup.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{retsys} =} sysdup (@var{Asys}, @var{out_idx}, @var{in_idx}) @@ -52,8 +52,9 @@ ## @end deftypefn function retsys = sysdup(Asys,output_list,input_list) -# A. S. Hodel August 1995 -# modified by John Ingram July 1996 + + ## A. S. Hodel August 1995 + ## modified by John Ingram July 1996 save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1; @@ -70,7 +71,7 @@ [nn,nz,mm,pp] = sysdimensions(Asys); [aa,bb,cc,dd] = sys2ss(Asys); - # first duplicate inputs + ## first duplicate inputs if(is_vector(input_list)) for ii=1:length(input_list); bb(:,mm+ii) = bb(:,input_list(ii)); @@ -81,7 +82,7 @@ endif - # now duplicate outputs + ## now duplicate outputs osize = min(size(output_list)); if(osize == 1) for ii=1:length(output_list); @@ -95,21 +96,21 @@ [stnam,innam,outnam,yd] = sysgetsignals(Asys); tsam = sysgettsam(Asys); - # pack system and then rename signals + ## pack system and then rename signals retsys = ss2sys(aa,bb,cc,dd,tsam,nn,nz); retsys = syssetsignals(retsys,"in",innam,1:mm); retsys = syssetsignals(retsys,"out",outnam,1:pp); retsys = syssetsignals(retsys,"yd",yd,1:pp); - # update added input names + ## update added input names for ii=(mm+1):(mm+length(input_list)) onum = input_list(ii-mm); strval = sprintf("%s(dup)",sysgetsignals(retsys,"in",onum,1) ); retsys = syssetsignals(retsys,"in",strval,ii); endfor - # update added output names/discrete flags - # give default names to the added outputs + ## update added output names/discrete flags + ## give default names to the added outputs for jj=(pp+1):(pp+length(output_list)) onum = output_list(jj-pp); strval = sprintf("%s(dup)",sysgetsignals(retsys,"out",onum,1) );
--- a/scripts/control/sysgetsignals.m +++ b/scripts/control/sysgetsignals.m @@ -1,20 +1,20 @@ -# Copyright (C) 1998 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1998 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[@var{stname}, @var{inname}, @var{outname}, @var{yd}] =} sysgetsignals (@var{sys}) @@ -137,7 +137,7 @@ function [stname,inname,outname,yd] = sysgetsignals(sys,sigid,signum,strflg) - # Adapted from ss2sys + ## Adapted from ss2sys if(nargin < 1 | nargin > 4 | nargout > 4) usage("[stname{,inname,outname,yd}] = sysgetsignals(sys{,sigid,signum})")
--- a/scripts/control/sysgettsam.m +++ b/scripts/control/sysgettsam.m @@ -1,24 +1,24 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. function T = sysgettsam(sys) -# T = sysgettsam(sys) -# return the sampling time of the system +## T = sysgettsam(sys) +## return the sampling time of the system if(!is_struct(sys)) usage("T = sysgettsam(sys)");
--- a/scripts/control/sysgettype.m +++ b/scripts/control/sysgettype.m @@ -1,20 +1,20 @@ -# Copyright (C) 1998 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1998 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{systype} =} sysgettype ( @var{sys} )
--- a/scripts/control/sysgroup.m +++ b/scripts/control/sysgroup.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996, 1998, 1999 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996, 1998, 1999 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{sys} =} sysgroup ( @var{Asys}, @var{Bsys}) @@ -47,9 +47,10 @@ ## @end deftypefn function sys = sysgroup(...) -# A. S. Hodel August 1995 -# modified by John Ingram July 1996 -# A. S. Hodel: modified for variable number of arguments 1999 + + ## A. S. Hodel August 1995 + ## modified by John Ingram July 1996 + ## A. S. Hodel: modified for variable number of arguments 1999 save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1; @@ -62,7 +63,7 @@ usage("sys = sysgroup(Asys{,Bsys,...})"); endif - # collect all arguments + ## collect all arguments arglist = list(); va_start(); for kk=1:nargin @@ -73,11 +74,11 @@ endfor if(nargin == 2) - # the usual case; group the two systems together + ## the usual case; group the two systems together Asys = nth(arglist,1); Bsys = nth(arglist,2); - # extract information from Asys, Bsys to consruct sys + ## extract information from Asys, Bsys to consruct sys Asys = sysupdate(Asys,"ss"); Bsys = sysupdate(Bsys,"ss"); [n1,nz1,m1,p1] = sysdimensions(Asys); @@ -103,7 +104,7 @@ D = [Ad,zeros(p1,m2); zeros(p2,m1),Bd]; tsam = max(Atsam,Btsam); - # construct combined signal names; stnames must check for pure gain blocks + ## construct combined signal names; stnames must check for pure gain blocks if(isempty(Ast)) stname = Bst; elseif(isempty(Bst)) @@ -114,7 +115,7 @@ inname = append(Ain, Bin); outname = append(Aout,Bout); - # Sort states into continous first, then discrete + ## Sort states into continous first, then discrete dstates = ones(1,(nA+nB)); if(An) dstates(1:(An)) = zeros(1,An); @@ -128,19 +129,19 @@ C = C(:,pv); stname = stname(pv); - # check for duplicate signal names + ## check for duplicate signal names inname = sysgroupn(inname,"input"); stname = sysgroupn(stname,"state"); outname = sysgroupn(outname,"output"); - # mark discrete outputs + ## mark discrete outputs outlist = find([Ayd, Byd]); - # build new system + ## build new system sys = ss2sys(A,B,C,D,tsam,An+Bn,Anz+Bnz,stname,inname,outname); else - # multiple systems (or a single system); combine together one by one + ## multiple systems (or a single system); combine together one by one sys = nth(arglist,1); for kk=2:length(arglist) printf("sysgroup: kk=%d\n",kk);
--- a/scripts/control/sysgroupn.m +++ b/scripts/control/sysgroupn.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{names} =} sysgroupn (@var{names}) @@ -33,7 +33,7 @@ function names = sysgroupn(names,kind) - # check for duplicate names + ## check for duplicate names l = length(names); ii = 1; while(ii <= l-1) @@ -48,7 +48,7 @@ strval = sprintf("%s%s",st2,suffix); names(jj) = strval; warning("sysgroup: changed %s name %d to %s",kind,jj,strval); - # restart the check (just to be sure there's no further duplications) + ## restart the check (just to be sure there's no further duplications) ii = 0; jj = l; endif jj = jj+1;
--- a/scripts/control/sysidx.m +++ b/scripts/control/sysidx.m @@ -1,74 +1,75 @@ -# Copyright (C) 1999 Auburn University. All rights reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. -# -# Written by A. S. Hodel, a.s.hodel@eng.auburn.edu +## Copyright (C) 1999 Auburn University. All rights reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## +## Written by A. S. Hodel, a.s.hodel@eng.auburn.edu function idxvec = sysidx(sys,sigtype,signamelist) -# idxvec = sysidx(sys,sigtype,signamelist) -# return indices of signals with specified signal names -# inputs: -# sys: OCST system data structure -# sigtype: signal type to be selected: "in", "out", "st" -# signamelist: list of desired signal names -# outputs: -# idxvec: vector of signal indices (appropriate for use with sysprune) + + ## idxvec = sysidx(sys,sigtype,signamelist) + ## return indices of signals with specified signal names + ## inputs: + ## sys: OCST system data structure + ## sigtype: signal type to be selected: "in", "out", "st" + ## signamelist: list of desired signal names + ## outputs: + ## idxvec: vector of signal indices (appropriate for use with sysprune) -if(nargin != 3) usage("idxvec = sysidx(sys,sigtype,signamelist)"); -elseif(!is_struct(sys)) error("sys must be a system data structure"); -elseif(!isstr(sigtype)) error("sigtype must be a string"); -elseif(rows(sigtype) != 1) - error("sigtype (%d x %d) must be a single string", ... - rows(sigtype),columns(sigtype)); -elseif(!is_signal_list(signamelist)) - error("signamelist must be a list of strings"); -endif + if(nargin != 3) usage("idxvec = sysidx(sys,sigtype,signamelist)"); + elseif(!is_struct(sys)) error("sys must be a system data structure"); + elseif(!isstr(sigtype)) error("sigtype must be a string"); + elseif(rows(sigtype) != 1) + error("sigtype (%d x %d) must be a single string", ... + rows(sigtype),columns(sigtype)); + elseif(!is_signal_list(signamelist)) + error("signamelist must be a list of strings"); + endif -sigtype_list = list("input","output","state"); -sigtnum = 0; -for idx = 1:length(sigtype_list) - thistype = nth(sigtype_list,idx); - if(strcmp(sigtype, thistype(1:length(sigtype)) )) sigtnum = idx; endif -endfor -if(sigtnum == 0) error("Illegal sigtype value = %s\n",sigtype); endif + sigtype_list = list("input","output","state"); + sigtnum = 0; + for idx = 1:length(sigtype_list) + thistype = nth(sigtype_list,idx); + if(strcmp(sigtype, thistype(1:length(sigtype)) )) sigtnum = idx; endif + endfor + if(sigtnum == 0) error("Illegal sigtype value = %s\n",sigtype); endif -syssiglist = sysgetsignals(sys,sigtype); + syssiglist = sysgetsignals(sys,sigtype); -for idx = 1:length(signamelist) - signame = nth(signamelist,idx); - idxvec(idx) = 0; - nsigs = sysdimensions(sys,sigtype); - for jdx = 1:nsigs - #printf("idx=%d jdx=%d signame=-%s- thissig=-%s-\n",idx,jdx,signame, ... - # sysgetsignals(sys,sigtype,jdx,1)); - if(strcmp(signame,sysgetsignals(sys,sigtype,jdx,1))) - if(idxvec(idx) != 0) - warning("Duplicate system input %s (%d,%d)\n", ... - sysgetsignals(sys,sigtype,jdx,1),jdx,idxvec(idx)); - else - idxvec(idx) = jdx; + for idx = 1:length(signamelist) + signame = nth(signamelist,idx); + idxvec(idx) = 0; + nsigs = sysdimensions(sys,sigtype); + for jdx = 1:nsigs + ## printf("idx=%d jdx=%d signame=-%s- thissig=-%s-\n",idx,jdx,signame, ... + ## sysgetsignals(sys,sigtype,jdx,1)); + if(strcmp(signame,sysgetsignals(sys,sigtype,jdx,1))) + if(idxvec(idx) != 0) + warning("Duplicate system input %s (%d,%d)\n", ... + sysgetsignals(sys,sigtype,jdx,1),jdx,idxvec(idx)); + else + idxvec(idx) = jdx; + endif endif + endfor + if(idxvec(idx) == 0) + error("Did not find %s %s",nth(sigtype_list,sigtnum),signame); endif endfor - if(idxvec(idx) == 0) - error("Did not find %s %s",nth(sigtype_list,sigtnum),signame); - endif -endfor endfunction
--- a/scripts/control/sysmin.m +++ b/scripts/control/sysmin.m @@ -1,39 +1,40 @@ -# Copyright (C) 1996 Auburn University. All rights reserved. -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. -# -# Written by A. S. Hodel a.s.hodel@eng.auburn.edu +## Copyright (C) 1996 Auburn University. All rights reserved. +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## +## Written by A. S. Hodel a.s.hodel@eng.auburn.edu function [retsys,nc,no,cflg,oflg] = sysmin(sys,flg); - # [retsys,nc,no] = sysmin(sys{,flg}); - # return a minimal (or reduced order) system - # inputs: - # sys: system data structure - # flg: 0 [default] return minimal system; state names lost - # : 1 return system with physical states removed that - # are either uncontrollable or unobservable - # (cannot reduce further without discarding physical - # meaning of states) - # outputs: - # retsys: returned system - # nc: number of controllable states in the returned system - # no: number of observable states in the returned system - # cflg: is_controllable(retsys) - # oflg: is_observable(retsys) + + ## [retsys,nc,no] = sysmin(sys{,flg}); + ## return a minimal (or reduced order) system + ## inputs: + ## sys: system data structure + ## flg: 0 [default] return minimal system; state names lost + ## : 1 return system with physical states removed that + ## are either uncontrollable or unobservable + ## (cannot reduce further without discarding physical + ## meaning of states) + ## outputs: + ## retsys: returned system + ## nc: number of controllable states in the returned system + ## no: number of observable states in the returned system + ## cflg: is_controllable(retsys) + ## oflg: is_observable(retsys) switch(nargin) case(1), flg = 0; @@ -45,11 +46,11 @@ Ts = sysgettsam(sys); switch(flg) case(0), - # reduce to a minimal system + ## reduce to a minimal system [aa,bb,cc,dd] = sys2ss(sys); [cflg,Uc] = is_controllable(aa,bb); if(!cflg) - # reduce to controllable states + ## reduce to controllable states if(!isempty(Uc)) aa = Uc'*aa*Uc; bb = Uc'*bb; @@ -82,7 +83,7 @@ outname= sysgetsignals(sys,"out"); retsys = ss2sys(aa,bb,cc,dd,Ts,nn,nz,[],inname,outname); case(1), - # reduced model with physical states + ## reduced model with physical states [cflg,Uc] = is_controllable(sys); xc = find(max(abs(Uc')) != 0); [oflg,Uo] = is_observable(sys); xo = find(max(abs(Uo')) != 0); xx = intersection(xc,xo);
--- a/scripts/control/sysmult.m +++ b/scripts/control/sysmult.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1999 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1999 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{sys} =} sysmult( @var{Asys}, @var{Bsys}) @@ -33,8 +33,9 @@ ## @end deftypefn function sys = sysmult(...) -# Written by John Ingram July 1996 -# updated for variable number of arguments by A. S. Hodel July 1999 + + ## Written by John Ingram July 1996 + ## updated for variable number of arguments by A. S. Hodel July 1999 save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1; @@ -43,7 +44,7 @@ usage("sysmult: sys = sysmult(Asys{,Bsys,...})"); endif - # collect all arguments + ## collect all arguments arglist = list(); va_start(); for kk=1:nargin @@ -53,7 +54,7 @@ endif endfor - # check system dimensions + ## check system dimensions [n,nz,mg,pg,Gyd] = sysdimensions(nth(arglist,1)); for kk=2:nargin [n,nz,mh,ph,Hyd] = sysdimensions(nth(arglist,kk)); @@ -63,7 +64,7 @@ [n,nz,mg,pg,Gyd] = sysdimensions(nth(arglist,kk)); # for next iteration endfor - # perform the multiply + ## perform the multiply if(nargin == 2) Asys = nth(arglist,1); Bsys = nth(arglist,2); @@ -74,7 +75,7 @@ [Ba,Bb,Bc,Bd,Btsam,Bn,Bnz,Bstname,Binname,Boutname,Byd] = sys2ss(Bsys); if(Byd) - # check direct feed-through of inputs through discrete outputs + ## check direct feed-through of inputs through discrete outputs alist = find(Byd); if(An) bd = Ab(1:An)* Bd(alist,:); @@ -82,7 +83,7 @@ warning("sysmult: inputs -> Bsys discrete outputs -> continous states of Asys"); endif endif - # check direct feed-through of continuous state through discrete outputs + ## check direct feed-through of continuous state through discrete outputs if(Bn) bc = Ab(1:An)* Bc(alist,1:(Bn)); if( norm(bc,1) ) @@ -91,20 +92,20 @@ endif endif - # change signal names to avoid spurious warnings from sysgroup + ## change signal names to avoid spurious warnings from sysgroup Asys = syssetsignals(Asys,"in",sysdefioname(Am,"A_sysmult_tmp_name")); Bsys = syssetsignals(Bsys,"out",sysdefioname(Bp,"B_sysmult_tmp_name")); sys = sysgroup(Asys,Bsys); - # connect outputs of B to inputs of A + ## connect outputs of B to inputs of A sys = sysconnect(sys,Ap+(1:Bp),1:Am); - # now keep only outputs of A and inputs of B + ## now keep only outputs of A and inputs of B sys = sysprune(sys,1:Ap,Am+(1:Bm)); else - # multiple systems (or a single system); combine together one by one + ## multiple systems (or a single system); combine together one by one sys = nth(arglist,1); for kk=2:length(arglist) sys = sysmult(sys,nth(arglist,kk));
--- a/scripts/control/sysout.m +++ b/scripts/control/sysout.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { } sysout ( @var{sys}@{, @var{opt}@}) @@ -40,111 +40,116 @@ ## @end deftypefn function retsys = sysout(sys,opt) -# Written by A S Hodel: 1995-1996 + + ## Written by A S Hodel: 1995-1996 -# save for restoring at end of routine -save_val = implicit_str_to_num_ok; -implicit_str_to_num_ok = 1; - -if( (nargin < 1) || (nargin > 2) ) - usage("sysout(sys[,opt])"); -endif + ## save for restoring at end of routine + save_val = implicit_str_to_num_ok; + implicit_str_to_num_ok = 1; -if(isempty(sys)) - retsys = sys; - warning("sysout: empty system") - return; -endif - -if(! is_struct(sys)) - disp("sysout: input must be a system structure") -endif + if( (nargin < 1) || (nargin > 2) ) + usage("sysout(sys[,opt])"); + endif -# set up output type array -if( nargin == 1 ) - opt = sysgettype(sys); -else - if( ! (strcmp(opt,"ss") + strcmp(opt,"tf") + ... - strcmp(opt,"zp") + strcmp(opt,"all") ) ) - error("opt must be one of [], \"ss\", \"tf\", \"zp\", or \"all\""); + if(isempty(sys)) + retsys = sys; + warning("sysout: empty system") + return; endif -endif + + if(! is_struct(sys)) + disp("sysout: input must be a system structure") + endif -# now check output for each form: -[nn,nz,mm,pp] = sysdimensions(sys); -if( mm > 0) - disp("Input(s)") - disp(outlist(sysgetsignals(sys,"in")," ")); -else - disp("Input(s): none"); -endif -if (pp > 0) - disp("Output(s):") - disp(outlist(sysgetsignals(sys,"out"), ... - " ",sysgetsignals(sys,"yd")) ); -else - disp("Output(s): none"); -endif -if(sysgettsam(sys) > 0) - disp(["Sampling interval: ",num2str(sysgettsam(sys))]); - str = "z"; -else - str = "s"; -endif + ## set up output type array + if( nargin == 1 ) + opt = sysgettype(sys); + else + if( ! (strcmp(opt,"ss") + strcmp(opt,"tf") + ... + strcmp(opt,"zp") + strcmp(opt,"all") ) ) + error("opt must be one of [], \"ss\", \"tf\", \"zp\", or \"all\""); + endif + endif -# transfer function form -if( strcmp(opt,"tf") + strcmp(opt,"all") ) - sys = sysupdate(sys,"tf"); #make sure tf is up to date - disp("transfer function form:") - [num,den] = sys2tf(sys); - tfout(num,den,str); -endif - -if( strcmp(opt,"zp") + strcmp(opt,"all") ) - sys = sysupdate(sys,"zp"); #make sure zp is up to date - disp("zero-pole form:") - [zer,pol,kk] = sys2zp(sys); - zpout(zer, pol, kk,str) -endif - -if( strcmp(opt,"ss") + strcmp(opt,"all") ) - sys = sysupdate(sys,"ss"); - disp("state-space form:"); - disp([num2str(nn)," continuous states, ", num2str(nz)," discrete states"]); - if( nn+nz > 0) - disp("State(s):") - xi = (nn+1):(nn+nz); - xd = zeros(1,nn+nz); - if(!isempty(xi)) - xd(xi) = 1; - endif - disp(outlist(sysgetsignals(sys,"st")," ",xd)); + ## now check output for each form: + [nn,nz,mm,pp] = sysdimensions(sys); + if( mm > 0) + disp("Input(s)") + disp(outlist(sysgetsignals(sys,"in")," ")); else - disp("State(s): none"); + disp("Input(s): none"); + endif + if (pp > 0) + disp("Output(s):") + disp(outlist(sysgetsignals(sys,"out"), ... + " ",sysgetsignals(sys,"yd")) ); + else + disp("Output(s): none"); + endif + if(sysgettsam(sys) > 0) + disp(["Sampling interval: ",num2str(sysgettsam(sys))]); + str = "z"; + else + str = "s"; endif - # display matrix values? - dmat = (max( [ (nn+nz), mm, pp ] ) <= 32); + ## transfer function form + if( strcmp(opt,"tf") + strcmp(opt,"all") ) + sys = sysupdate(sys,"tf"); #make sure tf is up to date + disp("transfer function form:") + [num,den] = sys2tf(sys); + tfout(num,den,str); + endif - printf("A matrix: %d x %d\n",sysdimensions(sys,"st"),sysdimensions(sys,"st")); - [aa,bb,cc,dd] = sys2ss(sys); - if(dmat) disp(aa); endif - - printf("B matrix: %d x %d\n",sysdimensions(sys,"st"),sysdimensions(sys,"in")); - if(dmat) disp(bb); endif + if( strcmp(opt,"zp") + strcmp(opt,"all") ) + sys = sysupdate(sys,"zp"); #make sure zp is up to date + disp("zero-pole form:") + [zer,pol,kk] = sys2zp(sys); + zpout(zer, pol, kk,str) + endif - printf("C matrix: %d x %d\n",sysdimensions(sys,"out"),sysdimensions(sys,"st")); - if(dmat) disp(cc); endif + if( strcmp(opt,"ss") + strcmp(opt,"all") ) + sys = sysupdate(sys,"ss"); + disp("state-space form:"); + disp([num2str(nn)," continuous states, ", num2str(nz)," discrete states"]); + if( nn+nz > 0) + disp("State(s):") + xi = (nn+1):(nn+nz); + xd = zeros(1,nn+nz); + if(!isempty(xi)) + xd(xi) = 1; + endif + disp(outlist(sysgetsignals(sys,"st")," ",xd)); + else + disp("State(s): none"); + endif - printf("D matrix: %d x %d\n",sysdimensions(sys,"out"),sysdimensions(sys,"in")); - if(dmat) disp(dd); endif -endif + ## display matrix values? + dmat = (max( [ (nn+nz), mm, pp ] ) <= 32); -if(nargout >= 1) - retsys = sys; -endif - -# restore global variable -implicit_str_to_num_ok = save_val; + printf("A matrix: %d x %d\n",sysdimensions(sys,"st"), + sysdimensions(sys,"st")); + [aa,bb,cc,dd] = sys2ss(sys); + if(dmat) disp(aa); endif + + printf("B matrix: %d x %d\n",sysdimensions(sys,"st"), + sysdimensions(sys,"in")); + if(dmat) disp(bb); endif + + printf("C matrix: %d x %d\n",sysdimensions(sys,"out"), + sysdimensions(sys,"st")); + if(dmat) disp(cc); endif + + printf("D matrix: %d x %d\n",sysdimensions(sys,"out"), + sysdimensions(sys,"in")); + if(dmat) disp(dd); endif + endif + + if(nargout >= 1) + retsys = sys; + endif + + ## restore global variable + implicit_str_to_num_ok = save_val; endfunction
--- a/scripts/control/sysprune.m +++ b/scripts/control/sysprune.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{retsys} =} sysprune ( @var{Asys}, @var{out_idx}, @var{in_idx}) @@ -46,8 +46,9 @@ ## function sys = sysprune(sys,output_idx,input_idx,state_idx) -# A. S. Hodel August 1995 -# Updated by John Ingram 7-15-96 + + ## A. S. Hodel August 1995 + ## Updated by John Ingram 7-15-96 if( nargin < 3 | nargin > 4 ) usage("retsys = sysprune(sys,output_idx,input_idx{,state_idx})"); @@ -55,13 +56,13 @@ state_idx = []; endif - # default: no action + ## default: no action [nn,nz,mm,pp] = sysdimensions(sys); if(isempty(output_idx)) output_idx = 1:pp; endif if(isempty(input_idx)) input_idx = 1:mm; endif if(isempty(state_idx)) state_idx = 1:(nn+nz); endif - # check dimensions + ## check dimensions if( !(is_vector(output_idx) | isempty(output_idx) ) ) if(!is_matrix(output_idx)) error("sysprune: bad argument passed for output_idx"); @@ -116,7 +117,7 @@ [aa,bb,cc,dd,tsam,nn,nz,stnam,innam,outnam,yd] = sys2ss(sys); - # check for legal state permutation + ## check for legal state permutation if(nn & nz) c_idx = find(state_idx <= nn); if(!isempty(c_idx)) max_c = max(c_idx);
--- a/scripts/control/sysreorder.m +++ b/scripts/control/sysreorder.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{pv} =} sysreorder( @var{vlen}, @{var{list}) @@ -31,12 +31,13 @@ ## @end deftypefn function pv = sysreorder(vlen,list) -# A. S. Hodel, Aug 1995 + + ## A. S. Hodel, Aug 1995 - #disp('sysreorder: entry') + ## disp('sysreorder: entry') pv = 1:vlen; - # make it a row vector + ## make it a row vector list = reshape(list,1,length(list)); A = pv'*ones(size(list)); B = ones(size(pv'))*list;
--- a/scripts/control/sysrepdemo.m +++ b/scripts/control/sysrepdemo.m @@ -1,29 +1,29 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {} sysrepdemo ## Tutorial for the use of the system data structure functions. ## @end deftypefn -# Octave Controls toolbox demo: System representation -# Written by A. S. Hodel June 1995 -# Revised Aug 1995 for system data structure format +## Octave Controls toolbox demo: System representation +## Written by A. S. Hodel June 1995 +## Revised Aug 1995 for system data structure format function sysrepdemo()
--- a/scripts/control/sysscale.m +++ b/scripts/control/sysscale.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {@var{sys} =} sysscale (@var{sys}, @var{outscale}, @var{inscale}@{, @var{outname}, @var{inname}@}) @@ -42,8 +42,9 @@ ## @end deftypefn function sys = sysscale(sys,outscale,inscale,outname,inname) -# A. S. Hodel August 1995 -# modified by John Ingram 7-15-96 + + ## A. S. Hodel August 1995 + ## modified by John Ingram 7-15-96 if( (nargin < 3) || (nargin > 5) ) usage("retsys = sysscale(Asys,output_list,input_list{,inname,outname})"); @@ -53,11 +54,11 @@ [nn,nz,mm,pp] = sysdimensions(sys); - # check for omitted scales + ## check for omitted scales if(isempty(outscale)) outscale = eye(pp); endif if(isempty(inscale)) inscale = eye(mm); endif - # check dimensions of scaling matrices + ## check dimensions of scaling matrices if(mm!=rows(inscale)) error("inscale(%dx%d) should have %d rows(# system inputs)", ... rows(inscale),columns(inscale),mm); @@ -86,7 +87,7 @@ sysyd = ones(1,rows(outscale))*( length(outd) > 0); endif - # check for SISO system type + ## check for SISO system type if strcmp(sysgettype(sys),"tf") [num,den,tsam,innam,outnam] = sys2tf(sys); num = num*inscale*outscale; @@ -99,7 +100,7 @@ return endif - # it's a state space system... + ## it's a state space system... [sysa,sysb,sysc,sysd,systsam, ... sysn,sysnz,sysstname,sysinname,sysoutname,oldyd] = sys2ss(sys); @@ -109,7 +110,7 @@ sysd = outscale*sysd*inscale; if( !is_square(outscale) ) - # strip extra output names (if any) + ## strip extra output names (if any) sysoutname = sysoutname(1:min(rows(outscale),columns(outscale))); if( nargin < 4) warning("sysscale: outscale not square, outname not specified"); @@ -120,7 +121,7 @@ outname = sysoutname; endif if( !is_square(inscale) ) - # strip extra output names (if any) + ## strip extra output names (if any) sysinname = sysinname(1:min(rows(inscale),columns(inscale))); if(nargin < 5) warning("sysscale: inscale not square, inname not specified");
--- a/scripts/control/syssetsignals.m +++ b/scripts/control/syssetsignals.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {@var{retsys} =} syssetsignals (@var{sys}, @var{opt}, @var{names}@{, @var{sig_idx}@}) @@ -87,7 +87,8 @@ ## @end deftypefn function retsys = syssetsignals(sys,opt,names,sig_idx) -# Written by John Ingram August 1996 + + ## Written by John Ingram August 1996 save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1; @@ -113,11 +114,11 @@ sig_vals = sysgetsignals(sys,opt); - # make sure it's in state space form if state names are given + ## make sure it's in state space form if state names are given if(strcmp(opt,"st")) sys = sysupdate(sys,"ss"); endif if(strcmp(opt,"yd") == 0) - # it's a signal name list we're changing + ## it's a signal name list we're changing if(!is_list(names)) names = list(names); endif @@ -136,14 +137,14 @@ nsigs = length(sig_vals); if(nargin == 3) - # replace all signal names + ## replace all signal names if(length(names) != nsigs) error("opt=%s, sig_idx omitted: names(len=%d) should have %d entries ", ... opt,length(names),nsigs); endif sig_idx = 1:nsigs; elseif(length(names) != length(sig_idx)) - # replace specified signal names + ## replace specified signal names error("opt=%s, sig_idx(len=%d), names(len=%d) mismatch",opt, ... length(sig_idx), length(names)); endif @@ -158,8 +159,8 @@ endfor else - # update yd - # 1st check pathological case: no outputs + ## update yd + ## 1st check pathological case: no outputs nout = sysdimensions(sys,"out"); if(nout == 0) if(nargin != 3)
--- a/scripts/control/syssub.m +++ b/scripts/control/syssub.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1999 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1999 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{sys} =} syssub (@var{Gsys}, @var{Hsys}) @@ -37,8 +37,9 @@ ## @end deftypefn function sys = syssub(...) -# Written by John Ingram July 1996 -# updated for variable numbers of input arguments by July 1999 A. S. Hodel + + ## Written by John Ingram July 1996 + ## updated for variable numbers of input arguments by July 1999 A. S. Hodel save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1; @@ -47,7 +48,7 @@ usage("syssub: sys = syssub(Gsys{,Hsys,...})"); endif - # collect all arguments + ## collect all arguments arglist = list(); va_start(); for kk=1:nargin @@ -57,7 +58,7 @@ endif endfor - # check system dimensions + ## check system dimensions [n,nz,mg,pg,Gyd] = sysdimensions(nth(arglist,1)); for kk=2:nargin [n,nz,mh,ph,Hyd] = sysdimensions(nth(arglist,kk)); @@ -71,11 +72,11 @@ endif endfor - # perform the subtract + ## perform the subtract if(nargin == 2) Gsys = nth(arglist,1); Hsys = nth(arglist,2); if( strcmp(sysgettype(Gsys),"tf") | strcmp(sysgettype(Hsys),"tf") ) - # see if subtracting transfer functions with identical denominators + ## see if subtracting transfer functions with identical denominators [Gnum,Gden,GT,Gin,Gout] = sys2tf(Gsys); [Hnum,Hden,HT,Hin,Hout] = sys2tf(Hsys); if(length(Hden) == length(Gden) ) @@ -83,15 +84,15 @@ sys = tf2sys(Gnum+Hnum,Gden,GT,Gin,Gout); return endif - # if not, we go on and do the usual thing... + ## if not, we go on and do the usual thing... endif endif - # make sure in ss form + ## make sure in ss form Gsys = sysupdate(Gsys,"ss"); Hsys = sysupdate(Hsys,"ss"); - # change signal names to avoid warning messages from sysgroup + ## change signal names to avoid warning messages from sysgroup Gsys = syssetsignals(Gsys,"in",sysdefioname(length(Gin),"Gin_u")); Gsys = syssetsignals(Gsys,"out",sysdefioname(length(Gout),"Gout_u")); Hsys = syssetsignals(Hsys,"in",sysdefioname(length(Hin),"Hin_u")); @@ -105,7 +106,7 @@ sys = sysscale(sys,[eyout -eyout],[eyin;eyin],Gout,Gin); else - # multiple systems (or a single system); combine together one by one + ## multiple systems (or a single system); combine together one by one sys = nth(arglist,1); for kk=2:length(arglist) sys = syssub(sys,nth(arglist,kk));
--- a/scripts/control/sysupdate.m +++ b/scripts/control/sysupdate.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 0211 +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 0211 ## -*- texinfo -*- ## @deftypefn {Function File } { @var{sys} =} sysupdate ( @var{sys}, @var{opt} ) @@ -49,9 +49,10 @@ ## See also: tf2sys, ss2sys, zp2sys, sysout, sys2ss, sys2tf, sys2zp function sys = sysupdate(sys,opt) -# Written by John Ingram 7-9-96 - # check for correct number of inputs + ## Written by John Ingram 7-9-96 + + ## check for correct number of inputs if (nargin != 2) usage("newsys = sysupdate(sys,opt)"); elseif(! is_struct(sys) ) @@ -61,22 +62,22 @@ error("2nd argument must be \"tf\", \"zp\", \"ss\", or \"all\""); endif - # check to make sure not trying to make a SISO system out of a MIMO sys + ## check to make sure not trying to make a SISO system out of a MIMO sys if ( (strcmp(opt,"tf") + strcmp(opt,"zp") + strcmp(opt,"all")) ... & strcmp(sysgettype(sys),"ss") & (! is_siso(sys) ) ) error("MIMO -> SISO update requested"); endif - # update transfer function if desired + ## update transfer function if desired if ( (strcmp(opt, "tf") + strcmp(opt,"all"))&& (!sys.sys(2))) - # check to make sure the system is not discrete and continuous + ## check to make sure the system is not discrete and continuous is_digital(sys); - # if original system zero-pole + ## if original system zero-pole if strcmp(sysgettype(sys),"zp") [sys.num,sys.den] = zp2tf(sys.zer,sys.pol,sys.k); sys.sys(2) = 1; - # if original system is state-space + ## if original system is state-space elseif(sys.sys(1) == 2) [sys.num,sys.den] = ss2tf(sys.a,sys.b,sys.c,sys.d); sys.sys(2) = 1; @@ -84,16 +85,16 @@ endif - # update zero-pole if desired + ## update zero-pole if desired if ( (strcmp(opt, "zp") + strcmp(opt,"all")) && (! sys.sys(3)) ) - # check to make sure the system is not discrete and continuous + ## check to make sure the system is not discrete and continuous is_digital(sys); - # original system is transfer function + ## original system is transfer function if (sys.sys(1) == 0) [sys.zer,sys.pol,sys.k] = tf2zp(sys.num,sys.den); sys.sys(3) = 1; - # original system is state-space + ## original system is state-space elseif(sys.sys(1) == 2) [sys.zer,sys.pol,sys.k] = ss2zp(sys.a,sys.b,sys.c,sys.d); @@ -102,19 +103,19 @@ endif - # update state-space if desired + ## update state-space if desired if ( (strcmp(opt, "ss") + strcmp(opt,"all")) && (! sys.sys(4)) ) - # original system is transfer function + ## original system is transfer function if (sys.sys(1) == 0) [sys.a,sys.b,sys.c,sys.d] = tf2ss(sys.num,sys.den); sys.sys(4) = 1; - # original system is zero-pole + ## original system is zero-pole elseif(sys.sys(1) == 1) [sys.a,sys.b,sys.c,sys.d] = zp2ss(sys.zer,sys.pol,sys.k); sys.sys(4) = 1; endif - # create new state names + ## create new state names sys.stname = sysdefstname(sys.n, sys.nz); endif
--- a/scripts/control/tf2ss.m +++ b/scripts/control/tf2ss.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { outputs =} tf2ss ( inputs ) @@ -43,8 +43,8 @@ ## @end deftypefn function [a,b,c,d] = tf2ss(num,den) - # Written by R. Bruce Tenison (June 22, 1994) btenison@eng.auburn.edu - # mod A S Hodel July, Aug 1995 + ## Written by R. Bruce Tenison (June 22, 1994) btenison@eng.auburn.edu + ## mod A S Hodel July, Aug 1995 if(nargin != 2) error("tf2ss: wrong number of input arguments") elseif(isempty(num)) error("tf2ss: empty numerator"); @@ -55,7 +55,7 @@ error(sprintf("den(%dx%d) must be a vector",rows(den),columns(den))); endif - # strip leading zeros from num, den + ## strip leading zeros from num, den nz = find(num != 0); if(isempty(nz)) num = 0; else num = num(nz(1):length(num)); endif @@ -63,33 +63,33 @@ if(isempty(nz)) error("denominator is 0."); else den = den(nz(1):length(den)); endif - # force num, den to be row vectors + ## force num, den to be row vectors num = vec(num)'; den = vec(den)'; nn = length(num); nd = length(den); if(nn > nd) error(sprintf("deg(num)=%d > deg(den)= %d",nn,nd)); endif - # Check sizes + ## Check sizes if (nd == 1) a = []; b = []; c = []; d = num(:,1) / den(1); else - # Pad num so that length(num) = length(den) + ## Pad num so that length(num) = length(den) if (nd-nn > 0) num = [zeros(1,nd-nn), num]; endif - # Normalize the numerator and denominator vector w.r.t. the leading - # coefficient + ## Normalize the numerator and denominator vector w.r.t. the leading + ## coefficient d1 = den(1); num = num / d1; den = den(2:nd)/d1; sw = nd-1:-1:1; - # Form the A matrix + ## Form the A matrix if(nd > 2) a = [zeros(nd-2,1),eye(nd-2,nd-2);-den(sw)]; else a = -den(sw); endif - # Form the B matrix + ## Form the B matrix b = zeros(nd-1,1); b(nd-1,1) = 1; - # Form the C matrix + ## Form the C matrix c = num(:,2:nd)-num(:,1)*den; c = c(:,sw); - # Form the D matrix + ## Form the D matrix d = num(:,1); endif
--- a/scripts/control/tf2sys.m +++ b/scripts/control/tf2sys.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{sys} = } tf2sys( @var{num}, @var{den} @{, @var{tsam}, @var{inname}, @var{outname} @}) @@ -51,20 +51,20 @@ ## @end deftypefn function outsys = tf2sys(num,den,tsam,inname,outname) - # Written by R. Bruce Tenison July 29, 1994 - # Name changed to TF2SYS July 1995 - # updated for new system data structure format July 1996 + ## Written by R. Bruce Tenison July 29, 1994 + ## Name changed to TF2SYS July 1995 + ## updated for new system data structure format July 1996 save_val = implicit_str_to_num_ok; implicit_str_to_num_ok = 1; - # Test for the correct number of input arguments + ## Test for the correct number of input arguments if ((nargin < 2) || (nargin > 5)) usage('outsys=tf2sys(num,den[,tsam,inname,outname])'); return endif - # check input format + ## check input format if( ! ( (is_vector(num) || is_scalar(num)) && ... (is_vector(den) || is_scalar(den))) ) error(['num (',num2str(rows(num)),'x',num2str(columns(num)), ... @@ -72,7 +72,7 @@ ') must be vectors']) endif - # strip leading zero coefficients + ## strip leading zero coefficients num = tf2sysl(num); den = tf2sysl(den); @@ -80,7 +80,7 @@ error("# of poles (%d) < # of zeros (%d)",length(den)-1, length(num)-1); endif - # check sampling interval (if any) + ## check sampling interval (if any) if(nargin <= 2) tsam = 0; # default elseif (isempty(tsam)) tsam = 0; endif if ( (! (is_scalar(tsam) && (imag(tsam) == 0) )) || (tsam < 0) ) @@ -90,15 +90,15 @@ outsys.num = num; outsys.den = den; - # Set the system vector: active = 0(tf), updated = [1 0 0]; + ## Set the system vector: active = 0(tf), updated = [1 0 0]; outsys.sys = [0, 1, 0, 0]; - # Set defaults + ## Set defaults outsys.tsam = tsam; outsys.n = length(den)-1; outsys.nz = 0; outsys.yd = 0; # assume discrete-time - # check discrete time + ## check discrete time if(tsam > 0) [outsys.n,outsys.nz] = swap(outsys.n, outsys.nz); outsys.yd = 1; @@ -108,9 +108,9 @@ outsys.outname = sysdefioname(1,"y"); outsys.stname = sysdefstname(outsys.n,outsys.nz); - # Set name of input + ## Set name of input if (nargin > 3) - # make sure its a list of a single string + ## make sure its a list of a single string if(!isempty(inname)) if(!is_list(inname)) inname = list(inname); endif if( !is_signal_list(inname) ) @@ -124,7 +124,7 @@ endif endif - # Set name of output + ## Set name of output if (nargin > 4) if(!isempty(outname)) if(!is_list(outname)) outname = list(outname); endif
--- a/scripts/control/tf2sysl.m +++ b/scripts/control/tf2sysl.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{vec} = } tf2sysl (@var{vec}) @@ -23,10 +23,10 @@ ## @end deftypefn function vec = tf2sysl(vec) -# vec = tf2sysl(vec) -# -# used internally in tf2sys -# strip leading zero coefficients to get the true polynomial length +## vec = tf2sysl(vec) +## +## used internally in tf2sys +## strip leading zero coefficients to get the true polynomial length while( (length(vec) > 1) & (vec(1) == 0) )
--- a/scripts/control/tf2zp.m +++ b/scripts/control/tf2zp.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { outputs =} tf2zp ( inputs ) @@ -29,7 +29,7 @@ ## @end deftypefn function [zer,pol,k] = tf2zp(num,den) -# Written by A. S. Hodel, etc. +## Written by A. S. Hodel, etc. if(nargin == 2) if(length(den) > 1) pol = roots(den);
--- a/scripts/control/tfout.m +++ b/scripts/control/tfout.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { } tfout (@var{num}, @var{denom}@{, @var{x}@}) @@ -26,7 +26,7 @@ ## filter, polyderiv, polyinteg, polyout function tfout(num,denom,x) -# Written by A. Scottedward Hodel (scotte@eng.auburn.edu) June 1995) +## Written by A. Scottedward Hodel (scotte@eng.auburn.edu) June 1995) save_val = implicit_str_to_num_ok; save_empty = empty_list_elements_ok;
--- a/scripts/control/tzero.m +++ b/scripts/control/tzero.m @@ -1,57 +1,58 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. -## -*- texinfo -*- -##@deftypefn {Function File} {} tzero (@var{a}, @var{b}, @var{c}, @var{d}@{, @var{opt}@}) -##@deftypefnx {Function File} {} tzero (@var{sys}@{,@var{opt}@}) -## Compute transmission zeros of a continuous -##@example -##. -##x = Ax + Bu -##y = Cx + Du -##@end example -##or discrete -##@example -##x(k+1) = A x(k) + B u(k) -##y(k) = C x(k) + D u(k) -##@end example -##system. -##@strong{Outputs} -##@table @var -##@item zer -## transmission zeros of the system -##@item gain -##leading coefficient (pole-zero form) of SISO transfer function -##returns gain=0 if system is multivariable -##@end table -##@strong{References} -##@enumerate -##@item Emami-Naeini and Van Dooren, Automatica, 1982. -##@item Hodel, "Computation of Zeros with Balancing," 1992 Lin. Alg. Appl. -##@end enumerate -##@end deftypefn +## -*- texinfo -*- +## @deftypefn {Function File} {} tzero (@var{a}, @var{b}, @var{c}, @var{d}@{, @var{opt}@}) +## @deftypefnx {Function File} {} tzero (@var{sys}@{,@var{opt}@}) +## Compute transmission zeros of a continuous +## @example +## . +## x = Ax + Bu +## y = Cx + Du +## @end example +## or discrete +## @example +## x(k+1) = A x(k) + B u(k) +## y(k) = C x(k) + D u(k) +## @end example +## system. +## @strong{Outputs} +## @table @var +## @item zer +## transmission zeros of the system +## @item gain +## leading coefficient (pole-zero form) of SISO transfer function +## returns gain=0 if system is multivariable +## @end table +## @strong{References} +## @enumerate +## @item Emami-Naeini and Van Dooren, Automatica, 1982. +## @item Hodel, "Computation of Zeros with Balancing," 1992 Lin. Alg. Appl. +## @end enumerate +## @end deftypefn function [zer, gain] = tzero(A,B,C,D) - # R. Bruce Tenison July 4, 1994 - # A. S. Hodel Aug 1995: allow for MIMO and system data structures - # get A,B,C,D and Asys variables, regardless of initial form + ## R. Bruce Tenison July 4, 1994 + ## A. S. Hodel Aug 1995: allow for MIMO and system data structures + + ## get A,B,C,D and Asys variables, regardless of initial form if(nargin == 4) Asys = ss2sys(A,B,C,D); elseif( (nargin == 1) && (! is_struct(A))) @@ -67,24 +68,24 @@ siso = is_siso(Asys); digital = is_digital(Asys); # check if it's mixed or not - # see if it's a gain block + ## see if it's a gain block if(isempty(A)) zer = []; gain = D; return; endif - # First, balance the system via the zero computation generalized eigenvalue - # problem balancing method (Hodel and Tiller, Linear Alg. Appl., 1992) + ## First, balance the system via the zero computation generalized eigenvalue + ## problem balancing method (Hodel and Tiller, Linear Alg. Appl., 1992) Asys = zgpbal(Asys); [A,B,C,D] = sys2ss(Asys); # balance coefficients meps = 2*eps*norm([A, B; C, D],'fro'); Asys = zgreduce(Asys,meps); [A, B, C, D] = sys2ss(Asys); # ENVD algorithm if(!isempty(A)) - # repeat with dual system + ## repeat with dual system Asys = ss2sys(A', C', B', D'); Asys = zgreduce(Asys,meps); - # transform back + ## transform back [A,B,C,D] = sys2ss(Asys); Asys = ss2sys(A', C', B', D'); endif @@ -94,7 +95,7 @@ [W,r,Pi] = qr([C, D]'); [nonz,ztmp] = zgrownorm(r,meps); if(nonz) - # We can now solve the generalized eigenvalue problem. + ## We can now solve the generalized eigenvalue problem. [pp,mm] = size(D); nn = rows(A); Afm = [A , B ; C, D] * W'; @@ -109,7 +110,7 @@ mz = length(zer); [A,B,C,D] = sys2ss(Ao); # recover original system - #compute leading coefficient + ## compute leading coefficient if ( (nargout == 2) && siso) n = rows(A); if ( mz == n)
--- a/scripts/control/tzero2.m +++ b/scripts/control/tzero2.m @@ -1,20 +1,20 @@ -# Copyright (C) 1993 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1993 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ##@deftypefn {Function File } { @var{zr} =} tzero2 (@var{a}, @var{b}, @var{c}, @var{d}, @var{bal}) @@ -27,7 +27,7 @@ ##@end deftypefn function zr = tzero2 (a, b, c, d, bal) -# Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. +## Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. if (nargin == 4) bal = "B";
--- a/scripts/control/ugain.m +++ b/scripts/control/ugain.m @@ -1,20 +1,20 @@ -# Copyright (C) 1997 Kai P. Mueller -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1997 Kai P. Mueller +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{outsys} =} ugain(n) @@ -29,8 +29,9 @@ ## @end deftypefn function outsys = ugain(n) - # Written by Kai P. Mueller April, 1998 - # Updates + + ## Written by Kai P. Mueller April, 1998 + ## Updates if((nargin != 1) || (nargout > 1)) usage("outsys = ugain(n)")
--- a/scripts/control/unpacksys.m +++ b/scripts/control/unpacksys.m @@ -1,26 +1,27 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. function [a,b,c,d] = unpacksys(syst) - # [a,b,c,d] = unpacksys(sys) - # Obsolete. Use sys2ss instead. - # Written by David Clem August 19, 1994 + ## [a,b,c,d] = unpacksys(sys) + ## Obsolete. Use sys2ss instead. + + ## Written by David Clem August 19, 1994 warning("unpacksys obsolete; calling sys2ss"); [a,b,c,d] = sys2ss(syst);
--- a/scripts/control/wgt1o.m +++ b/scripts/control/wgt1o.m @@ -1,20 +1,20 @@ -# Copyright (C) 1998 Kai P. Mueller -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1998 Kai P. Mueller +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{wsys} =} wgt1o (@var{vl}, @var{vh}, @var{fc}) @@ -32,7 +32,7 @@ ## @end deftypefn function wsys = wgt1o(vl, vh, fc) -# Written by Kai P. Mueller September 30, 1997 +## Written by Kai P. Mueller September 30, 1997 if (nargin != 3) usage("wsys = wgt1o(vl, vh, fc)");
--- a/scripts/control/zgfmul.m +++ b/scripts/control/zgfmul.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } @var{y} = zgfmul(@var{a},@var{b},@var{c},@var{d},@var{x}) @@ -29,19 +29,20 @@ ## Generalized CG: Golub and Van Loan, "Matrix Computations, 2nd ed" 1989 function y = zgfmul(a,b,c,d,x) - # A. S. Hodel July 24 1992 - # Conversion to Octave July 3, 1994 + + ## A. S. Hodel July 24 1992 + ## Conversion to Octave July 3, 1994 [n,m] = size(b); [p,m1] = size(c); nm = n+m; y = zeros(nm+p,1); - # construct F column by column + ## construct F column by column for jj=1:n Fj = zeros(nm+p,1); - #rows 1:n: F1 + ## rows 1:n: F1 aridx = complement(jj,find(a(jj,:) != 0)); acidx = complement(jj,find(a(:,jj) != 0)); bidx = find(b(jj,:) != 0);
--- a/scripts/control/zgfslv.m +++ b/scripts/control/zgfslv.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {x =} zgfslv(@var{n},@var{m},@var{p},@var{b}) @@ -22,8 +22,8 @@ ## @end deftypefn function x = zgfslv(n,m,p,b) - # Written by A. Scotte Hodel - # Converted to Octave by R Bruce Tenison, July 3, 1994 + ## Written by A. Scotte Hodel + ## Converted to Octave by R Bruce Tenison, July 3, 1994 nmp = n+m+p; gam1 = (2*n)+m+p; gam2 = n+p; gam3 = n+m; @@ -33,20 +33,20 @@ x = b; - # 1) U1 e^n = sqrt(n)e_1^n - # 2) U2 e^m = sqrt(m)e_1^m - # 3) U3 e^p = sqrt(p)e_1^p + ## 1) U1 e^n = sqrt(n)e_1^n + ## 2) U2 e^m = sqrt(m)e_1^m + ## 3) U3 e^p = sqrt(p)e_1^p xdx1 = 1:n; xdx2 = n+(1:m); xdx3 = n+m+(1:p); x(xdx1,1) = zgshsr(x(xdx1,1)); x(xdx2,1) = zgshsr(x(xdx2,1)); x(xdx3,1) = zgshsr(x(xdx3,1)); - # 4) Givens rotations to reduce stray non-zero elements + ## 4) Givens rotations to reduce stray non-zero elements idx1 = [n+1,n+m+1]; idx2 = [1,n+1]; x(idx1) = G1'*x(idx1); x(idx2) = G2'*x(idx2); - # 6) Scale x, then back-transform to get x + ## 6) Scale x, then back-transform to get x en = ones(n,1); em = ones(m,1); ep = ones(p,1); lam = [gam1*en;gam2*em;gam3*ep]; lam(1) = n+m+p; @@ -55,7 +55,7 @@ x = x ./ lam; x(n+1) = 0; # minimum norm solution - # back transform now. + ## back transform now. x(idx2) = G2*x(idx2); x(idx1) = G1*x(idx1); x(xdx3,1) = zgshsr(x(xdx3,1));
--- a/scripts/control/zginit.m +++ b/scripts/control/zginit.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {zz =} zginit(@var{a},@var{b},@var{c},@var{d}) @@ -30,20 +30,21 @@ ## Generalized CG: Golub and Van Loan, "Matrix Computations, 2nd ed" 1989 function zz = zginit(a,b,c,d) - # A. S. Hodel July 24 1992 - # Conversion to Octave by R. Bruce Tenison, July 3, 1994 + + ## A. S. Hodel July 24 1992 + ## Conversion to Octave by R. Bruce Tenison, July 3, 1994 [nn,mm] = size(b); [pp,mm] = size(d); nmp = nn+mm+pp; - # set up log vector zz + ## set up log vector zz zz = zeros(nmp,1); - # zz part 1: + ## zz part 1: for i=1:nn - # nonzero off diagonal entries of a + ## nonzero off diagonal entries of a if(nn > 1) nidx = complement(i,1:nn); a_row_i = a(i,nidx); a_col_i = a(nidx,i); @@ -52,31 +53,31 @@ arnz = acnz = []; endif - # row of b + ## row of b bidx = find(b(i,:) != 0); b_row_i = b(i,bidx); - # column of c + ## column of c cidx = find(c(:,i) != 0); c_col_i = c(cidx,i); - # sum the entries + ## sum the entries zz(i) = sum(log(abs(acnz))) - sum(log(abs(arnz))) ... - sum(log(abs(b_row_i))) + sum(log(abs(c_col_i))); endfor - # zz part 2: + ## zz part 2: bd = [b;d]; for i=1:mm i1 = i+nn; - # column of [b;d] + ## column of [b;d] bdidx = find(bd(:,i) != 0); bd_col_i = bd(bdidx,i); zz(i1) = sum(log(abs(bd_col_i))); endfor - # zz part 3: + ## zz part 3: cd = [c, d]; for i=1:pp i1 = i+nn+mm; @@ -85,6 +86,6 @@ zz(i1) = -sum(log(abs(cd_row_i))); endfor - # now set zz as log base 2 + ## now set zz as log base 2 zz = zz*(1/log(2)); endfunction
--- a/scripts/control/zgpbal.m +++ b/scripts/control/zgpbal.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[retsys] =} zgpbal(Asys) @@ -39,8 +39,8 @@ ## Generalized CG: Golub and Van Loan, "Matrix Computations, 2nd ed" 1989 function [retsys] = zgpbal(Asys) - # A. S. Hodel July 24 1992 - # Conversion to Octave by R. Bruce Tenison July 3, 1994 + ## A. S. Hodel July 24 1992 + ## Conversion to Octave by R. Bruce Tenison July 3, 1994 if( (nargin != 1) | (!is_struct(Asys))) usage("retsys = zgpbal(Asys)"); @@ -54,15 +54,15 @@ np1 = nn+1; nmp = nn+mm+pp; - # set up log vector zz, incidence matrix ff + ## set up log vector zz, incidence matrix ff zz = zginit(a,b,c,d); - #disp("zgpbal: zginit returns") - #zz - #disp("/zgpbal") + ## disp("zgpbal: zginit returns") + ## zz + ## disp("/zgpbal") if (norm(zz)) - # generalized conjugate gradient approach + ## generalized conjugate gradient approach xx = zgscal(a,b,c,d,zz,nn,mm,pp); for i=1:nmp @@ -70,13 +70,13 @@ xx(i) = 2.0^xx(i); endfor - # now scale a - # block 1: a = sigma a inv(sigma) + ## now scale a + ## block 1: a = sigma a inv(sigma) for i=1:nn a(i,1:nn) = a(i,1:nn)*xx(i); a(1:nn,i) = a(1:nn,i)/xx(i); endfor - # block 2: b= sigma a phi + ## block 2: b= sigma a phi for j=1:mm j1 = j+nn; b(1:nn,j) = b(1:nn,j)*xx(j1); @@ -86,13 +86,13 @@ endfor for i=1:pp i1 = i+nn+mm; - # block 3: c = psi C inv(sigma) + ## block 3: c = psi C inv(sigma) c(i,1:nn) = c(i,1:nn)*xx(i1); endfor for j=1:nn c(1:pp,j) = c(1:pp,j)/xx(j); endfor - # block 4: d = psi D phi + ## block 4: d = psi D phi for j=1:mm j1 = j+nn; d(1:pp,j) = d(1:pp,j)*xx(j1);
--- a/scripts/control/zgreduce.m +++ b/scripts/control/zgreduce.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { retsys = } zgreduce(@var{Asys},@var{meps}) @@ -23,119 +23,120 @@ ## @end deftypefn function retsys = zgreduce(Asys,meps) -# SYS_INTERNAL accesses members of system data structure -is_digital(Asys); # make sure it's pure digital/continuous + ## SYS_INTERNAL accesses members of system data structure + + is_digital(Asys); # make sure it's pure digital/continuous -exit_1 = 0; # exit_1 = 1 or 2 on exit of loop + exit_1 = 0; # exit_1 = 1 or 2 on exit of loop -if(Asys.n + Asys.nz == 0) - exit_1 = 2; # there are no finite zeros -endif + if(Asys.n + Asys.nz == 0) + exit_1 = 2; # there are no finite zeros + endif -while (! exit_1) - [Q,R,Pi] = qr(Asys.d); # compress rows of D - Asys.d = Q'*Asys.d; - Asys.c = Q'*Asys.c; + while (! exit_1) + [Q,R,Pi] = qr(Asys.d); # compress rows of D + Asys.d = Q'*Asys.d; + Asys.c = Q'*Asys.c; - # check row norms of Asys.d - [sig,tau] = zgrownorm(Asys.d,meps); + ## check row norms of Asys.d + [sig,tau] = zgrownorm(Asys.d,meps); - #disp("=======================================") - #disp(["zgreduce: meps=",num2str(meps), ", sig=",num2str(sig), ... - # ", tau=",num2str(tau)]) - #sysout(Asys) + ## disp("=======================================") + ## disp(["zgreduce: meps=",num2str(meps), ", sig=",num2str(sig), ... + ## ", tau=",num2str(tau)]) + ## sysout(Asys) - if(tau == 0) - exit_1 = 1; # exit_1 - reduction complete and correct - else - Cb = Db = []; - if(sig) - Cb = Asys.c(1:sig,:); - Db = Asys.d(1:sig,:); - endif - Ct =Asys.c(sig+(1:tau),:); + if(tau == 0) + exit_1 = 1; # exit_1 - reduction complete and correct + else + Cb = Db = []; + if(sig) + Cb = Asys.c(1:sig,:); + Db = Asys.d(1:sig,:); + endif + Ct =Asys.c(sig+(1:tau),:); - # compress columns of Ct - [pp,nn] = size(Ct); - rvec = nn:-1:1; - [V,Sj,Pi] = qr(Ct'); - V = V(:,rvec); - [rho,gnu] = zgrownorm(Sj,meps); + ## compress columns of Ct + [pp,nn] = size(Ct); + rvec = nn:-1:1; + [V,Sj,Pi] = qr(Ct'); + V = V(:,rvec); + [rho,gnu] = zgrownorm(Sj,meps); - #disp(["zgreduce: rho=",num2str(rho),", gnu=",num2str(gnu)]) - #Cb - #Db - #Ct - #Sj' + ## disp(["zgreduce: rho=",num2str(rho),", gnu=",num2str(gnu)]) + ## Cb + ## Db + ## Ct + ## Sj' - if(rho == 0) - exit_1 = 1; # exit_1 - reduction complete and correct - elseif(gnu == 0) - exit_1 = 2; # there are no zeros at all - else - mu = rho + sig; + if(rho == 0) + exit_1 = 1; # exit_1 - reduction complete and correct + elseif(gnu == 0) + exit_1 = 2; # there are no zeros at all + else + mu = rho + sig; - # update system with Q - M = [Asys.a , Asys.b ]; - [nn,mm] = size(Asys.b); + ## update system with Q + M = [Asys.a , Asys.b ]; + [nn,mm] = size(Asys.b); - pp = rows(Asys.d); - Vm =[V,zeros(nn,mm) ; zeros(mm,nn), eye(mm)]; - if(sig) - M = [M; Cb, Db]; - Vs =[V',zeros(nn,sig) ; zeros(sig,nn), eye(sig)]; - else - Vs = V'; - endif - #disp("zgreduce: before transform: M="); - #M - #Vs - #Vm + pp = rows(Asys.d); + Vm =[V,zeros(nn,mm) ; zeros(mm,nn), eye(mm)]; + if(sig) + M = [M; Cb, Db]; + Vs =[V',zeros(nn,sig) ; zeros(sig,nn), eye(sig)]; + else + Vs = V'; + endif + ## disp("zgreduce: before transform: M="); + ## M + ## Vs + ## Vm - M = Vs*M*Vm; - - #disp("zgreduce: after transform: M="); - #M + M = Vs*M*Vm; + + ## disp("zgreduce: after transform: M="); + ## M - #disp("debugging code:") - #Mtmp = [Asys.a Asys.b; Asys.c Asys.d] - #Vl = [V', zeros(nn,mm); zeros(mm,nn),Q] - #Vr =[V,zeros(nn,mm) ; zeros(mm,nn), eye(mm)]; - #Mtmpf = Vl*Mtmp*Vr + ## disp("debugging code:") + ## Mtmp = [Asys.a Asys.b; Asys.c Asys.d] + ## Vl = [V', zeros(nn,mm); zeros(mm,nn),Q] + ## Vr =[V,zeros(nn,mm) ; zeros(mm,nn), eye(mm)]; + ## Mtmpf = Vl*Mtmp*Vr - idx = 1:gnu; - jdx = nn + (1:mm); - sdx = gnu + (1:mu); + idx = 1:gnu; + jdx = nn + (1:mm); + sdx = gnu + (1:mu); - Asys.a = M(idx,idx); - Asys.b = M(idx,jdx); - Asys.c = M(sdx,idx); - Asys.d = M(sdx,jdx); + Asys.a = M(idx,idx); + Asys.b = M(idx,jdx); + Asys.c = M(sdx,idx); + Asys.d = M(sdx,jdx); - #disp(["zgreduce: resulting system: nn =",num2str(nn)," mu=",num2str(mu)]) - #sysout(Asys) - #idx - #jdx - #sdx + ## disp(["zgreduce: resulting system: nn =",num2str(nn)," mu=",num2str(mu)]) + ## sysout(Asys) + ## idx + ## jdx + ## sdx + endif endif - endif -endwhile + endwhile -#disp(["zgreduce: while loop done: exit_1=",num2str(exit_1)]); + ## disp(["zgreduce: while loop done: exit_1=",num2str(exit_1)]); -if(exit_1 == 2) - # there are no zeros at all! - Asys.a = Asys.b = Asys.c = []; -endif + if(exit_1 == 2) + ## there are no zeros at all! + Asys.a = Asys.b = Asys.c = []; + endif -# update dimensions -if(is_digital(Asys)) - Asys.nz = rows(Asys.a); -else - Asys.n = rows(Asys.a); -endif + ## update dimensions + if(is_digital(Asys)) + Asys.nz = rows(Asys.a); + else + Asys.n = rows(Asys.a); + endif -retsys = Asys; + retsys = Asys; endfunction
--- a/scripts/control/zgrownorm.m +++ b/scripts/control/zgrownorm.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { [@var{nonz}, @var{zer}] =} zgrownorm (@var{mat}, @var{meps})
--- a/scripts/control/zgscal.m +++ b/scripts/control/zgscal.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { x =} zgscal (@var{f}, @var{z}, @var{n}, @var{m}, @var{p}) @@ -29,24 +29,23 @@ ## Generalized CG: Golub and Van Loan, "Matrix Computations, 2nd ed" 1989 function x = zgscal(a,b,c,d,z,n,m,p) - # A. S. Hodel July 24 1992 - # Conversion to Octave R. Bruce Tenison July 3, 1994 + ## A. S. Hodel July 24 1992 + ## Conversion to Octave R. Bruce Tenison July 3, 1994 - #************************************************************************** - #initialize parameters: - # Givens rotations, diagonalized 2x2 block of F, gcg vector initialization - #************************************************************************** + ## initialize parameters: + ## Givens rotations, diagonalized 2x2 block of F, gcg vector initialization + nmp = n+m+p; - #x_0 = x_{-1} = 0, r_0 = z + ## x_0 = x_{-1} = 0, r_0 = z x = zeros(nmp,1); xk1 = x; xk2 = x; rk1 = z; k = 0; - # construct balancing least squares problem + ## construct balancing least squares problem F = eye(nmp); for kk=1:nmp F(1:nmp,kk) = zgfmul(a,b,c,d,F(:,kk)); @@ -66,40 +65,40 @@ U = U(:,1:k1); endif - # tridiagonal H can still be rank deficient, so do permuted qr - # factorization + ## tridiagonal H can still be rank deficient, so do permuted qr + ## factorization [qq,rr,pp] = qr(H); # H = qq*rr*pp' nn = rank(rr); qq = qq(:,1:nn); rr = rr(1:nn,:); # rr may not be square, but "\" does least xx = U*pp*(rr\qq'*(U'*z)); # squares solution, so this works - #xx1 = pinv(F)*z; - #zgscal_x_xx1_err = [xx,xx1,xx-xx1] + ## xx1 = pinv(F)*z; + ## zgscal_x_xx1_err = [xx,xx1,xx-xx1] return; - # the rest of this is left from the original zgscal; - # I've had some numerical problems with the GCG algorithm, - # so for now I'm solving it with the krylov routine. + ## the rest of this is left from the original zgscal; + ## I've had some numerical problems with the GCG algorithm, + ## so for now I'm solving it with the krylov routine. - #initialize residual error norm + ## initialize residual error norm rnorm = norm(rk1,1); xnorm = 0; fnorm = 1e-12 * norm([a,b;c,d],1); - # dummy defines for MATHTOOLS compiler + ## dummy defines for MATHTOOLS compiler gamk2 = 0; omega1 = 0; ztmz2 = 0; - #do until small changes to x + ## do until small changes to x len_x = length(x); while ((k < 2*len_x) & (xnorm> 0.5) & (rnorm>fnorm))|(k == 0) k = k+1; - # solve F_d z_{k-1} = r_{k-1} + ## solve F_d z_{k-1} = r_{k-1} zk1= zgfslv(n,m,p,rk1); - # Generalized CG iteration - # gamk1 = (zk1'*F_d*zk1)/(zk1'*F*zk1); + ## Generalized CG iteration + ## gamk1 = (zk1'*F_d*zk1)/(zk1'*F*zk1); ztMz1 = zk1'*rk1; gamk1 = ztMz1/(zk1'*zgfmul(a,b,c,d,zk1)); @@ -107,21 +106,21 @@ else omega = 1/(1-gamk1*ztMz1/(gamk2*omega1*ztmz2)); endif - # store x in xk2 to save space + ## store x in xk2 to save space xk2 = xk2 + omega*(gamk1*zk1 + xk1 - xk2); - # compute new residual error: rk = z - F xk, check end conditions + ## compute new residual error: rk = z - F xk, check end conditions rk1 = z - zgfmul(a,b,c,d,xk2); rnorm = norm(rk1); xnorm = max(abs(xk1 - xk2)); - #printf("zgscal: k=%d, gamk1=%e, gamk2=%e, \nztMz1=%e ztmz2=%e\n", ... - # k,gamk1, gamk2, ztMz1, ztmz2); - # xk2_1_zk1 = [xk2 xk1 zk1] - # ABCD = [a,b;c,d] - # prompt + ## printf("zgscal: k=%d, gamk1=%e, gamk2=%e, \nztMz1=%e ztmz2=%e\n", ... + ## k,gamk1, gamk2, ztMz1, ztmz2); + ## xk2_1_zk1 = [xk2 xk1 zk1] + ## ABCD = [a,b;c,d] + ## prompt - # get ready for next iteration + ## get ready for next iteration gamk2 = gamk1; omega1 = omega; ztmz2 = ztMz1; @@ -129,17 +128,17 @@ endwhile x = xk2; - # check convergence + ## check convergence if (xnorm> 0.5 & rnorm>fnorm) warning("zgscal(tzero): GCG iteration failed; solving with pinv"); - # perform brute force least squares; construct F + ## perform brute force least squares; construct F Am = eye(nmp); for ii=1:nmp Am(:,ii) = zgfmul(a,b,c,d,Am(:,ii)); endfor - # now solve with qr factorization + ## now solve with qr factorization x = pinv(Am)*z; endif endfunction
--- a/scripts/control/zgsgiv.m +++ b/scripts/control/zgsgiv.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[a ,b ] =} zgsgiv(@var{c},@var{s},@var{a},@var{b}) @@ -23,8 +23,8 @@ ## @end deftypefn function [a,b] = zgsgiv(c,s,a,b) - # A. S. Hodel July 29, 1992 - # Convertion to Octave by R. Bruce Tenison July 3, 1994 + ## A. S. Hodel July 29, 1992 + ## Convertion to Octave by R. Bruce Tenison July 3, 1994 t1 = c*a + s*b; t2 = -s*a + c*b;
--- a/scripts/control/zgshsr.m +++ b/scripts/control/zgshsr.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{x} =} zgshsr( @var{y}) @@ -24,8 +24,8 @@ ## @end deftypefn function x = zgshsr(y) - # A. S. Hodel July 24, 1992 - # Conversion to Octave by R. Bruce Tenison July 3, 1994 + ## A. S. Hodel July 24, 1992 + ## Conversion to Octave by R. Bruce Tenison July 3, 1994 if(!is_vector(y)) error(sprintf("y(%dx%d) must be a vector",rows(y),columns(y)));
--- a/scripts/control/zp2ss.m +++ b/scripts/control/zp2ss.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[@var{A}, @var{B}, @var{C}, @var{D}] =} zp2ss (@var{zer}, @var{pol}, @var{k}) @@ -46,7 +46,8 @@ ## @end deftypefn function [a,b,c,d] = zp2ss(zer,pol,k) -# Written by David Clem August 15, 1994 + + ## Written by David Clem August 15, 1994 sav_val = empty_list_elements_ok; empty_list_elements_ok = 1; @@ -70,7 +71,7 @@ zpsys = ss2sys([],[],[],k); - # Find the number of zeros and the number of poles + ## Find the number of zeros and the number of poles nzer=length(zer); npol =length(pol); @@ -78,20 +79,20 @@ error([num2str(nzer)," zeros, exceeds number of poles=",num2str(npol)]); endif - # Sort to place complex conjugate pairs together + ## Sort to place complex conjugate pairs together zer=sortcom(zer); pol=sortcom(pol); - # construct the system as a series connection of poles and zeros - # problem: poles and zeros may come in conjugate pairs, and not - # matched up! + ## construct the system as a series connection of poles and zeros + ## problem: poles and zeros may come in conjugate pairs, and not + ## matched up! - # approach: remove poles/zeros from the list as they are included in - # the ss system + ## approach: remove poles/zeros from the list as they are included in + ## the ss system while(length(pol)) - # search for complex poles, zeros + ## search for complex poles, zeros cpol=[]; czer = []; if(!isempty(pol)) cpol = find(imag(pol) != 0); @@ -109,7 +110,7 @@ num=1; # assume no zeros left. switch(pcnt) case(1) - # real pole/zero combination + ## real pole/zero combination if(length(zer)) num = [1 -zer(1)]; zer = zer(2:length(zer)); @@ -117,7 +118,7 @@ den = [1 -pol(1)]; pol = pol(2:length(pol)); case(2) - # got a complex pole or zero, need two roots (if available) + ## got a complex pole or zero, need two roots (if available) if(length(zer) > 1) [num,zer] = zp2ssg2(zer); # get two zeros elseif(length(zer) == 1) @@ -129,10 +130,10 @@ error(["pcnt = ",num2str(pcnt)]) endswitch - # pack tf into system form and put in series with earlier realization + ## pack tf into system form and put in series with earlier realization zpsys1 = tf2sys(num,den,0,"u","yy"); - # change names to avoid warning messages from sysgroup + ## change names to avoid warning messages from sysgroup zpsys = syssetsignals(zpsys,"in","u1",1); zpsys1 = sysupdate(zpsys1,"ss"); nn = sysdimensions(zpsys); # working with continuous system
--- a/scripts/control/zp2ssg2.m +++ b/scripts/control/zp2ssg2.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { [@var{poly}, @var{rvals}] =} zp2ssg2 (@var{rvals}) @@ -24,43 +24,44 @@ ## @end deftypefn function [poly,rvals] = zp2ssg2(rvals) -# A. S. Hodel Aug 1996 + + ## A. S. Hodel Aug 1996 -# locate imaginary roots (if any) -cidx = find(imag(rvals)); + ## locate imaginary roots (if any) + cidx = find(imag(rvals)); -if(!isempty(cidx)) - # select first complex root, omit from cidx - r1i = cidx(1); r1 = rvals(r1i); cidx = complement(r1i,cidx); + if(!isempty(cidx)) + ## select first complex root, omit from cidx + r1i = cidx(1); r1 = rvals(r1i); cidx = complement(r1i,cidx); - # locate conjugate root (must be in cidx list, just in case there's - # roundoff) - err = abs(rvals(cidx) - r1'); - minerr = min(err); - c2i = find(err == minerr); - r2i = cidx(c2i); - r2 = rvals(r2i); - cidx = complement(r2i,cidx); + ## locate conjugate root (must be in cidx list, just in case there's + ## roundoff) + err = abs(rvals(cidx) - r1'); + minerr = min(err); + c2i = find(err == minerr); + r2i = cidx(c2i); + r2 = rvals(r2i); + cidx = complement(r2i,cidx); - # don't check for divide by zero, since 0 is not complex. - if(abs(r2 - r1')/abs(r1) > 1e-12) - error(sprintf("r1=(%f,%f); r2=(%f,%f), not conjugates.", ... - real(r1),imag(r1),real(r2),imag(r2))); + ## don't check for divide by zero, since 0 is not complex. + if(abs(r2 - r1')/abs(r1) > 1e-12) + error(sprintf("r1=(%f,%f); r2=(%f,%f), not conjugates.", ... + real(r1),imag(r1),real(r2),imag(r2))); + endif + + ## complex conjugate pair + poly = [1, -2*real(r1), real(r1)^2+imag(r1)^2]; + else + ## select two roots (they're all real) + r1 = rvals(1); + r2 = rvals(2); + poly = [1, -(r1+r2), (r1*r2)]; + r1i = 1; r2i = 2; endif - # complex conjugate pair - poly = [1, -2*real(r1), real(r1)^2+imag(r1)^2]; -else - # select two roots (they're all real) - r1 = rvals(1); - r2 = rvals(2); - poly = [1, -(r1+r2), (r1*r2)]; - r1i = 1; r2i = 2; -endif - -# remove roots used -idx = complement([r1i, r2i],1:length(rvals)); -rvals = rvals(idx); + ## remove roots used + idx = complement([r1i, r2i],1:length(rvals)); + rvals = rvals(idx); endfunction
--- a/scripts/control/zp2sys.m +++ b/scripts/control/zp2sys.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { @var{sys} =} zp2sys (@var{zer},@var{pol},@var{k}@{,@var{tsam},@var{inname},@var{outname}@}) @@ -53,17 +53,18 @@ ## @end deftypefn function outsys = zp2sys (zer,pol,k,tsam,inname,outname) - # Modified by John Ingram July 20, 1996 + + ## Modified by John Ingram July 20, 1996 save_val = implicit_str_to_num_ok; # save for restoring later implicit_str_to_num_ok = 1; - # Test for the correct number of input arguments + ## Test for the correct number of input arguments if ((nargin < 3) || (nargin > 6)) usage("outsys = zp2sys(zer,pol,k[,tsam,inname,outname])"); endif - # check input format + ## check input format if( ! (is_vector(zer) | isempty(zer) ) ) error("zer must be a vector or empty"); endif @@ -82,28 +83,28 @@ error('k must be a scalar'); endif - # Test proper numbers of poles and zeros. The number of poles must be - # greater than or equal to the number of zeros. + ## Test proper numbers of poles and zeros. The number of poles must be + ## greater than or equal to the number of zeros. if (length(zer) > length(pol)) error(["number of poles (", num2str(length(pol)), ... ") < number of zeros (", num2str(length(zer)),")"]); endif - # Set the system transfer function + ## Set the system transfer function outsys.zer = zer; outsys.pol = pol; outsys.k = k; - # Set the system vector: active = 1, updated = [0 1 0]; + ## Set the system vector: active = 1, updated = [0 1 0]; outsys.sys = [1, 0, 1, 0]; - # Set defaults + ## Set defaults outsys.tsam = 0; - outsys.n = length(pol); + outsys.n = length(pol); outsys.nz = 0; outsys.yd = 0; # assume (for now) continuous time outputs - # Set the type of system + ## Set the type of system if (nargin > 3) if( !is_scalar(tsam) ) error("tsam must be a nonnegative scalar"); @@ -122,9 +123,9 @@ outsys.outname = sysdefioname(1,"y"); outsys.stname = sysdefstname(outsys.n,outsys.nz); - # Set name of input + ## Set name of input if (nargin > 4) - # make sure its a string + ## make sure its a string if(!isempty(inname)) if(!is_list(inname)) inname = list(inname); endif if(!is_signal_list(inname)) @@ -134,7 +135,7 @@ endif endif - # Set name of output + ## Set name of output if (nargin > 5) if(!isempty(outname)) if(!is_list(outname)) outname = list(outname); endif
--- a/scripts/control/zp2tf.m +++ b/scripts/control/zp2tf.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996,1998 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996,1998 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[@var{num}, @var{den}] =} zp2tf (@var{zer}, @var{pol}, @var{k}) @@ -32,11 +32,12 @@ ## @end deftypefn function [num,den] = zp2tf(zer,pol,k) -# Find out whether data was entered as a row or a column vector and -# convert to a column vector if necessary -# Written by A. S. Hodel with help from students Ingram, McGowan. -# a.s.hodel@eng.auburn.edu -# + + ## Find out whether data was entered as a row or a column vector and + ## convert to a column vector if necessary + ## Written by A. S. Hodel with help from students Ingram, McGowan. + ## a.s.hodel@eng.auburn.edu + [rp,cp] = size(pol); [rz,cz] = size(zer); @@ -49,10 +50,13 @@ error(sprintf("zer(%dx%d) longer than pol(%dx%d)",rz,cz,rp,cp)); endif - num = k; den = 1; # initialize converted polynomials + ## initialize converted polynomials + + num = k; den = 1; - # call zp2ssg2 if there are complex conjugate pairs left, otherwise - # construct real zeros one by one. Repeat for poles. + ## call zp2ssg2 if there are complex conjugate pairs left, otherwise + ## construct real zeros one by one. Repeat for poles. + while(!isempty(zer)) if( max(abs(imag(zer))) ) [poly,zer] = zp2ssg2(zer); else poly = [1 -zer(1)];
--- a/scripts/control/zpout.m +++ b/scripts/control/zpout.m @@ -1,20 +1,20 @@ -# Copyright (C) 1996 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1996 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } { } zpout (@var{zer}, @var{pol}, @var{k}@{, @var{x}@}) @@ -26,7 +26,8 @@ ## filter, polyderiv, polyinteg, polyout function zpout(zer,pol,k,x) -# Written by A. Scottedward Hodel (scotte@eng.auburn.edu) June 1995) + + ## Written by A. Scottedward Hodel (scotte@eng.auburn.edu) June 1995) save_val = implicit_str_to_num_ok; save_empty = empty_list_elements_ok; @@ -55,7 +56,7 @@ numstring = num2str(k); if(length(zer)) - # find roots at z,s = 0 + ## find roots at z,s = 0 nzr = sum(zer == 0); if(nzr) if(nzr > 1) @@ -73,7 +74,7 @@ endif if(length(pol)) - # find roots at z,s = 0 + ## find roots at z,s = 0 nzr = sum(pol == 0); if(nzr) if(nzr > 1)
--- a/scripts/general/columns.m +++ b/scripts/general/columns.m @@ -17,6 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. +## -*- texinfo -*- ## @deftypefn {Function File} {} columns (@var{a}) ## Return the number of columns of @var{a}. ## @end deftypefn
--- a/scripts/general/perror.m +++ b/scripts/general/perror.m @@ -17,6 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. +## -*- texinfo -*- ## @deftypefn {Function File} {} perror (@var{name}, @var{num}) ## Print the error message for function @var{name} corresponding to the ## error number @var{num}. This function is intended to be used to print
--- a/scripts/general/rows.m +++ b/scripts/general/rows.m @@ -17,6 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. +## -*- texinfo -*- ## @deftypefn {Function File} {} rows (@var{a}) ## Return the number of rows of @var{a}. ## @end deftypefn
--- a/scripts/general/strerror.m +++ b/scripts/general/strerror.m @@ -17,6 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. +## -*- texinfo -*- ## @deftypefn {Function File} {} strerror (@var{name}, @var{num}) ## Return the text of an error message for function @var{name} ## corresponding to the error number @var{num}. This function is intended
--- a/scripts/image/colormap.m +++ b/scripts/image/colormap.m @@ -17,6 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. +## -*- texinfo -*- ## @deftypefn {Function File} {} colormap (@var{map}) ## @deftypefnx {Function File} {} colormap ("default") ## Set the current colormap.
--- a/scripts/image/gray.m +++ b/scripts/image/gray.m @@ -17,6 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. +## -*- texinfo -*- ## @deftypefn {Function File} {} gray (@var{n}) ## Return a gray colormap with @var{n} entries corresponding to values from ## 0 to @var{n}-1. The argument @var{n} should be a scalar. If it is
--- a/scripts/image/gray2ind.m +++ b/scripts/image/gray2ind.m @@ -17,6 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. +## -*- texinfo -*- ## @deftypefn {Function File} {[@var{img}, @var{map}] =} gray2ind (@var{}) ## Convert a gray scale intensity image to an Octave indexed image. ## @end deftypefn
--- a/scripts/image/image.m +++ b/scripts/image/image.m @@ -17,6 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. +## -*- texinfo -*- ## @deftypefn {Function File} {} image (@var{x}, @var{zoom}) ## Display a matrix as a color image. The elements of @var{x} are indices ## into the current colormap and should have values between 1 and the
--- a/scripts/image/imagesc.m +++ b/scripts/image/imagesc.m @@ -17,6 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. +## -*- texinfo -*- ## @deftypefn {Function File} {} imagesc (@var{x}, @var{zoom}) ## Display a scaled version of the matrix @var{x} as a color image. The ## matrix is scaled so that its entries are indices into the current
--- a/scripts/image/imshow.m +++ b/scripts/image/imshow.m @@ -17,6 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. +## -*- texinfo -*- ## @deftypefn {Function File} {} imshow (@var{x}, @var{map}) ## @deftypefnx {Function File} {} imshow (@var{x}, @var{n}) ## @deftypefnx {Function File} {} imshow (@var{i}, @var{n})
--- a/scripts/image/ind2gray.m +++ b/scripts/image/ind2gray.m @@ -17,6 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. +## -*- texinfo -*- ## @deftypefn {Function File} {} ind2gray (@var{x}, @var{map}) ## Convert an Octave indexed image to a gray scale intensity image. ## If @var{map} is omitted, the current colormap is used to determine the
--- a/scripts/image/ind2rgb.m +++ b/scripts/image/ind2rgb.m @@ -17,6 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. +## -*- texinfo -*- ## @deftypefn {Function File} {[@var{r}, @var{g}, @var{b}] =} ind2rgb (@var{x}, @var{map}) ## Convert an indexed image to red, green, and blue color components. ## If @var{map} is omitted, the current colormap is used for the conversion.
--- a/scripts/image/loadimage.m +++ b/scripts/image/loadimage.m @@ -17,6 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. +## -*- texinfo -*- ## @deftypefn {Function File} {[@var{x}, @var{map}] =} loadimage (@var{file}) ## Load an image file and it's associated color map from the specified ## @var{file}. The image must be stored in Octave's image format.
--- a/scripts/image/ntsc2rgb.m +++ b/scripts/image/ntsc2rgb.m @@ -17,6 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. +## -*- texinfo -*- ## @deftypefn {Function File} {} ntsc2rgb (@var{yiq}) ## Image format conversion. ## @end deftypefn
--- a/scripts/image/ocean.m +++ b/scripts/image/ocean.m @@ -17,6 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. +## -*- texinfo -*- ## @deftypefn {Function File} {} ocean (@var{n}) ## Create color colormap. The argument @var{n} should be a scalar. If it ## is omitted, 64 is assumed.
--- a/scripts/image/rgb2ind.m +++ b/scripts/image/rgb2ind.m @@ -17,6 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. +## -*- texinfo -*- ## @deftypefn {Function File} {[@var{x}, @var{map}] =} rgb2ind (@var{r}, @var{g}, @var{b}) ## Convert and RGB image to an Octave indexed image. ## @end deftypefn
--- a/scripts/image/rgb2ntsc.m +++ b/scripts/image/rgb2ntsc.m @@ -17,6 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. +## -*- texinfo -*- ## @deftypefn {Function File} {} rgb2ntsc (@var{rgb}) ## Image format conversion. ## @end deftypefn
--- a/scripts/io/printf.m +++ b/scripts/io/printf.m @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. -## -*texinfo -*- +## -*- texinfo -*- ## @deftypefn {Function File} {} printf (@var{template}, @dots{}) ## The @code{printf} function prints the optional arguments under the ## control of the template string @var{template} to the stream
--- a/scripts/miscellaneous/menu.m +++ b/scripts/miscellaneous/menu.m @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. -## -*texinfo -*- +## -*- texinfo -*- ## @deftypefn {Function File} {} menu (@var{title}, @var{opt1}, @dots{}) ## Print a title string followed by a series of options. Each option will ## be printed along with a number. The return value is the number of the
--- a/scripts/miscellaneous/tic.m +++ b/scripts/miscellaneous/tic.m @@ -17,6 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. +## -*- texinfo -*- ## @deftypefn {Function File} {} tic () ## @deftypefnx {Function File} {} toc () ## These functions set and check a wall-clock timer. For example,
--- a/scripts/signal/detrend.m +++ b/scripts/signal/detrend.m @@ -14,6 +14,7 @@ ## along with this file. If not, write to the Free Software Foundation, ## 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +## -*- texinfo -*- ## @deftypefn {Function File} {} detrend (@var{x}, @var{p}) ## If @var{x} is a vector, @code{detrend (@var{x}, @var{p})} removes the ## best fit of a polynomial of order @var{p} from the data @var{x}.
--- a/scripts/specfun/beta.m +++ b/scripts/specfun/beta.m @@ -17,6 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. +## -*- texinfo -*- ## @deftypefn {Mapping Function} {} beta (@var{a}, @var{b}) ## Return the Beta function, ## @iftex
--- a/scripts/statistics/base/gls.m +++ b/scripts/statistics/base/gls.m @@ -17,6 +17,7 @@ ## Software Foundation, 59 Temple Place - Suite 330, Boston, MA ## 02111-1307, USA. +## -*- texinfo -*- ## @deftypefn {Function File} {[@var{beta}, @var{v}, @var{r}] =} gls (@var{y}, @var{x}, @var{o}) ## Generalized least squares estimation for the multivariate model ## @iftex
--- a/src/file-io.cc +++ b/src/file-io.cc @@ -1431,7 +1431,7 @@ } DEFUN (pclose, args, , - "-*- texifno -*-\n\ + "-*- texinfo -*-\n\ @deftypefn {Built-in Function} {} pclose (@var{fid})\n\ Close a file identifier that was opened by @code{popen}. You may also\n\ use @code{fclose} for the same purpose.\n\
--- a/src/mappers.cc +++ b/src/mappers.cc @@ -227,7 +227,7 @@ @end deftypefn"); DEFUN_MAPPER (conj, 0, 0, 0, conj, 0, conj, 0.0, 0.0, 0, - "-* texinfo -*-\n\ + "-*- texinfo -*-\n\ @deftypefn {Mapping Function} {} conj (@var{z})\n\ Return the complex conjugate of @var{z}, defined as\n\ @iftex\n\ @@ -493,7 +493,7 @@ See also: log, log2, logspace, exp"); DEFUN_MAPPER (real, 0, 0, 0, real, real, 0, 0.0, 0.0, 0, - "-*-texinfo -*-\n\ + "-*- texinfo -*-\n\ @deftypefn {Mapping Function} {} real (@var{z})\n\ Return the real part of @var{z}.\n\ @end deftypefn\n\