Mercurial > hg > octave-max
changeset 3228:dbcc24961c44
[project @ 1998-12-09 18:42:12 by jwe]
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line diff
--- a/scripts/control/DEMOcontrol.m +++ b/scripts/control/DEMOcontrol.m @@ -21,7 +21,7 @@ # Demo programs: bddemo.m, frdemo.m, analdemo.m, moddmeo.m, rldemo.m # # Written by David Clem August 15, 1994 -# $Revision: 1.2 $ +# $Revision: 2.0.0.0 $ 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/abcddim.m +++ b/scripts/control/abcddim.m @@ -35,11 +35,30 @@ # Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. # a s hodel: modified to accept pure-gain systems aug 1996 -# $Revision: 1.15 $ +# $Revision: 1.16 $ # $Log: abcddim.m,v $ -# Revision 1.15 1998-11-06 16:15:36 jwe +# Revision 1.16 1998-12-09 18:42:12 jwe # *** empty log message *** # +# Revision 2.0.0.0 1998/12/08 21:36:51 hodel +# Branch for beta release patches +# +# Revision 2.0 1998/12/08 21:34:56 hodel +# Initial beta release of signals-as-lists rewrite; +# sysdimensions now takes opt as an argument +# +# Revision 2.0.0.1 1998/12/08 20:54:18 hodel +# sysdimensions takes opt parameter now +# +# Revision 2.0.0.0 1998/12/08 20:30:08 hodel +# beta release revision +# +# Revision 2.0 1998/12/08 20:27:55 hodel +# Initial list rewrite of OCST +# +# Revision 1.2 1998/10/05 17:12:56 hodelas +# various bug changes +# # Revision 1.1.1.1 1998/05/19 20:24:05 jwe # # Revision 1.4 1997/12/01 16:44:22 scotte
--- a/scripts/control/abcddims.m +++ b/scripts/control/abcddims.m @@ -24,7 +24,7 @@ # get set to 0. my and ny are the row and column dimensions of the result. # Written by A. S. Hodel (scotte@eng.auburn.edu) Feb 1997 -# $Revision: 1.1.1.1 $ +# $Revision: 2.0.0.0 $ y = x; if(isempty(y))
--- a/scripts/control/analdemo.m +++ b/scripts/control/analdemo.m @@ -20,7 +20,7 @@ # Octave Controls toolbox demo: State Space analysis demo # Written by David Clem August 15, 1994 # Updated by John Ingram December 1996 -# $Revision: 1.4 $ +# $Revision: 2.0.0.0 $ while (1) clc
--- a/scripts/control/are.m +++ b/scripts/control/are.m @@ -35,7 +35,7 @@ # See also: balance # Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. -# $Revision: 1.18 $ +# $Revision: 1.19 $ if (nargin == 3 || nargin == 4) if (nargin == 4)
--- a/scripts/control/bddemo.m +++ b/scripts/control/bddemo.m @@ -44,7 +44,7 @@ k = menu("Octave Block Diagram Manipulations Demo", ... "sysadd/syssub: F(s) = G(s) +/- H(s)", ... "sysappend: add new inputs/outputs", ... - "syschnames: change names of inputs, outputs, and/or states", ... + "syssetsignals: change names of inputs, outputs, and/or states", ... "sysconnect: connect specified system inputs/outputs", ... "syscont/sysdisc: extract the continuous (discrete) part of a system", ... "sysdup: duplicate specified inputs/outputs", ... @@ -120,8 +120,8 @@ sysout(sys1); prompt elseif (k == 3) - disp("syschnames:") - help syschnames + disp("syssetsignals:") + help syssetsignals disp("Example system"); a = rand(3,3); b = rand(3,2); @@ -130,11 +130,13 @@ sysout(sys); prompt disp("Change state names to larry, moe, and curly as follows:") - sys = syschnames(sys,"st",1:3,["larry";"moe " ; "curly"]); - cmd = "sys = syschnames(sys,\"st\",1:3,[\"larry\";\"moe \" ; \"curly\"]);"; + cmd = "sys = syssetsignals(sys,\"st\",list(\"larry\",\"moe \" , \"curly\"));"; run_cmd disp("Indicate that output 2 is discrete-time:") - cmd = "sys = syschnames(sys,\"yd\",2,1);"; + cmd = "sys = syssetsignals(sys,\"yd\",1,2);"; + run_cmd + disp("Change output 2 name to \"Vir\""); + cmd = "sys = syssetsignals(sys,\"out\",\"Vir\",2);"; run_cmd disp("Resulting system is:") sysout(sys); @@ -292,19 +294,19 @@ prompt disp("parallel can be used for multiple input systems as well:") - in1 = ["u1.1";"u1.2"]; - in2 = ["u2.1";"u2.2"]; - out1 = ["y1.1";"y1.2"]; - out2 = ["y2.1";"y2.2"]; + in1 = list("u1.1","u1.2"); + in2 = list("u2.1","u2.2"); + out1 = list("y1.1","y1.2"); + out2 = list("y2.1","y2.2"); sys1 = ss2sys([-1,0;0 -2],eye(2),eye(2),[]); sys2 = ss2sys([-2,0;0 -4],eye(2),eye(2),[]); - sys1 = syschnames(sys1,"in",1:2,in1); - sys1 = syschnames(sys1,"out",1:2,out1); + sys1 = syssetsignals(sys1,"in",in1); + sys1 = syssetsignals(sys1,"out",out1); - sys2 = syschnames(sys2,"in",1:2,in2); - sys2 = syschnames(sys2,"out",1:2,out2); + sys2 = syssetsignals(sys2,"in",in2); + sys2 = syssetsignals(sys2,"out",out2); disp("sys1=") sysout(sys1); @@ -543,7 +545,7 @@ disp("Step 1: We've already created systems P and K. Create a sum ") disp("block as follows:") implicit_str_to_num_ok = "warn"; - cmd = "S = ss2sys([],[],[],[1 -1],0,0,0,[],[""r(t)"";""y(t)""],""e(t)"");"; + cmd = "S = ss2sys([],[],[],[1 -1],0,0,0,[],list(""r(t)"",""y(t)""),""e(t)"");"; run_cmd implicit_str_to_num_ok = 1; disp("You may avoid the string conversion warning by setting the ")
--- a/scripts/control/bode.m +++ b/scripts/control/bode.m @@ -57,8 +57,27 @@ # 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) -# $Revision: 1.6 $ +# $Revision: 2.0.0.0 $ # $Log: bode.m,v $ +# Revision 2.0.0.0 1998/12/08 21:36:52 hodel +# Branch for beta release patches +# +# Revision 2.0 1998/12/08 21:34:57 hodel +# Initial beta release of signals-as-lists rewrite; +# sysdimensions now takes opt as an argument +# +# Revision 2.0.0.1 1998/12/08 20:54:19 hodel +# sysdimensions takes opt parameter now +# +# Revision 2.0.0.0 1998/12/08 20:30:09 hodel +# beta release revision +# +# Revision 2.0 1998/12/08 20:27:56 hodel +# Initial list rewrite of OCST +# +# Revision 1.7 1998/10/21 12:46:59 hodelas +# moved grid command so that grid appears in plots +# # Revision 1.6 1998/09/04 20:57:18 hodelas # fixed bodquist bug (use reshape instead of transpose); removed extraneous # output from bode. @@ -138,14 +157,13 @@ if (gnuplot_has_multiplot) subplot(2,1,1); endif - title(["|[Y/U]",tistr,"|, u=", inname, ... - ", y=",outname]); + title(["|[Y/U]",tistr,"|, u=", nth(inname,1),", y=",nth(outname,1)]); else title([ "||Y(", tistr, ")/U(", tistr, ")||"]); disp("MIMO plot from") - outlist(inname," "); + disp(outlist(inname," ")); disp("to") - outlist(outname," "); + disp(outlist(outname," ")); endif wv = [min(w), max(w)]; md = 20*log10(mag); @@ -167,7 +185,7 @@ xlabel(xlstr); ylabel("Phase in deg"); title([ "phase([Y/U]", tistr, ... - "), u=", (inname),", y=",(outname)]); + "), u=", nth(inname,1),", y=",nth(outname,1)]); grid("on"); semilogx(w,phase); # This should be the default for subsequent plot commands.
--- a/scripts/control/bode_bounds.m +++ b/scripts/control/bode_bounds.m @@ -24,22 +24,7 @@ # # used internally in freqresp -# $Revision: 1.4 $ -# $Log: bode_bounds.m,v $ -# Revision 1.4 1998/10/05 17:12:56 hodelas -# various bug changes -# -# Revision 1.2 1998/08/18 21:21:19 hodelas -# updated for simpler interface -# -# -# Revision 1.2 1997/11/24 15:39:38 mueller -# floating overflow on digital systems fixed -# The overflow occurs if the system has poles or zeros at 0 (log(0)/tsamp) -# -# Revision 1.1 1997/11/24 15:36:31 mueller -# Initial revision -# +# $Revision: 2.0.0.0 $ # make sure zer,pol are row vectors if(!isempty(pol)) pol = reshape(pol,1,length(pol)); endif
--- a/scripts/control/buildssic.m +++ b/scripts/control/buildssic.m @@ -108,26 +108,7 @@ # # Written by Kai Mueller April 1998 -# $Revision: 1.2 $ -# $Log: buildssic.m,v $ -# Revision 1.2 1998/10/12 10:04:14 mueller -# bugfix: build of discrete systems corrected. -# The previous version did not sum up the discrete states. -# -# Revision 1.1 1998/10/12 08:51:49 mueller -# Initial revision -# -# Revision 1.1.1.1 1998/05/19 20:24:05 jwe -# -# Revision 1.1 1998/05/05 17:02:56 scotte -# Initial revision -# -# Revision 1.2 1998/05/05 08:19:59 mueller -# minor corrections -# -# Revision 1.1 1998/05/04 15:09:32 mueller -# Initial revision -# +# $Revision: 2.0.0.0 $ if((nargin < 5) || (nargin > 12)) usage("[sys] = buildssic(Clst,Ulst,Olst,Ilst,s1,s2,s3,s4,s5,s6,s7,s8)");
--- a/scripts/control/c2d.m +++ b/scripts/control/c2d.m @@ -49,20 +49,7 @@ # Written by R.B. Tenison (btenison@eng.auburn.edu) # October 1993 # Updated by John Ingram for system data structure August 1996 -# SYS_INTERNAL accesses members of system data structure -# $Log: c2d.m,v $ -# Revision 1.13 1998-11-06 16:15:36 jwe -# *** empty log message *** -# -# Revision 1.3 1998/07/21 14:53:08 hodelas -# use isempty instead of size tests; use sys calls to reduce direct -# access to system structure elements -# -# Revision 1.2 1998/07/01 16:23:35 hodelas -# Updated c2d, d2c to perform bilinear transforms. -# Updated several files per bug updates from users. -# -# $Revision: 1.13 $ +# $Revision: 1.14 $ save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1; @@ -103,51 +90,42 @@ if (n == 0) warning("c2d: sys has no continuous states; setting outputs to discrete"); - dsys = syschnames(sys,"yd",1:p,ones(1:p)); + dsys = syssetsignals(sys,"yd",ones(1:p)); elseif(strcmp(opt,"ex")) # 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); - if(isempty(Acd)) - Bmat = sys_b; - elseif(isempty(csys_b)) - Bmat = Acd; - else - Bmat = [Acd csys_b]; - endif + if(isempty(Acd)) Bmat = sys_b; + elseif(isempty(csys_b)) Bmat = Acd; + else Bmat = [Acd csys_b]; endif row_zer = columns(Bmat); - col_zer = csys.n + row_zer; + csysn = sysdimensions(csys); + col_zer = csysn + row_zer; + [csysa,csysb,csysc,csysd] = sys2ss(csys); if(isempty(Bmat) ) warning("c2d: no inputs to continuous subsystem."); - mat = csys.a; + mat = csysa; else - mat = [csys.a Bmat ; zeros( row_zer,col_zer) ]; + mat = [csysa Bmat ; zeros( row_zer,col_zer) ]; endif matexp = expm(mat * T); - Abar = matexp( 1:csys.n , 1:(csys.n + columns(Acd)) ); - Bbar = matexp( 1:csys.n , (columns(Abar) + 1):columns(matexp) ); - - dsys = sys; - - dsys.a(1:csys.n , : ) = Abar; - dsys.b(1:csys.n , : ) = Bbar; - - dsys.sys = [2 0 0 1]; + Abar = matexp( 1:csysn , 1:(csysn + columns(Acd)) ); + Bbar = matexp( 1:csysn , (columns(Abar) + 1):columns(matexp) ); - dsys.tsam = T; - dsys.n = 0; - dsys.nz = rows(dsys.a); - - dsys.yd = ones(1,rows(dsys.c)); - - for ii = 1:csys.n - strval = [dezero((dsys.stname(ii,:))),"_d"]; - dsys.stname(ii,(1:length(strval))) = [strval]; + newnz = rows(Abar); + outlist = ones(1,rows(csysc)); + [stnames,innames,outnames] = sysgetsignals(csys); + dsys = ss2sys(Abar,Bbar,csysc,csysd,T,0,newnz,stnames,innames, ... + outnames,outlist); + # rename states + for ii=1:newnz + strval = sprintf("%s_d",sysgetsignals(dsys,"st",ii,1)); + dsys = syssetsignals(dsys,"st",strval,ii); endfor elseif(strcmp(opt,"bi")) @@ -163,11 +141,7 @@ B = tk*iab; C = tk*(c/(IT-a)); D = d + (c*iab); - stnamed=""; - for kk=1:rows(stname) - tmp = [dezero(stname(kk,:)),"_d"]; - stnamed(kk,1:length(tmp)) = tmp; - endfor + stnamed = strappend(stname,"_d"); dsys = ss2sys(A,B,C,D,T,0,rows(A),stnamed,inname,outname); endif else
--- a/scripts/control/com2str.m +++ b/scripts/control/com2str.m @@ -25,7 +25,7 @@ # 0 (default): -1, 0, 1, 1i, 1 + 0.5i # 1 (for use with zpout): -1, 0, + 1, + 1i, + 1 + 0.5i # -# $Revision: 1.1 $ +# $Revision: 2.0.0.0 $ if (nargin < 1 | nargin > 2) usage("com2str(zz{,flg})");
--- a/scripts/control/controldemo.m +++ b/scripts/control/controldemo.m @@ -21,7 +21,7 @@ # Demo programs: bddemo.m, frdemo.m, analdemo.m, moddmeo.m, rldemo.m # # Written by David Clem August 15, 1994 -# $Revision: 1.1 $ +# $Revision: 2.0.0.0 $ 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 @@ -35,23 +35,13 @@ # Written by Kai P. Mueller November 4, 1997 # based on is_controllable.m of Scottedward Hodel # modified by - # $Revision: 1.1.1.1 $ - # $Log: ctrb.m,v $ - # Revision 1.1.1.1 1998/05/19 20:24:06 jwe - # - # Revision 1.2 1997/12/01 16:51:50 scotte - # updated by Mueller 27 Nov 97 - # -# Revision 1.2 1997/11/25 11:15:54 mueller -# name confict with function mb removed -# + # $Revision: 2.0.0.0 $ if (nargin == 2) a = sys; elseif (nargin == 1 && is_struct(sys)) sysupdate(sys,"ss"); - a = sys.a; - b = sys.b; + [a,b] = sys2ss(sys); else usage("ctrb(sys [, b])") endif
--- a/scripts/control/d2c.m +++ b/scripts/control/d2c.m @@ -53,22 +53,7 @@ # 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 -# $Revision: 1.3 $ -# $Log: d2c.m,v $ -# Revision 1.3 1998/08/13 16:27:21 hodelas -# Fixed warning message -# -# Revision 1.2 1998/07/01 16:23:36 hodelas -# Updated c2d, d2c to perform bilinear transforms. -# Updated several files per bug updates from users. -# -# Revision 1.4 1997/02/20 16:18:52 hodel -# added warning about poles near 1. -# -# Revision 1.3 1997/02/20 16:07:26 hodel -# Added gradient descent code so that d2c returns the same function -# as c2d started with a.s.hodel@eng.auburn.edu -# +# $Revision: 2.0.0.0 $ save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1; @@ -94,9 +79,9 @@ tol = opt; opt = "log"; endif - T = sys.tsam; + T = sysgettsam(sys); - if(opt == "bi") + if(strcmp(opt,"bi")) # bilinear transform # convert with bilinear transform if (! is_digital(sys) ) @@ -116,19 +101,15 @@ B = tk*iab; C = tk*(c/(I+a)); D = d- (c*iab); - stnamed=""; - for kk=1:rows(stname) - tmp = [dezero(stname(kk,:)),"_c"]; - stnamec(kk,1:length(tmp)) = tmp; - endfor + stnamec = strappend(stname,"_c"); csys = ss2sys(A,B,C,D,0,rows(A),0,stnamec,inname,outname); - elseif(opt == "log") + elseif(strcmp(opt,"log")) sys = sysupdate(sys,"ss"); [n,nz,m,p] = sysdimensions(sys); if(nz == 0) warning("d2c: all states continuous; setting outputs to agree"); - csys = syschnames(sys,"yd",1:p,zeros(1,1:p)); + csys = syssetsignals(sys,"yd",zeros(1,1:p)); return; elseif(n != 0) warning(["d2c: n=",num2str(n),">0; performing c2d first"]); @@ -219,24 +200,19 @@ endwhile - csys = sys; - csys.a = Mall(1:na,1:na); + [aa,bb,cc,dd,tsam,nn,nz,stnam,innam,outnam,yd] = sys2ss(sys); + aa = Mall(1:na,1:na); if(!isempty(b)) - csys.b = Mall(1:na,(na+1):(na+nb)); + bb = Mall(1:na,(na+1):(na+nb)); endif + csys = ss2sys(aa,bb,cc,dd,0,na,0,stnam,innam,outnam); - csys.n = na; - csys.nz = 0; - - csys.sys = [2 0 0 1]; - - csys.yd = zeros(1,rows(csys.c)); - - for ii = (sys.n + 1):rows(sys.stname) - strval = [(csys.stname(ii,:)),"_c"]; - csys.stname(ii,(1:length(strval))) = [strval]; + # update names + nn = sysdimensions(sys); + for ii = (nn+1):na + strval = sprintf("%s_c",sysgetsignals(csys,"st",ii,1)); + csys = syssetsignals(csys,"st",strval,ii); endfor - csys = syschtsam(csys,0); endif implicit_str_to_num_ok = save_val; # restore value
--- a/scripts/control/damp.m +++ b/scripts/control/damp.m @@ -29,16 +29,7 @@ # Written by Kai P. Mueller September 29, 1997. # Update -# $Revision: 1.1.1.1 $ -# $Log: damp.m,v $ -# Revision 1.1.1.1 1998/05/19 20:24:06 jwe -# -# Revision 1.3 1997/12/01 16:51:50 scotte -# updated by Mueller 27 Nov 97 -# -# Revision 1.1 1997/11/11 17:32:13 mueller -# Initial revision -# +# $Revision: 2.0.0.0 $ # assume a continuous system DIGITAL = 0;
--- a/scripts/control/dare.m +++ b/scripts/control/dare.m @@ -47,11 +47,7 @@ ## Author: A. S. Hodel <scotte@eng.auburn.edu> ## Created: August 1993 ## Adapted-By: jwe -## $Revision: 1.15 $ -## $Log: dare.m,v $ -## Revision 1.15 1998-11-06 16:15:36 jwe -## *** empty log message *** -## +## $Revision: 1.16 $ function x = dare (a, b, c, r, opt)
--- a/scripts/control/dcgain.m +++ b/scripts/control/dcgain.m @@ -22,21 +22,11 @@ # an empty matrix is returned. # The argument tol is an optional tolerance for the condition # number of A-Matrix in sys (default tol = 1.0e-10) +# Prints a warning message of the system is unstable. # -# See also: (nothing) # Written by Kai P Mueller (mueller@ifr.ing.tu-bs.de) October 1, 1997 -# Updated -# $Revision: 1.1.1.1 $ -# $Log: dcgain.m,v $ -# Revision 1.1.1.1 1998/05/19 20:24:06 jwe -# -# Revision 1.3 1997/12/01 16:51:50 scotte -# updated by Mueller 27 Nov 97 -# -# Revision 1.1 1997/11/11 17:32:46 mueller -# Initial revision -# +# $Revision: 2.0.0.0 $ if((nargin < 1) || (nargin > 2) || (nargout > 1)) usage("[gm, ok] = dcgain(sys[, tol])"); @@ -45,13 +35,18 @@ error("dcgain: first argument is not a system data structure.") endif sys = sysupdate(sys, "ss"); - aa = sys.a; + [aa,bb,cc,dd] = sys2ss(sys); if (is_digital(sys)) aa = aa - eye(size(aa)); endif if (nargin == 1) tol = 1.0e-10; endif r = rank(aa, tol); if (r < rows(aa)) gm = []; else - gm = -sys.c / aa * sys.b + sys.d; + gm = -cc / aa * bb + dd; + endif + if(!is_stable(sys)) + [nn,nz,mm,pp] = sysdimensions(sys); + warning("dcgain: unstable system; dimensions [nc=%d,nz=%d,mm=%d,pp=%d]", ... + nn,nz,mm,pp); endif endfunction
--- a/scripts/control/dezero.m +++ b/scripts/control/dezero.m @@ -26,26 +26,13 @@ ## Adapted from deblank by A. S. Hodel (a.s.hodel@eng.auburn.edu) ## (the name dezero is a reference to the Fermilab D0 experiment, ## where my sister did her PhD research) -## $Revision: 1.1.1.1 $ -## $Log: dezero.m,v $ -## Revision 1.1.1.1 1998/05/19 20:24:13 jwe -## -## Revision 1.3 1997/03/11 14:42:41 scotte -## fixed implicit_str_to_num_ok bug a.s.hodel@eng.auburn.edu -## -## Revision 1.2 1997/03/03 22:52:20 hodel -## fixed problem with conversion to/from numerical value -## a.s.hodel@eng.auburn.edu -## -## Revision 1.1 1997/02/12 11:34:56 hodel -## Initial revision -## -## Revision 1.3 1997/02/07 15:24:35 scotte -## fixed to remove all null characters, then call deblank -## +## $Revision: 2.0.0.0 $ function t = dezero (s) + # delete the next line if you're stubbornly going to use dezero. + error("dezero is no longer supported."); + if (nargin != 1) usage ("dezero (s)"); elseif (isstr (s)) @@ -53,10 +40,6 @@ save_val = implicit_str_to_num_ok; implicit_str_to_num_ok = 1; - #disp("dezero: entry, s=") - #s - #disp("/dezero") - [nr, nc] = size (s); len = nr * nc; @@ -64,16 +47,8 @@ t = s; else - #disp("dezero: 1, s=") - #s - #disp("/dezero") - s = reshape (s, 1, len); - #disp("dezero: 2, s=") - #s - #disp("/dezero") - # need to remove zeros first, then call deblank s = 1*s; t = deblank(setstr(s(find(s != 0) )));
--- a/scripts/control/dgkfdemo.m +++ b/scripts/control/dgkfdemo.m @@ -19,22 +19,7 @@ function dgkfdemo() # Octave Controls toolbox demo: H2/Hinfinity options demos # Written by A. S. Hodel June 1995 -# $Revision: 1.2 $ -# $Log: dgkfdemo.m,v $ -# Revision 1.2 1998/08/24 15:50:06 hodelas -# updated documentation -# -# Revision 1.1.1.1 1998/05/19 20:24:06 jwe -# -# Revision 1.5 1998/05/05 17:03:18 scotte -# update 5 May 1998 by Kai Mueller -# -# Revision 1.2 1998/05/05 10:02:46 mueller -# new H_inf demo (jet707 MIMO design) -# -# Revision 1.1 1998/05/05 09:59:28 mueller -# Initial revision -# +# $Revision: 2.0.0.0 $ save_val = page_screen_output; page_screen_output = 1; @@ -108,7 +93,7 @@ G = eye(2) C = [1 1]; sys = ss2sys(A,[B G],C); - sys = syschnames(sys,"in",1:3, \ + sys = syssetsignals(sys,"in", ... ["control input"; "disturbance 1"; "disturbance 2"]); sysout(sys) prompt @@ -209,13 +194,13 @@ disp("w enters the system through B1, u through B2") disp("z = [y1 ; y2] is obtained through C1, y=y1 through C2"); disp(" ") - cmd = "A = [0 1; 0 0]; B1 = [0 0;1 0]; B2 = [0;1];"; + cmd = "A = [0 1; 0 0]; B1 = [0 0;1 0]; B2 = [0;1];"; disp(cmd) eval(cmd); - cmd = "C1 = [1 0; 0 0]; C2 = [1 0]; D11 = zeros(2);"; + cmd = "C1 = [1 0; 0 0]; C2 = [1 0]; D11 = zeros(2);"; disp(cmd) eval(cmd); - cmd = "D12 = [0;1]; D21 = [0 1]; D22 = 0; D = [D11 D12; D21 D22];"; + cmd = "D12 = [0;1]; D21 = [0 1]; D22 = 0; D = [D11 D12; D21 D22];"; disp(cmd) eval(cmd); disp("Design objective: compute U(s)=K(s)Y1(s) to minimize the closed") @@ -268,13 +253,14 @@ disp('Search quits when upper bound <= (1+tol)*lower bound.') cmd = "tol = 0.01; gmin = 1e-2; gmax = 1e+4;"; run_cmd - cmd = "AsysH2 = hinfnorm(Asys,tol,gmin,gmax)" + cmd = "[AsysHinf,gmin,gmax] = hinfnorm(Asys,tol,gmin,gmax)" run_cmd disp("Check: look at max value of magntude Bode plot of Asys:"); [M,P,w] = bode(Asys); - loglog(w,M); xlabel('Omega') - ylabel('|Asys(j omega)|') + ylabel('|Asys(j omega)| ') + grid(); + semilogx(w,M); disp(["Max magnitude is ",num2str(max(M)), ... ", compared with gmin=",num2str(gmin)," and gmax=", ... num2str(gmax),"."]) @@ -310,7 +296,7 @@ D = [D11 D12; D21 D22] prompt disp("First: pack system:") - cmd="Asys = ss2sys(A,[B1 B2], [C1;C2] , D)"; + cmd="Asys = ss2sys(A,[B1 B2], [C1;C2] , D);"; run_cmd prompt disp("Open loop multivariable Bode plot: (will take a moment)") @@ -321,7 +307,7 @@ gmax = 1000 gmin = 0.1 gtol = 0.01 - cmd="[K,gain] = hinfsyn(Asys,1,1,gmin,gmax,gtol)"; + cmd="[K,gain] = hinfsyn(Asys,1,1,gmin,gmax,gtol);"; run_cmd disp("Check: close the loop and then compute h2norm:") prompt
--- a/scripts/control/dgram.m +++ b/scripts/control/dgram.m @@ -25,7 +25,7 @@ # a m a' - m + b*b' = 0 # Written by A. S. Hodel July 1995 - # $Revision: 1.11 $ + # $Revision: 1.12 $ # let dlyap do the error checking... m = dlyap(a,b*b');
--- a/scripts/control/dhinfdemo.m +++ b/scripts/control/dhinfdemo.m @@ -40,7 +40,7 @@ # K. Mueller, <mueller@ifr.ing.tu-bs.de> # Technical University of Braunschweig, IfR -# $Revision: 1.2 $ $Date: 1998/10/12 10:11:13 $ +# $Revision: 2.0.0.0 $ $Date: 1998/12/08 21:36:55 $ # echo off
--- a/scripts/control/dlqe.m +++ b/scripts/control/dlqe.m @@ -45,7 +45,7 @@ # Modified for discrete time by R. Bruce Tenison (btenison@eng.auburn.edu) # October, 1993 -# $Revision: 1.14 $ +# $Revision: 1.15 $ if (nargin != 5 && nargin != 6) error ("dlqe: invalid number of arguments");
--- a/scripts/control/dlqg.m +++ b/scripts/control/dlqg.m @@ -47,7 +47,7 @@ # See also: lqg, dlqe, dlqr # Written by A. S. Hodel August 1995 -# $Revision: 1.2 $ +# $Revision: 2.0.0.0 $ warning("dlqg: obsolete. use lqg instead (system data structure format)"); @@ -60,14 +60,14 @@ endif sys = sysupdate(sys,"ss"); # make sure in proper form - [ndstates,nin,nout] = abcddim(sys.a, sys.b, sys.c, sys.d); + [ncstates,ndstates,nin,nout] = sysdimensions(sys); if(ndstates == -1) error("this message should never appear: bad system dimensions"); endif - if(sys.n) + if(ncstates) error("dlqg: system has continuous-time states (try lqg?)") - elseif(sys.nz < 1) + elseif(ndstates < 1) error("dlqg: system has no discrete time states") elseif(nin <= columns(Sigw)) error(["dlqg: ",num2str(nin)," inputs provided, noise dimension is ", ...
--- a/scripts/control/dlqr.m +++ b/scripts/control/dlqr.m @@ -46,7 +46,7 @@ # 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 -# $Revision: 1.15 $ +# $Revision: 1.16 $ if (nargin != 4 && nargin != 5) error ("dlqr: invalid number of arguments");
--- a/scripts/control/dlyap.m +++ b/scripts/control/dlyap.m @@ -34,7 +34,7 @@ # (1977). # Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. -# $Revision: 1.13 $ +# $Revision: 1.14 $ if ((n = is_square (a)) == 0) warning ("dlyap: a must be square");
--- a/scripts/control/dmr2d.m +++ b/scripts/control/dmr2d.m @@ -26,7 +26,8 @@ # sys: discrete time system; # dmr2d exits with an error if sys is not discrete # idx: list of states with sampling time sys.tsam (may be empty) -# sprefix: string prefix of states with sampling time sys.tsam (may be empty) +# sprefix: list of string prefixes of states with sampling time +# sys.tsam (may be empty) # Ts2: sampling time of states not specified by idx, sprefix # must be an integer multiple of sys.tsam # cuflg: "constant u flag" if cuflg is nonzero then the system inputs are @@ -57,17 +58,7 @@ # WARNING: Not thoroughly tested yet; especially when cuflg == 0. # Adapted from c2d by a.s.hodel@eng.auburn.edu -# $Log: dmr2d.m,v $ -# Revision 1.1 1998/07/21 14:40:55 hodelas -# First attempt at multirate systems analysis -# -# Revision 1.2 1998/07/21 14:13:44 hodel -# squaring A to get a11^nstp -# -# Revision 1.1 1998/07/21 12:41:46 hodel -# Initial revision -# -# + save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1; @@ -91,8 +82,8 @@ error(["idx(",num2str(ii),")=",num2str(idx(ii)), ... "; entries of idx must be positive"]); - elseif(!(isstr(sprefix) | isempty(sprefix))) - error("sprefix must be a string or empty"); + elseif(!(is_signal_list(sprefix) | isempty(sprefix))) + error("sprefix must be a signal list (see is_signal_list) or empty"); elseif(!is_sample(Ts2)) error(["Ts2=",num2str(Ts2),"; invalid sampling time"]); @@ -131,14 +122,14 @@ else fidx = reshape(idx,1,length(idx)); # find states whose name begins with any strings in sprefix. - ns = rows(sprefix); + ns = length(sprefix); for kk=1:ns - spk = dezero(sprefix(kk,:)); # get next prefix and length + spk = nth(sprefix,kk); # get next prefix and length spl = length(spk); # check each state name for ii=1:nz - sti = dezero(stname(ii,:)); # compare spk with this state name + 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(strcmp(sti(1:spl),spk) & !any(fidx == ii) ) @@ -237,7 +228,7 @@ else b1b = [b1b, b1w]; # append new inputs newin = strappend(innamenz,["_d",num2str(kk-1)]); - inname = str2mat(inname,newin); + inname = append(inname,newin); endif endfor
--- a/scripts/control/fir2sys.m +++ b/scripts/control/fir2sys.m @@ -1,4 +1,4 @@ -# Copyright (C) 1996 A. Scottedward Hodel +# Copyright (C) 1996,1998 A. Scottedward Hodel # # This file is part of Octave. # @@ -32,71 +32,30 @@ # Name changed to TF2SYS July 1995 # updated for new system data structure format July 1996 # adapted from tf2sys july 1996 - # $Revision: 1.1.1.1 $ + # $Revision: 2.0.0.0 $ save_val = implicit_str_to_num_ok; implicit_str_to_num_ok = 1; # Test for the correct number of input arguments - if ((nargin < 2) || (nargin > 4)) + if (nargin < 1 | nargin > 4) usage('sys=fir2sys(num[,tsam,inname,outname])'); - return endif - # check input format - if( !is_vector(num) ) - error(['num (',num2str(rows(num)),'x',num2str(columns(num)), ... - ') must be a vector']) - endif - + # let tf2sys do the argument checking den = [1,zeros(1,length(num)-1)]; # check sampling interval (if any) - if(nargin <= 1) - tsam = 1; # default - elseif (isempty(tsam)) - tsam = 1; - endif - if ( (! (is_scalar(tsam) && (imag(tsam) == 0) )) || (tsam <= 0) ) - error('fir tsam must be a positive real scalar') - endif + if(nargin <= 1) tsam = 1; # default + elseif (isempty(tsam)) tsam = 1; endif # Set name of input - if(nargin < 3) - inname = "u"; - elseif(isempty(inname)) - inname = "u"; - endif - if (rows(inname) > 1) - warning(['fir2sys:,' num2str(rows(inname)),' input names given, 1st used.']) - inname = (inname(1,:)); - endif + if(nargin < 3) inname = sysdefioname(1,"u"); endif # Set name of output - if(nargin < 4) - outname = "y"; - elseif(isempty(outname)) - outname = "y"; - endif - if (rows(outname) > 1) - warning(['fir2sys: ',num2str(rows(outname)),... - ' output names given, 1st used.']) - outname = (outname(1,:)); - endif + if(nargin < 4) outname = sysdefioname(1,"y"); endif + + sys = tf2sys(num,den,tsam,inname,outname); - sys.num = num; - sys.den = den; - - # Set the system vector: active = 0(tf), updated = [1 0 0]; - sys.sys = [0 1 0 0]; - - # Set defaults - sys.tsam = tsam; - sys.inname = inname; - sys.outname = outname; - sys.nz = length(den)-1; - sys.n = 0; - sys.yd = 1; - implicit_str_to_num_ok = save_val; endfunction
--- a/scripts/control/frdemo.m +++ b/scripts/control/frdemo.m @@ -1,4 +1,4 @@ -# Copyright (C) 1996 A. Scottedward Hodel +# Copyright (C) 1996,1998 A. Scottedward Hodel # # This file is part of Octave. # @@ -20,18 +20,19 @@ # Octave Controls toolbox demo: Frequency Response demo # Written by David Clem August 15, 1994 -# $Revision: 1.3 $ +# $Revision: 2.0.0.0 $ # a s hodel: updated to match new order of ss2zp outputs # J Ingram: updated for system data structure format August 1996 disp("") clc j = 0; - while (j != 3) + while (j != 4) disp(""); j = menu("Octave Controls Systems Toolbox Frequency Response Demo",... 'Bode analysis (bode)',... 'Nyquist analysis (nyquist)',... + "Nichols analysis (nichols)", ... 'Return to main demo menu'); if (j == 1) @@ -122,15 +123,20 @@ clc disp("\nExample #4, The state-space system from example 3 will be"); disp("grouped with the system from example 2 to form a MIMO system"); - disp("The commands to do this grouping are as follows:"); - sys2=sysupdate(sys2,"ss"); - [nn,nz,mm,pp] = sysdimensions(sys2); - sys2 = syschnames(sys2,"out",1:pp,"y_sys2"); - sys2 = syschnames(sys2,"in",1:mm,"u_sys2"); - sys2 = syschnames(sys2,"st",1:nn,sysdefioname(nn+nz,"x_sys2")); + disp("The commands to do this grouping are as follows (changing signal"); + disp("names for clarity):"); + cmd = "sys2 = syssetsignals(sys2,\"out\",\"y_sys2\");"; + disp(cmd); eval(cmd); + cmd = "sys2 = syssetsignals(sys2,\"in\",\"u_sys2\");"; + disp(cmd); eval(cmd); + cmd = "nn = sysdimensions(sys2);"; + disp(cmd); eval(cmd); + cmd = "[nn,nz] = sysdimensions(sys2);"; + disp(cmd); eval(cmd); + cmd = "sys2 = syssetsignals(sys2,\"st\",sysdefioname(nn+nz,\"x_sys2\"));"; + disp(cmd); eval(cmd); cmd = "sys_mimo = sysgroup(sys2,sys3);"; - disp(cmd); - eval(cmd); + disp(cmd); eval(cmd); disp("The resulting state-space system (after changing signal names"); disp("in sys2) is"); cmd = "sysout(sys_mimo)"; @@ -252,14 +258,16 @@ clc disp("\nExample #4, We will now examine a MIMO state-space system. Systems"); disp("two and three will be grouped."); - sys2=sysupdate(sys2,"ss"); - [nn,nz,mm,pp] = sysdimensions(sys2); - sys2 = syschnames(sys2,"out",1:pp,"y_sys2"); - sys2 = syschnames(sys2,"in",1:mm,"u_sys2"); - sys2 = syschnames(sys2,"st",1:nn,sysdefioname(nn+nz,"x_sys2")); + cmd = "[nn,nz] = sysdimensions(sys2);"; + disp(cmd); eval(cmd); + cmd = "sys2 = syssetsignals(sys2,\"out\",\"y_sys2\");"; + disp(cmd); eval(cmd); + cmd = "sys2 = syssetsignals(sys2,\"in\",\"u_sys2\");"; + disp(cmd); eval(cmd); + cmd = "sys2 = syssetsignals(sys2,\"st\",sysdefioname(nn+nz,\"x_sys2\"));"; + disp(cmd); eval(cmd); cmd = "sys_mimo = sysgroup(sys2,sys3);"; - disp(cmd); - eval(cmd); + disp(cmd); eval(cmd); cmd = "sysout(sys_mimo);"; disp(cmd); eval(cmd); @@ -401,14 +409,16 @@ disp("Example #4, Nyquist can be used for MIMO systems if the system has"); disp("an equal number of inputs and outputs. Otherwise, nyquist returns"); disp("an error. To examine a MIMO system, systems 2 and 3 will be grouped"); - sys2=sysupdate(sys2,"ss"); - [nn,nz,mm,pp] = sysdimensions(sys2); - sys2 = syschnames(sys2,"out",1:pp,"y_sys2"); - sys2 = syschnames(sys2,"in",1:mm,"u_sys2"); - sys2 = syschnames(sys2,"st",1:nn,sysdefioname(nn+nz,"x_sys2")); + cmd = "[nn,nz] = sysdimensions(sys2);"; + disp(cmd); eval(cmd); + cmd = "sys2 = syssetsignals(sys2,\"out\",\"y_sys2\");"; + disp(cmd); eval(cmd); + cmd = "sys2 = syssetsignals(sys2,\"in\",\"u_sys2\");"; + disp(cmd); eval(cmd); + cmd = "sys2 = syssetsignals(sys2,\"st\",sysdefioname(nn+nz,\"x_sys2\"));"; + disp(cmd); eval(cmd); cmd = "sys_mimo = sysgroup(sys2,sys3);"; - disp(cmd); - eval(cmd); + disp(cmd); eval(cmd); cmd = "sysout(sys_mimo);"; disp(cmd); eval(cmd); @@ -578,6 +588,9 @@ disp("convert the system to either pure digital or pure continuous form"); endif endwhile + elseif (j == 3) + help nichols + prompt endif endwhile endfunction
--- a/scripts/control/freqchkw.m +++ b/scripts/control/freqchkw.m @@ -21,7 +21,7 @@ # used by freqresp to check that input frequency vector is legal # A S Hodel July 1996 - # $Revision: 1.1.1.1 $ + # $Revision: 2.0.0.0 $ if(isempty(w)) USEW = 0;
--- a/scripts/control/freqresp.m +++ b/scripts/control/freqresp.m @@ -28,7 +28,7 @@ # ff and w are both returned as row vectors # Written by: R. Bruce Tenison July 11, 1994 - # $Revision: 1.6 $ + # $Revision: 2.0.0.0 $ # SYS_INTERNAL accesses members of system data structure save_val = empty_list_elements_ok;
--- a/scripts/control/gram.m +++ b/scripts/control/gram.m @@ -25,7 +25,7 @@ # a m + a' + b*b' = 0 # Written by A. S. Hodel - # $Revision: 1.2 $ + # $Revision: 2.0.0.0 $ # let lyap do the error checking... m = lyap(a,b*b');
--- a/scripts/control/h2norm.m +++ b/scripts/control/h2norm.m @@ -1,4 +1,4 @@ -# Copyright (C) 1996 A. Scottedward Hodel +# Copyright (C) 1996,1998 A. Scottedward Hodel # # This file is part of Octave. # @@ -16,12 +16,12 @@ # along with Octave; see the file COPYING. If not, write to the Free # Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA. -function out = h2norm(sys) - # Usage: out = h2norm(sys) +function h2gain = h2norm(sys) + # Usage: h2gain = h2norm(sys) # # Computes the H2 norm system data structure (continuous time only) # sys = system data structure [see ss2sys()] - # returns out = Inf if system is unstable + # returns h2gain = Inf if system is unstable # # Reference: # Doyle, Glover, Khargonekar, Francis, "State Space Solutions to Standard @@ -30,10 +30,10 @@ # A. S. Hodel Aug 1995 # updated for system data structure by John Ingram November 1996 - # $Revision: 1.2 $ + # $Revision: 2.0.0.0 $ if((nargin != 1)) - usage("out = h2norm(sys)"); + usage("h2gain = h2norm(sys)"); elseif(!is_struct(sys)) error("Sys must be in system data structure"); end @@ -41,7 +41,7 @@ if(!is_stable(sys)) warning("h2norm: unstable input system; returning Inf"); - out = Inf; + h2gain = Inf; else # compute gain [a,b,c,d] = sys2ss(sys); @@ -53,6 +53,7 @@ if( min(real(eig(M))) < 0) error("h2norm: grammian not >= 0 (lightly damped modes?)") endif - out = sqrt(d'*d + trace(c*M*c')); + + h2gain = sqrt(trace(d'*d + c*M*c')); endif endfunction
--- a/scripts/control/h2syn.m +++ b/scripts/control/h2syn.m @@ -42,18 +42,7 @@ # Pf: ARE solution matrix for filter subproblem # Updated for System structure December 1996 by John Ingram - # $Revision: 1.2 $ - # $Log: h2syn.m,v $ - # Revision 1.2 1998/07/01 16:23:36 hodelas - # Updated c2d, d2c to perform bilinear transforms. - # Updated several files per bug updates from users. - # - # Revision 1.4 1997/03/11 15:24:28 scotte - # fixed bugs in return system data structure signal names a.s.hodel@eng.auburn.edu - # - # Revision 1.3 1997/03/03 22:54:42 hodel - # fixed details for update to octave 2.0.x - # a.s.hodel@eng.auburn.edu + # $Revision: 2.0.0.0 $ if ((nargin < 3) | (nargin > 4)) usage("[K,gain, Kc, Kf, Pc, Pf] = h2syn(Asys,nu,ny[,tol])"); @@ -121,8 +110,8 @@ if(nargout) Kst = strappend(Ast,"_K"); - Kin = strappend(Aout((nout-ny+1):(nout),:),"_K"); - Kout = strappend(Ain((nin-nu+1):(nin),:),"_K"); + Kin = strappend(Aout((nout-ny+1):(nout)),"_K"); + Kout = strappend(Ain((nin-nu+1):(nin)),"_K"); # compute systems for return K = ss2sys(KA,-L2/Ru,Ry\F2,zeros(nu,ny),Atsam,ncstates,ndstates,Kst,Kin,Kout); @@ -130,22 +119,13 @@ if (nargout > 2) #system full information control state names - for ii=1:rows(Ast) - tmp = [dezero(Ast(ii,:)),"_FI"]; - stname2(ii,1:length(tmp)) = tmp; - endfor + stname2 = strappend(Ast,"_FI"); #system full information control input names - for ii=1:rows(Ast) - tmp = [dezero(Ast(ii,:)),"_FI_in"]; - inname2(ii,1:length(tmp)) = tmp; - endfor + inname2 = strappend(Ast,"_FI_in"); #system full information control output names - for ii=1:(rows(Aout)-ny) - tmp = [dezero(Aout(ii,:)),"_FI_out"]; - outname2(ii,1:length(tmp)) = tmp; - endfor + outname2 = strappend(Aout(1:(nout-ny)),"_FI_out"); nz = rows (Cz); nw = columns (Bw); @@ -156,24 +136,16 @@ if (nargout >3) #fix system state estimator state names - for ii=1:rows(Ast) - tmp = [dezero(Ast(ii,:)),"_Kf"]; - stname3(ii,1:length(tmp)) = tmp; - endfor + stname3 = strappend(Ast,"_Kf"); #fix system state estimator input names - for ii=1:rows(Ast) - tmp = [dezero(Ast(ii,:)),"_Kf_noise"]; - inname3(ii,1:length(tmp)) = tmp; - endfor + inname3 = strappend(Ast,"_Kf_noise"); #fix system state estimator output names - for ii=1:rows(Ast) - tmp = [dezero(Ast(ii,:)),"_est"]; - outname3(ii,1:length(tmp)) = tmp; - endfor + outname3 = strappend(Ast,"_est"); Kf = ss2sys(AL2, BwL2, In, zeros(nn,nw),Atsam, ... ncstates, ndstates, stname3, inname3,outname3); endif + endfunction
--- a/scripts/control/hinf_ctr.m +++ b/scripts/control/hinf_ctr.m @@ -31,14 +31,11 @@ # Do not attempt to use this at home; no argument checking performed. # A. S. Hodel August 1995 - # $Revision: 1.2 $ + # $Revision: 2.0.0.0 $ # 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). - # $Revision: 1.2 $ - # $Log: hinf_ctr.m,v $ - # Revision 1.2 1998/07/10 21:44:31 hodelas - # d11 -> D11 (was uninitialized) + # $Revision: 2.0.0.0 $ nw = dgs.nw; nu = dgs.nu;
--- a/scripts/control/hinfdemo.m +++ b/scripts/control/hinfdemo.m @@ -99,35 +99,7 @@ # Kai P. Mueller 30-APR-1998 <mueller@ifr.ing.tu-bs.de -# $Revision: 1.3 $ -# $Log: hinfdemo.m,v $ -# Revision 1.3 1998/10/12 13:59:16 mueller -# discrete examples added -# -# Revision 1.2 1998/10/12 10:09:40 mueller -# SISO example added, the augmented plant has one input -# and two output. -# -# Revision 1.1 1998/10/12 08:52:21 mueller -# Initial revision -# -# Revision 1.1.1.1 1998/05/19 20:24:06 jwe -# -# Revision 1.1 1998/05/05 17:03:42 scotte -# Initial revision -# -# Revision 1.4 1998/05/05 09:49:19 mueller -# comment corrections -# -# Revision 1.3 1998/05/05 08:46:27 mueller -# comments added -# -# Revision 1.2 1998/05/04 17:49:56 mueller -# miscellaneous cleanup -# -# Revision 1.1 1998/05/04 15:10:34 mueller -# Initial revision -# +# $Revision: 2.0.0.0 $ yn = []; while (length(yn) < 1)
--- a/scripts/control/hinfnorm.m +++ b/scripts/control/hinfnorm.m @@ -1,4 +1,4 @@ -# Copyright (C) 1996 A. Scottedward Hodel +# Copyright (C) 1996,1998 A. Scottedward Hodel # # This file is part of Octave. # @@ -39,7 +39,7 @@ # Iglesias and Glover, "State-Space approach to discrete-time Hinf control," # Int. J. Control, vol 54, #5, 1991 # Zhou, Doyle, Glover, "Robust and Optimal Control," Prentice-Hall, 1996 - # $Revision: 1.6 $ + # $Revision: 2.0.0.0 $ if((nargin == 0) || (nargin > 4)) usage("[g gmin gmax] = hinfnorm(sys[,tol,gmin,gmax,ptol])"); @@ -64,6 +64,7 @@ if(!is_stable(sys)) warning(["hinfnorm: unstable system (is_stable, ptol=",num2str(ptol), ... "), returning Inf"]); + g = Inf; endif Dnrm = norm(D);
--- a/scripts/control/hinfsyn.m +++ b/scripts/control/hinfsyn.m @@ -56,32 +56,12 @@ # A. S. Hodel August 1995 # Updated for Packed system structures December 1996 by John Ingram - # $Revision: 1.5 $ + # $Revision: 2.0.0.0 $ # # 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). - # $Revision: 1.5 $ - # $Log: hinfsyn.m,v $ - # Revision 1.5 1998/08/24 15:50:10 hodelas - # updated documentation - # - # Revision 1.3 1998/07/01 16:23:37 hodelas - # Updated c2d, d2c to perform bilinear transforms. - # Updated several files per bug updates from users. - # - # Revision 1.2 1998/06/25 12:35:38 hodelas - # fixed controller input/output signal name code - # - # Revision 1.4 1998/06/25 12:40:35 hodel - # fixed error in input/output names in the controller - # - # Revision 1.3 1998/05/05 17:03:59 scotte - # update 5 May 1998 by Kai Mueller - # -# Revision 1.2 1998/05/05 08:57:16 mueller -# comments added -# + # $Revision: 2.0.0.0 $ old_page_val = page_screen_output; page_screen_output = 0; @@ -370,8 +350,8 @@ K = hinf_ctr(dgs,F,H,Z,g); Kst = strappend(Ast,"_K"); - Kin = strappend(Aout((nout-ny+1):(nout),:),"_K"); - Kout = strappend(Ain((nin-nu+1):(nin),:),"_K"); + Kin = strappend(Aout((nout-ny+1):(nout)),"_K"); + Kout = strappend(Ain((nin-nu+1):(nin)),"_K"); [Ac, Bc, Cc, Dc] = sys2ss(K); K = ss2sys(Ac,Bc,Cc,Dc,Atsam,ncstates,ndstates,Kst,Kin,Kout); if (nargout >= 3)
--- a/scripts/control/hinfsyn_chk.m +++ b/scripts/control/hinfsyn_chk.m @@ -35,7 +35,7 @@ # Do not attempt to use this at home; no argument checking performed. # A. S. Hodel August 1995 - # $Revision: 1.1 $ + # $Revision: 2.0.0.0 $ Pc = Pf = [];
--- a/scripts/control/impulse.m +++ b/scripts/control/impulse.m @@ -36,16 +36,7 @@ # Written by Kai P. Mueller October 2, 1997 # based on lsim.m of Scottedward Hodel # modified by -# $Revision: 1.1.1.1 $ -# $Log: impulse.m,v $ -# Revision 1.1.1.1 1998/05/19 20:24:07 jwe -# -# Revision 1.3 1997/12/01 16:51:50 scotte -# updated by Mueller 27 Nov 97 -# -# Revision 1.1 1997/11/11 17:33:06 mueller -# Initial revision -# +# $Revision: 2.0.0.0 $ 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 @@ -29,16 +29,7 @@ # Written by Kai P. Mueller November 4, 1997 # based on is_controllable.m of Scottedward Hodel # modified by - # $Revision: 1.1.1.1 $ - # $Log: is_abcd.m,v $ - # Revision 1.1.1.1 1998/05/19 20:24:07 jwe - # - # Revision 1.1 1997/12/01 16:51:50 scotte - # Initial revision - # -# Revision 1.1 1997/11/25 11:17:41 mueller -# Initial revision -# + # $Revision: 2.0.0.0 $ retval = 0; switch (nargin)
--- a/scripts/control/is_controllable.m +++ b/scripts/control/is_controllable.m @@ -37,13 +37,12 @@ # 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 -# SYS_INTERNAL accesses members of packed system structure -# $Revision: 1.14 $ +# $Revision: 1.15 $ deftol = 1; # assume default tolerance if(nargin < 1 | nargin > 3) - usage(sprintf("[retval,U] = %s\n\t%s", "is_controllable(a {, b ,tol})", ... - "is_controllable(sys{,tol})")); + usage("[retval,U] = %s\n\t%s", "is_controllable(a {, b ,tol})", ... + "is_controllable(sys{,tol})"); elseif(is_struct(a)) # system structure passed. sys = sysupdate(a,"ss"); @@ -68,8 +67,11 @@ if(deftol) tol = 1000*eps; endif # check tol dimensions - if( !is_sample(tol) ) - error("is_controllable: tol must be a positive scalar!"); + if( !is_scalar(tol) ) + error("is_controllable: tol(%dx%d) must be a scalar", ... + rows(tol),columns(tol)); + elseif( !is_sample(tol) ) + error("is_controllable: tol=%e must be positive",tol); endif # check dimensions compatibility @@ -77,14 +79,13 @@ [nr, nc] = size (b); if (n == 0 | n != nr | nc == 0) - warning(["is_controllable: a=(",num2str(rows(a)),"x", ... - num2str(columns(a)),"), b=(",num2str(nr),"x",num2str(nc),")"]) + 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. if(nc == 1) - [U,H,Ucols] = krylov(a,b,n,tol); + [U,H,Ucols] = krylov(a,b,n,tol,1); U = U(:,1:Ucols); else [U,Ucols] = krylovb(a,b,n,tol);
--- a/scripts/control/is_detectable.m +++ b/scripts/control/is_detectable.m @@ -31,8 +31,7 @@ # Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. # Updated by John Ingram (ingraje@eng.auburn.edu) July 1996. -# SYS_INTERNAL accesses members of system structure -# $Revision: 1.1.1.1 $ +# $Revision: 2.0.0.0 $ if( nargin < 1) usage("[retval,U] = is_detectable(a , c {, tol})"); @@ -43,9 +42,7 @@ elseif(nargin > 2) usage("[retval,U] = is_detectable(sys {, tol})"); endif - a = sysupdate(a,"ss"); - c = a.c; - a = a.a; + [a,b,c] = sys2ss(a); elseif(nargin > 3) usage("[retval,U] = is_detectable(a , c {, tol})"); endif
--- a/scripts/control/is_dgkf.m +++ b/scripts/control/is_dgkf.m @@ -70,7 +70,7 @@ # Written by A. S. Hodel # Updated by John Ingram July 1996 to accept structured systems - # $Revision: 1.7 $ + # $Revision: 2.0.0.0 $ # # Revised by Kai P Mueller April 1998 to solve the general H_infinity # problem using unitary transformations Q (on w and z) @@ -92,17 +92,7 @@ # # This transformation together with the algorithm in [1] solves # the general problem (see [2] for example). - # $Revision: 1.7 $ - # $Log: is_dgkf.m,v $ - # Revision 1.7 1998/08/19 19:11:18 hodelas - # uniform interface for is_dgkf among h2syn, hinfsyn - # - # Revision 1.6 1998/07/13 21:05:03 hodelas - # Updated for discrete time systems - # - # fixed typo in error messages; use system functions instead of - # direct access to system structure - # + # $Revision: 2.0.0.0 $ if (nargin < 3) | (nargin > 4) usage("[retval,dgkf_struct] = is_dgkf(Asys,nu,ny{,tol})");
--- a/scripts/control/is_digital.m +++ b/scripts/control/is_digital.m @@ -22,18 +22,21 @@ # exits with an error of sys is a mixed (continuous and discrete) system # a s hodel July 1996 -# $Revision: 1.1.1.1 $ +# $Revision: 2.0.0.0 $ # SYS_INTERNAL accesses members of system structure # checked for sampled data system (mixed) # discrete system - cont = sum(sys.yd == 0) + sys.n; - dig = sum(sys.yd != 0) + sys.nz + sys.tsam; + sysyd = sysgetsignals(sys,"yd"); + [nn,nz] = sysdimensions(sys); + cont = sum(sysyd == 0) + nn; + tsam = sysgettsam(sys); + dig = sum(sysyd != 0) + nz + tsam; if( cont*dig != 0) sysout(sys); error("continuous/discrete system; use syscont, sysdisc, or c2d first"); else - DIGITAL = (sys.tsam > 0); + DIGITAL = (tsam > 0); endif endfunction
--- a/scripts/control/is_observable.m +++ b/scripts/control/is_observable.m @@ -31,8 +31,7 @@ # Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. # Updated by John Ingram (ingraje@eng.auburn.edu) July 1996. -# SYS_INTERNAL accesses members of system structure -# $Revision: 1.14 $ +# $Revision: 1.15 $ if( nargin < 1) usage("[retval,U] = is_observable(a , c {, tol})"); @@ -43,9 +42,7 @@ elseif(nargin > 2) usage("[retval,U] = is_observable(sys {, tol})"); endif - a = sysupdate(a,"ss"); - c = a.c; - a = a.a; + [a,b,c] = sys2ss(a); elseif(nargin > 3) usage("[retval,U] = is_observable(a , c {, tol})"); endif
--- a/scripts/control/is_sample.m +++ b/scripts/control/is_sample.m @@ -22,7 +22,7 @@ # (real,scalar, > 0) # A. S. Hodel July 1995 -# $Revision: 1.1 $ +# $Revision: 2.0.0.0 $ out = (is_scalar(Ts) && (Ts == abs(Ts)) && (Ts != 0) );
--- a/scripts/control/is_siso.m +++ b/scripts/control/is_siso.m @@ -21,7 +21,7 @@ # return nonzero if the system sys is single-input, single-output. # a s hodel July 1996, 1998 -# $Revision: 1.2 $ +# $Revision: 2.0.0.0 $ # SYS_INTERNAL accesses members of system structure if(nargin != 1)
--- a/scripts/control/is_stabilizable.m +++ b/scripts/control/is_stabilizable.m @@ -33,16 +33,14 @@ # tol is a roundoff paramter, set to 200*eps if omitted. # # See also: size, rows, columns, length, is_matrix, is_scalar, is_vector -# is_observable, is_stabilizable, is_detectable, krylov, krylovb +# is_observable, is_stabilizable, is_detectable # 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 -# SYS_INTERNAL accesses members of system structure -# $Revision: 1.1.1.1 $ +# $Revision: 2.0.0.0 $ - if(nargin < 1) - usage("[retval,U] = is_stabilizable(a {, b ,tol})"); + if(nargin < 1) usage("[retval,U] = is_stabilizable(a {, b ,tol})"); elseif(is_struct(a)) # sustem passed. if(nargin == 2) @@ -50,9 +48,7 @@ elseif(nargin > 2) usage("[retval,U] = is_stabilizable(sys{,tol})"); endif - sys = sysupdate(a,"ss"); - a = sys.a; - b = sys.b; + [a,b] = sys2ss(sys); else # a,b arguments sent directly. if(nargin > 3) @@ -67,11 +63,6 @@ tol = 1e2*rows(b)*eps; endif - #disp("is_stabilzable: is_controllable returns") - #retval - #U - #disp("/is_stabilzable: is_controllable returns") - if( !retval & columns(U) > 0) # now use an ordered Schur decomposition to get an orthogonal # basis of the unstable subspace... @@ -79,11 +70,6 @@ [ua,s] = schur(-(a+eye(n)*tol),'A'); k = sum( real(eig(a)) >= 0 ); # count unstable poles - #disp("is_stabilizable: unstable poles found:") - #k - #s - #disp("/is_stabilizable: unstable poles found:") - if( k > 0 ) ua = ua(:,1:k); # now see if span(ua) is contained in span(U)
--- a/scripts/control/is_stable.m +++ b/scripts/control/is_stable.m @@ -31,43 +31,34 @@ # is_observable, is_stabilizable, is_detectable, krylov, krylovb # 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 systems -# SYS_INTERNAL accesses members of system structure -# $Revision: 1.1.1.1 $ +# Updated to simpler form by a.s.hodel 1998 +# $Revision: 2.0.0.0 $ - if( (nargin < 1) | (nargin > 3) ) - usage("is_stable(a {,tol,disc})"); + if( (nargin < 1) | (nargin > 3) ) usage("is_stable(a {,tol,disc})"); elseif(is_struct(a)) # system was passed - if(nargin < 3) - disc = is_digital(a); + if(nargin < 3) disc = is_digital(a); elseif(disc != is_digital(a)) - warning(["is_stable: disc =",num2str(disc),", does not match system"]) + warning("is_stable: disc =%d does not match system",disc) endif sys = sysupdate(a,"ss"); - a = sys.a; + a = sys2ss(sys); else - if(nargin < 3) - disc = 0; - endif + if(nargin < 3) disc = 0; endif if(is_square(a) == 0) - error("non-square a matrix passed.") + error("A(%dx%d) must be square",rows(A), columns(A)); endif endif - if( nargin < 2) - tol = 200*eps; + if(nargin < 2) tol = 200*eps; elseif( !is_scalar(tol) ) - error("is_stable: tol must be a scalar!"); + error("is_stable: tol(%dx%d) must be a scalar",rows(tol),columns(tol)); endif l = eig(a); - if(disc) - nbad = sum(abs(l)*(1+tol) > 1); - else - nbad = sum(real(l)+tol > 0); - endif + if(disc) nbad = sum(abs(l)*(1+tol) > 1); + else nbad = sum(real(l)+tol > 0); endif retval = (nbad == 0); endfunction
--- a/scripts/control/jet707.m +++ b/scripts/control/jet707.m @@ -28,16 +28,7 @@ # Written by Kai P. Mueller September 28, 1997 # Updates - # $Revision: 1.1.1.1 $ - # $Log: jet707.m,v $ - # Revision 1.1.1.1 1998/05/19 20:24:07 jwe - # - # Revision 1.3 1997/12/01 16:51:50 scotte - # updated by Mueller 27 Nov 97 - # -# Revision 1.1 1997/11/11 17:33:24 mueller -# Initial revision -# + # $Revision: 2.0.0.0 $ if (nargin != 0) usage("outsys = jet707()")
--- a/scripts/control/lqe.m +++ b/scripts/control/lqe.m @@ -40,20 +40,7 @@ # e = closed loop poles of (A - K C) # Written by A. S. Hodel (scotte@eng.auburn.edu) August, 1993. -# $Revision: 1.14 $ -# $Log: lqe.m,v $ -# Revision 1.14 1998-11-06 16:15:36 jwe -# *** empty log message *** -# -# Revision 1.1.1.1 1998/05/19 20:24:07 jwe -# -# Revision 1.3 1997/09/19 21:36:54 scotte -# *** empty log message *** -# -# Revision 1.2 1997/02/28 23:03:45 hodel -# added parenthesis in if command (just in case) -# a.s.hodel@eng.auburn.edu -# +# $Revision: 1.15 $ if ( (nargin != 5) && (nargin != 6)) error ("lqe: invalid number of arguments");
--- a/scripts/control/lqg.m +++ b/scripts/control/lqg.m @@ -48,13 +48,7 @@ # Written by A. S. Hodel August 1995; revised for new system format # August 1996 -# $Revision: 1.1.1.1 $ -# $Log: lqg.m,v $ -# Revision 1.1.1.1 1998/05/19 20:24:07 jwe -# -# Revision 1.2 1997/03/01 00:21:33 hodel -# fixed some string manipulation problems. -# +# $Revision: 2.0.0.0 $ sav_val = implicit_str_to_num_ok; implicit_str_to_num_ok = 1; @@ -68,8 +62,7 @@ DIG = is_digital(sys); [A,B,C,D,tsam,n,nz,stname,inname,outname] = sys2ss(sys); -nout = rows(outname); -nin = rows(inname); +[n,nz,nin,nout] = sysdimensions(sys); if(nargin == 5) #construct default input_list input_list = (columns(Sigw)+1):nin; @@ -90,21 +83,17 @@ ", columns(R)=", num2str(columns(R))]); endif -varname = ["Sigw";"Sigv";"Q ";"R "]; -for kk=1:rows(varname); - stval = dezero(varname(kk,:)); - cmd = ["chk = is_square(",stval,");"]; - eval(cmd); - if(! chk ) - error(["lqg: ",stval," is not square"]); - 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,:); + inname = inname(all_inputs); endif # put parameters into correct variables @@ -128,23 +117,13 @@ Dc = zeros(rows(Cc),columns(Bc)); # fix state names -for ii=1:rows(stname) - newst = [dezero(stname(ii,:)),"\\e"]; - stname1(ii,1:length(newst)) = newst; -endfor +stname1 = strappend(stname,"_e"); # fix controller output names -inname = inname(m2:nin,:); -for ii=1:rows(inname) - newst = [dezero(inname(ii,:)),"\\K"]; - outname1(ii,1:length(newst)) = newst; -endfor +outname1 = strappend(inname(m2:nin),"_K"); # fix controller input names -for ii=1:rows(outname) - newst = [dezero(outname(ii,:)),"\\K"]; - inname1(ii,1:length(newst)) = newst; -endfor +inname1 = strappend(outname,"_K"); if(DIG) K = ss2sys(Ac,Bc,Cc,Dc,tsam,n,nz,stname1,inname1,outname1,1:rows(Cc));
--- a/scripts/control/lqr.m +++ b/scripts/control/lqr.m @@ -47,23 +47,9 @@ # reference: Anderson and Moore, OPTIMAL CONTROL: LINEAR QUADRATIC METHODS, # Prentice-Hall, 1990, pp. 56-58 -# $Revision: 1.13 $ +# $Revision: 1.14 $ # Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. -# $Log: lqr.m,v $ -# Revision 1.13 1998-11-06 16:15:36 jwe -# *** empty log message *** -# -# Revision 1.1.1.1 1998/05/19 20:24:07 jwe -# -# Revision 1.4 1997/09/19 21:37:24 scotte -# added references for feedback matrices -# , -# -# -# Revision 1.2 1997/02/28 23:02:14 hodel -# added parenthesis around if commands (just to be sure) -# a.s.hodel@eng.auburn.edu # disp("lqr: entry");
--- a/scripts/control/lsim.m +++ b/scripts/control/lsim.m @@ -35,16 +35,8 @@ # Written by David Clem, A. S. Hodel July 1995 # modified by John Ingram for system format August 1996 -# $Revision: 1.1.1.1 $ -# $Log: lsim.m,v $ -# Revision 1.1.1.1 1998/05/19 20:24:07 jwe -# -# Revision 1.3 1997/12/01 16:51:50 scotte -# updated by Mueller 27 Nov 97 -# -# Revision 1.2 1997/11/24 16:13:39 mueller -# old style c2d call fixed -# +# $Revision: 2.0.0.0 $ + if((nargin < 3)||(nargin > 4)) usage("[y,x] = lsim(sys,u,t[,x0])"); @@ -56,19 +48,10 @@ sys = sysupdate(sys,"ss"); - nout = rows(sys.c); - nin = columns(sys.b); - ncstates = sys.n; - ndstates = sys.nz; + [ncstates, ndstates, nin, nout] = sysdimensions(sys); + [a,b,c,d] = sys2ss(sys); - a = sys.a; - b = sys.b; - c = sys.c; - d = sys.d; - - if (nargin == 3) - x0 = zeros(columns(a),1); - endif + if (nargin == 3) x0 = zeros(columns(a),1); endif if(rows(u) ~= length(t)) error("lsim: There should be an input value (row) for each time instant"); @@ -94,8 +77,7 @@ Ts = t(ii+1) - t(ii); # [F,G] = c2d(a,b,Ts); dsys = c2d(sys, Ts); - F = dsys.a; - G = dsys.b; + [F,G] = sys2ss(dsys); endif x(:,ii) = x0;
--- a/scripts/control/ltifr.m +++ b/scripts/control/ltifr.m @@ -32,7 +32,7 @@ # R. B. Tenison, D. Clem, A. S. Hodel, July 1995 # updated by John Ingram August 1996 for system format - # $Revision: 1.1.1.1 $ + # $Revision: 2.0.0.0 $ if ((nargin < 2) || (nargin > 3)) error("incorrect number of input arguments"); @@ -41,32 +41,33 @@ if (nargin == 2) sys = a; w = b; + if(!is_struct(sys)) + error("two arguments: 1st must be a system data structure"); + endif if (!is_vector(w)) error("w must be a vector"); endif - sys = sysupdate(sys,"ss"); + [nn,nz,mm,pp] = sysdimensions(sys); + if(mm != 1) error("sys has %d > 1 inputs",mm); endif - if(columns(sys.b) != 1) - error("sys is not an SISO system"); - endif - - a = sys.a; - b = sys.b; + [a,b] = sys2ss(sys); else if (columns(a) != rows(b)), - error("ltifr: A, B not compatibly dimensioned"); + error("ltifr: A(%dx%d), B(%dx%d) not compatibly dimensioned", ... + rows(a), columns(a), rows(b), columns(b)); endif if(columns(b) != 1) - error("ltifr: 2nd argument must be a single column vector"); + error("ltifr: b(%dx%d) must be a single column vector", ... + rows(b),columns(b)); endif if (!is_square(a)) - error("ltifr: A must be square.") + error("ltifr: A(%dx$d) must be square.",rows(a),columns(a)) endif endif
--- a/scripts/control/mb.m +++ b/scripts/control/mb.m @@ -1,4 +1,7 @@ -# $Revision: 1.1 $ +# I think that this m-file can be deleted +# a.s.hodel@eng.auburn.edu - 4 Dec. 1998 + +# $Revision: 2.0.0.0 $ Ap = [0 1;1960 0]; Bp = [0;-6261]; @@ -6,8 +9,8 @@ Dp = 0; Gp = ss2sys(Ap,Bp,Cp,Dp,0,2,0,[],"delta_i","delta_y"); -Gp = syschnames(Gp,"st",1,"delta_x1"); -Gp = syschnames(Gp,"st",2,"delta_x2"); +Gp = syssetsignals(Gp,"st","delta_x1",1); +Gp = syssetsignals(Gp,"st","delta_x2",2); Ak = [-20 1;-22160 -200]; Bk = [-20;-2160]; @@ -15,8 +18,8 @@ Dk = 0; Gk = ss2sys(Ak,Bk,Ck,Dk,0,2,0,[],"y","i"); -Gk = syschnames(Gk,"st",1,"x1"); -Gk = syschnames(Gk,"st",2,"x2"); +Gk = syssetsignals(Gk,"st","x1",1); +Gk = syssetsignals(Gk,"st","x2",2); Gc = sysgroup(Gp,Gk); @@ -34,7 +37,10 @@ # Gc = sysprune(Gc,1,1); is_stable(Gc) -eig(Gc.a) +Gca = sys2ss(Gc); +eig(Gca) -Acl = [Gp.a, -Gp.b*Gk.c; Gk.b*Gp.c, Gk.a] +[Gpa,Gpb,Gpc,Gpd] = sys2ss(Gp); +[Gka,Gkb,Gkc,Gkd] = sys2ss(Gk); +Acl = [Gpa, -Gpb*Gkc; Gkb*Gpc, Gka] eig(Acl)
--- a/scripts/control/minfo.m +++ b/scripts/control/minfo.m @@ -33,7 +33,7 @@ # Written by R. Bruce Tenison July 29, 1994 # Modified by David Clem November 13, 1994 # Modified by A. S. Hodel July 1995 - # $Revision: 1.1.1.1 $ + # $Revision: 2.0.0.0 $ warning("minfo: obsolete. Use sys2ss, sys2tf, or sys2zp.");
--- a/scripts/control/moddemo.m +++ b/scripts/control/moddemo.m @@ -20,7 +20,7 @@ # Octave Controls toolbox demo: Model Manipulations demo # Written by David Clem August 15, 1994 -# $Revision: 1.1 $ +# $Revision: 2.0.0.0 $ # a s hodel: updated to reflect updated output order in ss2zp while (1)
--- a/scripts/control/nichols.m +++ b/scripts/control/nichols.m @@ -51,8 +51,6 @@ # 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. -# $Log$ - # check number of input arguments given if (nargin < 1 | nargin > 4) usage("[mag,phase,w] = nichols(sys[,w,outputs,inputs])");
--- a/scripts/control/nyquist.m +++ b/scripts/control/nyquist.m @@ -65,15 +65,6 @@ # remove acura parameter, etc.) # Revised by John Ingram July 1996 for system format # - # Revision 1.6 1998/02/09 13:03:37 scotte - # fixed oneplot/gset nokey to function only if gnuplot_has_multiplot - # -# Revision 1.2 1997/11/24 17:27:58 mueller -# call to oneplot() and gset nokey added -# -# Revision 1.1 1997/11/11 17:33:41 mueller -# Initial revision -# # 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 @@ -134,7 +125,7 @@ [stn, inn, outn] = sysgetsignals(sys); if(is_siso(sys)) title(sprintf("Nyquist plot from %s to %s, w (rad/s) in [%e, %e]", ... - inn, outn, w(1), w(length(w))) ) + nth(inn,1), nth(outn,1), w(1), w(length(w))) ) endif gset nologscale xy;
--- a/scripts/control/obsv.m +++ b/scripts/control/obsv.m @@ -39,23 +39,13 @@ # Written by Kai P. Mueller November 4, 1997 # modified by - # $Revision: 1.1.1.1 $ - # $Log: obsv.m,v $ - # Revision 1.1.1.1 1998/05/19 20:24:07 jwe - # - # Revision 1.2 1997/12/01 16:51:50 scotte - # updated by Mueller 27 Nov 97 - # -# Revision 1.1 1997/11/25 11:17:05 mueller -# Initial revision -# + # $Revision: 2.0.0.0 $ if (nargin == 2) a = sys; elseif (nargin == 1 && is_struct(sys)) sysupdate(sys,"ss"); - a = sys.a; - c = sys.c; + [a,b,c] = sys2ss(sys); else usage("obsv(sys [, c])") endif
--- a/scripts/control/ord2.m +++ b/scripts/control/ord2.m @@ -38,16 +38,7 @@ # Written by Kai P. Mueller September 28, 1997 # Updates - # $Revision: 1.1.1.1 $ - # $Log: ord2.m,v $ - # Revision 1.1.1.1 1998/05/19 20:24:07 jwe - # - # Revision 1.3 1997/12/01 16:51:50 scotte - # updated by Mueller 27 Nov 97 - # -# Revision 1.1 1997/11/11 17:34:06 mueller -# Initial revision -# + # $Revision: 2.0.0.0 $ if(nargin != 2 & nargin != 3) usage("outsys = ord2(nfreq, damp[, gain])")
--- a/scripts/control/outlist.m +++ b/scripts/control/outlist.m @@ -1,4 +1,4 @@ -# Copyright (C) 1996 A. Scottedward Hodel +# Copyright (C) 1996, 1998 A. Scottedward Hodel # # This file is part of Octave. # @@ -16,62 +16,54 @@ # along with Octave; see the file COPYING. If not, write to the Free # Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA. -function outlist(lmat,tabchar,yd,ilist) -# function outlist(lmat[,tabchar,yd,ilist]) +function str_val = outlist(name_list,tabchar,yd,ilist) +# function str_val = outlist(name_list[,tabchar,yd,ilist]) # # internal use only; minimal argument checking performed # # print an enumerated list of strings # inputs: -# lmat: matrix of strings (one per row) +# name_list: list of strings (one per entry) # tabchar: tab character (default: none) -# yd: indices of strings to append with the string "(discrete)" +# yd: indices of entries to append with the string "(discrete)" # (used by sysout; minimal checking of this argument) # yd = [] => all continuous # ilist: index numbers to print with names -# default: 1:rows(lmat) +# default: 1:length(name_list) # outputs: # prints the list to the screen, numbering each string in order. -# A. S. Hodel Dec. 1995 -# $Revision: 1.1.1.1 $ - -save_val = implicit_str_to_num_ok; # save for later -implicit_str_to_num_ok = 1; +# A. S. Hodel Dec. 1995, 1998 +# $Revision: 2.0.0.0 $ #save for restore later save_empty = empty_list_elements_ok; empty_list_elements_ok = 1; -if( (nargin < 1) || (nargin > 4) ) - usage("outlist(x[,tabchar,yd,ilist])"); +if( nargin < 1 | nargin > 4 ) + usage("str_val = outlist(x[,tabchar,yd,ilist])"); endif -[m,n] = size(lmat); -if(nargin < 4) - ilist = 1:m; -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 -if((m >= 1) && (isstr(lmat))) +str_val = ""; +dstr = list(""," (discrete)"); +if((m >= 1) && (is_list(name_list))) for ii=1:m - str = dezero([lmat(ii,:),setstr((yd(ii)*" (discrete)"))]); - #disp(["length(str)=",num2str(length(str))]) - disp([tabchar,num2str(ilist(ii)),": ",str]) + str_val = sprintf("%s%s%d: %s%s\n",str_val,tabchar, ii, ... + nth(name_list,ii),nth(dstr,yd(ii)+1)); endfor else - disp([tabchar,"None"]) + str_val = sprintf("%sNone",tabchar); endif empty_list_elements_ok = save_empty; -implicit_str_to_num_ok = save_val; # restore value endfunction
--- a/scripts/control/packedform.m +++ b/scripts/control/packedform.m @@ -1,4 +1,4 @@ -# Copyright (C) 1996 A. Scottedward Hodel +# Copyright (C) 1996,1998 A. Scottedward Hodel # # This file is part of Octave. # @@ -25,11 +25,11 @@ disp("form.") disp(" ") disp("variables in all representations:") -disp("inname: string or a matrix of strings containing name(s) of system ") -disp(" inputs"); +disp("inname: list of signal names (strings) containing name(s) of system ") +disp(" inputs; see is_signal_list"); disp("n: number of continuous states") disp("nz: number of discrete states") -disp("outname: string or a matrix of strings containing name(s) of system ") +disp("outname: list of signal names (strings) containing name(s) of system ") disp(" outputs"); disp(" ") disp("variables in all representations:(cont'd)") @@ -82,17 +82,15 @@ disp(" ") disp("WARNING: some functions (e.g., bode) will not accept systems") disp("with both discrete and continuous states/outputs") -disp("stname: string or matrix of strings containing name(s) of system") +disp("stname: list of signal names (strings) containing name(s) of system ") disp(" states"); disp("===============================") disp("Object oriented programming:") disp("It is recommended that users do not directly access the internal") disp("variables themselves, but use the interface functions") -disp(" ss2sys sys2ss syschnames") -disp(" tf2sys sys2tf") -disp(" zp2sys sys2zp") -disp("to create/access internal variables. For developmental purposes,") -disp("routines that directly access the internal structure of a system data") -disp("structure either have the string \"sys\" in their name or else") -disp("have the word SYS_INTERNAL in their revision comment block"); +disp(" fir2sys ss2sys tf2sys sys2fir") +disp(" sys2ss sys2tf sys2zp syschtsam") +disp(" sysdimensions sysgetsignals syssetsignals sysgettype") +disp(" zp2sys") +disp("to create/access internal variables. "); page_screen_output = save_var;
--- a/scripts/control/packsys.m +++ b/scripts/control/packsys.m @@ -32,7 +32,7 @@ # Written by R. Bruce Tenison July 29, 1994 # Modified by David Clem November 13, 1994 # Modified by A. S. Hodel April 1995 - # $Revision: 1.2 $ + # $Revision: 2.0.0.0 $ warning("packsys is obsolete! Use ss2sys instead.");
--- a/scripts/control/parallel.m +++ b/scripts/control/parallel.m @@ -33,7 +33,7 @@ # Written by David Clem August 15, 1994 # completely rewritten Oct 1996 a s hodel # SYS_INTERNAL accesses members of system structure -# $Revision: 1.1.1.1 $ +# $Revision: 2.0.0.0 $ if(nargin != 2) usage("sysp = parallel(Asys,Bsys)"); @@ -43,20 +43,15 @@ elseif (! is_struct(Bsys) ) error("2nd input argument is not a system data structure") endif - mA = rows(Asys.inname); - mB = rows(Bsys.inname); + [Ann,Anz,mA] = sysdimensions(Asys); + [Bnn,Bnz,mB] = sysdimensions(Bsys); if(mA != mB) error(["Asys has ",num2str(mA)," inputs, Bsys has ",num2str(mB)," inputs"]); endif sysp = sysgroup(Asys,Bsys); sysD = ss2sys([],[],[],[eye(mA);eye(mA)]); - #disp("sysp=") - #sysout(sysp) - #disp("sysD") - #sysout(sysD) - sysp = sysmult(sysp,sysD); - sysp = syschnames(sysp,"in",1:mA,Asys.inname); + sysp = syssetsignals(sysp,"in",sysgetsignals(Asys,"in")); endfunction
--- a/scripts/control/place.m +++ b/scripts/control/place.m @@ -40,16 +40,7 @@ # # code adaped by A.S.Hodel (a.s.hodel@eng.auburn.edu) for use in controls # toolbox -# $Revision: 1.1.1.1 $ -# $Log: place.m,v $ -# Revision 1.1.1.1 1998/05/19 20:24:08 jwe -# -# Revision 1.2 1997/03/10 21:41:10 scotte -# *** empty log message *** -# -# Revision 1.1 1997/03/10 20:38:53 scotte -# Initial revision -# +# $Revision: 2.0.0.0 $ sav_val = empty_list_elements_ok; empty_list_elements_ok = 1;
--- a/scripts/control/polyout.m +++ b/scripts/control/polyout.m @@ -30,7 +30,7 @@ # Written by A. Scottedward Hodel (scotte@eng.auburn.edu) May 1995) # Nov 1998: Correctly handles complex coefficients -# $Revision$ +# $Revision: 2.0.0.0 $ if (nargin < 1 ) || (nargin > 2) || (nargout < 0 ) || (nargout > 1) usage("[y = ] polyout(c,[x])");
--- a/scripts/control/prompt.m +++ b/scripts/control/prompt.m @@ -23,7 +23,7 @@ # Written by David Clem August 15, 1994 # Modified A. S. Hodel June 1995 -# $Revision: 1.2 $ +# $Revision: 2.0.0.0 $ if(nargin > 1) usage("prompt([str])");
--- a/scripts/control/pzmap.m +++ b/scripts/control/pzmap.m @@ -1,4 +1,4 @@ -# Copyright (C) 1996 A. Scottedward Hodel +# Copyright (C) 1996,1998 A. Scottedward Hodel # # This file is part of Octave. # @@ -25,12 +25,6 @@ # otherwise, pol, zer are returned as the system poles and zeros. # (see sys2zp for a preferable function call) -# $Log: pzmap.m,v $ -# Revision 1.2 1998/07/14 22:01:28 hodelas -# Changed to use axis2dlim (new function) to getplot limits; -# Changed gnuplot plotting commands -# - save_val = implicit_str_to_num_ok; # save for later save_emp = empty_list_elements_ok; @@ -63,7 +57,8 @@ # Plot the data gset nologscale xy; if(is_siso(sys)) - title(["Pole-zero map from ",sys.inname," to ", sys.outname]); + title(sprintf("Pole-zero map from %s to %s", ... + sysgetsignals(sys,"in",1,1), sysgetsignals(sys,"out",1,1) )); endif xlabel(["Re(",varstr,")"]); ylabel(["Im(",varstr,")"]);
--- a/scripts/control/rldemo.m +++ b/scripts/control/rldemo.m @@ -20,7 +20,7 @@ # Octave Controls toolbox demo: Root Locus demo # Written by David Clem August 15, 1994 # Updated by John Ingram December 1996 -# $Revision: 1.2 $ +# $Revision: 2.0.0.0 $ while (1) clc
--- a/scripts/control/rlocus.m +++ b/scripts/control/rlocus.m @@ -42,7 +42,7 @@ # Written by Clem and Tenison # Updated by Kristi McGowan July 1996 for intelligent gain selection # Updated by John Ingram July 1996 for systems - # $Revision: 1.7 $ + # $Revision: 2.0.0.0 $ if (nargin < 1) | (nargin > 4) usage("rlocus(sys[,inc,mink,maxk])"); @@ -188,7 +188,7 @@ axis(axlim); [stn,inname,outname] = sysgetsignals(sys); xlabel(sprintf("Root locus from %s to %s, gain=[%f,%f]: Real axis", ... - dezero(inname),dezero(outname),gvec(1),gvec(ngain))); + nth(inname,1),nth(outname,1),gvec(1),gvec(ngain))); ylabel("Imag. axis"); plot(real(rlpolv),imag(rlpolv),".1;locus points;", ...
--- a/scripts/control/rotg.m +++ b/scripts/control/rotg.m @@ -22,7 +22,7 @@ # # NOTE: Use [c,s] = givens(a,b) instead. - # $Revision: 1.1 $ + # $Revision: 2.0.0.0 $ [c,s] = givens(a,b); endfunction
--- a/scripts/control/run_cmd.m +++ b/scripts/control/run_cmd.m @@ -1,25 +1,7 @@ # run_cmd: short script used in demos # prints string cmd to the screen, then executes after a pause -# $Revision: 1.1.1.1 $ -# $Log: run_cmd.m,v $ -# Revision 1.1.1.1 1998/05/19 20:24:05 jwe -# -# Revision 1.4 1997/02/20 16:07:26 hodel -# added "fflush" after disp("executing") -# -# Revision 1.3 1997/02/12 15:38:14 hodel -# added separator after command execution -# -# added blank line after eval(cmd) -# -# Revision 1.1 1997/02/12 11:35:08 hodel -# Initial revision -# -# Revision 1.3 1997/02/07 15:44:13 scotte -# Added "executing" string so that users would know that the command was -# being processed -# +# $Revision: 2.0.0.0 $ disp(["Command: ",cmd]) puts("Press a key to execute command");
--- a/scripts/control/series.m +++ b/scripts/control/series.m @@ -38,7 +38,7 @@ # Written by David Clem August 15, 1994 # If two arguments input, take care of mu system case -# $Revision: 1.1.1.1 $ +# $Revision: 2.0.0.0 $ warning("series is superseded by sysmult; use sysmult instead.")
--- a/scripts/control/sortcom.m +++ b/scripts/control/sortcom.m @@ -32,7 +32,7 @@ # idx: permutation vector: yy = xx(idx) # Written by A. S. Hodel June 1995 -# $Revision: 1.4 $ +# $Revision: 2.0.0.0 $ if( nargin < 1 | nargin > 2 ) usage("yy = sortcom(xx[,opt]");
--- a/scripts/control/ss2sys.m +++ b/scripts/control/ss2sys.m @@ -1,4 +1,4 @@ -# Copyright (C) 1996 A. Scottedward Hodel +# Copyright (C) 1996,1998 A. Scottedward Hodel # # This file is part of Octave. # @@ -16,8 +16,8 @@ # along with Octave; see the file COPYING. If not, write to the Free # Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA. -function outsys = ss2sys (a,b,c,d,tsam,n,nz,stname,inname,outname,outlist) - # outsys = ss2sys (a,b,c{,d,tsam,n,nz,stname,inname,outname,outlist}) +function retsys = ss2sys (a,b,c,d,tsam,n,nz,stname,inname,outname,outlist) + # retsys = ss2sys (a,b,c{,d,tsam,n,nz,stname,inname,outname,outlist}) # Create system structure from state-space data. May be continous, # discrete, or mixed (sampeld-data) # inputs: @@ -28,12 +28,12 @@ # default: tsam = 0: n = rows(a), nz = 0 # tsam > 0: n = 0, nz = rows(a), n # see below for system partitioning - # stname: string matrix of state signal names + # stname: list of strings of state signal names # default (stname=[] on input): x_n for continuous states, # xd_n for discrete states - # inname: string matrix of input signal names + # inname: list of strings of input signal names # default (inname = [] on input): u_n - # outname: string matrix of input signal names + # outname: list of strings of output signal names # default (outname = [] on input): y_n # outlist: list of indices of outputs y that are sampled # default: (tsam = 0) outlist = [] @@ -72,65 +72,49 @@ # # Written by John Ingram (ingraje@eng.auburn.edu) July 20, 1996 - # $Revision: 1.3 $ - # $Log: ss2sys.m,v $ - # Revision 1.3 1998/07/01 20:55:08 hodelas - # Updated sysgroup, sys2ss, ss2sys to use system structure interface - # - # Revision 1.4 1997/03/11 15:19:27 scotte - # fixed warning message about inname dimensions a.s.hodel@eng.auburn.edu - # + # $Revision: 2.0.0.0 $ save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1; # Test for correct number of inputs if ((nargin < 3) | (nargin > 11)) - error("Incorrect number of arguments"); + 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. - if (nargin == 3) - d = zeros(rows(c) , columns(b)); - elseif (isempty(d)) - d = zeros(rows(c) , columns(b)); - endif + if (nargin == 3) d = zeros(rows(c) , columns(b)); + elseif (isempty(d)) d = zeros(rows(c) , columns(b)); endif # Check the dimensions [na,m,p] = abcddim(a,b,c,d); # If dimensions are wrong, exit function if (m == -1) - error("a,b,c,d matrix dimensions are not compatible"); + 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 - if(nargin < 5) - tsam = 0; + if(nargin < 5) tsam = 0; elseif( !( is_sample(tsam) | (tsam == 0) ) ) error("tsam must be a nonnegative real scalar"); endif # check for continuous states - if( (nargin < 6) & (tsam == 0) ) - n = na; - elseif(nargin < 6) - n = 0; + if( (nargin < 6) & (tsam == 0) ) n = na; + elseif(nargin < 6) n = 0; elseif( (!is_scalar(n)) | (n < 0 ) | (n != round(n)) ) - if(is_scalar(n)) - error(["illegal value of n=",num2str(n)]); - else - error(["illegal value of n=(",num2str(rows(n)),"x", ... - num2str(columns(n)),")"]); - endif + if(is_scalar(n)) error("illegal value of n=%d,%e",n,n); + else error("illegal value of n=(%dx%d)", ... + rows(n), columns(n)); endif endif # check for num discrete states - if( (nargin < 7) & (tsam == 0)) - nz = 0; - elseif(nargin < 7) - nz = na - n; + if( (nargin < 7) & (tsam == 0)) nz = 0; + elseif(nargin < 7) nz = na - n; elseif( (!is_scalar(nz)) | (nz < 0 ) | (nz != round(nz)) ) if(is_scalar(nz)) error(["illegal value of nz=",num2str(nz)]); @@ -146,74 +130,47 @@ num2str(n),", nz=",num2str(nz)]); endif + # construct system with default names + retsys.a = a; + retsys.b = b; + retsys.c = c; + retsys.d = d; + + retsys.n = n; + retsys.nz = nz; + retsys.tsam = tsam; + retsys.yd = zeros(1,p); # default value entered below + + # 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 - if(nargin < 8) - stname = sysdefstname(n,nz); - else - nr = rows(stname); - if(na != nr) - error(["ss2sys: ",num2str(na),"system states,", ... - num2str(nr)," state names provided"]); - endif + if(nargin >= 8) + if(!isempty(stname)) retsys = syssetsignals(retsys,"st",stname); endif endif #check for input names - if(nargin < 9) - inname = sysdefioname(m,"u"); - elseif( !isstr(inname) ) - warning("ss2sys: inname=") - disp(inname); - error("inname must be a string or string matrix."); - elseif(rows(inname) != m ) - warning("ss2sys: inname=") - disp(inname); - error(["inname has ",num2str(rows(inname))," rows, sys has ", ... - num2str(m)," inputs."]); + if(nargin >= 9) + if(!isempty(inname)) restys = syssetsignals(retsys,"in",inname); endif endif #check for output names - if(nargin < 10) - outname = sysdefioname(p,"y"); - elseif( !isstr(outname) ) - warning("ss2sys: outname=") - disp(outname); - error("outname must be a string or string matrix."); - elseif(rows(outname) != p ) - warning("ss2sys: outname=") - disp(outname); - error(["outname has ",num2str(rows(outname))," rows, sys has ", ... - num2str(p)," outputs."]); + if(nargin >= 10) + if(!isempty(outname)) retsys = syssetsignals(retsys,"out",outname); endif endif # set up yd if(nargin < 11) - yd = ones(1,p)*(tsam > 0); + retsys = syssetsignals(retsys,"yd",ones(1,p)*(tsam > 0)); else - yd = zeros(1,p); - yd(outlist) = ones(1,length(outlist)); - if(max(outlist) > p) - error(["max outlist index=",num2str(max(outlist)), ... - " exceeds number of outputs=",num2str(p)]); + if(!isempty(outlist)) + retsys = syssetsignals(retsys,"yd",outlist,ones(size(outlist))); endif endif - # Construct the state space system - outsys.a = a; - outsys.b = b; - outsys.c = c; - outsys.d = d; - - outsys.n = n; - outsys.nz = nz; - outsys.tsam = tsam; - outsys.yd = yd; - - outsys.stname = stname; - outsys.inname = inname; - outsys.outname = outname; - - # Set the system vector: active = 2(ss), updated = [0 0 1]; - outsys.sys = [2 0 0 1]; - implicit_str_to_num_ok = save_val; # restore value endfunction
--- a/scripts/control/ss2tf.m +++ b/scripts/control/ss2tf.m @@ -34,7 +34,7 @@ # Written by R. Bruce Tenison (June 24, 1994) btenison@eng.auburn.edu # a s hodel: modified to allow for pure gain blocks Aug 1996 -# $Revision: 1.1.1.1 $ +# $Revision: 2.0.0.0 $ # Check args [n,m,p] = abcddim(a,b,c,d);
--- a/scripts/control/ss2zp.m +++ b/scripts/control/ss2zp.m @@ -27,7 +27,7 @@ # 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 -# $Revision: 1.1.1.1 $ +# $Revision: 2.0.0.0 $ if(nargin != 4) usage("[zer,pol,k] = ss2zp(a,b,c,d)");
--- a/scripts/control/starp.m +++ b/scripts/control/starp.m @@ -46,16 +46,7 @@ # ny and/or nu may be negative (= negative feedback) # Written by Kai Mueller May 1998 -# $Revision: 1.1.1.1 $ -# $Log: starp.m,v $ -# Revision 1.1.1.1 1998/05/19 20:24:08 jwe -# -# Revision 1.1 1998/05/05 17:04:20 scotte -# Initial revision -# -# Revision 1.1 1998/05/04 15:12:14 mueller -# Initial revision -# +# $Revision: 2.0.0.0 $ if((nargin != 2) && (nargin != 4)) usage("[sys] = starp(P, K, ny, nu)");
--- a/scripts/control/step.m +++ b/scripts/control/step.m @@ -36,16 +36,7 @@ # Written by Kai P. Mueller September 30, 1997 # based on lsim.m of Scottedward Hodel # modified by -# $Revision: 1.1.1.1 $ -# $Log: step.m,v $ -# Revision 1.1.1.1 1998/05/19 20:24:08 jwe -# -# Revision 1.3 1997/12/01 16:51:50 scotte -# updated by Mueller 27 Nov 97 -# -# Revision 1.1 1997/11/11 17:34:34 mueller -# Initial revision -# +# $Revision: 2.0.0.0 $ if((nargin < 1) || (nargin > 4)) usage("[y, u] = step(sys[, inp, tstop, n])");
--- a/scripts/control/stepimp.m +++ b/scripts/control/stepimp.m @@ -1,4 +1,4 @@ -# Copyright (C) 1996 A. Scottedward Hodel +# Copyright (C) 1996,1998 A. Scottedward Hodel # # This file is part of Octave. # @@ -31,38 +31,11 @@ # Written by Kai P. Mueller October 2, 1997 # based on lsim.m of Scottedward Hodel -# $Revision: 1.1.1.1 $ -# $Log: stepimp.m,v $ -# Revision 1.1.1.1 1998/05/19 20:24:08 jwe -# -# Revision 1.4 1998/05/05 17:04:35 scotte -# minor corrections by Kai Mueller 5 May 1998 -# -# Revision 1.1 1998/05/04 15:12:42 mueller -# Initial revision -# -# Revision 1.3 1997/12/01 16:51:50 scotte -# updated by Mueller 27 Nov 97 -# -# Revision 1.4 1997/11/26 17:41:18 mueller -# impulse gives now expected results for continuous and discrete systems -# -# Revision 1.3 1997/11/24 18:57:57 mueller -# gset autoscale for proper scaling -# -# Revision 1.2 1997/11/24 17:23:38 mueller -# call to oneplot() and gset nokey added -# -# Revision 1.1 1997/11/11 17:34:50 mueller -# Initial revision -# +# $Revision: 2.0.0.0 $ - if (sitype == 1) - IMPULSE = 0; - elseif (sitype == 2) - IMPULSE = 1; - else - error("stepimp: illegal sitype argument.") + if (sitype == 1) IMPULSE = 0; + elseif (sitype == 2) IMPULSE = 1; + else error("stepimp: illegal sitype argument.") endif sys = sysupdate(sys,"ss"); @@ -70,31 +43,29 @@ N_MIN = 50; # minimum number of points N_MAX = 2000; # maximum number of points T_DEF = 10.0; # default simulation time + # collect useful information about the system - NOUT = rows(sys.c); - NIN = columns(sys.b); - if (nargin < 3) - inp = 1; - elseif ((inp < 1) || (inp > NIN)) - error("Argument inp out of range") + [ncstates,ndstates,NIN,NOUT] = sysdimensions(sys); + TSAMPLE = sysgettsam(sys); + + if (nargin < 3) inp = 1; + elseif (inp < 1 | inp > NIN) error("Argument inp out of range") endif + DIGITAL = is_digital(sys); if (DIGITAL) - NSTATES = sys.nz; - TSAMPLE = sys.tsam; + NSTATES = ndstates; if (TSAMPLE < eps) error("stepimp: sampling time of discrete system too small.") endif - else - NSTATES = sys.n; - endif + else NSTATES = ncstates; endif if (NSTATES < 1) - error("step: n < 1, step response is trivial") + 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 - ev = eig(sys.a); + ev = eig(sys2ss(sys)); if (DIGITAL) # perform bilinear transformation on poles in z for i = 1:NSTATES @@ -199,7 +170,8 @@ endif endif tstop = (n - 1) * t_step; - B = sys.b(:,inp); + [jnk,B] = sys2ss(sys); + B = B(:,inp); sys = c2d(sys, t_step); endif #printf("##STEPIMP-DEBUG: t_step=%f n=%d tstop=%f\n", t_step, n, tstop); @@ -256,7 +228,8 @@ nrows = ceil(NOUT / ncols); for i = 1:NOUT subplot(nrows, ncols, i); - title([tt, ": | ", sys.inname(inp,:), " -> ", sys.outname(i,:)]); + title(sprintf("%s: | %s -> %s", tt,sysgetsignals(sys,"in",inp,1), ... + sysgetsignals(sys,"out",i,1))); if (DIGITAL) [ts, ys] = stairs(t, y(i,:)); ts = ts(1:2*n-2)'; ys = ys(1:2*n-2)'; @@ -285,7 +258,8 @@ oneplot(); else # plot everything in one diagram - title([tt, " response | ", sys.inname(inp,:), " -> all outputs"]); + title([tt, " response | ", sysgetsignals(sys,"in",inp,1), ... + " -> all outputs"]); if (DIGITAL) stairs(t, y(i,:)); else
--- a/scripts/control/strappend.m +++ b/scripts/control/strappend.m @@ -16,19 +16,21 @@ # along with Octave; see the file COPYING. If not, write to the Free # Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA. -function retval = strappend(str,suffix); - # retval = strappend(str,suffix); - # append string suffix to each string in the string matrix str +function retval = strappend(strlist,suffix); + # retval = strappend(strlist,suffix); + # append string suffix to each string in the list of strings strlist if(nargin != 2 | nargout > 1) - usage(" retval = strappend(str,suffix)"); - elseif(!isstr(str) | !isstr(suffix)) - error("Both arguments must be strings") + usage(" retval = strappend(strlist,suffix)"); + elseif(!is_signal_list(strlist)) + error("strlist must be a list of strings (see is_signal_list)"); + elseif(!(isstr(suffix) & is_vector(suffix))) + error("suffix must be a single string"); endif - for ii=1:rows(str) - newst = [dezero(str(ii,:)),suffix]; - retval(ii,1:length(newst)) = (newst); + retval = list(); + for ii=1:length(strlist) + retval(ii) = sprintf("%s%s",nth(strlist,ii),suffix); endfor endfunction
--- a/scripts/control/susball.m +++ b/scripts/control/susball.m @@ -25,7 +25,8 @@ disp("add noise inputs to system...") disp("discrete system:") - cmd = "ballsys = sysappend(ballsys,eye(ballsys.nz));"; + [nn,nz,mm,pp] = sysdimensions(ballsys); + cmd = "ballsys = sysappend(ballsys,nz);"; run_cmd cmd = "sysout(ballsys)"; @@ -44,7 +45,7 @@ disp("Now design an LQG controller: Sigw: input noise") Sigw = eye(2) disp("Now design an LQG controller: Sigv: measurement noise") - Sigv = eye(rows(ballsys.c)) + Sigv = eye(pp); disp("State and input penalties:") Q = eye(2)
--- a/scripts/control/swap.m +++ b/scripts/control/swap.m @@ -22,7 +22,7 @@ # A. S. Hodel July 24 1992 # Conversion to Octave R. Bruce Tenison July 4, 1994 - # $Revision: 1.1 $ + # $Revision: 2.0.0.0 $ a1 = b; b1 = a;
--- a/scripts/control/swapcols.m +++ b/scripts/control/swapcols.m @@ -22,7 +22,7 @@ # A. S. Hodel July 23, 1992 # Conversion to Octave R. Bruce Tenison July 4, 1994 - # $Revision: 1.1 $ + # $Revision: 2.0.0.0 $ m = length(A(1,:)); idx = m:-1:1;
--- a/scripts/control/swaprows.m +++ b/scripts/control/swaprows.m @@ -22,7 +22,7 @@ # A. S. Hodel July 23, 1992 # Conversion to Octave R. Bruce Tenison July 4, 1994 - # $Revision: 1.1.1.1 $ + # $Revision: 2.0.0.0 $ m = rows(A); idx = m:-1:1;
--- a/scripts/control/sys2fir.m +++ b/scripts/control/sys2fir.m @@ -16,20 +16,23 @@ # along with Octave; see the file COPYING. If not, write to the Free # Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA. -function [c,tsam,input,output] = sys2fir(sys) -# function [c,tsam,input,output] = sys2fir(sys) +function [c,tsam,inname,outname] = sys2fir(sys) +# function [c,tsam,inname,outname] = sys2fir(sys) # extract fir system from system data structure -# $Revision: 1.1.1.1 $ +# $Revision: 2.0.0.0 $ # a s hodel July 1996 - sys=sysupdate(sys,"tf"); # make sure it's SISO - alph = sys.den(1); # scale to get monic denominator - sys.den = sys.den/alph; - sys.num = sys.num/alph; - l = length(sys.den); - m = length(sys.num); - if( norm(sys.den(2:l)) ) + # let sys2tf do most of the work + + [num,den,tsam,inname,outname] = sys2tf(sys); + + alph = den(1); # scale to get monic denominator + den = den/alph; + num = num/alph; + l = length(den); + m = length(num); + if( norm(den(2:l)) ) sysout(sys,"tf"); error("denominator has poles away from origin"); elseif( !is_digital(sys) ) @@ -38,9 +41,6 @@ warning(["sys2fir: deg(num) - deg(den) = ",num2str(m-l), ... "; coefficients must be shifted"]); endif - c = sys.num; - tsam = sys.tsam; - input = sys.inname; - output = sys.outname; + c = num; endfunction
--- a/scripts/control/sys2ss.m +++ b/scripts/control/sys2ss.m @@ -41,7 +41,7 @@ # Written by David Clem August 19, 1994 # Updates by John Ingram July 14, 1996 - # $Revision: 1.4 $ + # $Revision: 2.0.0.0 $ if(nargin != 1) usage("[a,b,c,d,tsam,n,nz,stname,inname,outname,yd] = sys2ss(sys)") @@ -56,10 +56,13 @@ error("input argument must be a system data structure"); endif - sys = sysupdate(sys,"ss"); #make sure ss is up to date + sys = sysupdate(sys,"ss"); # make sure state space data is there + [n,nz,m,p] = sysdimensions(sys); + [stname,inname,outname,yd] = sysgetsignals(sys); + tsam = sysgettsam(sys); - cont = sum(sys.yd == 0) + sys.n; - dig = sum(sys.yd != 0) + sys.nz + sys.tsam; + cont = sum(yd == 0) + n; + dig = sum(yd != 0) + nz + tsam; if(cont*dig) warning("sys2ss: input system is mixed continuous/discrete"); endif @@ -68,9 +71,6 @@ b = sys.b; c = sys.c; d = sys.d; - [n,nz,m,p] = sysdimensions(sys); - [stname,inname,outname,yd] = sysgetsignals(sys); - tsam = sysgettsam(sys); endfunction
--- a/scripts/control/sys2tf.m +++ b/scripts/control/sys2tf.m @@ -31,7 +31,7 @@ # 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 -# $Revision: 1.2 $ +# $Revision: 2.0.0.0 $ if(nargin != 1) usage("[num,den,tsam,inname,outname] = sys2tf(Asys)"); @@ -50,9 +50,9 @@ num = Asys.num; den = Asys.den; - tsam = Asys.tsam; - inname = Asys.inname; - outname = Asys.outname; + tsam = sysgettsam(Asys); + inname = sysgetsignals(Asys,"in"); + outname = sysgetsignals(Asys,"out"); endfunction
--- a/scripts/control/sys2zp.m +++ b/scripts/control/sys2zp.m @@ -29,7 +29,7 @@ # inname, outname: input/output signal names (strings) # Created by John Ingram July 15 1996 -# $Revision: 1.2 $ +# $Revision: 2.0.0.0 $ if(nargin != 1) usage("[zer,pol,k,tsam,inname,outname] = sys2zp(sys)"); @@ -47,9 +47,9 @@ zer = sys.zer; pol = sys.pol; k = sys.k; - tsam = sys.tsam; - inname = sys.inname; - outname = sys.outname; + tsam = sysgettsam(sys); + inname = sysgetsignals(sys,"in"); + outname = sysgetsignals(sys,"out"); endfunction
--- a/scripts/control/sysadd.m +++ b/scripts/control/sysadd.m @@ -36,7 +36,7 @@ # -------- # Written by John Ingram July 1996 -# $Revision: 1.2 $ +# $Revision: 2.0.0.0 $ save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1; @@ -67,16 +67,15 @@ error("can not add a discrete output to a continuous output"); endif - if( (Gsys.sys(1) == 0) | (Hsys.sys(1) == 0) ) + if( strcmp(sysgettype(Gsys),"tf") | strcmp(sysgettype(Hsys),"tf") ) # see if adding transfer functions with identical denominators - Gsys = sysupdate(Gsys,"tf"); - Hsys = sysupdate(Hsys,"tf"); - if(Hsys.den == Gsys.den) - sys = Gsys; - sys.sys(1) = 0; - sys.num = sys.num + Hsys.num; + [Gnum,Gden,GT,Gin,Gout] = sys2tf(Gsys); + [Hnum,Hden,HT,Hin,Hout] = sys2tf(Hsys); + if( (Hden == Gden) & (HT == GT) ) + sys = tf2sys(Gnum+Hnum,Gden,GT,Gin,Gout); return endif + # if not, we go on and do the usual thing... endif # make sure in ss form
--- a/scripts/control/sysappend.m +++ b/scripts/control/sysappend.m @@ -1,4 +1,4 @@ -# Copyright (C) 1996 A. Scottedward Hodel +# Copyright (C) 1996,1998 A. Scottedward Hodel # # This file is part of Octave. # @@ -48,155 +48,120 @@ # sys = discrete: yd = ones(1,rows(c)) # written by John Ingram August 1996 - # $Revision: 1.2 $ - # $Log: sysappend.m,v $ - # Revision 1.2 1998/07/21 14:53:09 hodelas - # use isempty instead of size tests; use sys calls to reduce direct - # access to system structure elements - # - # Revision 1.1.1.1 1998/05/19 20:24:09 jwe - # - # Revision 1.2 1997/04/09 04:36:21 scotte - # Fixed to properly handle new names (syschnames does not let you - # change the number of names any more.) a.s.hodel@eng.auburn.edu - # + # $Revision: 2.0.0.0 $ - save_val = implicit_str_to_num_ok; # save for later - implicit_str_to_num_ok = 1; + 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 if ( (nargin < 2) | (nargin > 7) | (!is_struct(sys))) usage("retsys = sysappend(sys,b,c[,d,outname,inname,yd]) "); - endif - - # update system - sys = sysupdate(sys,"ss"); - sys.sys = [2 0 0 1]; - - #default c - if(nargin < 3) - c = []; - endif - - #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)+rows(sys.c),columns(b) + rows(sys.inname)); - #disp("sysappend: default d=") - #disp(d) - #disp("/sysappend: default d=") - endif - - # add default input names for new inputs (if any) - old_m = rows(sys.inname); - new_m = max(columns(d),columns(b)+old_m); - old_inname = sys.inname; - if(new_m) - sys.inname = sysdefioname(new_m,"u"); - if(old_m) - sys = syschnames(sys,"in",1:old_m,old_inname); - endif - if(nargin >= 6) - # input names were specified, check dimensions - if(rows(inname) != new_m - old_m) - inname - new_m - old_m - b - d - error(["inname has ",num2str(rows(inname))," entries, should have ", ... - num2str( new_m - old_m )]); - endif - sys = syschnames(sys,"in",(old_m+1):new_m,inname); - endif - endif - - #add default output names for new outputs (if any) - old_p = rows(sys.outname); - new_p = max(rows(d),rows(c)+old_p); - - # default yd - if (nargin < 7) - # discrete if positive sampling time, no continuous states/outputs - yd = ones(1,new_p)*( ... - (sys.tsam > 0) & (sys.n == 0) & isempty(find(sys.yd == 0)) ) ; - elseif ( (rows(c) != length(yd)) & (rows(d)) != yd) - error(["rows(c)=",num2str(rows(c)),", length(yd)=",num2str(length(yd))]) + elseif(!is_struct(sys)) + error("sys must be a system data structure"); endif - old_outname = sys.outname; - if(new_p) - sys.outname = sysdefioname(new_p,"y"); - if(old_p) - sys = syschnames(sys,"out",1:old_p,old_outname); + # 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 + if(nargin < 3) c = []; endif + + #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 + Bm = max(columns(d),columns(b)+Am); + if(Bm != Am) + # construct new signal names + if(nargin >= 6) # new names were passed + if(!isstr(inname)) + error("inname must be a string"); + elseif(rows(inname) != (Bm - Am)) + error(sprintf("%d new inputs requested; inname(%dx%d)", ... + (Bm-Am),rows(inname),columns(inname))); + endif + else + inname = sysdefioname(Bm,"u",(Am+1)); endif - if(nargin >= 5) - # output names were specified, check dimensions - if(rows(outname) != new_p - old_p) - outname - new_p - old_p - c - d - error(["outname has ",num2str(rows(outname)), ... - " entries, should have ", num2str(new_p-old_p)]); - endif - sys = syschnames(sys,"out",(old_p+1):new_p,outname); + if(Am) Ain = append(Ain,inname); + else Ain = inname; endif + + # 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 + Ab = [Ab,b]; # empty_list_elements_ok=1 makes this ok endif - sys = syschnames(sys,"yd",(old_p+1):new_p,yd); + # + # Append new output(s) if any + Bp = max(rows(d),rows(c)+Ap); + if(Bp != Ap) - # append new b matrix (if any) - if( max(size(b)) ) - if(rows(b) != sys.n + sys.nz) - error(["sys has ",num2str(sys.n + sys.nz)," states; b has ", ... - num2str(rows(b))," rows"]); + # construct new signal names, output classification + if(nargin >= 5) # new names were passed + if(!isstr(outname)) + error("outname must be a string"); + elseif(rows(outname) != (Bp - Ap)) + error(sprintf("%d new outputs requested; outname(%dx%d)", ... + (Bp-Ap),rows(outname),columns(outname))); + endif else - if(old_m) - sys.b = [sys.b,b]; - else - sys.b = b; - endif + outname = sysdefioname(Bp,"y",(Ap+1)); endif - endif - - # append new c matrix (if any) - if(max(size(c))) - if(columns(c) != sys.n + sys.nz) - error(["sys has ",num2str(sys.n + sys.nz)," states; c has ", ... - num2str(columns(c))," columns"]); + if(Ap) Aout = append(Aout,outname); + else Aout = outname; endif + + # construct new yd entries + if(nargin == 7) + if(!is_vector(yd)) + error(sprintf("yd(%dx%d) must be a vector",rows(yd),columns(yd))) + elseif(rows(c) != length(yd) & rows(d) != length(yd)) + error(sprintf("length(yd) = %d; c(%dx%d), d(%dx%d); mismatch", ... + length(yd), rows(c), columns(c),rows(d),columns(d))); + endif else - if(old_p) - sys.c = [sys.c;c]; - else - sys.c = c; - endif + # default yd values + yd = ones(1,Bp)*( (Ats > 0) & (Ann == 0) & isempty(find(Ayd == 0)) ) ; + endif + Ayd = [vec(Ayd);vec(yd)]; + + # 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 + Ac = [Ac;c]; # empty_list_elements_ok=1 makes this ok endif + + # 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 + if(Am & Ap) d(1:Ap, 1:Am) = Ad; endif + Ad = d; - if(max(size(d))) - if( (rows(d) != new_p) | (columns(d) != new_m) ) - error(["d = (",num2str(rows(d)),"x",num2str(columns(d)), ... - ") should be (",num2str(new_p),"x",num2str(new_m),")"]); - else - if(old_m & old_p) - d(1:old_p, 1:old_m) = sys.d; - endif - sys.d = d; - endif - endif + # construct return system + retsys = ss2sys(Aa,Ab,Ac,Ad,Ats,Ann,Anz,Ast,Ain,Aout,find(Ayd == 1)); - # append new input names - - retsys = sys; - - implicit_str_to_num_ok = save_val; # restore value + implicit_str_to_num_ok = sav_implicit_str_to_num_ok; # restore value + empty_list_elements_ok = sav_empty_list_elements_ok; endfunction
--- a/scripts/control/syschnames.m +++ b/scripts/control/syschnames.m @@ -1,4 +1,4 @@ -# Copyright (C) 1996 A. Scottedward Hodel +# Copyright (C) 1996,1998 A. Scottedward Hodel # # This file is part of Octave. # @@ -39,103 +39,9 @@ # retsys=sys with appropriate signal names changed # (or yd values, where appropriate) -# Written by John Ingram August 1996 -# $Revision: 1.3 $ -# $Log: syschnames.m,v $ -# Revision 1.3 1998/07/17 15:31:06 hodelas -# use is_empty instead of max(size(...)) -# - - save_val = implicit_str_to_num_ok; # save for later - implicit_str_to_num_ok = 1; - - if (nargin != 4) - usage("retsys=syschnames(sys,opt,list[,names])"); - elseif (!is_struct(sys)) - error("sys must be a system data structure"); - elseif (isempty(opt)) - opt = "out"; - elseif( ! isstr(opt) ) - error("opt must be a string"); - elseif( ! (strcmp(opt,"out") + strcmp(opt,"yd") + ... - strcmp(opt,"in") + strcmp(opt,"st") ) ) - error("opt must be one of [], ""out"", ""yd"", ""in"", or ""st"""); - elseif(min(size(list)) > 1) - disp("syschnames: list=") - disp(list); - error("list must be a vector") - endif - - if (strcmp(opt,"out")) - # update output names - sys.outname = syschnamesl(list,sys.outname,names,"outlist"); - elseif (strcmp(opt,"in")) - sys.inname = syschnamesl(list,sys.inname,names, "inlist"); - elseif (strcmp(opt,"st")) - sys.stname = syschnamesl(list,sys.stname,names,"stlist"); - else - # it's yd - ym = max(size(list)); - ys = min(size(list)); - maxn = rows(sys.outname); - - if(ym != 0) - if( (ym > maxn) | (ys != 1) ) - error(["system has ",num2str(maxn)," outputs, ", ... - "list=(",num2str(rows(list)),"x",num2str(columns(list)),")"]); - endif +# Written by John Ingram August 1996; updated by A. S. Hodel 1998 +# $Revision: 2.0.0.0 $ - if( ym != length(names)) - error(["list has ",num2str(ym)," entries, and names has ",... - num2str(length(names))," entries."]); - endif - - if (min((names == 1) | (names == 0)) == 0) - error("yd must be either zero or one"); - endif - - if (max(list) > maxn) - error(["The largest entry in the list is ",num2str(max(list)),... - " exceeds number of outputs=",num2str(maxn)]) - endif - - if (max(names) && (sys.tsam == 0) ) - warning("syschnames: discrete outputs with tsam=0; setting tsam=1"); - disp(" effected outputs are:") - if(is_siso(sys)) - outlist(sys.outname," ",[],list); - else - outlist(sys.outname(list,:)," ",[],list); - endif - sys.tsam = 1; - endif - - # reshape everything as a column vector - sys.yd = reshape(sys.yd,length(sys.yd),1); - names = reshape(names,length(names),1); - - #disp("syschnames: list=") - #disp(list) - #disp("syschnames: names=") - #disp(names) - #disp("syschnames: sys.yd=") - #disp(sys.yd) - - sys.yd(list) = names; - - if ((min(sys.yd) == 0) && (max(sys.yd) == 0) && (sys.tsam > 0) ) - warning("discrete states but no discrete outputs selected"); - endif - - endif - - endif - - retsys = sys; - implicit_str_to_num_ok = save_val; # restore value - - #disp("syschnames: exiting with") - #retsys - #disp("/syschnames") + retsys = syssetsignals(sys,opt,names,list); endfunction
--- a/scripts/control/syschtsam.m +++ b/scripts/control/syschtsam.m @@ -23,7 +23,7 @@ # This function changes the sampling time (tsam) of the system. # Written by John Ingram August 1996 -# $Revision: 1.1.1.1 $ +# $Revision: 2.0.0.0 $ if (nargin != 2) usage("retsys = syschtsam(sys,tsam)"); @@ -35,8 +35,11 @@ error("tsam must be a scalar") elseif ( ! (is_sample(tsam) | (tsam == 0) ) ) error("tsam must be real, scalar, and greater than zero"); - elseif (sys.tsam == 0) - error("The system is continuous, use c2d to make the system discrete"); + elseif (sysgettsam(sys) == 0) + [nc,nz,mm,pp] = sysdimensions(sys); + warning("syschtsam: continuous system (nc=%d, nz=%d, mm=%d, pp=%d)", ... + nc,nz,mm,pp); + warning("syschtsam: The system is continuous, use c2d to make the system discrete"); endif retsys = sys;
--- a/scripts/control/sysconnect.m +++ b/scripts/control/sysconnect.m @@ -1,4 +1,4 @@ -# Copyright (C) 1996 A. Scottedward Hodel +# Copyright (C) 1996,1998 A. Scottedward Hodel # # This file is part of Octave. # @@ -50,17 +50,7 @@ # A. S. Hodel August 1995 # modified by John Ingram July 1996 -# $Revision: 1.1.1.1 $ -# $Log: sysconnect.m,v $ -# Revision 1.1.1.1 1998/05/19 20:24:09 jwe -# -# Revision 1.3 1997/03/03 19:21:06 hodel -# removed calls to packsys: a.s.hodel@eng.auburn.edu -# -# Revision 1.2 1997/02/13 14:23:18 hodel -# fixed bug in continuous<->discrete loop connection check. -# a.s.hodel@eng.auburn.edu -# +# $Revision: 2.0.0.0 $ save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1; @@ -100,9 +90,8 @@ endif endif - mm = rows(sys.inname); - pp = rows(sys.outname); - nn = rows(sys.stname); + [nc,nz,mm,pp] = sysdimensions(sys); + nn = nc+nz; if( !is_struct(sys)) error("sys must be in structured system form") @@ -130,10 +119,13 @@ all_inputs = sysreorder(mm,input_list); all_outputs = sysreorder(pp,output_list); - sys.b = sys.b(:,all_inputs); - sys.c = sys.c(all_outputs,:); - sys.d = sys.d(all_outputs,all_inputs); - sys.yd = sys.yd(all_outputs); + [aa,bb,cc,dd] = sys2ss(sys); + bb = bb(:,all_inputs); + cc = cc(all_outputs,:); + dd = dd(all_outputs,all_inputs); + + yd = sysgetsignals(sys,"yd"); + yd = yd(all_outputs); # m1, p1 = number of inputs, outputs that are not being connected m1 = mm-li; @@ -146,19 +138,19 @@ # partition system into a DGKF-like form; the loop is closed around # B2, C2 if(m1 > 0) - B1 = sys.b(:,1:m1); - D21= sys.d(p2:pp,1:m1); + B1 = bb(:,1:m1); + D21= dd(p2:pp,1:m1); endif - B2 = sys.b(:,m2:mm); + B2 = bb(:,m2:mm); if(p1 > 0) - C1 = sys.c(1:p1,:); - D12= sys.d(1:p1,m2:mm); + C1 = cc(1:p1,:); + D12= dd(1:p1,m2:mm); endif - C2 = sys.c(p2:pp,:); + C2 = cc(p2:pp,:); if(m1*p1 > 0) - D11= sys.d(1:p1,1:m1); + D11= dd(1:p1,1:m1); endif - D22= sys.d(p2:pp,m2:mm); + D22= dd(p2:pp,m2:mm); if(norm(D22)) warning("sysconnect: possible algebraic loop, D22 non-zero"); @@ -178,16 +170,16 @@ endif # check cont state -> disc output -> cont state - dyi = find(sys.yd(p2:pp)); + dyi = find(yd(p2:pp)); #disp("sysconnect: dyi=") #dyi - #sys.n + #nc #disp("/sysconnect"); - if( (sys.n > 0) & find(dyi > 0) ) - B2con = B2(1:sys.n,dyi); # connection to cont states - C2hd = C2h(dyi,1:sys.n); # cont states -> outputs + if( (nc > 0) & find(dyi > 0) ) + B2con = B2(1:nc,dyi); # connection to cont states + C2hd = C2h(dyi,1:nc); # cont states -> outputs else B2con = C2hd = []; endif @@ -199,7 +191,7 @@ endif endif - Ac = sys.a+B2*C2h; + Ac = aa+B2*C2h; if(m1 > 0) B1c = B1 + B2*D21h; endif @@ -247,22 +239,23 @@ Bc = Bc(:,back_inputs); Cc = Cc(back_outputs,:); Dc = Dc(back_outputs,back_inputs); - sys.yd = sys.yd(back_outputs); + yd = yd(back_outputs); - sys.a = Ac; - sys.b = Bc; - sys.c = Cc; - sys.d = Dc; + # 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 for ii = 1:length(input_list) - strval = [dezero(sys.inname(input_list(ii),:)),"*"]; - sys.inname(input_list(ii),(1:length(strval))) = [strval]; + idx = input_list(ii); + strval = sprintf("%s*",nth(sysgetsignals(sys,"in",idx),1) ); + sys = syssetsignals(sys,"in",strval,idx); endfor - if (sys.sys(1) == 0) - sysupdate(sys,'tf'); - elseif (sys.sys(1) == 1) - sysupdate(sys,'zp'); + # 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 implicit_str_to_num_ok = save_val; # restore value
--- a/scripts/control/syscont.m +++ b/scripts/control/syscont.m @@ -29,7 +29,7 @@ # returns csys empty if no continuous/continous path exists # Written by John Ingram August 1996 -# $Revision: 1.2 $ +# $Revision: 2.0.0.0 $ save_val = implicit_str_to_num_ok; # save for later save_empty = empty_list_elements_ok; @@ -60,14 +60,14 @@ [sys_n, sys_nz, sys_m, sys_p] = sysdimensions(sys); if(!isempty(st_c)) Acc = sys_a(st_c,st_c); - stname = sys_stname(st_c, :); + stname = sys_stname(st_c); Bcc = sys_b(st_c,:); Ccc = sys_c(y_c,st_c); Acd = sys_a(st_c,st_d); else stname=[]; endif - outname = sys_outname(y_c,:); + outname = sys_outname(y_c); Dcc = sys_d(y_c,:); Ccd = sys_c(y_c,st_d); inname = sys_inname;
--- a/scripts/control/syscont_disc.m +++ b/scripts/control/syscont_disc.m @@ -28,11 +28,6 @@ # y_d: vector of discrete output indices # Written by A. S. Hodel (a.s.hodel@eng.auburn.edu) Feb 1997 -# $Log: syscont_disc.m,v $ -# Revision 1.2 1998/07/15 12:29:13 hodelas -# Updated to use sysdimensions. Removed extraneous if commands (find now -# returns empty matrix if none found) -# # get ranges for discrete/continuous states and outputs [nn,nz,mm,pp,yd] = sysdimensions(sys);
--- a/scripts/control/sysdefioname.m +++ b/scripts/control/sysdefioname.m @@ -1,4 +1,4 @@ -# Copyright (C) 1996 A. Scottedward Hodel +# Copyright (C) 1996,1998 A. Scottedward Hodel # # This file is part of Octave. # @@ -18,46 +18,32 @@ function ioname = sysdefioname(n,str,m) # function ioname = sysdefioname(n,str[,m]) -# return default input or output names given n, str, m +# return list of default input or output names given n, str, m # n is the final value, str is the string prefix, and m is start value # ex: ioname = sysdefioname(5,"u",3) # -# returns: ioname = u_3 -# u_4 -# u_5 +# returns: ioname = +# ( +# [1] = u_3 +# [2] = u_4 +# [3] = u_5 +# ) # used internally, minimal argument checking -# $Log: sysdefioname.m,v $ - - save_val = implicit_str_to_num_ok; # save for later - implicit_str_to_num_ok = 1; - if (nargin < 2 | nargin > 3) usage("ioname = sysdefioname(n,str[,m])"); endif - if (nargin == 2) - m = 1; - endif + if (nargin == 2) m = min(1,n); endif + ioname = list(); jj = 1; - if(n > 0 & m > 0 & m <= n) for ii = m:n - strval = [str,"_",num2str(ii)]; - ioname(jj,1:length(strval)) = strval; - jj = jj+1; + ioname(ii+1-m) = sprintf("%s_%d",str,ii); endfor - elseif(n == 0) - ioname = ""; elseif(m > n) - error(["start value m=",num2str(m)," > final value n=",num2str(n),"; bad!"]) + error("str=%s; start value m=%d > final value n=%d",str,m,n); endif - if( !isstr(ioname) ) - ioname = setstr(ioname); - endif - - implicit_str_to_num_ok = save_val; # restore value - endfunction
--- a/scripts/control/sysdefstname.m +++ b/scripts/control/sysdefstname.m @@ -21,30 +21,20 @@ # return default state names given n, nz # used internally, minimal argument checking -# $Revision: 1.2 $ +# $Revision: 2.0.0.0 $ - sav_val = implicit_str_to_num_ok; - implicit_str_to_num_ok = 1; - - stname = []; + stname = list(); if(n > 0) for ii = 1:n - strval = ["x_",num2str(ii)]; - stname(ii,1:length(strval)) = strval; + stname(ii) = sprintf("x_%d",ii); endfor endif # Set default names for discrete states if(nz > 0) for ii = (n+1):(n+nz) - strval = ["xd_",num2str(ii)]; - stname(ii,1:length(strval)) = strval; + stname(ii) = sprintf("xd_%d",ii); endfor endif - if( !(isstr(stname) | (rows(stname) == 0) ) ) - stname = setstr(stname); - endif - - implicit_str_to_num_ok = sav_val; endfunction
--- a/scripts/control/sysdimensions.m +++ b/scripts/control/sysdimensions.m @@ -16,12 +16,18 @@ # along with Octave; see the file COPYING. If not, write to the Free # Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA. -function [n,nz,m,p,yd] = sysdimensions(sys) -# [n,nz,m,p[,yd]] = sysdimensions(sys) -# return the number of states, inputs, and outputs in the system sys. +function [n,nz,m,p,yd] = sysdimensions(sys,opt) +# [n,nz,m,p,yd] = sysdimensions(sys{,opt}) +# return the number of states, inputs, and/or outputs in the system sys. # inputs: sys: system data structure +# opt: string +# "all" (default): return all output arguments (see below) +# "cst": return n=number of continuous states +# "dst": return n=number of discrete states +# "in": return n=number of inputs +# "out": return n = number of outputs # outputs: -# n: number of continuous states +# n: number of continuous states (or the specified dimension as shown above) # nz: number of discrete states # m: number of system inputs # p: number of system outputs @@ -30,16 +36,29 @@ # # see also: sysgetsignals, sysgettsam -if(nargout > 5 | nargin != 1) - usage("[n,nz,m,p[,yd]] = sysdimensions(sys)"); +if(nargout > 5 | nargin < 1 | nargin > 2) + usage("[n,nz,m,p[,yd]] = sysdimensions(sys{,opt})"); elseif(!is_struct(sys)) usage("[n,nz,m,p] = sysdimensions(sys)"); +elseif(nargin == 1) + opt = "all"; endif n = sys.n; nz = sys.nz; -m = rows(sys.inname); -p = rows(sys.outname); +m = length(sysgetsignals(sys,"in")); +p = length(sysgetsignals(sys,"out")); yd = sys.yd; +legal_options = list("all","cst","dst","in","out"); +legal_values = list(n,n,nz,m,p); + +for ii=1:length(legal_options) + if(strcmp(nth(legal_options,ii),opt)) + n = nth(legal_values,ii); + if(ii > 1 & nargout > 1) + warning("opt=%s, %d output arguments requested",opt,nargout); + endif + endif +endfor endfunction
--- a/scripts/control/sysdisc.m +++ b/scripts/control/sysdisc.m @@ -26,7 +26,7 @@ # outputs, respectively. # -# $Revision: 1.1.1.1 $ +# $Revision: 2.0.0.0 $ save_val = implicit_str_to_num_ok; # save for later save_empty = empty_list_elements_ok; @@ -53,34 +53,36 @@ warning("sysdisc: no discrete outputs"); endif + [aa,bb,cc,dd] = sys2ss(sys); if(!isempty(st_d) ) - Add = sys.a( st_d , st_d); - stname = sys.stname(st_d , :); - Bdd = sys.b( st_d , :); + Add = aa( st_d , st_d); + stname = sysgetsignals(sys,"st",st_d); + Bdd = bb( st_d , :); if(!isempty(st_c)) - Adc = sys.a( st_d , st_c); + Adc = aa( st_d , st_c); endif if(!isempty(y_d)) - Cdd = sys.c(y_d , st_d); + Cdd = cc(y_d , st_d); endif else stname = []; endif if(!isempty(y_d)) - Ddd = sys.d(y_d , :); - outname = sys.outname(y_d , :); + Ddd = dd(y_d , :); + outname = sysgetsignals(sys,"out",y_d); if(!isempty(st_c)) - Cdc = sys.c(y_d , st_c); + Cdc = cc(y_d , st_c); endif else outname=[]; endif - inname = sys.inname; + inname = sysgetsignals(sys,"in"); outlist = 1:rows(outname); if(!isempty(outname)) - dsys = ss2sys(Add,Bdd,Cdd,Ddd,sys.tsam,0,sys.nz,stname, ... - inname,outname,outlist); + tsam = sysgettsam(sys); + [nc,nz] = sysdimensions(sys); + dsys = ss2sys(Add,Bdd,Cdd,Ddd,tsam,0,nz,stname,inname,outname,outlist); else dsys=[]; endif
--- a/scripts/control/sysdup.m +++ b/scripts/control/sysdup.m @@ -1,4 +1,4 @@ -# Copyright (C) 1996 A. Scottedward Hodel +# Copyright (C) 1996,1998 A. Scottedward Hodel # # This file is part of Octave. # @@ -43,7 +43,7 @@ # A. S. Hodel August 1995 # modified by John Ingram July 1996 -# $Revision: 1.2 $ +# $Revision: 2.0.0.0 $ save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1; @@ -56,18 +56,15 @@ error("Asys must be a system data structure (see ss2sys, tf2sys, or zp2sys)") endif - if (Asys.sys(4) != 1) - Asys = sysupdate(Asys,'ss'); - endif - - mm = rows(Asys.inname); - pp = rows(Asys.outname); + Asys = sysupdate(Asys,"ss"); + [nn,nz,mm,pp] = sysdimensions(Asys); + [aa,bb,cc,dd] = sys2ss(Asys); # first duplicate inputs if(is_vector(input_list)) for ii=1:length(input_list); - Asys.b(:,mm+ii) = Asys.b(:,input_list(ii)); - Asys.d(:,mm+ii) = Asys.d(:,input_list(ii)); + bb(:,mm+ii) = bb(:,input_list(ii)); + dd(:,mm+ii) = dd(:,input_list(ii)); end elseif(!isempty(input_list)) error("input_list must be a vector or empty"); @@ -78,59 +75,39 @@ osize = min(size(output_list)); if(osize == 1) for ii=1:length(output_list); - Asys.c(pp+ii,:) = Asys.c(output_list(ii),:); - Asys.d(pp+ii,:) = Asys.d(output_list(ii),:); + cc(pp+ii,:) = cc(output_list(ii),:); + dd(pp+ii,:) = dd(output_list(ii),:); end elseif(osize != 0) error("output_list must be a vector or empty"); endif - yd = Asys.yd(output_list); - Asys.yd = [Asys.yd yd]; - - # give default names to the added inputs - for ii=(mm+1):(mm+length(input_list)) - orig_name = Asys.inname(input_list(ii-mm),:); - - #disp("sysdup: orig_name=") - #orig_name - #disp("/sysdup") + [stnam,innam,outnam,yd] = sysgetsignals(Asys); + tsam = sysgettsam(Asys); - strval = [dezero(orig_name),"(dup)"]; - - #disp("sysdup: strval=") - #strval - #disp("/sysdup") + # 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); - Asys.inname(ii,1:length(strval)) = [strval]; - - #disp("sysdup: resulting Asys.inname:") - #Asys.inname - #disp("/sysdup"); - + # 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 for jj=(pp+1):(pp+length(output_list)) - if(isstr(Asys.outname)) - orig_name =Asys.outname; - else - orig_name = Asys.outname(output_list(jj-pp),:); - endif - strval = [dezero(orig_name),"(dup)"]; - Asys.outname(jj,1:length(strval)) = [strval]; - + onum = output_list(jj-pp); + strval = sprintf("%s(dup)",sysgetsignals(retsys,"out",onum,1) ); + retsys = syssetsignals(retsys,"out",strval,jj); + dflg = sysgetsignals(retsys,"yd",onum); + retsys = syssetsignals(retsys,"yd",dflg,jj); endfor - - - if(max(size(Asys.d)) > 1 ) - Asys.sys = [2 0 0 1]; # change default form to state space - # tf and zp are no longer relevant - endif - - retsys = Asys; - implicit_str_to_num_ok = save_val; # restore value endfunction
--- a/scripts/control/sysgetsignals.m +++ b/scripts/control/sysgetsignals.m @@ -16,30 +16,92 @@ # along with Octave; see the file COPYING. If not, write to the Free # Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA. -function [stname,inname,outname,yd] = sysgetsignals(sys) - # function [stname,inname,outname,yd] = sysgetsignals(sys) +function [stname,inname,outname,yd] = sysgetsignals(sys,sigid,signum,strflg) + # [stname,inname,outname,yd] = sysgetsignals(sys) + # -or- siglist = sysgetsignals(sys,sigid) + # -or- signame = sysgetsignals(sys,sigid,signum{,strflg}) # Get signal names from a system # inputs: # sys: system data structure for the state space system - # + # sigid: signal id: string, must be one of: + # "in": input signals + # "out": output signals + # "st": state signals + # "yd": value of yd + # signum: index of signal (e.g., out4 = sysgetsignals(sys,"out",4) + # sets out4 to the name of the 4th output) + # strflg: flag to return a string instead of a list; + # strflg = 0: (default) return a list + # strflg = 1: return a string; exits with an error if + # length(signum) > 1 # outputs: - # stname, inname, outname: signal names (strings); names of states, + # if sigid is not specified: + # stname, inname, outname: signal names (lists); names of states, # inputs, and outputs, respectively - # yd: binary vector; yd(ii) is nonzero if output y is discrete. + # yd: binary vector; yd(ii) is nonzero if output y is discrete. + # if sigid is specified but signum is not specified: + # stname: + # is the list of state names (sigid = "st") + # is the list input names (sigid = "in") + # is the list output names (sigid = "out") + # is the logical vector indicate discrete outputs (sigid = "yd") + # if all three input arguments are specified: + # is the list of specified state, input, or output name(s) + # (sigid = "st", "in", or "out"). + # is a logical flag indicating if output signum is continous + # (sigval=0) or discrete (sigval = 1) # # Adapted from ss2sys - if(nargin != 1 | nargout > 4) - usage("[stname,inname,outname,yd] = sysgetsignals(sys)") + if(nargin < 1 | nargin > 4 | nargout > 4) + usage("[stname{,inname,outname,yd}] = sysgetsignals(sys{,sigid,signum})") + elseif(nargin > 1 & nargout > 1) + usage("sig = sysgetsignals(sys,sigid{,signum,strflg})") elseif( ! is_struct(sys) ) error("input argument must be a system data structure"); endif - sys = sysupdate(sys,"ss"); #make sure ss is up to date - yd = sys.yd; - stname = sys.stname; - inname = sys.inname; - outname = sys.outname; + if(nargin < 4) strflg = 0; endif + if(nargin == 1) + sys = sysupdate(sys,"ss"); #make sure ss is up to date + stname = sysgetsignals(sys,"st"); + inname = sysgetsignals(sys,"in"); + outname = sysgetsignals(sys,"out"); + yd = sysgetsignals(sys,"yd"); + elseif(!(isstr(sigid) & min(size(sigid)) == 1)) + error(sprintf("sigid(%dx%d) must be a string)",rows(sigid),columns(sigid))); + else + if(strcmp("st",sigid)) stname = sys.stname; + elseif(strcmp("in",sigid)) stname = sys.inname; + elseif(strcmp("out",sigid)) stname = sys.outname; + elseif(strcmp("yd",sigid)) stname = vec(sys.yd)'; + else + error(sprintf("sigid=%s must be \"st\", \"in\", \"out\", or \"yd\"", ... + sigid)); + endif + if(nargin >= 3) + if(signum > length(stname)) + error(sprintf("sysgetsignals(sys,\"%s\",%d):only %d entries.\n", ... + sigid,signum, rows(stname))); + else + if(!is_scalar(strflg)) + error("strflg must be a scalar"); + endif + switch(strflg) + case(0), + stname = stname(signum); + case(1), + if(length(signum) > 1) + error("strflg=1, length(signum) = %d",length(signum)); + endif + stname = nth(stname,signum); + otherwise, + error("Illegal value of strflg=%e",strflg); + endswitch + + endif + endif + endif endfunction
--- a/scripts/control/sysgettsam.m +++ b/scripts/control/sysgettsam.m @@ -2,14 +2,7 @@ # T = sysgettsam(sys) # return the sampling time of the system -# $Revision: 1.3 $ -# $Log: sysdimensions.m,v $ -# Revision 1.3 1997/03/10 21:35:13 scotte -# added debugging code (commented out) -# -# Revision 1.2 1997/03/10 20:42:27 scotte -# added warning message about nargout -# +# $Revision: 2.0.0.0 $ if(!is_struct(sys)) usage("T = sysgettsam(sys)");
--- a/scripts/control/sysgettype.m +++ b/scripts/control/sysgettype.m @@ -25,13 +25,11 @@ # systype: string indicating how the structure was initially # constructed: # values: "ss", "zp", or "tf" -# -# $Log$ if(!is_struct(sys)) error("sysgettype: input sys is not a structure"); endif - typestr = ["tf";"zp";"ss"]; - systype = typestr(sys.sys(1) + 1, :); + typestr = list("tf","zp","ss"); + systype = nth(typestr,sys.sys(1) + 1); endfunction
--- a/scripts/control/sysgroup.m +++ b/scripts/control/sysgroup.m @@ -40,7 +40,7 @@ # A. S. Hodel August 1995 # modified by John Ingram July 1996 -# $Revision: 1.3 $ +# $Revision: 2.0.0.0 $ save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1; @@ -71,9 +71,7 @@ warning("sysgroup: creating combination of continuous and discrete systems") elseif(Atsam != Btsam) - error(["sysgroup: Asys.tsam=", ... - num2str(Atsam),", Bsys.tsam=",num2str(Btsam)]); - + error("sysgroup: Asys.tsam=%e, Bsys.tsam =%e", Atsam, Btsam); endif A = [Aa,zeros(nA,nB); zeros(nB,nA),Ba]; @@ -88,10 +86,10 @@ elseif(isempty(Bst)) stname = Ast; else - stname = str2mat(Ast, Bst); + stname = append(Ast, Bst); endif - inname = str2mat(Ain, Bin); - outname = str2mat(Aout,Bout); + inname = append(Ain, Bin); + outname = append(Aout,Bout); # Sort states into continous first, then discrete dstates = ones(1,(nA+nB)); @@ -105,7 +103,7 @@ A = A(pv,pv); B = B(pv,:); C = C(:,pv); - stname = stname(pv,:); + stname = stname(pv); # check for duplicate signal names inname = sysgroupn(inname,"input");
--- a/scripts/control/sysgroupn.m +++ b/scripts/control/sysgroupn.m @@ -1,4 +1,4 @@ -# Copyright (C) 1996 A. Scottedward Hodel +# Copyright (C) 1996,1998 A. Scottedward Hodel # # This file is part of Octave. # @@ -19,39 +19,36 @@ function names = sysgroupn(names,kind) # names = sysgroupn(names) # locate and mark duplicate names +# inputs: +# names: list of signal names +# kind: kind of signal name (used for diagnostic message purposes only) +# outputs: +# returns names with unique suffixes added; diagnostic warning +# message is printed to inform the user of the new signal name # # used internally in sysgroup -# $Revision: 1.1 $ - - #disp("sysgroupn: entry") - #names - #[lmatrws,lmatcls] = size(names) - #disp("/sysgroupn") +# $Revision: 2.0.0.0 $ # check for duplicate names - l = rows(names); - if(l > 1) - for ii = 1:(l-1); - #disp(["sysgroupn: ii=",num2str(ii)]) - #names - #[lmatrws,lmatcls] = size(names) - #disp("/sysgroupn") - st1 = dezero(names(ii,:)); - for jj = (ii+1):l - st2 = dezero(names(jj,:)); - if(strcmp(st1,st2)) - suffix = ["_",num2str(jj)]; - warning(["sysgroup: Appending ",suffix," to duplicate ",kind,... - " name '",st2,"'."]); - strval = [st2,suffix]; - - #disp(["sysgroupn: length(strval)=",num2str(length(strval))]); - #disp(["sysgroupn: length(st2)=",num2str(length(st2))]); - - names(jj,(1:length(strval))) = strval; - endif - endfor - endfor - endif + l = length(names); + ii = 1; + while(ii < l-1) + st1 = nth(names,ii); + jj = ii+1; + while ( jj < l) + st2 = nth(names,jj); + if(strcmp(st1,st2)) + suffix = ["_",num2str(jj)]; + warning("sysgroup: %s name(%d) = %s name(%d); appending suffix %s to %d", ... + kind,ii,kind,jj,suffix,jj); + strval = sprintf("%s%s",st2,suffix); + names(jj) = strval; + # restart the check (just to be sure there's no further duplications) + ii = 0; jj = l; + endif + jj = jj+1; + endwhile + ii = ii+1; + endwhile endfunction
--- a/scripts/control/sysmult.m +++ b/scripts/control/sysmult.m @@ -36,7 +36,7 @@ # does not recognize discrete inputs) # Written by John Ingram July 1996 -# $Revision: 1.2 $ +# $Revision: 2.0.0.0 $ save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1;
--- a/scripts/control/sysout.m +++ b/scripts/control/sysout.m @@ -28,7 +28,7 @@ # "all": all of the above # Written by A S Hodel: 1995-1996 -# $Revision: 1.2 $ +# $Revision: 2.0.0.0 $ # save for restoring at end of routine save_val = implicit_str_to_num_ok; @@ -49,10 +49,8 @@ endif # set up output type array -farray = ["tf";"zp";"ss"]; - if( nargin == 1 ) - opt = farray(sys.sys(1)+1,:); + opt = sysgettype(sys); else if( ! (strcmp(opt,"ss") + strcmp(opt,"tf") + ... strcmp(opt,"zp") + strcmp(opt,"all") ) ) @@ -61,20 +59,22 @@ endif # now check output for each form: -if( !isempty(sys.inname) ) +[nn,nz,mm,pp] = sysdimensions(sys); +if( mm > 0) disp("Input(s)") - outlist(sys.inname," ") + disp(outlist(sysgetsignals(sys,"in")," ")); else disp("Input(s): none"); endif -if ( ! isempty(sys.outname) ) +if (pp > 0) disp("Output(s):") - outlist(sys.outname," ",sys.yd) + disp(outlist(sysgetsignals(sys,"out"), ... + " ",sysgetsignals(sys,"yd")) ); else disp("Output(s): none"); endif -if(sys.tsam > 0) - disp(["Sampling interval: ",num2str(sys.tsam)]); +if(sysgettsam(sys) > 0) + disp(["Sampling interval: ",num2str(sysgettsam(sys))]); str = "z"; else str = "s"; @@ -84,53 +84,48 @@ if( strcmp(opt,"tf") + strcmp(opt,"all") ) sys = sysupdate(sys,"tf"); #make sure tf is up to date disp("transfer function form:") - tfout(sys.num,sys.den,str); + [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:") - zpout(sys.zer, sys.pol,sys.k,str) + [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(sys.n)," continuous states, ", ... - num2str(sys.nz)," discrete states"]); - if( !isempty(sys.stname) ) + disp([num2str(nn)," continuous states, ", num2str(nz)," discrete states"]); + if( nn+nz > 0) disp("State(s):") - xi = (sys.n+1):(sys.n+sys.nz); - xd = zeros(1,rows(sys.a)); + xi = (nn+1):(nn+nz); + xd = zeros(1,nn+nz); if(!isempty(xi)) xd(xi) = 1; endif - outlist(sys.stname," ",xd); + disp(outlist(sysgetsignals(sys,"st")," ",xd)); else disp("State(s): none"); endif # display matrix values? - dmat = (max( [ size(sys.a) size(sys.b) size(sys.c) size(sys.d) ] ) <= 32); + dmat = (max( [ (nn+nz), mm, pp ] ) <= 32); - disp(sprintf("A matrix: %d x %d",rows(sys.a),columns(sys.a))) - if(dmat) - disp(sys.a) - endif + printf("A matrix: %d x %d\n",nn,nn); + [aa,bb,cc,dd] = sys2ss(sys); + if(dmat) disp(aa); endif - disp(sprintf("B matrix: %d x %d",rows(sys.b),columns(sys.b))) - if(dmat) - disp(sys.b) - endif + printf("B matrix: %d x %d\n",nn,mm); + if(dmat) disp(bb); endif - disp(sprintf("C matrix: %d x %d",rows(sys.c),columns(sys.c))) - if(dmat) - disp(sys.c) - endif - disp(sprintf("D matrix: %d x %d",rows(sys.d),columns(sys.d))) - if(dmat) - disp(sys.d) - endif + printf("C matrix: %d x %d\n",pp,nn); + if(dmat) disp(cc); endif + + printf("D matrix: %d x %d\n",pp,nn); + if(dmat) disp(dd); endif endif if(nargout >= 1)
--- a/scripts/control/sysprune.m +++ b/scripts/control/sysprune.m @@ -38,18 +38,19 @@ # A. S. Hodel August 1995 # Updated by John Ingram 7-15-96 -# $Revision: 1.2 $ +# $Revision: 2.0.0.0 $ if( nargin != 3 ) usage("retsys = sysprune(sys,output_list,input_list)"); endif # default: no action + [nn,nz,mm,pp] = sysdimensions(sys); if(isempty(output_list)) - outputlist = 1:rows(sys.outname); + outputlist = 1:pp; endif if(isempty(input_list)) - input_list = 1:rows(sys.inname); + input_list = 1:mm; endif # check dimensions @@ -67,8 +68,8 @@ endif endif - m = rows(sys.inname); - p = rows(sys.outname); + m = mm; + p = pp; if( !is_struct(sys)) error("Asys must be a system data structure (see ss2sys, tf2sys, or zp2sys)") @@ -80,14 +81,15 @@ num2str(m)," inputs"]); endif - sys = sysupdate(sys,"ss"); - - sys.b = sys.b(:,input_list); - sys.c = sys.c(output_list,:); - sys.d = sys.d(output_list,input_list); + [aa,bb,cc,dd,tsam,nn,nz,stnam,innam,outnam,yd] = sys2ss(sys); + bb = bb(:,input_list); + cc = cc(output_list,:); + dd = dd(output_list,input_list); + yd = yd(output_list); - sys.inname = sys.inname(input_list,:); - sys.outname = sys.outname(output_list,:); - sys.yd = sys.yd(output_list); + # this part needs rewritten for the list structure of signal names + innam = innam(input_list); + outnam = outnam(output_list); + sys = ss2sys(aa,bb,cc,dd,tsam,nn,nz,stnam,innam,outnam,find(yd)); endfunction
--- a/scripts/control/sysreorder.m +++ b/scripts/control/sysreorder.m @@ -28,7 +28,7 @@ # to use this at home! # A. S. Hodel, Aug 1995 -# $Revision: 1.1.1.1 $ +# $Revision: 2.0.0.0 $ #disp('sysreorder: entry')
--- a/scripts/control/sysrepdemo.m +++ b/scripts/control/sysrepdemo.m @@ -1,4 +1,4 @@ -# Copyright (C) 1996 A. Scottedward Hodel +# Copyright (C) 1996,1998 A. Scottedward Hodel # # This file is part of Octave. # @@ -23,22 +23,7 @@ # Written by A. S. Hodel June 1995 # Revised Aug 1995 for system data structure format -# $Revision: 1.1.1.1 $ -# $Log: sysrepdemo.m,v $ -# Revision 1.1.1.1 1998/05/19 20:24:09 jwe -# -# Revision 1.4 1997/02/13 15:38:26 hodel -# fixed misprint in zp2sys demo (needed empty zeros vector in option 3) -# -# Revision 1.3 1997/02/13 15:22:32 hodel -# fixed typo in menu option -# -# Revision 1.2 1997/02/12 11:53:22 hodel -# *** empty log message *** -# -# Revision 1.1 1997/02/12 11:35:14 hodel -# Initial revision -# +# $Revision: 2.0.0.0 $ save_val = page_screen_output; page_screen_output = 1; @@ -59,7 +44,7 @@ syschoice = menu('Octave System Representation Menu', ... "General overview of system representation (DO THIS FIRST)", ... "Initialize a system (ss2sys, tf2sys, zp2sys)", ... - "Extract data from a system(sys2ss, sys2tf, sys2zp)", ... + "Extract data from a system(sys2ss, sys2tf, sys2zp, etc.)", ... "Update internal representation (sysupdate)", ... "View the internal contents of a system (sysout)", ... "Details of internal representation", ... @@ -214,7 +199,7 @@ run_cmd disp("ss2sys allows the initialization of signal and state names") disp("(see option 4), so we initialize these as follows:") - cmd = "inname = [\"r(t)\";\"y(t)\"];"; + cmd = "inname = list(\"r(t)\",\"y(t)\");"; run_cmd; cmd = "outname = \"e(t)\";"; run_cmd @@ -414,11 +399,15 @@ disp("respective functions sys2ss, sys2tf, and sys2zp. The latter two"); disp("functions are applicable only to SISO systems.") formopt = 0; - while(formopt != 4) + while(formopt != 8) formopt = menu("Extract system information", ... "in state space form (sys2ss)", ... "in transfer function form (sys2tf)", ... "in zero pole form (sys2zp)", ... + "signal names (sysgetsignals,syssetsignals)", ... + "sampling time (sysgettsam)", ... + "signal dimensions (sysdimensions)", ... + "primary system type (sysgettype)", ... "Return to system representation menu"); if(formopt == 1) help sys2ss @@ -426,6 +415,37 @@ help sys2tf elseif(formopt == 3) help sys2zp + elseif(formopt == 4) + help sysgetsignals + cmd="sys=ss2sys(rand(4),rand(4,2),rand(3,4));"; + run_cmd + printf("Example: All signals names can be extracted by\n"); + cmd = "[Ast,Ain,Aout,Ayd] = sysgetsignals(sys)"; + run_cmd + printf("Example: Input signal names can be extracted as\n"); + cmd = "Ain = sysgetsignals(sys,\"in\")"; + run_cmd + printf("Example: The name of output signal 2 can be extracted as\n"); + cmd = "Aout = sysgetsignals(sys,\"out\",2)"; + run_cmd + printf("\nNotice that Aout is returned as a list; the signal name\n"); + printf("itself is obtained by specifying the input parameter strflg\n"); + cmd = "Aout = sysgetsignals(sys,\"out\",2,1)"; + run_cmd + prompt + cmd = "help syssetsignals"; + run_cmd + printf("Example: set input 2 name to \"motor voltage\"\n"); + cmd = "sys = syssetsignals(sys,\"in\",\"motor voltage\",2); sysout(sys)"; + run_cmd + + printf("Other syssetsignals demos are in the Block diagram demo program bddemo\n"); + elseif(formopt == 5) + help sysgettsam + elseif(formopt == 6) + help sysdimensions + elseif(formopt == 7) + help sysgettype endif prompt endwhile
--- a/scripts/control/sysscale.m +++ b/scripts/control/sysscale.m @@ -1,4 +1,4 @@ -# Copyright (C) 1996 A. Scottedward Hodel +# Copyright (C) 1996,1998 A. Scottedward Hodel # # This file is part of Octave. # @@ -22,7 +22,7 @@ # scale inputs/outputs of a system. # # inputs: -# sys: structured system +# sys: system data structure # outscale, inscale: constant matrices of appropriate dimension # output: sys: resulting open loop system: # @@ -39,93 +39,95 @@ # A. S. Hodel August 1995 # modified by John Ingram 7-15-96 -# $Revision: 1.1.1.1 $ +# $Revision: 2.0.0.0 $ if( (nargin < 3) || (nargin > 5) ) usage("retsys = sysscale(Asys,output_list,input_list{,inname,outname})"); elseif (!is_struct(sys)) error("sys must be a structured system"); endif + + [nn,nz,mm,pp] = sysdimensions(sys); # check for omitted scales - if(isempty(outscale)) - outscale = eye(rows(sys.outname)); - endif - if(isempty(inscale)) - inscale = eye(rows(sys.inname)); - endif + if(isempty(outscale)) outscale = eye(pp); endif + if(isempty(inscale)) inscale = eye(mm); endif # check dimensions of scaling matrices - if((columns(sys.b)!=rows(inscale)) & (columns(sys.d)!=rows(inscale))) - error('inscale is not compatible with the system inputs'); - elseif( (columns(outscale)!=rows(sys.c)) & ... - (columns(outscale)!=rows(sys.d))) - error("outscale is not compatible with the system outputs"); + if(mm!=rows(inscale)) + error("inscale(%dx%d) should have %d rows(# system inputs)", ... + rows(inscale),columns(inscale),mm); + elseif( pp != columns(outscale) ) + error("outscale(%dx%d) should have %d columns(# system outputs)", ... + rows(outscale), columns(outscale),pp); endif - - outc = find(sys.yd==0); - outd = find(sys.yd==1); - #disp("sysscale: outc,outd=") - #disp(outc) - #disp(outd) - #disp("sysscale") + sysyd = sysgetsignals(sys,"yd"); + outc = find(sysyd==0); + outd = find(sysyd==1); if(length(outc) & length(outd)) for ii = 1:rows(outscale) nci = norm(outscale(ii,outc)); ndi = norm(outscale(ii,outd)); - #disp(["sysscale: ii=",num2str(ii),", nci, ndi="]) - #disp(nci) - #disp(ndi) - #disp("syscale") - if( nci & ndi) - warning(["sysscale: outscale(",num2str(ii), ... - ",:) sums continuous and discrete outputs; setting output to cont"]) - yd(ii) = 0; + warning("sysscale: outscale(%d,:) sums continuous and discrete outputs; setting output to cont",ii) + sysyd(ii) = 0; else - yd(ii) = (ndi != 0); + sysyd(ii) = (ndi != 0); endif - - #disp(["sysscale: yd(,",num2str(ii),"=",num2str(yd(ii)),": press a key"]); - #kbhit endfor else - yd = ones(1,rows(outscale))*( length(outd) > 0); + sysyd = ones(1,rows(outscale))*( length(outd) > 0); endif - sys.yd = yd; - sys.b = (sys.b)*inscale; - sys.d = (sys.d)*inscale; - sys.c = outscale*(sys.c); - sys.d = outscale*(sys.d); + # check for SISO system type + if strcmp(sysgettype(sys),"tf") + [num,den,tsam,innam,outnam] = sys2tf(sys); + num = num*inscale*outscale; + sys = tf2sys(num,den,tsam,innam,outnam,find(sysyd)); + return + elseif strcmp(sysgettype(sys),"zp") + [zer,pol,kk,tsam,innam,outnam] = sys2zp(sys); + kk = kk*inscale*outscale; + sys = zp2sys(zer,pol,k,tsam,innam,outnam,find(sysyd)); + return + endif + + # it's a state space system... + + [sysa,sysb,sysc,sysd,systsam, ... + sysn,sysnz,sysstname,sysinname,sysoutname,oldyd] = sys2ss(sys); + + sysb = sysb*inscale; + sysc = outscale*sysc; + sysd = outscale*sysd*inscale; if( !is_square(outscale) ) # strip extra output names (if any) - sys.outname = sys.outname(1:min(rows(outscale),columns(outscale)),:); + sysoutname = sysoutname(1:min(rows(outscale),columns(outscale))); if( nargin < 4) warning("sysscale: outscale not square, outname not specified"); warning("sysscale: using default output names"); - outname = sysdefioname(rows(sys.c),"y"); + outname = sysdefioname(rows(sysc),"y"); endif else - outname = sys.outname; + outname = sysoutname; endif if( !is_square(inscale) ) # strip extra output names (if any) - sys.inname = sys.inname(1:min(rows(inscale),columns(inscale)),:); + sysinname = sysinname(1:min(rows(inscale),columns(inscale))); if(nargin < 5) warning("sysscale: inscale not square, inname not specified"); warning("sysscale: using default input names"); - inname = sysdefioname(columns(sys.b),"u"); + inname = sysdefioname(columns(sysb),"u"); endif else - inname = sys.inname; + inname = sysgetsignals(sys,"in"); endif - sys = syschnames(sys,"out",1:rows(outname),outname); - sys = syschnames(sys,"in",1:rows(inname),inname); + sys = ss2sys(sysa,sysb,sysc,sysd,systsam,nn,nz,sysstname, ... + inname,outname,find(sysyd==1)); endfunction
--- a/scripts/control/syssub.m +++ b/scripts/control/syssub.m @@ -36,7 +36,7 @@ # -------- # Written by John Ingram July 1996 -# $Revision: 1.1.1.1 $ +# $Revision: 2.0.0.0 $ save_val = implicit_str_to_num_ok; # save for later implicit_str_to_num_ok = 1; @@ -51,54 +51,44 @@ endif # check for compatibility - if(rows(Gsys.inname) != rows(Hsys.inname)) - error("Gsys and Hsys must have the same number of inputs"); - elseif(rows(Gsys.outname) != rows(Hsys.outname)) - error("Gsys and Hsys must have the same number of outputs"); + [n,nz,mg,pg] = sysdimensions(Gsys); + [n,nz,mh,ph] = sysdimensions(Hsys); + if(mg != mh) + error(sprintf("Gsys inputs(%d) != Hsys inputs (%d)",mg,mh)); + elseif(pg != ph) + error(sprintf("Gsys outputs(%d) != Hsys outputs (%d)",pg,ph)); endif + [Gst, Gin, Gout, Gyd] = sysgetsignals(Gsys); + [Hst, Hin, Hout, Hyd] = sysgetsignals(Hsys); + # check for digital to continuous addition - if (Gsys.yd != Hsys.yd) + if (Gyd != Hyd) error("can not add a discrete output to a continuous output"); endif - if( (Gsys.sys(1) == 0) | (Hsys.sys(1) == 0) ) + if( strcmp(sysgettype(Gsys),"tf") | strcmp(sysgettype(Hsys),"tf") ) # see if adding transfer functions with identical denominators - Gsys = sysupdate(Gsys,"tf"); - Hsys = sysupdate(Hsys,"tf"); - if(Hsys.den == Gsys.den) - sys = Gsys; - sys.sys(1) = 0; - sys.num = sys.num - Hsys.num; + [Gnum,Gden,GT,Gin,Gout] = sys2tf(Gsys); + [Hnum,Hden,HT,Hin,Hout] = sys2tf(Hsys); + if( (Hden == Gden) & (HT == GT) ) + sys = tf2sys(Gnum-Hnum,Gden,GT,Gin,Gout); return endif + # if not, we go on and do the usual thing... endif # make sure in ss form Gsys = sysupdate(Gsys,"ss"); Hsys = sysupdate(Hsys,"ss"); - #disp("syssub: Gsys=") - #sysout(Gsys,"ss"); - #disp("syssub: Hsys=") - #sysout(Hsys,"ss") - sys = sysgroup(Gsys,Hsys); - eyin = eye(columns(Gsys.b)); - eyout = eye(rows(Gsys.c)); + eyin = eye(mg); eyout = eye(pg); - inname = sys.inname(1:rows(Gsys.inname) , :); - outname = sys.outname(1:rows(Gsys.outname) , :); - - #disp("syssub: before sysscale: sys.yd=") - #disp(sys.yd) - #disp("syssub:") + inname = Gin; + outname = Gout; sys = sysscale(sys,[eyout -eyout],[eyin;eyin],outname,inname); - #disp("syssub: sys.yd=") - #disp(sys.yd) - #disp("syssub: exiting") - endfunction
--- a/scripts/control/sysupdate.m +++ b/scripts/control/sysupdate.m @@ -34,7 +34,7 @@ # see also: tf2sys, ss2sys, zp2sys, sysout, sys2ss, sys2tf, sys2zp # Written by John Ingram 7-9-96 -# $Revision: 1.1.1.1 $ +# $Revision: 2.0.0.0 $ # check for correct number of inputs if (nargin != 2) @@ -48,7 +48,7 @@ # 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")) ... - & (sys.sys(1) == 2) & (! is_siso(sys) ) ) + & strcmp(sysgettype(sys),"ss") & (! is_siso(sys) ) ) error("MIMO -> SISO update requested"); endif @@ -58,7 +58,7 @@ is_digital(sys); # if original system zero-pole - if (sys.sys(1) == 1) + 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
--- a/scripts/control/tf2ss.m +++ b/scripts/control/tf2ss.m @@ -39,8 +39,7 @@ # Written by R. Bruce Tenison (June 22, 1994) btenison@eng.auburn.edu # mod A S Hodel July, Aug 1995 - # $Revision: 1.1.1.1 $ - # $Log$ + # $Revision: 2.0.0.0 $ if(nargin != 2) error("tf2ss: wrong number of input arguments") elseif(isempty(num)) error("tf2ss: empty numerator");
--- a/scripts/control/tf2sys.m +++ b/scripts/control/tf2sys.m @@ -1,4 +1,4 @@ -# Copyright (C) 1996 A. Scottedward Hodel +# Copyright (C) 1996,1998 A. Scottedward Hodel # # This file is part of Octave. # @@ -29,18 +29,7 @@ # Written by R. Bruce Tenison July 29, 1994 # Name changed to TF2SYS July 1995 # updated for new system data structure format July 1996 - # $Revision: 1.4 $ - # $Log: tf2sys.m,v $ - # Revision 1.4 1998/08/24 15:50:30 hodelas - # updated documentation - # - # 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 1.2 1997/02/12 22:45:57 hodel - # added debugging code (commented out) - # + # $Revision: 2.0.0.0 $ save_val = implicit_str_to_num_ok; implicit_str_to_num_ok = 1; @@ -64,16 +53,12 @@ den = tf2sysl(den); if (length(num) > length(den)) - error([ 'number of poles (', num2str(length(den)-1), ... - ') < number of zeros (', num2str(length(num)-1),')']); + error("# of poles (%d) < # of zeros (%d)",length(den)-1, length(num)-1); endif # check sampling interval (if any) - if(nargin <= 2) - tsam = 0; # default - elseif (isempty(tsam)) - tsam = 0; - endif + if(nargin <= 2) tsam = 0; # default + elseif (isempty(tsam)) tsam = 0; endif if ( (! (is_scalar(tsam) && (imag(tsam) == 0) )) || (tsam < 0) ) error('tsam must be a positive real scalar') endif @@ -95,32 +80,40 @@ outsys.yd = 1; endif - outsys.inname = sysdefioname(1,"u"); + outsys.inname = sysdefioname(1,"u"); outsys.outname = sysdefioname(1,"y"); - outsys.stname = sysdefstname(outsys.n,outsys.nz); + outsys.stname = sysdefstname(outsys.n,outsys.nz); # Set name of input if (nargin > 3) - if (rows(inname) > 1) - warning(["tf2sys: ",num2str(rows(inname))," input names given, 1st used"]); - inname = inname(1,:); + # 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) ) + error("inname must be a string or list of strings"); + endif + if(length(inname) > 1) + warning("tf2sys: %d input names provided; first used",length(inname)); + inname = inname(1); + endif + outsys = syssetsignals(outsys,"in",inname); endif - outsys.inname(1,1:length(inname)) = inname; endif # Set name of output if (nargin > 4) - if (rows(outname) > 1) - warning(["tf2sys: ",num2str(rows(outname)), ... - " output names given, 1st used"]); - outname = outname(1,:); + if(!isempty(outname)) + if(!is_list(outname)) outname = list(outname); endif + if(!is_signal_list(outname)) + error("outname must be a string or a list of strings"); + endif + if(length(outname) > 1) + warning("tf2sys: %d output names provided; first used",length(outname)); + outname = outname(1); + endif + outsys = syssetsignals(outsys,"out",outname); endif - outsys.outname(1,1:length(outname)) = outname; endif - #disp("tf2sys: returning") - #outsys - #disp("/tf2sys") - implicit_str_to_num_ok = save_val; endfunction
--- a/scripts/control/tf2sysl.m +++ b/scripts/control/tf2sysl.m @@ -22,7 +22,7 @@ # used internally in tf2sys # strip leading zero coefficients to get the true polynomial length -# $Revision: 1.1 $ +# $Revision: 2.0.0.0 $ while( (length(vec) > 1) & (vec(1) == 0) ) vec = vec(2:length(vec));
--- a/scripts/control/tf2zp.m +++ b/scripts/control/tf2zp.m @@ -23,8 +23,7 @@ # defined by num/den. K is a gain associated with the system zeros. # Written by A. S. Hodel, etc. -# $Revision: 1.2 $ -# $Log: tf2zp.m,v $ +# $Revision: 2.0.0.0 $ if(nargin == 2) if(length(den) > 1) pol = roots(den);
--- a/scripts/control/tfout.m +++ b/scripts/control/tfout.m @@ -28,7 +28,7 @@ # filter, polyderiv, polyinteg, polyout # Written by A. Scottedward Hodel (scotte@eng.auburn.edu) June 1995) -# $Revision: 1.2 $ +# $Revision: 2.0.0.0 $ save_val = implicit_str_to_num_ok; save_empty = empty_list_elements_ok;
--- a/scripts/control/tzero.m +++ b/scripts/control/tzero.m @@ -39,23 +39,7 @@ # R. Bruce Tenison July 4, 1994 # A. S. Hodel Aug 1995: allow for MIMO and system data structures - # $Revision: 1.16 $ - # $Log: tzero.m,v $ - # Revision 1.16 1998-11-06 16:15:37 jwe - # *** empty log message *** - # - # Revision 1.7 1998/08/24 15:50:30 hodelas - # updated documentation - # - # Revision 1.4 1998/08/12 20:34:36 hodelas - # Updated to use system access calls instead of direct structure access - # - # Revision 1.3 1998/07/21 14:53:11 hodelas - # use isempty instead of size tests; use sys calls to reduce direct - # access to system structure elements - # - # Revision 1.2 1997/02/13 11:58:05 hodel - # tracked down error in zgfslv; added Log message + # $Revision: 1.17 $ # get A,B,C,D and Asys variables, regardless of initial form if(nargin == 4)
--- a/scripts/control/tzero2.m +++ b/scripts/control/tzero2.m @@ -27,8 +27,7 @@ # Needs to incorporate mvzero algorithm to isolate finite zeros. # Written by A. S. Hodel (scotte@eng.auburn.edu) August 1993. -# $Revision: 1.1.1.1 $ -# $Log$ +# $Revision: 2.0.0.0 $ if (nargin == 4) bal = "B";
--- a/scripts/control/ugain.m +++ b/scripts/control/ugain.m @@ -28,19 +28,7 @@ # Written by Kai P. Mueller April, 1998 # Updates - # $Revision: 1.1.1.1 $ - # $Log: ugain.m,v $ - # Revision 1.1.1.1 1998/05/19 20:24:10 jwe - # - # Revision 1.1 1998/05/05 17:04:45 scotte - # Initial revision - # -# Revision 1.1 1998/05/04 15:15:37 mueller -# Initial revision -# - # -# Initial revision -# + # $Revision: 2.0.0.0 $ if((nargin != 1) || (nargout > 1)) usage("outsys = ugain(n)")
--- a/scripts/control/unpacksys.m +++ b/scripts/control/unpacksys.m @@ -21,7 +21,7 @@ # Obsolete. Use sys2ss instead. # Written by David Clem August 19, 1994 - # $Revision: 1.1.1.1 $ + # $Revision: 2.0.0.0 $ warning("unpacksys obsolete; calling sys2ss"); [a,b,c,d] = sys2ss(syst);
--- a/scripts/control/wgt1o.m +++ b/scripts/control/wgt1o.m @@ -30,20 +30,7 @@ # fc = Corner frequency (in Hz, *not* in rad/sec) # Written by Kai P. Mueller September 30, 1997 -# $Revision: 1.1.1.1 $ -# $Log: wgt1o.m,v $ -# Revision 1.1.1.1 1998/05/19 20:24:10 jwe -# -# Revision 1.1 1998/05/05 17:04:56 scotte -# Initial revision -# -# Revision 1.2 1998/05/05 09:01:22 mueller -# comments added -# -# Revision 1.1 1998/05/04 15:08:46 mueller -# Initial revision -# -# +# $Revision: 2.0.0.0 $ if (nargin != 3) usage("wsys = wgt1o(vl, vh, fc)");
--- a/scripts/control/zgfmul.m +++ b/scripts/control/zgfmul.m @@ -30,11 +30,7 @@ # A. S. Hodel July 24 1992 # Conversion to Octave July 3, 1994 - # $Revision: 1.1 $ - # $Log: zgfmul.m,v $ -# Revision 1.1 1998/11/04 14:35:42 hodel -# Initial revision -# + # $Revision: 2.0.0.0 $ [n,m] = size(b); [p,m1] = size(c);
--- a/scripts/control/zgfslv.m +++ b/scripts/control/zgfslv.m @@ -22,8 +22,7 @@ # Written by A. Scotte Hodel # Converted to Octave by R Bruce Tenison, July 3, 1994 - # $Revision: 1.2 $ - # $Log: zgfslv.m,v $ + # $Revision: 2.0.0.0 $ nmp = n+m+p; gam1 = (2*n)+m+p; gam2 = n+p; gam3 = n+m;
--- a/scripts/control/zginit.m +++ b/scripts/control/zginit.m @@ -29,8 +29,7 @@ # A. S. Hodel July 24 1992 # Conversion to Octave by R. Bruce Tenison, July 3, 1994 - # $Revision: 1.1 $ - # $Log: zginit.m,v $ + # $Revision: 2.0.0.0 $ [nn,mm] = size(b); [pp,mm] = size(d); @@ -43,9 +42,13 @@ # zz part 1: for i=1:nn # nonzero off diagonal entries of a - nidx = complement(i,1:nn); - a_row_i = a(i,nidx); a_col_i = a(nidx,i); - arnz = a_row_i(find(a_row_i != 0)); acnz = a_col_i(find(a_col_i != 0)); + if(nn > 1) + nidx = complement(i,1:nn); + a_row_i = a(i,nidx); a_col_i = a(nidx,i); + arnz = a_row_i(find(a_row_i != 0)); acnz = a_col_i(find(a_col_i != 0)); + else + arnz = acnz = []; + endif # row of b bidx = find(b(i,:) != 0);
--- a/scripts/control/zgpbal.m +++ b/scripts/control/zgpbal.m @@ -38,19 +38,7 @@ # A. S. Hodel July 24 1992 # Conversion to Octave by R. Bruce Tenison July 3, 1994 - # $Revision: 1.1 $ - # $Log: zgpbal.m,v $ -# Revision 1.1 1998/11/04 14:35:42 hodel -# Initial revision -# - # Revision 1.2 1998/08/24 15:50:31 hodelas - # updated documentation - # - # Revision 1.1.1.1 1998/05/19 20:24:10 jwe - # - # Revision 1.2 1997/02/13 11:54:59 hodel - # added debugging code (commented out). - # + # $Revision: 2.0.0.0 $ if( (nargin != 1) | (!is_struct(Asys))) usage("retsys = zgpbal(Asys)");
--- a/scripts/control/zgreduce.m +++ b/scripts/control/zgreduce.m @@ -23,7 +23,7 @@ # # used internally in tzero; minimal argument checking performed -#$Revision: 1.1.1.1 $ +#$Revision: 2.0.0.0 $ # SYS_INTERNAL accesses members of system data structure is_digital(Asys); # make sure it's pure digital/continuous
--- a/scripts/control/zgrownorm.m +++ b/scripts/control/zgrownorm.m @@ -22,7 +22,7 @@ # returns nonz = number of rows of mat whose two norm exceeds meps # zer = number of rows of mat whose two norm is less than meps -# $Revision: 1.1 $ +# $Revision: 2.0.0.0 $ rownorm = []; for ii=1:rows(mat)
--- a/scripts/control/zgscal.m +++ b/scripts/control/zgscal.m @@ -28,7 +28,7 @@ # A. S. Hodel July 24 1992 # Conversion to Octave R. Bruce Tenison July 3, 1994 - # $Revision: 1.2 $ + # $Revision: 2.0.0.0 $ #************************************************************************** #initialize parameters:
--- a/scripts/control/zgsgiv.m +++ b/scripts/control/zgsgiv.m @@ -23,7 +23,7 @@ # A. S. Hodel July 29, 1992 # Convertion to Octave by R. Bruce Tenison July 3, 1994 - # $Revision: 1.1.1.1 $ + # $Revision: 2.0.0.0 $ t1 = c*a + s*b; t2 = -s*a + c*b;
--- a/scripts/control/zgshsr.m +++ b/scripts/control/zgshsr.m @@ -24,7 +24,7 @@ # A. S. Hodel July 24, 1992 # Conversion to Octave by R. Bruce Tenison July 3, 1994 - # $Revision: 1.1.1.1 $ + # $Revision: 2.0.0.0 $ 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 @@ -17,7 +17,15 @@ # Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA. function [a,b,c,d] = zp2ss(zer,pol,k) +# [A,B,C,D] = zp2ss(zer,pol,k) # Conversion from zero / pole to state space. +# Inputs: +# zer, pol: vectors of (possibly) complex poles and zeros of a transfer +# function. Complex values must come in conjugate pairs +# (i.e., x+jy in zer means that x-jy is also in zer) +# k: real scalar (leading coefficient) +# Outputs: +# A, B, C, D: # The state space system # . # x = Ax + Bu @@ -31,13 +39,7 @@ # k is a gain that is associated with the zero vector. # Written by David Clem August 15, 1994 -# $Revision: 1.4 $ -# $Log: zp2ss.m,v $ -# Revision 1.4 1998/07/10 17:51:29 hodelas -# Fixed bug in zp2ss system construction; overhauled zp2ssg2 -# -# -# calls: tf2sys, sysmult +# $Revision: 2.0.0.0 $ sav_val = empty_list_elements_ok; empty_list_elements_ok = 1; @@ -124,10 +126,12 @@ zpsys1 = tf2sys(num,den,0,"u","yy"); # change names to avoid warning messages from sysgroup - zpsys = syschnames(zpsys,"in",1,"u1"); + zpsys = syssetsignals(zpsys,"in","u1",1); zpsys1 = sysupdate(zpsys1,"ss"); - zpsys = syschnames(zpsys,"st",(1:zpsys.n),sysdefioname(zpsys.n,"x")); - zpsys1 = syschnames(zpsys1,"st",(1:zpsys1.n),sysdefioname(zpsys1.n,"xx")); + nn = sysdimensions(zpsys); # working with continuous system + zpsys = syssetsignals(zpsys,"st", sysdefioname(nn,"x")); + nn1 = sysdimensions(zpsys1); + zpsys1 = syssetsignals(zpsys1,"st",sysdefioname(nn1,"xx")); zpsys = sysmult(zpsys,zpsys1);
--- a/scripts/control/zp2ssg2.m +++ b/scripts/control/zp2ssg2.m @@ -23,7 +23,7 @@ # extract 2 values from rvals (if possible) and construct # a polynomial with those roots. -# $Revision: 1.2 $ +# $Revision: 2.0.0.0 $ # A. S. Hodel Aug 1996 # locate imaginary roots (if any)
--- a/scripts/control/zp2sys.m +++ b/scripts/control/zp2sys.m @@ -1,4 +1,4 @@ -# Copyright (C) 1996 A. Scottedward Hodel +# Copyright (C) 1996,1998 A. Scottedward Hodel # # This file is part of Octave. # @@ -28,7 +28,7 @@ # outputs: sys: system data structure # Modified by John Ingram July 20, 1996 - # $Revision: 1.2 $ + # $Revision: 2.0.0.0 $ save_val = implicit_str_to_num_ok; # save for restoring later implicit_str_to_num_ok = 1; @@ -95,21 +95,25 @@ # Set name of input if (nargin > 4) - if (rows(inname) > 1) - warning("zp2sys: ",num2str(rows(inname))," input names given, 1st used"); - inname = inname(1,:); + # make sure its a string + if(!isempty(inname)) + if(!is_list(inname)) inname = list(inname); endif + if(!is_signal_list(inname)) + error("inname must be a single signal name"); + endif + outsys.inname = inname(1); endif - outsys.inname(1,1:length(inname)) = inname; endif # Set name of output if (nargin > 5) - if (rows(outname) > 1) - warning("zp2sys: ",num2str(rows(outname)), ... - " output names given, 1st used"); - outname = outname(1,:); + if(!isempty(outname)) + if(!is_list(outname)) outname = list(outname); endif + if(!is_signal_list(outname)) + error("outname must be a single signal name"); + endif + outsys.outname = outname(1); endif - outsys.outname(1,1:length(outname)) = outname; endif implicit_str_to_num_ok = save_val;