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1 ## Copyright (C) 1996, 1998 Auburn University. All rights reserved. |
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2 ## |
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3 ## This file is part of Octave. |
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4 ## |
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5 ## Octave is free software; you can redistribute it and/or modify it |
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6 ## under the terms of the GNU General Public License as published by the |
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7 ## Free Software Foundation; either version 2, or (at your option) any |
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8 ## later version. |
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9 ## |
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10 ## Octave is distributed in the hope that it will be useful, but WITHOUT |
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11 ## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or |
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12 ## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License |
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13 ## for more details. |
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14 ## |
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15 ## You should have received a copy of the GNU General Public License |
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16 ## along with Octave; see the file COPYING. If not, write to the Free |
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17 ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. |
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18 |
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19 ## -*- texinfo -*- |
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20 ## @deftypefn {Function File} {} sysrepdemo |
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21 ## Tutorial for the use of the system data structure functions. |
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22 ## @end deftypefn |
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23 |
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24 ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu> |
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25 ## Created: June 1995 |
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26 ## Revised Aug 1995 for system data structure format |
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27 |
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28 function sysrepdemo () |
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29 |
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30 save_val = page_screen_output; |
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31 page_screen_output = 1; |
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32 |
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33 disp("System representation demo:") |
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34 num = [5, -1]; |
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35 denom = [1, -2, 6]; |
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36 a = b = c = []; |
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37 syschoice = -1; |
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38 ch_init = 2; |
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39 ch_extract = ch_init+1; |
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40 ch_update = ch_extract+1; |
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41 ch_view = ch_update+1; |
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42 ch_details = ch_view+1; |
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43 ch_quit = ch_details+1; |
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44 while(syschoice != ch_quit) |
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45 disp(" ") |
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46 syschoice = menu("Octave System Representation Menu", ... |
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47 "General overview of system representation (DO THIS FIRST)", ... |
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48 "Initialize a system (ss, tf, zp)", ... |
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49 "Extract data from a system(sys2ss, sys2tf, sys2zp, etc.)", ... |
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50 "Update internal representation (sysupdate)", ... |
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51 "View the internal contents of a system (sysout)", ... |
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52 "Details of internal representation", ... |
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53 "Return to main menu"); |
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54 if(syschoice == 1) # general overview |
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55 disp("The Octave Control Systems Toolbox (OCST) was designed to") |
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56 disp("provide a simple user interface to a powerful set of tools.") |
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57 disp(" ") |
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58 disp(" ----------") |
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59 disp(" input(s) ---->| System | ---> output(s) ") |
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60 disp(" ----------") |
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61 disp(" ") |
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62 disp("Like other computer-aided control system design tools, the OCST") |
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63 disp("enables users to enter their descriptions of dynamic systems in ") |
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64 disp("their preferred form (state space, transfer function, or "); |
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65 disp("zero-pole format). "); |
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66 disp("The OCST stores system descriptions in a single variable data "); |
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67 disp("structure that allows for continuous time, discrete-time, or mixed "); |
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68 disp("(sampled-data) systems. "); |
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69 disp(" "); |
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70 disp("This single variable description of dynamic systems greatly simplifies "); |
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71 disp("both the code of the OCST as well as the user interface, since only") |
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72 disp("one variable is passed per system, regardless of the internal ") |
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73 disp("representation used in the data structure. As a result, the "); |
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74 disp("likelihood of user error is greatly reduced when calling OCST") |
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75 disp("functions. Further, all OCST functions have been written to") |
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76 disp("provide meaningful warning or error message to assist the user") |
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77 disp("in correcting their programming errors while using the OCST.") |
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78 disp("The details of the internal representation can be seen in "); |
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79 disp(["menu option ",num2str(ch_details)]); |
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80 disp("The data structure used in the OCST is called a \"system data structure.\""); |
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81 disp("A system data structure is contstructed with one of:") |
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82 disp(" fir (FIR transfer function to system)") |
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83 disp(" ss (state space matrices to system)") |
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84 disp(" tf (SISO transfer function to system)") |
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85 disp(" zp (SISO zero/pole/leading coefficient to system)") |
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86 disp(" ") |
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87 disp(["These functions are discussed in in menu option ",num2str(ch_init)]) |
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88 disp("The data in a system may be extracted using ") |
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89 disp(" sys2fir (FIR transfer function from system") |
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90 disp(" sys2ss (state space matrices from system)") |
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91 disp(" sys2tf (SISO transfer function from system)") |
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92 disp(" sys2zp (SISO zero/pole/leading coefficient from system)") |
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93 disp(" ") |
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94 disp(["These functions are discussed in menu option ", ... |
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95 num2str(ch_extract)]); |
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96 disp("Other options discussed under this menu are updating the internal") |
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97 disp("representation form of a system data structure with sysupdate and printing") |
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98 disp("the description of a dynamic system to the screen with sysout.") |
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99 disp(" ") |
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100 disp("Once the user is familiar with these commands, the rest of the ") |
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101 disp("OCST package will be quite easy to use.") |
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102 elseif(syschoice == ch_init) % Initialize |
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103 disp("Initialization of a system:"); |
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104 disp(" "); |
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105 formopt = 0; |
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106 while(formopt != 4) |
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107 disp("Three data formats may be used to initialize a system:") |
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108 formopt = menu("System data structure initialization menu", ... |
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109 "State space form (ss)", ... |
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110 "Transfer function form (tf)", ... |
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111 "zero-pole form (zp)", ... |
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112 "Return to System representation menu"); |
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113 if(formopt == 1) |
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114 disp("State space representation of a system is based on the usual") |
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115 disp("multi-variable differential equations") |
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116 disp(" ") |
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117 disp(" . ") |
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118 disp(" x = A x + B u -or - x(k+1) = A x(k) + B u(k) ") |
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119 disp(" y = C x + D u y(k) = C x(k) + D u(k) ") |
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120 disp(" ") |
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121 disp("for matrices A, B, C, D of appropriate dimension.") |
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122 disp(" ") |
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123 ssopt = 0; |
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124 ssquit = 5; |
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125 while(ssopt < ssquit) |
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126 ssopt = menu("State space initialization examples", ... |
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127 "Double integrator example", ... |
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128 "Double delay (discrete-time) example", ... |
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129 "Summing junction (D-matrix only) example", ... |
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130 "ss details (help ss)", ... |
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131 "return to system initialization menu", ... |
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132 "return to system representation main menu"); |
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133 if(ssopt == 1) |
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134 disp("Example: construct a system representation of a") |
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135 disp("double integrator via state-space form") |
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136 cmd = "a = [0, 1; 0, 0];"; |
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137 run_cmd |
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138 cmd = "b = [0; 1];"; |
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139 run_cmd |
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140 cmd = "c = [1, 0];"; |
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141 run_cmd |
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142 cmd = "sys = ss(a,b,c);"; |
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143 run_cmd |
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144 disp("The state space form of the system is seen via sysout:") |
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145 cmd = "sysout(sys)"; |
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146 run_cmd |
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147 disp("Notice that the Octave controls toolbox automatically") |
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148 disp("assigns names to the states, inputs and outputs,") |
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149 disp("and that the D matrix was filled in automatically.") |
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150 disp("We verify that it's a double integrator via sysout:") |
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151 cmd = "sysout(sys,""tf"")"; |
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152 run_cmd |
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153 prompt |
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154 elseif(ssopt == 2) |
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155 disp("Example: discrete-time double-delay:") |
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156 disp("This example is identical to the double-integrator,") |
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157 disp("except that it is a discrete-time system, and so has") |
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158 disp("a sampling interval. We arbitrarily select T=1e-3."); |
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159 cmd = "a = [0, 1; 0, 0];"; |
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160 run_cmd |
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161 cmd = "b = [0; 1];"; |
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162 run_cmd |
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163 cmd = "c = [1, 0];"; |
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164 run_cmd |
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165 cmd = "sys=ss(a,b,c,[],1e-3);"; |
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166 run_cmd |
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167 cmd = "sysout(sys)"; |
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168 run_cmd |
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169 disp("Notice that the D matrix was filled in automatically.") |
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170 disp("This is done if D is input as the empty matrix.") |
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171 disp(" ") |
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172 disp("Notice also that the output y_1 is labelled as a discrete") |
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173 disp("output. The OCST data structure keeps track of states") |
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174 disp("and output signals that are produced by the discrete-time") |
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175 disp("portion of a system. Discrete states and outputs are ") |
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176 disp("implemented as shown in the block diagram below:") |
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177 disp(" ") |
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178 disp(" ") |
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179 disp(" _________ ________ x(kT) ________________") |
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180 disp("f(t)-->|sampler|-->| delay |----->|zero order hold| -->") |
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181 disp(" --------- -------- ----------------") |
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182 disp(" ") |
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183 disp(" ___________ _______________") |
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184 disp("f(t)-->| sampler |-->|zero-order hold| --> y(discrete)") |
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185 disp(" ----------- ---------------") |
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186 disp(" ") |
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187 disp("where f(t) is an input signal to either the output or the") |
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188 disp(" discrete state.") |
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189 disp(" ") |
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190 disp("The OCST does not implement samplers on inputs to continuous") |
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191 disp("time states (i.e., there are no samplers implicit in the B") |
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192 disp("or D matrices unless there are corresponding discrete") |
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193 disp("outputs or states. The OCST provides warning messages when") |
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194 disp("if this convention is violated.") |
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195 prompt |
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196 elseif(ssopt == 3) |
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197 disp("A summing junction that computes e(t) = r(t) - y(t) may be"); |
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198 disp("constructed as follows:"); |
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199 disp("First, we set the matrix D:") |
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200 cmd = "D = [1, -1];"; |
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201 run_cmd |
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202 disp("ss allows the initialization of signal and state names") |
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203 disp("(see option 4), so we initialize these as follows:") |
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204 cmd = "inname = {\"r(t)\",\"y(t)\"};"; |
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205 run_cmd; |
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206 cmd = "outname = \"e(t)\";"; |
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207 run_cmd |
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208 disp("Since the system is continous time and without states,") |
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209 disp("the ss inputs tsam, n, and nz are all zero:") |
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210 cmd = "sys = ss([],[],[],D,0,0,0,[],inname,outname);"; |
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211 run_cmd |
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212 disp("The resulting system is:") |
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213 cmd = "sysout(sys)"; |
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214 run_cmd |
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215 disp("A discrete-time summing block can be implemented by setting") |
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216 disp("the sampling time positive:") |
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217 cmd = "sys = ss([],[],[],D,1e-3,0,0,[],inname,outname);"; |
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218 run_cmd |
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219 disp("The resulting system is:") |
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220 cmd = "sysout(sys)"; |
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221 run_cmd |
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222 prompt |
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223 elseif(ssopt == 4) |
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224 help ss |
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225 disp(" ") |
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226 disp(" ") |
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227 disp("Notice that state-space form allows a single system to have") |
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228 disp("both continuous and discrete-time states and to have both continuous") |
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229 disp("and discrete-time outputs. Since it's fairly easy to make an") |
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230 disp("error when mixing systems of this form, the Octave controls") |
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231 disp("toolbox attempts to print warning messages whenever something") |
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232 disp("questionable occurs.") |
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233 elseif(ssopt == 6) |
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234 formopt = 4; # return to main menu |
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235 endif |
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236 endwhile |
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237 elseif(formopt == 2) |
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238 tfopt = 0; |
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239 while(tfopt < 5) |
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240 tfopt = menu("Transfer function initialization menu", ... |
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241 "Continuous time initialization" , ... |
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242 "Discrete time initialization" , ... |
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243 "User specified signal names" , ... |
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244 "tf details (help tf)", ... |
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245 "Return to system initialization menu", ... |
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246 "Return to system representation main menu"); |
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247 if(tfopt == 1) # continuous time |
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248 disp("A transfer function is represented by vectors of the") |
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249 disp("coefficients of the numerator and denominator polynomials"); |
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250 disp(" ") |
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251 disp("For example: the transfer function"); |
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252 disp(" "); |
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253 num = [5, -1]; |
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254 denom = [1, -2, 6]; |
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255 tfout(num,denom); |
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256 disp(" ") |
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257 disp("is generated by the following commands:") |
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258 cmd = "num = [5, -1]"; |
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259 run_cmd |
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260 cmd = "denom = [1, -2, 6]"; |
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261 run_cmd |
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262 cmd = "sys = tf(num,denom);"; |
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263 run_cmd |
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264 disp("alternatively, the system can be generated in a single command:"); |
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265 cmd = "sys = tf([5, -1], [1, -2, 6]);"; |
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266 run_cmd |
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267 disp("Notice the output of sys: it is an Octave data structure.") |
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268 disp("The details of its member variables are explained under") |
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269 disp("System Representation Menu option 5 (the details of system form)") |
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270 disp(" "); |
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271 disp("The data structure can be observed with the sysout command:") |
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272 cmd = "sysout(sys)"; |
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273 run_cmd |
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274 disp("Notice that Octave assigns names to inputs and outputs.") |
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275 disp("The user may manually select input and output names; see option 3"); |
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276 prompt |
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277 elseif(tfopt == 2) # discrete time |
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278 disp("A transfer function is represented by vectors of the") |
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279 disp("coefficients of the numerator and denominator polynomials"); |
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280 disp("Discrete-time transfer functions require ") |
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281 disp("the additional parameter of a sampling period:") |
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282 cmd = "sys=tf([5, -1], [1, 2, -6], 1e-3);"; |
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283 run_cmd |
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284 cmd = "sysout(sys)"; |
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285 run_cmd |
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286 disp("The OCST recognizes discrete-time transfer functions and") |
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287 disp("accordingly prints them with the frequency domain variable z."); |
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288 disp("Notice that Octave assigns names to inputs and outputs.") |
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289 disp("The user may set input and output names; see option 3"); |
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290 elseif(tfopt == 3) # user specified names |
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291 disp("The OCST requires all signals to have names. The OCST assigned default"); |
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292 disp("names to the signals in the other examples. We may initialize a transfer"); |
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293 disp("function with user-specified names as follows: Consider a simple ") |
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294 disp("double-integrator model of aircraft roll dynamics with ") |
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295 disp("input \"aileron angle\" and output \"theta\". A ") |
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296 disp("system for this model is generated by the command") |
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297 cmd = "aircraft=tf(1, [1, 0, 0], 0,\"aileron angle\",\"theta\");"; run_cmd |
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298 disp("The sampling time parameter 0 indicates that the system") |
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299 disp("is continuous time. A positive sampling time indicates a") |
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300 disp("discrete-time system (or sampled data system).") |
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301 cmd = "sysout(aircraft)"; |
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302 run_cmd |
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303 disp("Notice that the user-selected signal names are listed.") |
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304 disp("These signal names are used in OCST plots and design functions."); |
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305 disp("(Run the frequency response demo to see an example of the use of "); |
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306 disp("signal names in plots.)") |
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307 prompt |
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308 elseif(tfopt == 4) # help |
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309 help tf |
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310 prompt |
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311 elseif(tfopt == 6) # return to main menu |
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312 formopt = 4; |
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313 endif |
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314 endwhile |
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315 elseif (formopt == 3) |
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316 zpopt = 0; |
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317 while(zpopt < 5) |
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318 zpopt = menu("Zero-pole initialization menu", ... |
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319 "Continuous time initialization" , ... |
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320 "Discrete time initialization" , ... |
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321 "User specified signal names" , ... |
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322 "zp details (help zp)", ... |
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323 "Return to system initialization menu", ... |
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324 "Return to system representation main menu"); |
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325 if(zpopt == 1) # continuous time |
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326 disp("A zero-pole form representation of a system includes vectors") |
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327 disp("of the system poles and zeros and a scalar leading coefficient."); |
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328 disp(" ") |
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329 disp("For example: the transfer function"); |
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330 disp(" "); |
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331 k = 5; |
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332 num = [5, -1]; |
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333 denom = [1, -2, 6]; |
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334 zpout(num,denom,k); |
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335 disp(" ") |
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336 disp("is generated by the following commands:") |
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337 cmd = "num = [5, -1]"; |
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338 run_cmd |
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339 cmd = "denom = [1, -2, 6]"; |
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340 run_cmd |
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341 cmd = "k = 5"; |
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342 run_cmd |
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343 cmd = "sys = zp(num,denom,k);"; |
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344 run_cmd |
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345 disp("alternatively, the system can be generated in a single command:"); |
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346 cmd = "sys = zp([5, -1],[1, -2, 6],5);"; |
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347 run_cmd |
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348 disp("Notice the output of sys: it is an Octave data structure.") |
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349 disp("The details of its member variables are explained under") |
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350 disp("System Representation Menu option 5 (the details of system form)") |
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351 disp(" "); |
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352 disp("The data structure can be observed with the sysout command:") |
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353 cmd = "sysout(sys)"; |
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354 run_cmd |
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355 disp("Notice that Octave assigns names to inputs and outputs.") |
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356 disp("The user may manually select input and output names; see option 3"); |
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357 prompt |
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358 elseif(zpopt == 2) # discrete time |
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359 disp("A zero-pole form representation of a system includes vectors") |
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360 disp("of the system poles and zeros and a scalar leading coefficient."); |
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361 disp(" ") |
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362 disp("Discrete-time systems require the additional parameter of a sampling period:") |
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363 cmd = "sys=zp([5, -1],[1, 2, -6],5,1e-3);"; |
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364 run_cmd |
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365 cmd = "sysout(sys)"; |
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366 run_cmd |
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367 disp("The OCST recognizes discrete-time transfer functions and") |
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368 disp("accordingly prints them with the frequency domain variable z."); |
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369 disp("Notice that Octave assigns names to inputs and outputs.") |
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370 disp("The user may set input and output names; see option 3"); |
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371 elseif(zpopt == 3) # user specified names |
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372 disp("The OCST requires all signals to have names. The OCST assigned default"); |
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373 disp("names to the signals in the other examples. We may initialize a transfer"); |
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374 disp("function with user-specified names as follows: Consider a simple ") |
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375 disp("double-integrator model of aircraft roll dynamics with ") |
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376 disp("input \"aileron angle\" and output \"theta\". A ") |
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377 disp("system for this model is generated by the command") |
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378 cmd = "aircraft=zp([],[0, 0],1,0,\"aileron angle\",\"theta\");"; run_cmd |
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379 disp("The sampling time parameter 0 indicates that the system") |
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380 disp("is continuous time. A positive sampling time indicates a") |
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381 disp("discrete-time system (or sampled data system).") |
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382 cmd = "sysout(aircraft)"; |
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383 run_cmd |
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384 disp("Notice that the user-selected signal names are listed.") |
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385 disp("These signal names are used in OCST plots and design functions."); |
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386 disp("(Run the frequency response demo to see an example of the use of "); |
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387 disp("signal names in plots.)") |
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388 prompt |
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389 elseif(zpopt == 4) # help |
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390 help zp |
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391 prompt |
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392 elseif(zpopt == 6) # return to main menu |
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393 formopt = 4; |
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394 endif |
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395 endwhile |
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396 endif |
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397 endwhile |
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398 elseif(syschoice == ch_extract) # extract system information |
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399 disp("Extract information from a system data structure in a selected format:") |
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400 disp("The actions of operations ss, tf, and zp are reversed by") |
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3430
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401 disp("respective functions sys2ss, sys2tf, and sys2zp. The latter two"); |
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402 disp("functions are applicable only to SISO systems.") |
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403 formopt = 0; |
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404 while(formopt != 8) |
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405 formopt = menu("Extract system information", ... |
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406 "in state space form (sys2ss)", ... |
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407 "in transfer function form (sys2tf)", ... |
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408 "in zero pole form (sys2zp)", ... |
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409 "signal names (sysgetsignals,syssetsignals)", ... |
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410 "sampling time (sysgettsam)", ... |
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411 "signal dimensions (sysdimensions)", ... |
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412 "primary system type (sysgettype)", ... |
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413 "Return to system representation menu"); |
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414 if(formopt == 1) |
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415 help sys2ss |
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416 elseif(formopt == 2) |
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417 help sys2tf |
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418 elseif(formopt == 3) |
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419 help sys2zp |
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420 elseif(formopt == 4) |
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421 help sysgetsignals |
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422 cmd="sys=ss(rand(4),rand(4,2),rand(3,4));"; |
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423 run_cmd |
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424 printf("Example: All signals names can be extracted by\n"); |
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425 cmd = "[Ast,Ain,Aout,Ayd] = sysgetsignals(sys)"; |
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426 run_cmd |
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427 printf("Example: Input signal names can be extracted as\n"); |
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428 cmd = "Ain = sysgetsignals(sys,\"in\")"; |
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429 run_cmd |
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430 printf("Example: The name of output signal 2 can be extracted as\n"); |
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431 cmd = "Aout = sysgetsignals(sys,\"out\",2)"; |
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432 run_cmd |
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4771
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433 printf("\nNotice that Aout is returned as a cell array; the signal name\n"); |
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3430
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434 printf("itself is obtained by specifying the input parameter strflg\n"); |
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435 cmd = "Aout = sysgetsignals(sys,\"out\",2,1)"; |
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436 run_cmd |
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437 prompt |
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438 cmd = "help syssetsignals"; |
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439 run_cmd |
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440 printf("Example: set input 2 name to \"motor voltage\"\n"); |
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441 cmd = "sys = syssetsignals(sys,\"in\",\"motor voltage\",2); sysout(sys)"; |
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442 run_cmd |
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443 |
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444 printf("Other syssetsignals demos are in the Block diagram demo program bddemo\n"); |
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445 elseif(formopt == 5) |
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446 help sysgettsam |
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447 elseif(formopt == 6) |
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448 help sysdimensions |
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449 elseif(formopt == 7) |
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450 help sysgettype |
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451 endif |
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452 prompt |
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453 endwhile |
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454 elseif(syschoice== ch_update) |
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455 disp("The OCST system data structure format will store a system in the same format") |
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456 disp("as that with which it was initialized. For example, consider the following:") |
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4771
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457 cmd = "sys=zp([1, 2],[3, 4, 5],6)"; |
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3430
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458 run_cmd |
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459 disp(" ") |
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460 disp("Notice the internal variables in the structure include zer, pol, and k,") |
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461 disp("the required variables for zero-pole form. We can update the system") |
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462 disp("to include state-space form as follows:") |
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463 cmd = "sys = sysupdate(sys,\"ss\")"; |
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464 run_cmd |
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465 disp(" ") |
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466 disp("Now the sys data structure includes variables a, b, c, and d, as well") |
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467 disp("the default state names stname. sysupdate is usually used internally in") |
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468 disp("the OCST, but can be used manually if desired. A full description of") |
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469 disp("sysupdate is as follows:") |
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470 help sysupdate |
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471 prompt |
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472 elseif(syschoice == ch_view) |
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473 disp("The sysout command can be used to view a system in any desired format.") |
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474 disp("For example, consider the system created as follows:") |
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4771
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475 cmd = "aircraft=zp(1,[0, 0],1,0,\"aileron angle\",\"theta\");"; run_cmd |
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3430
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476 disp("The system may be viewed in its default format (zero-pole) as follows") |
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477 cmd = "sysout(aircraft)"; |
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478 run_cmd |
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479 disp(" ") |
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480 disp("The system may be viewed in state-space or transfer function form as well:") |
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481 cmd = "sysout(aircraft,\"ss\")"; |
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482 run_cmd |
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483 cmd = "sysout(aircraft,\"tf\")"; |
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484 run_cmd |
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485 disp("A complete description of sysout is below:") |
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486 help sysout |
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487 prompt |
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488 elseif(syschoice == ch_details) |
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489 packedform |
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490 endif |
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491 |
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492 endwhile |
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493 page_screen_output = save_val; |
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494 endfunction |
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495 |
