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1 # Copyright (C) 1996, 1998, 1999 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 function sys = sysgroup(...) |
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20 # function sys = sysgroup(Asys{,Bsys,...}) |
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21 # Parallel connection of systems |
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22 # |
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23 # inputs: All input arguments must be system data structures; |
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24 # exits with an error if there is not at least one argument |
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25 # output: sys: all systems are combined into a single system; e.g., |
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26 # if two systems are passed as sysgroup(Asys,Bsys), the result |
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27 # is |
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28 # |
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29 # __________________ |
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30 # | ________ | |
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31 # u1 ----->|--> | Asys |--->|----> y1 |
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32 # | -------- | |
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33 # | ________ | |
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34 # u2 ----->|--> | Bsys |--->|----> y2 |
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35 # | -------- | |
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36 # ------------------ |
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37 # Ksys |
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38 # |
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39 # The function also rearranges the A,B,C matrices so that the |
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40 # continuous states come first and the discrete states come last. |
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41 # If there are duplicate names, the second name has a unique suffix appended |
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42 # on to the end of the name (a warning message is printed). |
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43 |
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44 # A. S. Hodel August 1995 |
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45 # modified by John Ingram July 1996 |
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46 # A. S. Hodel: modified for variable number of arguments 1999 |
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47 |
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48 save_val = implicit_str_to_num_ok; # save for later |
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49 implicit_str_to_num_ok = 1; |
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50 |
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51 save_emp = empty_list_elements_ok; |
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52 empty_list_elements_ok = 1; |
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53 |
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54 |
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55 if(nargin < 1) |
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56 usage("sys = sysgroup(Asys{,Bsys,...})"); |
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57 endif |
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58 |
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59 # collect all arguments |
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60 arglist = list(); |
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61 va_start(); |
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62 for kk=1:nargin |
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63 arglist(kk) = va_arg(); |
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64 if(!is_struct(nth(arglist,kk))) |
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65 error("sysgroup: argument %d is not a data structure",kk); |
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66 endif |
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67 endfor |
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68 |
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69 if(nargin == 2) |
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70 # the usual case; group the two systems together |
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71 Asys = nth(arglist,1); |
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72 Bsys = nth(arglist,2); |
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73 |
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74 # extract information from Asys, Bsys to consruct sys |
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75 Asys = sysupdate(Asys,"ss"); |
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76 Bsys = sysupdate(Bsys,"ss"); |
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77 [n1,nz1,m1,p1] = sysdimensions(Asys); |
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78 [n2,nz2,m2,p2] = sysdimensions(Bsys); |
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79 [Aa,Ab,Ac,Ad,Atsam,An,Anz,Ast,Ain,Aout,Ayd] = sys2ss(Asys); |
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80 [Ba,Bb,Bc,Bd,Btsam,Bn,Bnz,Bst,Bin,Bout,Byd] = sys2ss(Bsys); |
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81 nA = An + Anz; |
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82 nB = Bn + Bnz; |
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83 |
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84 if(p1*m1*p2*m2 == 0) |
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85 error("sysgroup: argument lacks inputs and/or outputs"); |
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86 |
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87 elseif((Atsam + Btsam > 0) & (Atsam * Btsam == 0) ) |
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88 warning("sysgroup: creating combination of continuous and discrete systems") |
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89 |
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90 elseif(Atsam != Btsam) |
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91 error("sysgroup: Asys.tsam=%e, Bsys.tsam =%e", Atsam, Btsam); |
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92 endif |
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93 |
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94 A = [Aa,zeros(nA,nB); zeros(nB,nA),Ba]; |
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95 B = [Ab,zeros(nA,m2); zeros(nB,m1),Bb]; |
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96 C = [Ac,zeros(p1,nB); zeros(p2,nA),Bc]; |
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97 D = [Ad,zeros(p1,m2); zeros(p2,m1),Bd]; |
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98 tsam = max(Atsam,Btsam); |
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99 |
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100 # construct combined signal names; stnames must check for pure gain blocks |
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101 if(isempty(Ast)) |
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102 stname = Bst; |
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103 elseif(isempty(Bst)) |
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104 stname = Ast; |
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105 else |
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106 stname = append(Ast, Bst); |
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107 endif |
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108 inname = append(Ain, Bin); |
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109 outname = append(Aout,Bout); |
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110 |
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111 # Sort states into continous first, then discrete |
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112 dstates = ones(1,(nA+nB)); |
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113 if(An) |
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114 dstates(1:(An)) = zeros(1,An); |
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115 endif |
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116 if(Bn) |
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117 dstates((nA+1):(nA+Bn)) = zeros(1,Bn); |
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118 endif |
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119 [tmp,pv] = sort(dstates); |
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120 A = A(pv,pv); |
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121 B = B(pv,:); |
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122 C = C(:,pv); |
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123 stname = stname(pv); |
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124 |
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125 # check for duplicate signal names |
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126 inname = sysgroupn(inname,"input"); |
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127 stname = sysgroupn(stname,"state"); |
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128 outname = sysgroupn(outname,"output"); |
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129 |
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130 # mark discrete outputs |
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131 outlist = find([Ayd, Byd]); |
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132 |
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133 # build new system |
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134 sys = ss2sys(A,B,C,D,tsam,An+Bn,Anz+Bnz,stname,inname,outname); |
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135 |
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136 else |
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137 # multiple systems (or a single system); combine together one by one |
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138 sys = nth(arglist,1); |
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139 for kk=2:length(arglist) |
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140 printf("sysgroup: kk=%d\n",kk); |
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141 sys = sysgroup(sys,nth(arglist,kk)); |
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142 endfor |
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143 endif |
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144 |
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145 implicit_str_to_num_ok = save_val; # restore value |
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146 empty_list_elements_ok = save_emp; |
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147 |
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148 endfunction |
