Mercurial > hg > octave-nkf
diff scripts/control/is_controllable.m @ 3381:69b167451491
[project @ 1999-12-15 20:48:10 by jwe]
author | jwe |
---|---|
date | Wed, 15 Dec 1999 20:48:45 +0000 |
parents | 8dd4718801fd |
children | 10f21f7ccc7f |
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--- a/scripts/control/is_controllable.m +++ b/scripts/control/is_controllable.m @@ -1,20 +1,20 @@ -# Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved -# -# This file is part of Octave. -# -# Octave is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by the -# Free Software Foundation; either version 2, or (at your option) any -# later version. -# -# Octave is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -# for more details. -# -# You should have received a copy of the GNU General Public License -# along with Octave; see the file COPYING. If not, write to the Free -# Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. +## Copyright (C) 1993, 1994, 1995 Auburn University. All Rights Reserved +## +## This file is part of Octave. +## +## Octave is free software; you can redistribute it and/or modify it +## under the terms of the GNU General Public License as published by the +## Free Software Foundation; either version 2, or (at your option) any +## later version. +## +## Octave is distributed in the hope that it will be useful, but WITHOUT +## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +## for more details. +## +## You should have received a copy of the GNU General Public License +## along with Octave; see the file COPYING. If not, write to the Free +## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- ## @deftypefn {Function File } {[@var{retval}, @var{U}] =} is_controllable (@var{sys}@{, @var{tol}@}) @@ -55,20 +55,21 @@ ## ## @end deftypefn -# See also: size, rows, columns, length, is_matrix, is_scalar, is_vector -# is_observable, is_stabilizable, is_detectable, krylov, krylovb +## See also: size, rows, columns, length, is_matrix, is_scalar, is_vector +## is_observable, is_stabilizable, is_detectable, krylov, krylovb function [retval,U] = is_controllable (a, b, tol) -# Written by A. S. Hodel (scotte@eng.auburn.edu) August, 1993. -# Updated by A. S. Hodel (scotte@eng.auburn.edu) Aubust, 1995 to use krylovb -# Updated by John Ingram (ingraje@eng.auburn.edu) July, 1996 for packed systems + + ## Written by A. S. Hodel (scotte@eng.auburn.edu) August, 1993. + ## Updated by A. S. Hodel (scotte@eng.auburn.edu) Aubust, 1995 to use krylovb + ## Updated by John Ingram (ingraje@eng.auburn.edu) July, 1996 for packed systems deftol = 1; # assume default tolerance if(nargin < 1 | nargin > 3) usage("[retval,U] = %s\n\t%s", "is_controllable(a {, b ,tol})", ... "is_controllable(sys{,tol})"); elseif(is_struct(a)) - # system structure passed. + ## system structure passed. sys = sysupdate(a,"ss"); [a,bs] = sys2ss(sys); if(nargin > 2) @@ -79,7 +80,7 @@ endif b = bs; else - # a,b arguments sent directly. + ## a,b arguments sent directly. if(nargin < 2) usage("[retval,U] = is_controllable(a {, b ,tol})"); else @@ -87,10 +88,10 @@ endif endif - # check for default tolerance + ## check for default tolerance if(deftol) tol = 1000*eps; endif - # check tol dimensions + ## check tol dimensions if( !is_scalar(tol) ) error("is_controllable: tol(%dx%d) must be a scalar", ... rows(tol),columns(tol)); @@ -98,7 +99,7 @@ error("is_controllable: tol=%e must be positive",tol); endif - # check dimensions compatibility + ## check dimensions compatibility n = is_square (a); [nr, nc] = size (b); @@ -106,8 +107,8 @@ warning("is_controllable: a=(%dx%d), b(%dx%d)",rows(a),columns(a),nr,nc); retval = 0; else - # call block-krylov subspace routine to get an orthogonal basis - # of the controllable subspace. + ## call block-krylov subspace routine to get an orthogonal basis + ## of the controllable subspace. [U,H,Ucols] = krylov(a,b,n,tol,1); retval = (Ucols == n); endif